<mujoco model="SocialPlane">
	<compiler angle="radian" inertiafromgeom="true"/>
	<default>
		<joint armature="1" damping="1" limited="false"/>
		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
	</default>
	<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
	</option>
	<worldbody>
		<!-- Base -->
		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.4" name="base" rgba="0.9 0.4 0.6 1" size=".02" type="cylinder"/>
		<!-- Arm -->
		<body name="robot_arm" pos="0 0 0.41">
			<geom name="robot_shoulder" pos="0 0 0" rgba="0.9 0.2 0.1 0.9" size=".025" type="sphere"/>
			<joint axis="0 0 1" limited="false" name="robot_shoulder_joint_z" pos="0 0 0" type="hinge"/>
			<geom fromto="0 0 0 0.2 0 0" name="robot_arm0" rgba="0.0 0.4 0.8 0.9" size=".01" type="capsule"/>
			<!-- Lower Arm -->
			<body name="robot_arm1" pos="0.21 0 0">
				<body name="robot_elbow" pos="0 0 0">
					<geom contype="0" conaffinity="0" pos="0 0 0" name="robot_arm1" rgba="0.9 0.1 0.1 0.9" size=".025" type="sphere"/>
				</body>
				<joint axis="0 0 1" limited="false" name="robot_elbow_joint" pos="0 0 0" type="hinge"/>
				<geom contype="0" conaffinity="0" fromto="0 0 0 0.2 0 0" name="robot_arm1" rgba="0.0 0.4 0.8 0.9" size=".01" type="capsule"/>
				<!-- Hand -->
				<body name="robot_hand" pos="0.2 0 0">
					<geom conaffinity="0" contype="0" pos="0 0 0" name="robot_hand" rgba="0.1 0.9 0.2 0.9" size=".025" type="sphere"/>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor gear="100.0" joint="robot_shoulder_joint_z"/>
		<motor gear="100.0" joint="robot_elbow_joint"/>
	</actuator>
</mujoco>
