<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b679872cf5f5fc93 -->
<mujoco model="Poppy_Torso">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_visual" file="poppy_torso_description/meshes/base_visual.STL" />
    <mesh name="base_respondable" file="poppy_torso_description/meshes/base_respondable.STL" />
    <mesh name="spine_visual" file="poppy_torso_description/meshes/spine_visual.STL" />
    <mesh name="spine_respondable" file="poppy_torso_description/meshes/spine_respondable.STL" />
    <mesh name="bust_motors_visual" file="poppy_torso_description/meshes/bust_motors_visual.STL" />
    <mesh name="bust_motors_respondable" file="poppy_torso_description/meshes/bust_motors_respondable.STL" />
    <mesh name="chest_visual" file="poppy_torso_description/meshes/chest_visual.STL" />
    <mesh name="chest_respondable" file="poppy_torso_description/meshes/chest_respondable.STL" />
    <mesh name="neck_visual" file="poppy_torso_description/meshes/neck_visual.STL" />
    <mesh name="neck_respondable" file="poppy_torso_description/meshes/neck_respondable.STL" />
    <mesh name="head_visual" file="poppy_torso_description/meshes/head_visual.STL" />
    <mesh name="head_respondable" file="poppy_torso_description/meshes/head_respondable.STL" />
    <mesh name="l_shoulder_visual" file="poppy_torso_description/meshes/l_shoulder_visual.STL" />
    <mesh name="l_shoulder_respondable" file="poppy_torso_description/meshes/l_shoulder_respondable.STL" />
    <mesh name="l_shoulder_motor_visual" file="poppy_torso_description/meshes/l_shoulder_motor_visual.STL" />
    <mesh name="l_shoulder_motor_respondable" file="poppy_torso_description/meshes/l_shoulder_motor_respondable.STL" />
    <mesh name="l_upper_arm_visual" file="poppy_torso_description/meshes/l_upper_arm_visual.STL" />
    <mesh name="l_upper_arm_respondable" file="poppy_torso_description/meshes/l_upper_arm_respondable.STL" />
    <mesh name="l_forearm_visual" file="poppy_torso_description/meshes/l_forearm_visual.STL" />
    <mesh name="l_forearm_respondable" file="poppy_torso_description/meshes/l_forearm_respondable.STL" />
    <mesh name="r_shoulder_visual" file="poppy_torso_description/meshes/r_shoulder_visual.STL" />
    <mesh name="r_shoulder_respondable" file="poppy_torso_description/meshes/r_shoulder_respondable.STL" />
    <mesh name="r_shoulder_motor_visual" file="poppy_torso_description/meshes/r_shoulder_motor_visual.STL" />
    <mesh name="r_shoulder_motor_respondable" file="poppy_torso_description/meshes/r_shoulder_motor_respondable.STL" />
    <mesh name="r_upper_arm_visual" file="poppy_torso_description/meshes/r_upper_arm_visual.STL" />
    <mesh name="r_upper_arm_respondable" file="poppy_torso_description/meshes/r_upper_arm_respondable.STL" />
    <mesh name="r_forearm_visual" file="poppy_torso_description/meshes/r_forearm_visual.STL" />
    <mesh name="r_forearm_respondable" file="poppy_torso_description/meshes/r_forearm_respondable.STL" />
  </asset>
  <worldbody>
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      <geom name="base_col_0" type="mesh" mesh="base_respondable" group="3" />
      <body name="spine" pos="0.0 0.0 0.08965" quat="0.7070755970372294 0.707078194275691 0.0065010600966175 0.0065010362169342336">
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        <geom name="spine_col_0" type="mesh" mesh="spine_respondable" group="3" />
        <body name="bust_motors" pos="0.0 0.07985 0.00279999999999998">
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          <inertial pos="3.50872416629779e-05 0.0105220286877652 -0.0174331453843439" mass="0.158876054570625" fullinertia="0.000100953683249293 8.94288410563621e-05 4.26225972692235e-05 -3.89105307189684e-07 9.71749941401585e-08 -1.31738255727689e-06" />
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          <geom name="bust_motors_col_0" type="mesh" mesh="bust_motors_respondable" group="3" />
          <body name="chest">
            <joint name="bust_x" type="hinge" axis="0.0 0.0 1.0" range="-0.698131700798 0.698131700798" />
            <inertial pos="2.35256459143538e-06 0.0514948183080913 -0.0105463056982622" mass="0.262925523172723" fullinertia="0.000154597294293882 0.000750952782458072 0.000688549998744818 2.32304239504647e-08 -2.47140128362103e-08 1.53530143139102e-06" />
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            <body name="neck" pos="0.0 0.084 0.00499999999999996">
              <joint name="head_z" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
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              <geom name="neck_vis_0" type="mesh" mesh="neck_visual" contype="0" conaffinity="0" group="2" />
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                <geom name="head_col_0" type="mesh" mesh="head_respondable" group="3" />
              </body>
            </body>
            <body name="l_shoulder" pos="0.0771000000000001 0.0499999999999999 0.00399999999999997" quat="0.7071067811865462 -0.7071067811865488 0.0 0.0">
              <joint name="l_shoulder_y" type="hinge" axis="1.0 0.0 0.0" range="-2.09439510239 2.70526034059" />
              <inertial pos="0.0105246491971973 0.00179805316216127 -0.00915201992957032" mass="0.00843598968780806" fullinertia="3.39606863056539e-06 3.56726082486902e-06 1.84634806401887e-06 -4.79545875245114e-08 2.95435354929514e-08 1.00382310579659e-08" />
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              <geom name="l_shoulder_col_0" type="mesh" mesh="l_shoulder_respondable" group="3" />
              <body name="l_shoulder_motor" pos="0.0284 0.0 0.0" quat="1.1423625238904151e-15 0.7071067811865462 0.7071067811865488 1.1423625238904192e-15">
                <joint name="l_shoulder_x" type="hinge" axis="0.0 0.0 1.0" range="-1.83259571459 1.91986217719" />
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                <geom name="l_shoulder_motor_vis_0" type="mesh" mesh="l_shoulder_motor_visual" contype="0" conaffinity="0" group="2" />
                <geom name="l_shoulder_motor_col_0" type="mesh" mesh="l_shoulder_motor_respondable" group="3" />
                <body name="l_upper_arm" pos="0.0 0.03625 0.0185000000000001">
                  <joint name="l_arm_z" type="hinge" axis="0.0 1.0 0.0" range="-1.83259571459 1.83259571459" />
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                  <geom name="l_upper_arm_vis_0" type="mesh" mesh="l_upper_arm_visual" contype="0" conaffinity="0" group="2" />
                  <geom name="l_upper_arm_col_0" type="mesh" mesh="l_upper_arm_respondable" group="3" />
                  <body name="l_forearm" pos="0.0 0.11175 -0.00999999999999998">
                    <joint name="l_elbow_y" type="hinge" axis="1.0 0.0 0.0" range="-2.58308729295 0.0174532925199" />
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                    <geom name="l_forearm_vis_0" type="mesh" mesh="l_forearm_visual" contype="0" conaffinity="0" group="2" />
                    <geom name="l_forearm_col_0" type="mesh" mesh="l_forearm_respondable" group="3" />
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              <geom name="r_shoulder_col_0" type="mesh" mesh="r_shoulder_respondable" group="3" />
              <body name="r_shoulder_motor" pos="-0.0284 0.0 0.0" quat="1.1423625238904151e-15 0.7071067811865462 -0.7071067811865488 -1.1423625238904192e-15">
                <joint name="r_shoulder_x" type="hinge" axis="0.0 0.0 -1.0" range="-1.91986217719 1.83259571459" />
                <inertial pos="2.25562237481797e-07 0.0125756739553211 0.00859826040204864" mass="0.0828144098443213" fullinertia="2.76486208811411e-05 1.64427853426986e-05 2.26416351010787e-05 1.32207552352561e-10 6.68897709796528e-10 7.23401723852708e-07" />
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                <geom name="r_shoulder_motor_col_0" type="mesh" mesh="r_shoulder_motor_respondable" group="3" />
                <body name="r_upper_arm" pos="0.0 0.03625 0.0185000000000002">
                  <joint name="r_arm_z" type="hinge" axis="0.0 1.0 0.0" range="-1.83259571459 1.83259571459" />
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                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="spine" />
    <exclude body1="spine" body2="bust_motors" />
    <exclude body1="bust_motors" body2="chest" />
    <exclude body1="chest" body2="neck" />
    <exclude body1="neck" body2="head" />
    <exclude body1="chest" body2="l_shoulder" />
    <exclude body1="l_shoulder" body2="l_shoulder_motor" />
    <exclude body1="l_shoulder_motor" body2="l_upper_arm" />
    <exclude body1="l_upper_arm" body2="l_forearm" />
    <exclude body1="chest" body2="r_shoulder" />
    <exclude body1="r_shoulder" body2="r_shoulder_motor" />
    <exclude body1="r_shoulder_motor" body2="r_upper_arm" />
    <exclude body1="r_upper_arm" body2="r_forearm" />
  </contact>
</mujoco>
