<mujoco>
	<option gravity="0 0 -9.81">
		<flag sensornoise="enable"/>
	</option>

	<worldbody>
		<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    	<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
		<body pos="0 0 2" euler="0 180 0">
			<joint name="pin" type="hinge" axis="0 -1 0" pos="0 0 0.5"/>
			<geom type="cylinder" size=".05 .5" rgba="0 .9 0 1" mass="1"/>
		</body>
	</worldbody>
	
	<actuator>
		<motor joint="pin" name="torque" gear="1" ctrllimited="true" ctrlrange="-100 100"/>
		<position name="position_servo" joint="pin" kp="10"/>
		<velocity name="velocity_servo" joint="pin" kv="0"/>
	</actuator>

	<sensor>
		<jointpos joint="pin" noise="0.2"/>
		<jointvel joint="pin" noise="1"/>
	</sensor>
</mujoco>
