<mujoco model="torso">
    <compiler angle="degree" inertiafromgeom="true"/>
    <default>
        <joint armature="1" damping="1" limited="true"/>
        <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
    </default>
    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
        <!-- <flags solverstat="enable" energy="enable"/>-->
    </option>
    <size nkey="5" nuser_geom="1"/>
    <visual>
        <map fogend="5" fogstart="3"/>
    </visual>
    <worldbody>
        <!-- Base -->
        <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
        <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
        <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
        <body name="robot" pos="0 -0.17 0.06">
            <geom name="robot_shoulder" pos="0 0 0" rgba="0.9 0.2 0.1 0.9" size=".025" type="sphere"/>
            <joint armature="0.0068" axis="2 1 1" name="robot_right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
            <joint armature="0.0051" axis="0 -1 1" name="robot_right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
            <geom fromto="0 0 0 .16 -.16 -.16" name="robot_right_uarm1" size="0.04 0.16" type="capsule"/>
            <body name="robot_right_lower_arm" pos=".18 -.18 -.18">
                <body name="robot_right_elbow" pos="0 0 0">
                    <geom pos="0 0 0" name="robot_right_elbow" size="0.025" type="sphere" rgba="1 0 0 1"/>
                </body>
                <joint armature="0.0028" axis="0 -1 1" name="robot_right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="robot_right_larm" size="0.031" type="capsule"/>
                <!-- Hand -->
                <body name="robot_right_hand" pos=".18 .18 .18">
                    <geom name="robot_right_hand" pos="0 0 0" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>
        <body name="robot_left_upper_arm" pos="0 0.17 0.06">
            <joint armature="0.0068" axis="2 -1 1" name="robot_left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
            <joint armature="0.0051" axis="0 1 1" name="robot_left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
            <geom fromto="0 0 0 .16 .16 -.16" name="robot_left_uarm1" size="0.04 0.16" type="capsule"/>
            <body name="robot_left_lower_arm" pos=".18 .18 -.18">

                <body name="robot_left_elbow" pos="0 0 0">
                    <geom pos="0 0 0" name="robot_right_elbow" size="0.025" type="sphere" rgba="1 0 0 1"/>
                </body>
                <joint armature="0.0028" axis="0 -1 -1" name="robot_left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="robot_left_larm" size="0.031" type="capsule"/>
                <!-- Hand -->
                <body name="robot_left_hand" pos=".18 -.18 .18">
                    <geom name="robot_left_hand" pos="0 0 0" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>
    </worldbody>
    <actuator><!-- this section is not supported, same constants in code -->
        <motor gear="100" joint="robot_right_shoulder1" name="robot_right_shoulder1"/>
        <motor gear="100" joint="robot_right_shoulder2" name="robot_right_shoulder2"/>
        <motor gear="100" joint="robot_right_elbow" name="robot_right_elbow"/>
        <motor gear="100" joint="robot_left_shoulder1" name="robot_left_shoulder1"/>
        <motor gear="100" joint="robot_left_shoulder2" name="robot_left_shoulder2"/>
        <motor gear="100" joint="robot_left_elbow" name="robot_left_elbow"/>
    </actuator>
</mujoco>
