<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 15e401c3952f8b17 -->
<mujoco model="N1">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="../meshes/base_link.STL" />
    <mesh name="left_thigh_pitch_link" file="../meshes/left_thigh_pitch_link.STL" />
    <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_shank_pitch_link" file="../meshes/left_shank_pitch_link.STL" />
    <mesh name="left_foot_roll_link" file="../meshes/left_foot_roll_link.STL" />
    <mesh name="left_foot_pitch_link" file="../meshes/left_foot_pitch_link.STL" />
    <mesh name="right_thigh_pitch_link" file="../meshes/right_thigh_pitch_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_shank_pitch_link" file="../meshes/right_shank_pitch_link.STL" />
    <mesh name="right_foot_roll_link" file="../meshes/right_foot_roll_link.STL" />
    <mesh name="right_foot_pitch_link" file="../meshes/right_foot_pitch_link.STL" />
    <mesh name="imu_link" file="../meshes/imu_link.STL" />
    <mesh name="waist_yaw_link" file="../meshes/waist_yaw_link.STL" />
    <mesh name="torso_link" file="../meshes/torso_link.STL" />
    <mesh name="camera_link" file="../meshes/camera_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_end_effector_link" file="../meshes/left_end_effector_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_end_effector_link" file="../meshes/right_end_effector_link.STL" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.00025493 1.049e-05 -0.05502" mass="3.18" fullinertia="0.011139 0.007619 0.0089904 -1.3e-07 -2.455e-05 -9.79e-06" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="cylinder" size="0.065 0.0675" pos="0.0 0.0 -0.05" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
      <body name="left_thigh_pitch_link" pos="0.0 0.050453 -0.067365" quat="0.991444821419641 -0.1305264957017392 0.0 0.0">
        <joint name="left_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.617 2.617" />
        <inertial pos="-0.017114 0.035514 0.00025368" mass="1.31" fullinertia="0.0020997 0.0024416 0.0035344 0.0008376 -2.51e-06 -3.69e-06" />
        <geom name="left_thigh_pitch_link_vis_0" type="mesh" mesh="left_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
        <body name="left_thigh_roll_link" pos="0.0 0.072 0.0" quat="0.991444821419641 0.1305264957017392 0.0 0.0">
          <joint name="left_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.261 1.57" />
          <inertial pos="-0.0029103 -4.92e-06 -0.020023" mass="1.35" fullinertia="0.0018894 0.0018265 0.0013075 -2.66e-06 7.439e-05 -3.23e-06" />
          <geom name="left_thigh_roll_link_vis_0" type="mesh" mesh="left_thigh_roll_link" contype="0" conaffinity="0" group="2" />
          <geom name="left_thigh_roll_link_col_0" type="cylinder" size="0.0415 0.06" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="left_thigh_yaw_link" pos="0.0 0.0 -0.0815">
            <joint name="left_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
            <inertial pos="0.0021441 -0.010608 -0.086616" mass="3.37" fullinertia="0.01475 0.014824 0.005307 -8.532e-05 0.00058666 -0.00082274" />
            <geom name="left_thigh_yaw_link_vis_0" type="mesh" mesh="left_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
            <geom name="left_thigh_yaw_link_col_0" type="cylinder" size="0.06 0.095" pos="0.0 0.0 -0.08" group="3" />
            <body name="left_shank_pitch_link" pos="0.0 0.0 -0.2075">
              <joint name="left_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.0872 2.356" />
              <inertial pos="0.0027736 0.0049964 -0.13547" mass="2.21" fullinertia="0.013529 0.013565 0.0016244 2.941e-05 -0.0001756 -0.00024128" />
              <geom name="left_shank_pitch_link_vis_0" type="mesh" mesh="left_shank_pitch_link" contype="0" conaffinity="0" group="2" />
              <geom name="left_shank_pitch_link_col_0" type="cylinder" size="0.04 0.1" pos="0.0 0.0 -0.12" group="3" />
              <body name="left_foot_roll_link" pos="0.0 0.0 -0.28">
                <joint name="left_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.436 0.436" />
                <inertial pos="0.0 0.0018625 0.0" mass="0.113" fullinertia="2.49e-05 1.175e-05 2.927e-05 0.0 0.0 0.0" />
                <geom name="left_foot_roll_link_vis_0" type="mesh" mesh="left_foot_roll_link" contype="0" conaffinity="0" group="2" />
                <body name="left_foot_pitch_link">
                  <joint name="left_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.785 0.785" />
                  <inertial pos="0.031083 -0.00011033 -0.031859" mass="0.528" fullinertia="0.00025372 0.0016804 0.0018324 6.21e-06 9.43e-06 -6.8e-07" />
                  <geom name="left_foot_pitch_link_vis_0" type="mesh" mesh="left_foot_pitch_link" contype="0" conaffinity="0" group="2" />
                  <geom name="left_foot_pitch_link_col_0" type="mesh" mesh="left_foot_pitch_link" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="right_thigh_pitch_link" pos="0.0 -0.050453 -0.067365" quat="0.991444821419641 0.1305264957017392 0.0 0.0">
        <joint name="right_hip_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.617 2.617" />
        <inertial pos="-0.017114 -0.035515 0.0002533" mass="1.31" fullinertia="0.0020997 0.0024416 0.0035342 -0.00083756 -2.59e-06 3.65e-06" />
        <geom name="right_thigh_pitch_link_vis_0" type="mesh" mesh="right_thigh_pitch_link" contype="0" conaffinity="0" group="2" />
        <body name="right_thigh_roll_link" pos="0.0 -0.072 0.0" quat="0.991444821419641 -0.1305264957017392 0.0 0.0">
          <joint name="right_hip_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.57 0.261" />
          <inertial pos="-0.0029092 1.208e-05 -0.020023" mass="1.35" fullinertia="0.0018893 0.0018266 0.0013075 -3.06e-06 7.448e-05 -2.33e-06" />
          <geom name="right_thigh_roll_link_vis_0" type="mesh" mesh="right_thigh_roll_link" contype="0" conaffinity="0" group="2" />
          <geom name="right_thigh_roll_link_col_0" type="cylinder" size="0.0415 0.06" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="right_thigh_yaw_link" pos="0.0 0.0 -0.0815">
            <joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
            <inertial pos="0.002043 0.010083 -0.086622" mass="3.37" fullinertia="0.014825 0.014882 0.005312 4.648e-05 0.00059303 0.00079496" />
            <geom name="right_thigh_yaw_link_vis_0" type="mesh" mesh="right_thigh_yaw_link" contype="0" conaffinity="0" group="2" />
            <geom name="right_thigh_yaw_link_col_0" type="cylinder" size="0.06 0.095" pos="0.0 0.0 -0.08" group="3" />
            <body name="right_shank_pitch_link" pos="0.0 0.0 -0.2075">
              <joint name="right_knee_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.0872 2.356" />
              <inertial pos="0.0026916 -0.004784 -0.13593" mass="2.21" fullinertia="0.013356 0.013383 0.0016428 -2.679e-05 -0.00016834 0.00022613" />
              <geom name="right_shank_pitch_link_vis_0" type="mesh" mesh="right_shank_pitch_link" contype="0" conaffinity="0" group="2" />
              <geom name="right_shank_pitch_link_col_0" type="cylinder" size="0.04 0.1" pos="0.0 0.0 -0.12" group="3" />
              <body name="right_foot_roll_link" pos="0.0 0.0 -0.28">
                <joint name="right_ankle_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.436 0.436" />
                <inertial pos="0.0 -0.0018793 0.0" mass="0.113" fullinertia="2.497e-05 1.175e-05 2.933e-05 0.0 0.0 0.0" />
                <geom name="right_foot_roll_link_vis_0" type="mesh" mesh="right_foot_roll_link" contype="0" conaffinity="0" group="2" />
                <body name="right_foot_pitch_link">
                  <joint name="right_ankle_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.785 0.785" />
                  <inertial pos="0.031082 0.0001577 -0.031593" mass="0.528" fullinertia="0.00025371 0.0016803 0.0018324 -6.64e-06 9.42e-06 -1.1e-07" />
                  <geom name="right_foot_pitch_link_vis_0" type="mesh" mesh="right_foot_pitch_link" contype="0" conaffinity="0" group="2" />
                  <geom name="right_foot_pitch_link_col_0" type="mesh" mesh="right_foot_pitch_link" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="imu_link" pos="0.0 0.0 -0.1472">
        <inertial pos="-0.0071125 0.0 0.00072936" mass="0.038" fullinertia="8.69e-06 2.012e-05 2.336e-05 0.0 5e-07 0.0" />
        <geom name="imu_link_vis_0" type="mesh" mesh="imu_link" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="waist_yaw_link" pos="0.0 0.0 0.0256">
        <joint name="waist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.617 2.617" />
        <inertial pos="0.00025493 1.049e-05 -0.05502" mass="3.18" fullinertia="0.011139 0.007619 0.0089904 -1.3e-07 -2.455e-05 -9.79e-06" />
        <geom name="waist_yaw_link_vis_0" type="mesh" mesh="waist_yaw_link" contype="0" conaffinity="0" group="2" />
        <geom name="waist_yaw_link_col_0" type="cylinder" size="0.06 0.0275" pos="0.0 0.0 0.04" group="3" />
        <body name="torso_link" pos="0.0 0.0 0.2598">
          <inertial pos="0.0070827 0.00038627 -0.041747" mass="7.99" fullinertia="0.081895 0.070788 0.035401 4.891e-05 -0.00016303 0.00029003" />
          <geom name="torso_link_vis_0" type="mesh" mesh="torso_link" contype="0" conaffinity="0" group="2" />
          <geom name="torso_link_col_0" type="cylinder" size="0.1 0.11" pos="0.0 0.0 -0.06" group="3" />
          <geom name="torso_link_col_1" type="sphere" size="0.08" pos="0.0 0.0 0.19" group="3" />
          <body name="camera_link" pos="0.071343 -0.0048077 0.17959" quat="0.9653790609687551 0.008705955864825579 0.2586731732147929 -0.03249099005192128">
            <inertial pos="0.011772 0.0016608 2.48e-06" mass="0.0382" fullinertia="2.466e-05 3.66e-06 2.483e-05 1.7e-07 1e-08 1e-08" />
            <geom name="camera_link_vis_0" type="mesh" mesh="camera_link" contype="0" conaffinity="0" group="2" />
          </body>
          <body name="left_upper_arm_pitch_link" pos="0.0 0.09765 0.0">
            <joint name="left_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.966 2.966" />
            <inertial pos="-0.00045952 0.060859 7.73e-05" mass="0.885" fullinertia="0.00083561 0.00051968 0.00081414 1.518e-05 2.12e-06 -9.9e-07" />
            <geom name="left_upper_arm_pitch_link_vis_0" type="mesh" mesh="left_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
            <body name="left_upper_arm_roll_link" pos="0.0 0.078 0.0">
              <joint name="left_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.174 2.792" />
              <inertial pos="0.0049529 0.00053148 -0.043369" mass="0.716" fullinertia="0.0017864 0.001897 0.00048987 9.2e-07 -0.00015431 -4.13e-06" />
              <geom name="left_upper_arm_roll_link_vis_0" type="mesh" mesh="left_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
              <geom name="left_upper_arm_roll_link_col_0" type="sphere" size="0.032" group="3" />
              <body name="left_upper_arm_yaw_link" pos="0.0 0.0 -0.1005">
                <joint name="left_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
                <inertial pos="0.0 -0.00057869 -0.060729" mass="0.913" fullinertia="0.0028954 0.0029133 0.00060525 -1.94e-06 -5.05e-06 -3.918e-05" />
                <geom name="left_upper_arm_yaw_link_vis_0" type="mesh" mesh="left_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
                <geom name="left_upper_arm_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
                <body name="left_lower_arm_pitch_link" pos="0.0 0.0 -0.1095" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
                  <joint name="left_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.349 1.658" />
                  <inertial pos="-0.00053164 0.0049499 -0.04337" mass="0.716" fullinertia="0.0018966 0.0017861 0.00048976 -9.2e-07 4.05e-06 -0.00015416" />
                  <geom name="left_lower_arm_pitch_link_vis_0" type="mesh" mesh="left_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
                  <body name="left_hand_yaw_link" pos="0.0 0.0 -0.1005">
                    <joint name="left_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
                    <inertial pos="-0.0020835 6.386e-05 -0.013715" mass="0.44" fullinertia="0.00043354 0.0004076 0.00027007 9.3e-07 7.3e-07 -3.5e-07" />
                    <geom name="left_hand_yaw_link_vis_0" type="mesh" mesh="left_hand_yaw_link" contype="0" conaffinity="0" group="2" />
                    <geom name="left_hand_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
                    <body name="left_end_effector_link" pos="0.0 0.0 -0.1045">
                      <inertial pos="0.003465 0.0 0.0" mass="0.0994" fullinertia="3.741e-05 3.741e-05 4.538e-05 0.0 0.0 0.0" />
                      <geom name="left_end_effector_link_vis_0" type="mesh" mesh="left_end_effector_link" contype="0" conaffinity="0" group="2" />
                      <geom name="left_end_effector_link_col_0" type="sphere" size="0.02751" group="3" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
          <body name="right_upper_arm_pitch_link" pos="0.0 -0.09765 0.0">
            <joint name="right_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.966 2.966" />
            <inertial pos="-0.00045952 -0.060859 -7.73e-05" mass="0.885" fullinertia="0.00083561 0.00051968 0.00081414 -1.518e-05 -2.12e-06 -9.9e-07" />
            <geom name="right_upper_arm_pitch_link_vis_0" type="mesh" mesh="right_upper_arm_pitch_link" contype="0" conaffinity="0" group="2" />
            <body name="right_upper_arm_roll_link" pos="0.0 -0.078 0.0">
              <joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-2.792 0.174" />
              <inertial pos="0.0049504 -0.0005218 -0.043377" mass="0.716" fullinertia="0.0017858 0.0018963 0.00048949 -9.2e-07 -0.00015415 3.9e-06" />
              <geom name="right_upper_arm_roll_link_vis_0" type="mesh" mesh="right_upper_arm_roll_link" contype="0" conaffinity="0" group="2" />
              <geom name="right_upper_arm_roll_link_col_0" type="sphere" size="0.032" group="3" />
              <body name="right_upper_arm_yaw_link" pos="0.0 0.0 -0.1005">
                <joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
                <inertial pos="0.0 0.00055669 -0.060729" mass="0.913" fullinertia="0.0028945 0.0029142 0.00060529 -5.07e-06 3.43e-06 3.939e-05" />
                <geom name="right_upper_arm_yaw_link_vis_0" type="mesh" mesh="right_upper_arm_yaw_link" contype="0" conaffinity="0" group="2" />
                <geom name="right_upper_arm_yaw_link_col_0" type="cylinder" size="0.032 0.06" group="3" />
                <body name="right_lower_arm_pitch_link" pos="0.0 0.0 -0.1095" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
                  <joint name="right_elbow_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.349 1.658" />
                  <inertial pos="-0.0005218 -0.0049504 -0.043377" mass="0.716" fullinertia="0.0018963 0.0017858 0.00048949 9.2e-07 3.9e-06 0.00015415" />
                  <geom name="right_lower_arm_pitch_link_vis_0" type="mesh" mesh="right_lower_arm_pitch_link" contype="0" conaffinity="0" group="2" />
                  <body name="right_hand_yaw_link" pos="0.0 0.0 -0.1005">
                    <joint name="right_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.832 1.832" />
                    <inertial pos="-0.00020719 -1.94e-05 -0.013715" mass="0.44" fullinertia="0.00043227 0.00040887 0.00027007 1.81e-06 1.25e-06 -8.8e-07" />
                    <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="0.032 0.06" group="3" />
                    <body name="right_end_effector_link" pos="0.0 0.0 -0.1045">
                      <inertial pos="0.003465 0.0 0.0" mass="0.0994" fullinertia="3.741e-05 3.741e-05 4.538e-05 0.0 0.0 0.0" />
                      <geom name="right_end_effector_link_vis_0" type="mesh" mesh="right_end_effector_link" contype="0" conaffinity="0" group="2" />
                      <geom name="right_end_effector_link_col_0" type="sphere" size="0.02751" group="3" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="left_thigh_pitch_link" />
    <exclude body1="left_thigh_pitch_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_shank_pitch_link" />
    <exclude body1="left_shank_pitch_link" body2="left_foot_roll_link" />
    <exclude body1="left_foot_roll_link" body2="left_foot_pitch_link" />
    <exclude body1="base_link" body2="right_thigh_pitch_link" />
    <exclude body1="right_thigh_pitch_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_shank_pitch_link" />
    <exclude body1="right_shank_pitch_link" body2="right_foot_roll_link" />
    <exclude body1="right_foot_roll_link" body2="right_foot_pitch_link" />
    <exclude body1="base_link" body2="imu_link" />
    <exclude body1="base_link" body2="waist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="torso_link" />
    <exclude body1="torso_link" body2="camera_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_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_end_effector_link" />
  </contact>
</mujoco>
