<mujoco model="right_arm">
  <compiler angle="radian"/>

  <asset>
    <mesh name="PELVIS_S" content_type="model/stl" file="PELVIS_S.STL"/>
    <mesh name="R_SHOULDER_P_S" content_type="model/stl" file="R_SHOULDER_P_S.STL"/>
    <mesh name="R_SHOULDER_R_S" content_type="model/stl" file="R_SHOULDER_R_S.STL"/>
    <mesh name="R_SHOULDER_Y_S" content_type="model/stl" file="R_SHOULDER_Y_S.STL"/>
    <mesh name="R_ELBOW_R_S" content_type="model/stl" file="R_ELBOW_R_S.STL"/>
    <mesh name="R_WRIST_P_S" content_type="model/stl" file="R_WRIST_P_S.STL"/>
    <mesh name="R_WRIST_Y_S" content_type="model/stl" file="R_WRIST_Y_S.STL"/>
    <mesh name="R_WRIST_R_S" content_type="model/stl" file="R_WRIST_R_S.STL"/>
  </asset>

  <worldbody>
    <geom type="mesh" rgba="0.698 0.698 0.698 1" mesh="PELVIS_S"/>
    <body name="R_SHOULDER_P_S" pos="0 -0.0945 0.042">
      <inertial pos="-0.00982259 -0.0704593 -1.1507e-06" quat="0.706163 0.705933 0.0386962 0.0386741" mass="0.880738" diaginertia="0.000584874 0.000465648 0.000443849"/>
      <joint name="R_SHOULDER_P" pos="0 0 0" axis="0 -1 0" range="-1.57 1.57" actuatorfrcrange="-120 120"/>
      <geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_P_S"/>
      <body name="R_SHOULDER_R_S" pos="0.035 -0.0765 0">
        <inertial pos="-0.0346025 -0.0917393 1.86281e-08" quat="0.609323 0.358823 -0.609303 0.358778" mass="0.594788" diaginertia="0.000414771 0.000407636 0.000294296"/>
        <joint name="R_SHOULDER_R" pos="0 0 0" axis="1 0 0" range="-2 2" actuatorfrcrange="-120 120"/>
        <geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_R_S"/>
        <body name="R_SHOULDER_Y_S" pos="-0.035 -0.1475 0">
          <inertial pos="-0.00440977 -0.086362 -7.58792e-09" quat="0.705001 0.704998 0.054559 0.0545441" mass="0.563406" diaginertia="0.000329815 0.000297341 0.000211019"/>
          <joint name="R_SHOULDER_Y" pos="0 0 0" axis="0 -1 0" range="0 3.14" actuatorfrcrange="-80 80"/>
          <geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_Y_S"/>
          <body name="R_ELBOW_R_S" pos="0.034 -0.1025 0">
            <inertial pos="-0.0335624 -0.06032 -2.97736e-07" quat="0.674756 0.674714 -0.211333 -0.211667" mass="0.393572" diaginertia="0.000189078 0.000181042 0.000139034"/>
            <joint name="R_ELBOW_R" pos="0 0 0" axis="1 0 0" range="0 2.18" actuatorfrcrange="-80 80"/>
            <geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_ELBOW_R_S"/>
            <body name="R_WRIST_P_S" pos="-0.034 -0.0965 0">
              <inertial pos="-1.39657e-10 -0.0675973 0.0192006" quat="0.530481 0.467537 -0.467537 0.530481" mass="0.442332" diaginertia="0.000489142 0.000476754 9.72811e-05"/>
              <joint name="R_WRIST_P" pos="0 0 0" axis="0 -1 0" range="-3.14 0" actuatorfrcrange="-50 50"/>
              <geom type="mesh" rgba="0.647059 0.619608 0.588235 1" mesh="R_WRIST_P_S"/>
              <body name="R_WRIST_Y_S" pos="0 -0.1525 0.039">
                <inertial pos="-0.00464136 -5.06426e-10 -0.0341254" quat="0.298107 0.641196 0.641196 0.298107" mass="0.235738" diaginertia="6.00636e-05 5.8497e-05 4.579e-05"/>
                <joint name="R_WRIST_Y" pos="0 0 0" axis="0 0 1" range="0 0.78" actuatorfrcrange="-50 50"/>
                <geom type="mesh" rgba="0.647059 0.619608 0.588235 1" mesh="R_WRIST_Y_S"/>
                <body name="R_WRIST_R_S" pos="0.03 0 -0.039">
                  <inertial pos="-0.0201642 -0.11075 -0.00598955" quat="0.483404 0.529786 -0.463203 0.520663" mass="0.204366" diaginertia="0.00027189 0.000186086 0.000130629"/>
                  <joint name="R_WRIST_R" pos="0 0 0" axis="1 0 0" range="-0.26 1.57" actuatorfrcrange="-50 50"/>
                  <geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_WRIST_R_S"/>
                  <geom size="0.005" pos="-0.01212 -0.17655 0.07506" quat="9.38184e-07 0.707105 -0.707108 -9.38187e-07" rgba="0 1 0 1"/>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
</mujoco>
