<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b84de32ba28f2368 -->
<mujoco model="NextageOpen">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="WAIST_Link_mesh" file="nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
    <mesh name="CHEST_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
    <mesh name="HEAD_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
    <mesh name="HEAD_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
    <mesh name="LARM_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
    <mesh name="LARM_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
    <mesh name="LARM_JOINT2_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
    <mesh name="LARM_JOINT3_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
    <mesh name="LARM_JOINT4_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
    <mesh name="LARM_JOINT5_Link_mesh" file="nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
    <mesh name="RARM_JOINT0_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
    <mesh name="RARM_JOINT1_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
    <mesh name="RARM_JOINT2_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
    <mesh name="RARM_JOINT3_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT3_Link_mesh.dae" />
    <mesh name="RARM_JOINT4_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT4_Link_mesh.dae" />
    <mesh name="RARM_JOINT5_Link_mesh" file="nextage_description/urdf/meshes/RARM_JOINT5_Link_mesh.dae" />
  </asset>
  <worldbody>
    <body name="WAIST">
      <inertial pos="0.0 0.0 0.0" mass="1000.0" fullinertia="20.0 20.0 20.0 0.0 0.0 0.0" />
      <geom name="WAIST_vis_0" type="mesh" mesh="WAIST_Link_mesh" pos="0.0 0.0 0.97" contype="0" conaffinity="0" group="2" />
      <geom name="WAIST_col_0" type="mesh" mesh="WAIST_Link_mesh" pos="0.0 0.0 0.97" group="3" />
      <body name="CHEST_JOINT0_Link">
        <joint name="CHEST_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-2.84489 2.84489" damping="0.2" />
        <inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="0.0639575 0.0310845 0.0501107 -0.00022833 0.00011172 6.48e-05" />
        <geom name="CHEST_JOINT0_Link_vis_0" type="mesh" mesh="CHEST_JOINT0_Link_mesh" contype="0" conaffinity="0" group="2" />
        <geom name="CHEST_JOINT0_Link_col_0" type="mesh" mesh="CHEST_JOINT0_Link_mesh" group="3" />
        <body name="HEAD_JOINT0_Link" pos="0.0 0.0 0.5695">
          <joint name="HEAD_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.22173 1.22173" damping="0.2" />
          <inertial pos="-2.292e-05 0.00547848 -0.00784016" mass="0.317929" fullinertia="0.00027682 0.00013009 0.00020954 3e-08 -3.3e-07 -1.092e-05" />
          <geom name="HEAD_JOINT0_Link_vis_0" type="mesh" mesh="HEAD_JOINT0_Link_mesh" pos="0.0 0.0 0.5695" contype="0" conaffinity="0" group="2" />
          <geom name="HEAD_JOINT0_Link_col_0" type="mesh" mesh="HEAD_JOINT0_Link_mesh" pos="0.0 0.0 0.5695" group="3" />
          <body name="HEAD_JOINT1_Link">
            <joint name="HEAD_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-0.349066 1.22173" damping="0.2" />
            <inertial pos="0.0 0.0 0.0" mass="0.0808593" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
            <geom name="HEAD_JOINT1_Link_vis_0" type="mesh" mesh="HEAD_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
            <geom name="HEAD_JOINT1_Link_col_0" type="mesh" mesh="HEAD_JOINT1_Link_mesh" group="3" />
          </body>
        </body>
        <body name="LARM_JOINT0_Link" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0">
          <joint name="LARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.53589 1.53589" damping="0.2" />
          <inertial pos="-0.00226388 -0.00521383 0.0156081" mass="1.32626" fullinertia="0.00207537 0.00240295 0.00141912 0.00011276 8.927e-05 -4.57e-05" />
          <geom name="LARM_JOINT0_Link_vis_0" type="mesh" mesh="LARM_JOINT0_Link_mesh" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="LARM_JOINT0_Link_col_0" type="mesh" mesh="LARM_JOINT0_Link_mesh" pos="0.0 0.145 0.370296" quat="0.991444886682765 -0.13052599997931216 0.0 0.0" group="3" />
          <body name="LARM_JOINT1_Link">
            <joint name="LARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-2.44346 1.0472" damping="0.2" />
            <inertial pos="-5.236e-05 0.0583134 -0.107061" mass="1.14898" fullinertia="0.0154168 0.0147117 0.0012658 9.95417e-07 3.38147e-06 0.00213719" />
            <geom name="LARM_JOINT1_Link_vis_0" type="mesh" mesh="LARM_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
            <geom name="LARM_JOINT1_Link_col_0" type="mesh" mesh="LARM_JOINT1_Link_mesh" group="3" />
            <body name="LARM_JOINT2_Link" pos="0.0 0.095 -0.25">
              <joint name="LARM_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.75762 0.0" damping="0.2" />
              <inertial pos="-2.254e-05 0.00167107 -0.0715116" mass="0.577518" fullinertia="0.00143966 0.00141763 0.0001972 -3e-07 1.2e-06 -7.596e-05" />
              <geom name="LARM_JOINT2_Link_vis_0" type="mesh" mesh="LARM_JOINT2_Link_mesh" pos="0.0 0.095 -0.25" contype="0" conaffinity="0" group="2" />
              <geom name="LARM_JOINT2_Link_col_0" type="mesh" mesh="LARM_JOINT2_Link_mesh" pos="0.0 0.095 -0.25" group="3" />
              <body name="LARM_JOINT3_Link" pos="-0.03 0.0 0.0">
                <joint name="LARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-1.8326 2.87979" damping="0.2" />
                <inertial pos="-1.788e-05 -0.00395812 -0.20273" mass="0.457418" fullinertia="0.00069205 0.00068903 0.00013509 3e-08 5.2e-07 -1.915e-05" />
                <geom name="LARM_JOINT3_Link_vis_0" type="mesh" mesh="LARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="LARM_JOINT3_Link_col_0" type="mesh" mesh="LARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" group="3" />
                <body name="LARM_JOINT4_Link" pos="0.0 0.0 -0.235">
                  <joint name="LARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.74533 1.74533" damping="0.2" />
                  <inertial pos="0.00243131 0.00379733 -0.0577036" mass="0.418434" fullinertia="0.00052016 0.00050569 0.00014004 1.69e-06 7.9e-06 -5.377e-05" />
                  <geom name="LARM_JOINT4_Link_vis_0" type="mesh" mesh="LARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" contype="0" conaffinity="0" group="2" />
                  <geom name="LARM_JOINT4_Link_col_0" type="mesh" mesh="LARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" group="3" />
                  <body name="LARM_JOINT5_Link" pos="-0.047 0.0 -0.09">
                    <joint name="LARM_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-2.84489 2.84489" damping="0.2" />
                    <inertial pos="-0.048476 -3.2e-06 -0.0388988" mass="1.05156" fullinertia="0.00194072 0.00209392 0.00035788 1.1e-07 -0.00042482 1.2e-07" />
                    <geom name="LARM_JOINT5_Link_vis_0" type="mesh" mesh="LARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" contype="0" conaffinity="0" group="2" />
                    <geom name="LARM_JOINT5_Link_col_0" type="mesh" mesh="LARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="RARM_JOINT0_Link" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0">
          <joint name="RARM_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.53589 1.53589" damping="0.2" />
          <inertial pos="-0.00226388 0.00521383 0.0156081" mass="1.32626" fullinertia="0.00207537 0.00240295 0.00141912 -0.00011276 8.927e-05 4.57e-05" />
          <geom name="RARM_JOINT0_Link_vis_0" type="mesh" mesh="RARM_JOINT0_Link_mesh" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="RARM_JOINT0_Link_col_0" type="mesh" mesh="RARM_JOINT0_Link_mesh" pos="0.0 -0.145 0.370296" quat="0.991444886682765 0.13052599997931216 0.0 0.0" group="3" />
          <body name="RARM_JOINT1_Link">
            <joint name="RARM_JOINT1" type="hinge" axis="0.0 1.0 0.0" range="-2.44346 1.0472" damping="0.2" />
            <inertial pos="-5.236e-05 -0.0583134 -0.107061" mass="1.14898" fullinertia="0.0154168 0.0147117 0.0012658 -9.95417e-07 3.38147e-06 -0.00213719" />
            <geom name="RARM_JOINT1_Link_vis_0" type="mesh" mesh="RARM_JOINT1_Link_mesh" contype="0" conaffinity="0" group="2" />
            <geom name="RARM_JOINT1_Link_col_0" type="mesh" mesh="RARM_JOINT1_Link_mesh" group="3" />
            <body name="RARM_JOINT2_Link" pos="0.0 -0.095 -0.25">
              <joint name="RARM_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.75762 0.0" damping="0.2" />
              <inertial pos="-2.254e-05 -0.00167107 -0.0715116" mass="0.577518" fullinertia="0.00143966 0.00141763 0.0001972 3e-07 1.2e-06 7.596e-05" />
              <geom name="RARM_JOINT2_Link_vis_0" type="mesh" mesh="RARM_JOINT2_Link_mesh" pos="0.0 -0.095 -0.25" contype="0" conaffinity="0" group="2" />
              <geom name="RARM_JOINT2_Link_col_0" type="mesh" mesh="RARM_JOINT2_Link_mesh" pos="0.0 -0.095 -0.25" group="3" />
              <body name="RARM_JOINT3_Link" pos="-0.03 0.0 0.0">
                <joint name="RARM_JOINT3" type="hinge" axis="0.0 0.0 1.0" range="-2.87979 1.8326" damping="0.2" />
                <inertial pos="-1.788e-05 0.00395812 -0.20273" mass="0.457418" fullinertia="0.00069205 0.00068903 0.00013509 -3e-08 5.2e-07 1.915e-05" />
                <geom name="RARM_JOINT3_Link_vis_0" type="mesh" mesh="RARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="RARM_JOINT3_Link_col_0" type="mesh" mesh="RARM_JOINT3_Link_mesh" pos="-0.03 0.0 0.0" group="3" />
                <body name="RARM_JOINT4_Link" pos="0.0 0.0 -0.235">
                  <joint name="RARM_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.74533 1.74533" damping="0.2" />
                  <inertial pos="0.00243131 -0.00379733 -0.0577036" mass="0.418434" fullinertia="0.00052016 0.00050569 0.00014004 -1.69e-06 7.9e-06 5.377e-05" />
                  <geom name="RARM_JOINT4_Link_vis_0" type="mesh" mesh="RARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" contype="0" conaffinity="0" group="2" />
                  <geom name="RARM_JOINT4_Link_col_0" type="mesh" mesh="RARM_JOINT4_Link_mesh" pos="0.0 0.0 -0.235" group="3" />
                  <body name="RARM_JOINT5_Link" pos="-0.047 0.0 -0.09">
                    <joint name="RARM_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-2.84489 2.84489" damping="0.2" />
                    <inertial pos="-0.048476 3.2e-06 -0.0388988" mass="1.05156" fullinertia="0.00194072 0.00209392 0.00035788 -1.1e-07 -0.00042482 -1.2e-07" />
                    <geom name="RARM_JOINT5_Link_vis_0" type="mesh" mesh="RARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" contype="0" conaffinity="0" group="2" />
                    <geom name="RARM_JOINT5_Link_col_0" type="mesh" mesh="RARM_JOINT5_Link_mesh" pos="-0.047 0.0 -0.09" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="WAIST" body2="CHEST_JOINT0_Link" />
    <exclude body1="CHEST_JOINT0_Link" body2="HEAD_JOINT0_Link" />
    <exclude body1="HEAD_JOINT0_Link" body2="HEAD_JOINT1_Link" />
    <exclude body1="CHEST_JOINT0_Link" body2="LARM_JOINT0_Link" />
    <exclude body1="LARM_JOINT0_Link" body2="LARM_JOINT1_Link" />
    <exclude body1="LARM_JOINT1_Link" body2="LARM_JOINT2_Link" />
    <exclude body1="LARM_JOINT2_Link" body2="LARM_JOINT3_Link" />
    <exclude body1="LARM_JOINT3_Link" body2="LARM_JOINT4_Link" />
    <exclude body1="LARM_JOINT4_Link" body2="LARM_JOINT5_Link" />
    <exclude body1="CHEST_JOINT0_Link" body2="RARM_JOINT0_Link" />
    <exclude body1="RARM_JOINT0_Link" body2="RARM_JOINT1_Link" />
    <exclude body1="RARM_JOINT1_Link" body2="RARM_JOINT2_Link" />
    <exclude body1="RARM_JOINT2_Link" body2="RARM_JOINT3_Link" />
    <exclude body1="RARM_JOINT3_Link" body2="RARM_JOINT4_Link" />
    <exclude body1="RARM_JOINT4_Link" body2="RARM_JOINT5_Link" />
  </contact>
</mujoco>
