<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 0e31ddb2e3f0930b -->
<mujoco model="simple_humanoid">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="WAIST_LINK1_APP" rgba="0.6 1.0 0.6 1.0" />
    <material name="WAIST_LINK2_APP" rgba="0.6 0.8 0.6 1.0" />
    <material name="WAIST_LINK3_APP" rgba="0.8 0.8 0.8 1.0" />
  </asset>
  <worldbody>
    <body name="base_link">
      <body name="BODY">
        <inertial pos="0.0 0.0 0.0375" mass="27.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
        <geom name="BODY_vis_0" type="box" size="0.025 0.025 0.0555" pos="0.0 0.0 0.0955" contype="0" conaffinity="0" group="2" />
        <geom name="BODY_vis_1" type="box" size="0.04 0.04 0.04" contype="0" conaffinity="0" group="2" />
        <body name="RLEG_LINK1" pos="0.0 -0.09 0.0">
          <joint name="RLEG_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.349065850399 1.57079632679" />
          <inertial pos="0.0 -0.1 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="RLEG_LINK1_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
          <body name="RLEG_LINK2">
            <joint name="RLEG_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-0.5236 0.5236" />
            <inertial pos="0.0 0.0 -0.15" mass="2.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="RLEG_LINK2_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
            <body name="RLEG_LINK3" pos="0.0 0.0 -0.3535">
              <joint name="RLEG_HIP_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.095 0.7" />
              <inertial pos="0.0 -0.04 0.0" mass="5.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="RLEG_LINK3_vis_0" type="box" size="0.05 0.05 0.07675" pos="0.0 0.0 0.22675" contype="0" conaffinity="0" group="2" />
              <geom name="RLEG_LINK3_vis_1" type="cylinder" size="0.05 0.05" pos="0.0 0.0 0.1" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
              <body name="RLEG_LINK4">
                <joint name="RLEG_KNEE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
                <inertial pos="0.0 0.0 -0.3" mass="7.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                <geom name="RLEG_LINK4_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="RLEG_LINK4_vis_1" type="box" size="0.05 0.05 0.1" pos="0.0 0.0 -0.15" contype="0" conaffinity="0" group="2" />
                <body name="RLEG_LINK5" pos="0.0 0.0 -0.3">
                  <joint name="RLEG_ANKLE_P" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
                  <inertial pos="-0.15 0.0 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                  <geom name="RLEG_LINK5_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
                  <body name="r_ankle">
                    <joint name="RLEG_ANKLE_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 0.68" />
                    <inertial pos="0.28 0.0 -0.2" mass="1.9" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                    <geom name="r_ankle_vis_0" type="box" size="0.125 0.07 0.01" pos="0.055 0.0 -0.06" contype="0" conaffinity="0" group="2" />
                    <geom name="r_ankle_vis_1" type="cylinder" size="0.05 0.05" pos="0.1 0.0 0.0" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="LLEG_LINK1" pos="0.0 0.09 0.0">
          <joint name="LLEG_HIP_R" type="hinge" axis="1.0 0.0 0.0" range="-0.349065850399 1.57079632679" />
          <inertial pos="0.0 0.1 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="LLEG_LINK1_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071231599922605 0.0 0.0 0.7070904020014415" contype="0" conaffinity="0" group="2" />
          <body name="LLEG_LINK2">
            <joint name="LLEG_HIP_P" type="hinge" axis="0.0 1.0 0.0" range="-0.349065850399 1.57079632679" />
            <inertial pos="0.0 0.0 -0.15" mass="2.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="LLEG_LINK2_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
            <body name="LLEG_LINK3" pos="0.0 0.0 -0.3535">
              <joint name="LLEG_HIP_Y" type="hinge" axis="0.0 0.0 1.0" range="-0.5236 0.5236" />
              <inertial pos="0.0 0.04 0.0" mass="5.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="LLEG_LINK3_vis_0" type="box" size="0.05 0.05 0.07675" pos="0.0 0.0 0.22675" contype="0" conaffinity="0" group="2" />
              <geom name="LLEG_LINK3_vis_1" type="cylinder" size="0.05 0.05" pos="0.0 0.0 0.1" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
              <body name="LLEG_LINK4">
                <joint name="LLEG_KNEE" type="hinge" axis="0.0 1.0 0.0" range="-2.095 0.7" />
                <inertial pos="0.0 0.0 -0.3" mass="7.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                <geom name="LLEG_LINK4_vis_0" type="cylinder" size="0.05 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="LLEG_LINK4_vis_1" type="box" size="0.05 0.05 0.1" pos="0.0 0.0 -0.15" contype="0" conaffinity="0" group="2" />
                <body name="LLEG_LINK5" pos="0.0 0.0 -0.3">
                  <joint name="LLEG_ANKLE_P" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
                  <inertial pos="-0.15 0.0 0.0" mass="2.5" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                  <geom name="LLEG_LINK5_vis_0" type="cylinder" size="0.05 0.05" contype="0" conaffinity="0" group="2" />
                  <body name="l_ankle">
                    <joint name="LLEG_ANKLE_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 0.68" />
                    <inertial pos="0.28 0.0 -0.2" mass="1.9" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                    <geom name="l_ankle_vis_0" type="box" size="0.125 0.07 0.01" pos="0.055 0.0 -0.06" contype="0" conaffinity="0" group="2" />
                    <geom name="l_ankle_vis_1" type="cylinder" size="0.05 0.05" pos="0.1 0.0 0.0" quat="0.7071054825112363 0.0 0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="WAIST_LINK1" pos="0.0 0.0 0.176">
          <joint name="WAIST_P" type="hinge" axis="0.0 1.0 0.0" range="-1.27 1.27" />
          <inertial pos="0.0 0.0 -0.1" mass="6.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="WAIST_LINK1_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK1_APP" />
          <body name="WAIST_LINK2">
            <joint name="WAIST_R" type="hinge" axis="1.0 0.0 0.0" range="-1.27 1.27" />
            <inertial pos="0.11 0.0 0.25" mass="30.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="WAIST_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" material="WAIST_LINK2_APP" />
            <geom name="WAIST_LINK2_vis_1" type="box" size="0.025 0.025 0.1375" pos="0.0 0.0 0.1625" contype="0" conaffinity="0" group="2" material="WAIST_LINK2_APP" />
            <body name="torso" pos="0.0 0.0 0.35">
              <joint name="CHEST" type="hinge" axis="0.0 0.0 1.0" range="-1.27 1.27" />
              <inertial pos="0.0 0.0 0.0" mass="13.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="torso_vis_0" type="cylinder" size="0.025 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
              <geom name="torso_vis_1" type="box" size="0.075 0.135 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
              <geom name="torso_vis_2" type="box" size="0.025 0.025 0.015" pos="0.0 0.0 0.065" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
              <geom name="torso_vis_3" type="box" size="0.155 0.08 0.08" pos="-0.015 0.0 0.16" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
              <body name="RARM_LINK1" pos="0.0 -0.21 0.0">
                <joint name="RARM_SHOULDER_P" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 0.785398163397" />
                <inertial pos="0.1 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                <geom name="RARM_LINK1_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.05 0.0" contype="0" conaffinity="0" group="2" />
                <body name="RARM_LINK2">
                  <joint name="RARM_SHOULDER_R" type="hinge" axis="1.0 0.0 0.0" range="0.00872664625997 2.87106661953" />
                  <inertial pos="0.0 0.0 -0.1" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                  <geom name="RARM_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                  <geom name="RARM_LINK2_vis_1" type="box" size="0.025 0.025 0.0815" pos="0.0 0.0 -0.1065" contype="0" conaffinity="0" group="2" />
                  <body name="RARM_LINK3" pos="0.0 0.0 -0.263">
                    <joint name="RARM_SHOULDER_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.42600766027 2.42600766027" />
                    <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                    <geom name="RARM_LINK3_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                    <body name="RARM_LINK4">
                      <joint name="RARM_ELBOW" type="hinge" axis="0.0 1.0 0.0" range="-2.23402144255 0.00349065850399" />
                      <inertial pos="0.0 0.0 -0.3" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                      <geom name="RARM_LINK4_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
                      <geom name="RARM_LINK4_vis_1" type="box" size="0.025 0.025 0.0735" pos="0.0 0.0 -0.0985" contype="0" conaffinity="0" group="2" />
                      <body name="RARM_LINK5" pos="0.0 0.0 -0.247">
                        <joint name="RARM_WRIST_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.51327412287 2.51327412287" />
                        <inertial pos="0.0 0.0 0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                        <geom name="RARM_LINK5_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                        <body name="RARM_LINK6">
                          <joint name="RARM_WRIST_P" type="hinge" axis="0.0 1.0 0.0" range="-1.37008346282 1.37008346282" />
                          <inertial pos="-0.1 0.0 0.0" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                          <geom name="RARM_LINK6_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" />
                          <geom name="RARM_LINK6_vis_1" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                          <geom name="RARM_LINK6_vis_2" type="box" size="0.025 0.015 0.0875" pos="0.0 0.03 -0.1125" contype="0" conaffinity="0" group="2" />
                          <body name="r_wrist">
                            <joint name="RARM_WRIST_R" type="hinge" axis="1.0 0.0 0.0" range="-0.680678408278 0.680678408278" />
                            <inertial pos="0.0 0.0 -0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                            <geom name="r_wrist_vis_0" type="box" size="0.025 0.015 0.075" pos="0.0 -0.03 -0.1" contype="0" conaffinity="0" group="2" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="LARM_LINK1" pos="0.0 0.21 0.0">
                <joint name="LARM_SHOULDER_P" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 0.785398163397" />
                <inertial pos="0.1 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                <geom name="LARM_LINK1_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 -0.05 0.0" contype="0" conaffinity="0" group="2" />
                <body name="LARM_LINK2">
                  <joint name="LARM_SHOULDER_R" type="hinge" axis="1.0 0.0 0.0" range="0.00872664625997 2.87106661953" />
                  <inertial pos="0.0 0.0 -0.1" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                  <geom name="LARM_LINK2_vis_0" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                  <geom name="LARM_LINK2_vis_1" type="box" size="0.025 0.025 0.0815" pos="0.0 0.0 -0.1065" contype="0" conaffinity="0" group="2" />
                  <body name="LARM_LINK3" pos="0.0 0.0 -0.263">
                    <joint name="LARM_SHOULDER_Y" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 0.785398163397" />
                    <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                    <geom name="LARM_LINK3_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                    <body name="LARM_LINK4">
                      <joint name="LARM_ELBOW" type="hinge" axis="0.0 1.0 0.0" range="-2.42600766027 2.42600766027" />
                      <inertial pos="0.0 0.0 -0.3" mass="0.6" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                      <geom name="LARM_LINK4_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" material="WAIST_LINK3_APP" />
                      <geom name="LARM_LINK4_vis_1" type="box" size="0.025 0.025 0.0735" pos="0.0 0.0 -0.0985" contype="0" conaffinity="0" group="2" />
                      <body name="LARM_LINK5" pos="0.0 0.0 -0.247">
                        <joint name="LARM_WRIST_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.23402144255 0.00349065850399" />
                        <inertial pos="0.0 0.0 0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                        <geom name="LARM_LINK5_vis_0" type="cylinder" size="0.025 0.025" pos="0.0 0.0 0.05" quat="0.7071054825112363 0.7071080798594735 0.0 0.0" contype="0" conaffinity="0" group="2" />
                        <body name="LARM_LINK6">
                          <joint name="LARM_WRIST_P" type="hinge" axis="0.0 1.0 0.0" range="-2.51327412287 2.51327412287" />
                          <inertial pos="-0.1 0.0 0.0" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                          <geom name="LARM_LINK6_vis_0" type="cylinder" size="0.025 0.025" contype="0" conaffinity="0" group="2" />
                          <geom name="LARM_LINK6_vis_1" type="cylinder" size="0.025 0.025" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                          <geom name="LARM_LINK6_vis_2" type="box" size="0.025 0.015 0.0875" pos="0.0 0.03 -0.1125" contype="0" conaffinity="0" group="2" />
                          <body name="l_wrist">
                            <joint name="LARM_WRIST_R" type="hinge" axis="1.0 0.0 0.0" range="-1.37008346282 1.37008346282" />
                            <inertial pos="0.0 0.0 -0.1" mass="0.4" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                            <geom name="l_wrist_vis_0" type="box" size="0.025 0.015 0.075" pos="0.0 -0.03 -0.1" contype="0" conaffinity="0" group="2" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="BODY" />
    <exclude body1="BODY" body2="RLEG_LINK1" />
    <exclude body1="RLEG_LINK1" body2="RLEG_LINK2" />
    <exclude body1="RLEG_LINK2" body2="RLEG_LINK3" />
    <exclude body1="RLEG_LINK3" body2="RLEG_LINK4" />
    <exclude body1="RLEG_LINK4" body2="RLEG_LINK5" />
    <exclude body1="RLEG_LINK5" body2="r_ankle" />
    <exclude body1="torso" body2="RARM_LINK1" />
    <exclude body1="RARM_LINK1" body2="RARM_LINK2" />
    <exclude body1="RARM_LINK2" body2="RARM_LINK3" />
    <exclude body1="RARM_LINK3" body2="RARM_LINK4" />
    <exclude body1="RARM_LINK4" body2="RARM_LINK5" />
    <exclude body1="RARM_LINK5" body2="RARM_LINK6" />
    <exclude body1="RARM_LINK6" body2="r_wrist" />
    <exclude body1="BODY" body2="LLEG_LINK1" />
    <exclude body1="LLEG_LINK1" body2="LLEG_LINK2" />
    <exclude body1="LLEG_LINK2" body2="LLEG_LINK3" />
    <exclude body1="LLEG_LINK3" body2="LLEG_LINK4" />
    <exclude body1="LLEG_LINK4" body2="LLEG_LINK5" />
    <exclude body1="LLEG_LINK5" body2="l_ankle" />
    <exclude body1="torso" body2="LARM_LINK1" />
    <exclude body1="LARM_LINK1" body2="LARM_LINK2" />
    <exclude body1="LARM_LINK2" body2="LARM_LINK3" />
    <exclude body1="LARM_LINK3" body2="LARM_LINK4" />
    <exclude body1="LARM_LINK4" body2="LARM_LINK5" />
    <exclude body1="LARM_LINK5" body2="LARM_LINK6" />
    <exclude body1="LARM_LINK6" body2="l_wrist" />
    <exclude body1="BODY" body2="WAIST_LINK1" />
    <exclude body1="WAIST_LINK1" body2="WAIST_LINK2" />
    <exclude body1="WAIST_LINK2" body2="torso" />
  </contact>
</mujoco>
