<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 01b66a6e27b20278 -->
<mujoco model="GR1T1_nohand">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
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    <mesh name="left_thigh_roll_link" file="../meshes/left_thigh_roll_link.STL" />
    <mesh name="left_thigh_yaw_link" file="../meshes/left_thigh_yaw_link.STL" />
    <mesh name="left_thigh_pitch_link" file="../meshes/left_thigh_pitch_link.STL" />
    <mesh name="left_shank_pitch_link" file="../meshes/left_shank_pitch_link.STL" />
    <mesh name="left_foot_pitch_link" file="../meshes/left_foot_pitch_link.STL" />
    <mesh name="left_foot_roll_link" file="../meshes/left_foot_roll_link.STL" />
    <mesh name="right_thigh_roll_link" file="../meshes/right_thigh_roll_link.STL" />
    <mesh name="right_thigh_yaw_link" file="../meshes/right_thigh_yaw_link.STL" />
    <mesh name="right_thigh_pitch_link" file="../meshes/right_thigh_pitch_link.STL" />
    <mesh name="right_shank_pitch_link" file="../meshes/right_shank_pitch_link.STL" />
    <mesh name="right_foot_pitch_link" file="../meshes/right_foot_pitch_link.STL" />
    <mesh name="right_foot_roll_link" file="../meshes/right_foot_roll_link.STL" />
    <mesh name="waist_yaw_link" file="../meshes/waist_yaw_link.STL" />
    <mesh name="waist_pitch_link" file="../meshes/waist_pitch_link.STL" />
    <mesh name="waist_roll_link" file="../meshes/waist_roll_link.STL" />
    <mesh name="torso_link" file="../meshes/torso_link.STL" />
    <mesh name="left_upper_arm_pitch_link" file="../meshes/left_upper_arm_pitch_link.STL" />
    <mesh name="left_upper_arm_roll_link" file="../meshes/left_upper_arm_roll_link.STL" />
    <mesh name="left_upper_arm_yaw_link" file="../meshes/left_upper_arm_yaw_link.STL" />
    <mesh name="left_lower_arm_pitch_link" file="../meshes/left_lower_arm_pitch_link.STL" />
    <mesh name="left_hand_yaw_link" file="../meshes/left_hand_yaw_link.STL" />
    <mesh name="left_hand_roll_link" file="../meshes/left_hand_roll_link.STL" />
    <mesh name="left_hand_pitch_link" file="../meshes/left_hand_pitch_link.STL" />
    <mesh name="right_upper_arm_pitch_link" file="../meshes/right_upper_arm_pitch_link.STL" />
    <mesh name="right_upper_arm_roll_link" file="../meshes/right_upper_arm_roll_link.STL" />
    <mesh name="right_upper_arm_yaw_link" file="../meshes/right_upper_arm_yaw_link.STL" />
    <mesh name="right_lower_arm_pitch_link" file="../meshes/right_lower_arm_pitch_link.STL" />
    <mesh name="right_hand_yaw_link" file="../meshes/right_hand_yaw_link.STL" />
    <mesh name="right_hand_roll_link" file="../meshes/right_hand_roll_link.STL" />
    <mesh name="right_hand_pitch_link" file="../meshes/right_hand_pitch_link.STL" />
    <mesh name="head_yaw_link" file="../meshes/head_yaw_link.STL" />
    <mesh name="head_roll_link" file="../meshes/head_roll_link.STL" />
    <mesh name="head_pitch_link" file="../meshes/head_pitch_link.STL" />
    <mesh name="IMU_link" file="../meshes/IMU_link.STL" />
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                        <geom name="right_hand_yaw_link_vis_0" type="mesh" mesh="right_hand_yaw_link" contype="0" conaffinity="0" group="2" />
                        <geom name="right_hand_yaw_link_col_0" type="cylinder" size="0.04157192402358859 0.06959367975889465" pos="0.0010892501812804515 0.0006411136604867 -0.07604285011805535" group="3" />
                        <body name="right_hand_roll_link" pos="0.0 0.0 -0.18765">
                          <joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.96 0.87" />
                          <inertial pos="0.0 -0.00129 -0.0117" mass="0.0295" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 4.6e-07" />
                          <geom name="right_hand_roll_link_vis_0" type="mesh" mesh="right_hand_roll_link" contype="0" conaffinity="0" group="2" />
                          <body name="right_hand_pitch_link">
                            <joint name="right_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.61 0.61" />
                            <inertial pos="0.0 -0.00129 -0.0117" mass="0.0295" fullinertia="5.38e-06 1e-05 8.92e-06 0.0 0.0 4.6e-07" />
                            <geom name="right_hand_pitch_link_vis_0" type="mesh" mesh="right_hand_pitch_link" contype="0" conaffinity="0" group="2" />
                            <body name="right_end_effector_link" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="head_yaw_link" pos="0.0 0.0 0.17339">
                <joint name="head_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.71 2.71" />
                <inertial pos="-0.0001367 -0.000134 0.05313" mass="0.45" fullinertia="0.0007357 0.0007692 0.0001691 -8.7e-07 1.075e-05 1.54e-06" />
                <geom name="head_yaw_link_vis_0" type="mesh" mesh="head_yaw_link" contype="0" conaffinity="0" group="2" />
                <body name="head_roll_link" pos="0.0 -0.00105 0.14195">
                  <joint name="head_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.35 0.35" />
                  <inertial pos="-3e-05 0.01418 -0.00267" mass="0.1267" fullinertia="1.95e-05 1.746e-05 1.961e-05 -1.57e-06 -1.33e-06 -1.44e-06" />
                  <geom name="head_roll_link_vis_0" type="mesh" mesh="head_roll_link" contype="0" conaffinity="0" group="2" />
                  <body name="head_pitch_link">
                    <joint name="head_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.87 0.87" />
                    <inertial pos="0.02654 0.002225 -0.01063" mass="0.45" fullinertia="0.001107 0.001414 0.001518 1.689e-05 0.0002775 -8.33e-06" />
                    <geom name="head_pitch_link_vis_0" type="mesh" mesh="head_pitch_link" contype="0" conaffinity="0" group="2" />
                    <geom name="head_pitch_link_col_0" type="sphere" size="0.1086868692306477" pos="0.018281080808229797 0.0 -0.01336201800288447" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="IMU_link" pos="-0.064772 0.0 -0.0596">
        <inertial pos="-0.0003275 0.0 -0.005737" mass="0.05" fullinertia="1.122e-05 1.199e-05 1.442e-05 0.0 -1.8e-07 0.0" />
        <geom name="IMU_link_vis_0" type="mesh" mesh="IMU_link" contype="0" conaffinity="0" group="2" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="left_thigh_roll_link" />
    <exclude body1="left_thigh_roll_link" body2="left_thigh_yaw_link" />
    <exclude body1="left_thigh_yaw_link" body2="left_thigh_pitch_link" />
    <exclude body1="left_thigh_pitch_link" body2="left_shank_pitch_link" />
    <exclude body1="left_shank_pitch_link" body2="left_foot_pitch_link" />
    <exclude body1="left_foot_pitch_link" body2="left_foot_roll_link" />
    <exclude body1="base_link" body2="right_thigh_roll_link" />
    <exclude body1="right_thigh_roll_link" body2="right_thigh_yaw_link" />
    <exclude body1="right_thigh_yaw_link" body2="right_thigh_pitch_link" />
    <exclude body1="right_thigh_pitch_link" body2="right_shank_pitch_link" />
    <exclude body1="right_shank_pitch_link" body2="right_foot_pitch_link" />
    <exclude body1="right_foot_pitch_link" body2="right_foot_roll_link" />
    <exclude body1="base_link" body2="waist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="waist_pitch_link" />
    <exclude body1="waist_pitch_link" body2="waist_roll_link" />
    <exclude body1="waist_roll_link" body2="torso_link" />
    <exclude body1="torso_link" body2="left_upper_arm_pitch_link" />
    <exclude body1="left_upper_arm_pitch_link" body2="left_upper_arm_roll_link" />
    <exclude body1="left_upper_arm_roll_link" body2="left_upper_arm_yaw_link" />
    <exclude body1="left_upper_arm_yaw_link" body2="left_lower_arm_pitch_link" />
    <exclude body1="left_lower_arm_pitch_link" body2="left_hand_yaw_link" />
    <exclude body1="left_hand_yaw_link" body2="left_hand_roll_link" />
    <exclude body1="left_hand_roll_link" body2="left_hand_pitch_link" />
    <exclude body1="left_hand_pitch_link" body2="left_end_effector_link" />
    <exclude body1="torso_link" body2="right_upper_arm_pitch_link" />
    <exclude body1="right_upper_arm_pitch_link" body2="right_upper_arm_roll_link" />
    <exclude body1="right_upper_arm_roll_link" body2="right_upper_arm_yaw_link" />
    <exclude body1="right_upper_arm_yaw_link" body2="right_lower_arm_pitch_link" />
    <exclude body1="right_lower_arm_pitch_link" body2="right_hand_yaw_link" />
    <exclude body1="right_hand_yaw_link" body2="right_hand_roll_link" />
    <exclude body1="right_hand_roll_link" body2="right_hand_pitch_link" />
    <exclude body1="right_hand_pitch_link" body2="right_end_effector_link" />
    <exclude body1="torso_link" body2="head_yaw_link" />
    <exclude body1="head_yaw_link" body2="head_roll_link" />
    <exclude body1="head_roll_link" body2="head_pitch_link" />
    <exclude body1="base_link" body2="IMU_link" />
  </contact>
</mujoco>
