<mujoco model="example">
    <compiler coordinate="global"/>
    <default>
        <geom rgba=".8 .6 .4 1"/>
    </default>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" 
                 width="256" height="256"/>
    </asset>
    <worldbody>
        <light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
        <geom name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="10 10 10" type="plane"/>
        <body>
			<site name="world" size="0.1" pos="0 0 0" />
			
            <geom name="first_pole" type="capsule" fromto="0 0 0  0 0 0.5" size="0.04"/>
            <joint name='a' type="hinge" pos="0 0 0" axis="0 0 1" />
            <body name="second_pole">
				<inertial pos="0 0 0" mass="0.00000001" diaginertia="1e-008 1e-008 1e-008" />
                <geom type="capsule" fromto="0 0 0.5  0.5 0 0.5" size="0.04" name="second_pole"/>
                <joint name='b' type="hinge" pos="0 0 0.5" axis="0 1 0"/>      
				<body name='third_pole'>
					<inertial pos="0 0 0" mass="0.00000001" diaginertia="1e-008 1e-008 1e-008" />
					<geom type="capsule" fromto="0.5 0 0.5  1 0 0.5" size="0.04" name="third_pole"/>
					<joint name='c' type="hinge" pos="0.5 0 0.5" axis="0 1 0"/>    
					<site name="target" size="0.1" pos="1 0 0.5" />
					<body name="mass">
						<inertial pos="1 0 0.5" mass="1e-2" diaginertia="1e-008 1e-008 1e-008" />
						<geom type="sphere" pos="1 0 0.5" size="0.2" name="mass"/>
					</body>
				</body>
            </body>
        </body>
    </worldbody>
	<actuator>
		<motor joint="a"/>
		<motor joint="b"/>
		<motor joint="c"/>
	</actuator>	
	

</mujoco>