<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 125ab82aa10691ca -->
<mujoco model="T1">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="Trunk" file="meshes/Trunk.STL" />
    <mesh name="H1" file="meshes/H1.STL" />
    <mesh name="H2" file="meshes/H2.STL" />
    <mesh name="AL1" file="meshes/AL1.STL" />
    <mesh name="AL2" file="meshes/AL2.STL" />
    <mesh name="AL3" file="meshes/AL3.STL" />
    <mesh name="left_hand_link" file="meshes/left_hand_link.STL" />
    <mesh name="AR1" file="meshes/AR1.STL" />
    <mesh name="AR2" file="meshes/AR2.STL" />
    <mesh name="AR3" file="meshes/AR3.STL" />
    <mesh name="right_hand_link" file="meshes/right_hand_link.STL" />
    <mesh name="Waist" file="meshes/Waist.STL" />
    <mesh name="Hip_Pitch_Left" file="meshes/Hip_Pitch_Left.STL" />
    <mesh name="Hip_Roll_Left" file="meshes/Hip_Roll_Left.STL" />
    <mesh name="Hip_Yaw_Left" file="meshes/Hip_Yaw_Left.STL" />
    <mesh name="Shank_Left" file="meshes/Shank_Left.STL" />
    <mesh name="Ankle_Cross_Left" file="meshes/Ankle_Cross_Left.STL" />
    <mesh name="left_foot_link" file="meshes/left_foot_link.STL" />
    <mesh name="Hip_Pitch_Right" file="meshes/Hip_Pitch_Right.STL" />
    <mesh name="Hip_Roll_Right" file="meshes/Hip_Roll_Right.STL" />
    <mesh name="Hip_Yaw_Right" file="meshes/Hip_Yaw_Right.STL" />
    <mesh name="Shank_Right" file="meshes/Shank_Right.STL" />
    <mesh name="Ankle_Cross_Right" file="meshes/Ankle_Cross_Right.STL" />
    <mesh name="right_foot_link" file="meshes/right_foot_link.STL" />
  </asset>
  <worldbody>
    <body name="Trunk">
      <inertial pos="0.0551365401093076 -1.42058017623659e-06 0.105062332707657" mass="11.7" fullinertia="0.0915287235057927 0.076778716903413 0.0556171053368987 -4.25369739206781e-07 0.000646360369011163 5.82340020271393e-07" />
      <geom name="Trunk_vis_0" type="mesh" mesh="Trunk" contype="0" conaffinity="0" group="2" />
      <geom name="Trunk_col_0" type="box" size="0.075 0.1 0.15" pos="0.06 0.0 0.12" group="3" />
      <body name="H1" pos="0.0625 0.0 0.243">
        <joint name="AAHead_yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
        <inertial pos="-0.000508 -0.001403 0.057432" mass="0.44391" fullinertia="0.000224 0.000241 0.00015 3e-06 1e-06 -2e-06" />
        <geom name="H1_vis_0" type="mesh" mesh="H1" contype="0" conaffinity="0" group="2" />
        <body name="H2" pos="0.0 0.0 0.06185">
          <joint name="Head_pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.35 1.22" />
          <inertial pos="0.007802 0.001262 0.098631" mass="0.631019" fullinertia="0.002025 0.00192 0.001739 -2.5e-05 4.6e-05 3.6e-05" />
          <geom name="H2_vis_0" type="mesh" mesh="H2" contype="0" conaffinity="0" group="2" />
          <geom name="H2_col_0" type="sphere" size="0.08" pos="0.01 0.0 0.11" group="3" />
        </body>
      </body>
      <body name="AL1" pos="0.0575 0.1063 0.219" quat="0.999999902951242 0.0 0.0004405649857479046 0.0">
        <joint name="Left_Shoulder_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-3.31 1.22" />
        <inertial pos="-0.000677 0.044974 0.0" mass="0.53" fullinertia="0.001293 0.000293 0.001367 -1.7e-05 0.0 0.0" />
        <geom name="AL1_vis_0" type="mesh" mesh="AL1" contype="0" conaffinity="0" group="2" />
        <body name="AL2" pos="0.0 0.047 0.0">
          <joint name="Left_Shoulder_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.74 1.57" />
          <inertial pos="0.003862 0.037976 0.0" mass="0.16" fullinertia="0.000345 0.000177 0.000401 8e-06 0.0 0.0" />
          <geom name="AL2_vis_0" type="mesh" mesh="AL2" contype="0" conaffinity="0" group="2" />
          <body name="AL3" pos="0.00025 0.0605 0.0">
            <joint name="Left_Elbow_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
            <inertial pos="0.0 0.085353 -9.9e-05" mass="1.02" fullinertia="0.012869 0.000621 0.012798 0.0 0.0 -2.4e-05" />
            <geom name="AL3_vis_0" type="mesh" mesh="AL3" contype="0" conaffinity="0" group="2" />
            <geom name="AL3_col_0" type="cylinder" size="0.03 0.075" pos="0.0 0.05 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
            <body name="left_hand_link" pos="0.0 0.1471 0.0">
              <joint name="Left_Elbow_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-2.44 0.0" />
              <inertial pos="-0.000108 0.109573 0.000591" mass="0.327214390850251" fullinertia="0.008159 0.000215 0.008131 -3e-06 0.0 1.7e-05" />
              <geom name="left_hand_link_vis_0" type="mesh" mesh="left_hand_link" contype="0" conaffinity="0" group="2" />
              <geom name="left_hand_link_col_0" type="cylinder" size="0.03 0.0875" pos="0.0 0.13 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="AR1" pos="0.0575 -0.1063 0.219" quat="0.999999902951242 0.0 0.0004405649857479046 0.0">
        <joint name="Right_Shoulder_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-3.31 1.22" />
        <inertial pos="-0.000677 -0.044974 0.0" mass="0.53" fullinertia="0.001293 0.000293 0.001367 -1.7e-05 0.0 0.0" />
        <geom name="AR1_vis_0" type="mesh" mesh="AR1" contype="0" conaffinity="0" group="2" />
        <body name="AR2" pos="0.0 -0.047 0.0">
          <joint name="Right_Shoulder_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.57 1.74" />
          <inertial pos="0.003862 -0.037976 0.0" mass="0.16" fullinertia="0.000345 0.000177 0.000401 -8e-06 0.0 0.0" />
          <geom name="AR2_vis_0" type="mesh" mesh="AR2" contype="0" conaffinity="0" group="2" />
          <body name="AR3" pos="0.00025 -0.0605 0.0">
            <joint name="Right_Elbow_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-2.27 2.27" />
            <inertial pos="0.0 -0.085353 -9.9e-05" mass="1.02" fullinertia="0.012869 0.000621 0.012798 0.0 0.0 2.4e-05" />
            <geom name="AR3_vis_0" type="mesh" mesh="AR3" contype="0" conaffinity="0" group="2" />
            <geom name="AR3_col_0" type="cylinder" size="0.03 0.075" pos="0.0 -0.05 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
            <body name="right_hand_link" pos="0.0 -0.1471 0.0">
              <joint name="Right_Elbow_Yaw" type="hinge" axis="0.0 0.0 1.0" range="0.0 2.44" />
              <inertial pos="-0.000108 -0.109573 0.000591" mass="0.327214390850251" fullinertia="0.008159 0.000215 0.008131 3e-06 0.0 -1.7e-05" />
              <geom name="right_hand_link_vis_0" type="mesh" mesh="right_hand_link" contype="0" conaffinity="0" group="2" />
              <geom name="right_hand_link_col_0" type="cylinder" size="0.03 0.0875" pos="0.0 -0.13 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="Waist" pos="0.0625 0.0 -0.1155">
        <joint name="Waist" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
        <inertial pos="0.002284 3e-06 0.007301" mass="2.581" fullinertia="0.005289 0.005299 0.004821 0.0 0.000207 1e-06" />
        <geom name="Waist_vis_0" type="mesh" mesh="Waist" contype="0" conaffinity="0" group="2" />
        <body name="Hip_Pitch_Left" pos="0.0 0.106 0.0">
          <joint name="Left_Hip_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.8 1.57" />
          <inertial pos="0.000534 -0.007296 -0.018083" mass="1.021" fullinertia="0.001805 0.001421 0.001292 6e-06 -1.5e-05 8e-05" />
          <geom name="Hip_Pitch_Left_vis_0" type="mesh" mesh="Hip_Pitch_Left" contype="0" conaffinity="0" group="2" />
          <body name="Hip_Roll_Left" pos="0.0 0.0 -0.02">
            <joint name="Left_Hip_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.2 1.57" />
            <inertial pos="0.001101 2.4e-05 -0.05375" mass="0.385" fullinertia="0.001517 0.001743 0.000515 0.0 1.7e-05 0.0" />
            <geom name="Hip_Roll_Left_vis_0" type="mesh" mesh="Hip_Roll_Left" contype="0" conaffinity="0" group="2" />
            <body name="Hip_Yaw_Left" pos="0.0 0.0 -0.081854">
              <joint name="Left_Hip_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.0 1.0" />
              <inertial pos="-0.007233 0.000206 -0.089184" mass="2.166" fullinertia="0.025108 0.025733 0.002787 -7e-06 0.002094 -5e-05" />
              <geom name="Hip_Yaw_Left_vis_0" type="mesh" mesh="Hip_Yaw_Left" contype="0" conaffinity="0" group="2" />
              <geom name="Hip_Yaw_Left_col_0" type="cylinder" size="0.05 0.08" group="3" />
              <body name="Shank_Left" pos="-0.014 0.0 -0.134">
                <joint name="Left_Knee_Pitch" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.34" />
                <inertial pos="-0.006012 0.000259 -0.124318" mass="1.73" fullinertia="0.034618 0.034539 0.001934 1.1e-05 0.001561 0.000197" />
                <geom name="Shank_Left_vis_0" type="mesh" mesh="Shank_Left" contype="0" conaffinity="0" group="2" />
                <geom name="Shank_Left_col_0" type="cylinder" size="0.05 0.075" pos="0.0 0.0 -0.12" group="3" />
                <body name="Ankle_Cross_Left" pos="0.0 0.0 -0.28">
                  <joint name="Left_Ankle_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.35" />
                  <inertial pos="-0.003722 0.0 -0.007981" mass="0.073" fullinertia="1.2e-05 2.9e-05 2.5e-05 0.0 3e-06 0.0" />
                  <geom name="Ankle_Cross_Left_vis_0" type="mesh" mesh="Ankle_Cross_Left" contype="0" conaffinity="0" group="2" />
                  <body name="left_foot_link" pos="0.0 0.00025 -0.012">
                    <joint name="Left_Ankle_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
                    <inertial pos="-0.000249 0.0 -0.00914" mass="0.685" fullinertia="0.002214 0.002385 0.002671 0.0 -0.000114 0.0" />
                    <geom name="left_foot_link_vis_0" type="mesh" mesh="left_foot_link" contype="0" conaffinity="0" group="2" />
                    <geom name="left_foot_link_col_0" type="box" size="0.1115 0.05 0.015" pos="0.01 0.0 -0.015" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="Hip_Pitch_Right" pos="0.0 -0.106 0.0">
          <joint name="Right_Hip_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-1.8 1.57" />
          <inertial pos="0.000534 0.007514 -0.018082" mass="1.021" fullinertia="0.001805 0.001421 0.001292 -8e-06 -1.5e-05 -8.5e-05" />
          <geom name="Hip_Pitch_Right_vis_0" type="mesh" mesh="Hip_Pitch_Right" contype="0" conaffinity="0" group="2" />
          <body name="Hip_Roll_Right" pos="0.0 0.0 -0.02">
            <joint name="Right_Hip_Roll" type="hinge" axis="1.0 0.0 0.0" range="-1.57 0.2" />
            <inertial pos="0.001099 2.4e-05 -0.053748" mass="0.385" fullinertia="0.001517 0.001743 0.000515 0.0 1.7e-05 0.0" />
            <geom name="Hip_Roll_Right_vis_0" type="mesh" mesh="Hip_Roll_Right" contype="0" conaffinity="0" group="2" />
            <body name="Hip_Yaw_Right" pos="0.0 0.0 -0.081854">
              <joint name="Right_Hip_Yaw" type="hinge" axis="0.0 0.0 1.0" range="-1.0 1.0" />
              <inertial pos="-0.007191 -0.000149 -0.08922" mass="2.17" fullinertia="0.025137 0.025762 0.002787 6e-06 0.002086 4.4e-05" />
              <geom name="Hip_Yaw_Right_vis_0" type="mesh" mesh="Hip_Yaw_Right" contype="0" conaffinity="0" group="2" />
              <geom name="Hip_Yaw_Right_col_0" type="cylinder" size="0.05 0.08" group="3" />
              <body name="Shank_Right" pos="-0.014 0.0 -0.134">
                <joint name="Right_Knee_Pitch" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.34" />
                <inertial pos="-0.005741 -0.000541 -0.122602" mass="1.79" fullinertia="0.035098 0.034958 0.002039 -9e-06 0.001554 -8.6e-05" />
                <geom name="Shank_Right_vis_0" type="mesh" mesh="Shank_Right" contype="0" conaffinity="0" group="2" />
                <geom name="Shank_Right_col_0" type="cylinder" size="0.05 0.075" pos="0.0 0.0 -0.12" group="3" />
                <body name="Ankle_Cross_Right" pos="0.0 0.0 -0.28">
                  <joint name="Right_Ankle_Pitch" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.35" />
                  <inertial pos="-0.003722 0.0 -0.007981" mass="0.073" fullinertia="1.2e-05 2.9e-05 2.5e-05 0.0 3e-06 0.0" />
                  <geom name="Ankle_Cross_Right_vis_0" type="mesh" mesh="Ankle_Cross_Right" contype="0" conaffinity="0" group="2" />
                  <body name="right_foot_link" pos="0.0 -0.00025 -0.012">
                    <joint name="Right_Ankle_Roll" type="hinge" axis="1.0 0.0 0.0" range="-0.44 0.44" />
                    <inertial pos="-0.000248 0.0 -0.00914" mass="0.685" fullinertia="0.002214 0.002385 0.002671 0.0 -0.000114 0.0" />
                    <geom name="right_foot_link_vis_0" type="mesh" mesh="right_foot_link" contype="0" conaffinity="0" group="2" />
                    <geom name="right_foot_link_col_0" type="box" size="0.1115 0.05 0.015" pos="0.01 0.0 -0.015" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="Trunk" body2="H1" />
    <exclude body1="H1" body2="H2" />
    <exclude body1="Trunk" body2="AL1" />
    <exclude body1="AL1" body2="AL2" />
    <exclude body1="AL2" body2="AL3" />
    <exclude body1="AL3" body2="left_hand_link" />
    <exclude body1="Trunk" body2="AR1" />
    <exclude body1="AR1" body2="AR2" />
    <exclude body1="AR2" body2="AR3" />
    <exclude body1="AR3" body2="right_hand_link" />
    <exclude body1="Trunk" body2="Waist" />
    <exclude body1="Waist" body2="Hip_Pitch_Left" />
    <exclude body1="Hip_Pitch_Left" body2="Hip_Roll_Left" />
    <exclude body1="Hip_Roll_Left" body2="Hip_Yaw_Left" />
    <exclude body1="Hip_Yaw_Left" body2="Shank_Left" />
    <exclude body1="Shank_Left" body2="Ankle_Cross_Left" />
    <exclude body1="Ankle_Cross_Left" body2="left_foot_link" />
    <exclude body1="Waist" body2="Hip_Pitch_Right" />
    <exclude body1="Hip_Pitch_Right" body2="Hip_Roll_Right" />
    <exclude body1="Hip_Roll_Right" body2="Hip_Yaw_Right" />
    <exclude body1="Hip_Yaw_Right" body2="Shank_Right" />
    <exclude body1="Shank_Right" body2="Ankle_Cross_Right" />
    <exclude body1="Ankle_Cross_Right" body2="right_foot_link" />
  </contact>
</mujoco>
