<mujoco>
	<option timestep="0.0001" integrator="RK4" gravity="0 0 0">
		<flag sensornoise="enable" energy="enable" contact="disable" />
	</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="0.5 0 1.25" euler="0 90 0">
			<joint name="pin" type="hinge" axis = "0 -1 0" pos="0 0 -0.5"/>
			<geom type="cylinder" size="0.05 0.5" rgba="0 .9 0 1" mass="1"/>
			
      <body pos="0 0.1 1" euler="0 0 0">
				<joint name="pin2" type="hinge" axis = "0 -1 0" pos="0 0 -0.5"/>
				<geom type="cylinder" size="0.05 0.5" rgba="0 0 .9 1" mass="1"/>
				<site name="endeff" pos="0 0 0.5" size="0.1"/>
			</body>

		</body>
	</worldbody>

	<actuator>
		<position name="pservo1" joint="pin" kp="100" />
		<velocity name="vservo1" joint="pin" kv="10" />

		<position name="pservo2" joint="pin2" kp="100" />
		<velocity name="vservo2" joint="pin2" kv="10" />
	</actuator>

	<sensor>
		<framepos objtype="site" objname="endeff"/>
		<framelinvel objtype="site" objname="endeff"/>
	</sensor>
</mujoco>
