Algodoo

1 (keypad) = back
3 (keypad) = forward
4 (keypad) = contract
6 (keypad) = extend
8 (keypad) = wrist up
2 (keypad) = wrist down
5 (keypad) = open/close
arrow up = shoulder up
arrow down = shoulder down
arrow left = elbow in
arrow right = elbow out

the hydraulic rams are my design. this was only to see if they really worked. feel free to copy