<mujoco model="rx1">
  <compiler angle="radian" meshdir="F:\world_model_test\rx1_mujoco\meshes_mjcf/"/>

  <asset>
    <mesh name="base_link" content_type="model/stl" file="base_link.stl"/>
    <mesh name="torso_yaw_link" content_type="model/stl" file="torso_yaw_link.stl"/>
    <mesh name="torso_link" content_type="model/stl" file="torso_link.stl"/>
    <mesh name="head_base_link" content_type="model/stl" file="head/head_base_link.stl"/>
    <mesh name="neck_yaw_link" content_type="model/stl" file="head/neck_yaw_link.stl"/>
    <mesh name="neck_pitch_link" content_type="model/stl" file="head/neck_pitch_link.stl"/>
    <mesh name="head_depth_cam_mount_link" content_type="model/stl" file="head/head_depth_cam_mount_link.stl"/>
    <mesh name="right_ear_link" content_type="model/stl" file="head/right_ear_link.stl"/>
    <mesh name="left_ear_link" content_type="model/stl" file="head/left_ear_link.stl"/>
    <mesh name="right_upper_arm_link" content_type="model/stl" file="right_arm/right_upper_arm_link.stl"/>
    <mesh name="right_elbow_link" content_type="model/stl" file="right_arm/right_elbow_link.stl"/>
    <mesh name="right_forearm_link" content_type="model/stl" file="right_arm/right_forearm_link.stl"/>
    <mesh name="right_hand_link" content_type="model/stl" file="right_arm/right_hand_link.stl"/>
    <mesh name="left_upper_arm_link" content_type="model/stl" file="left_arm/left_upper_arm_link.stl"/>
    <mesh name="left_elbow_link" content_type="model/stl" file="left_arm/left_elbow_link.stl"/>
    <mesh name="left_forearm_link" content_type="model/stl" file="left_arm/left_forearm_link.stl"/>
    <mesh name="left_hand_link" content_type="model/stl" file="left_arm/left_hand_link.stl"/>
  </asset>

  <worldbody>
    <body name="base_link">
      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="5" diaginertia="0.148003 0.147993 0.0132405"/>
      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="base_link"/>
      <geom type="mesh" rgba="1 1 1 1" mesh="base_link"/>
      <body name="torso_yaw_link" pos="0 0 0.5825">
        <inertial pos="0 0 0" mass="5" diaginertia="0.0442607 0.0358901 0.0182706"/>
        <joint name="base2torso_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="5"/>
        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="torso_yaw_link"/>
        <geom type="mesh" rgba="1 1 1 1" mesh="torso_yaw_link"/>
        <body name="torso_pitch_link" pos="0 0 0.15">
          <inertial pos="0 0 0" mass="0.5" diaginertia="6.5625e-05 6.5625e-05 5.625e-05"/>
          <joint name="torso_yaw2pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
          <geom size="0.015 0.015" quat="0.707123 0.70709 0 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
          <geom size="0.01 0.015" quat="0.707123 0.70709 0 0" type="cylinder" rgba="0 0 1 1"/>
          <body name="torso_roll_link">
            <inertial pos="0 0 0" mass="0.5" diaginertia="6.5625e-05 6.5625e-05 5.625e-05"/>
            <joint name="torso_pitch2roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
            <geom size="0.015 0.015" quat="0.707123 0 0.70709 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1"/>
            <geom size="0.01 0.015" quat="0.707123 0 0.70709 0" type="cylinder" rgba="1 0 0 1"/>
            <body name="torso_link" pos="0 0 0.08">
              <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="1" diaginertia="0.00839643 0.00544843 0.00371867"/>
              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="torso_link"/>
              <geom type="mesh" rgba="1 1 1 1" mesh="torso_link"/>
              <body name="head_base_link" pos="0 0 0.21">
                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.05" diaginertia="4.16667e-05 3.47333e-05 2.30667e-05"/>
                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="head_base_link"/>
                <geom type="mesh" rgba="1 1 1 1" mesh="head_base_link"/>
                <body name="neck_yaw_link">
                  <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="3.55172e-05 2.63328e-05 2.38844e-05"/>
                  <joint name="head_base2neck_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="neck_yaw_link"/>
                  <geom type="mesh" rgba="1 1 1 1" mesh="neck_yaw_link"/>
                  <body name="neck_pitch_link" pos="0 0 0.035">
                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="9.76549e-05 9.3669e-05 2.91942e-05"/>
                    <joint name="neck_yaw2pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="neck_pitch_link"/>
                    <geom type="mesh" rgba="1 1 1 1" mesh="neck_pitch_link"/>
                    <body name="head_depth_cam_mount_link" pos="-0.01 0 0.1">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.05" diaginertia="0.000116107 0.000114457 4.30639e-05"/>
                      <joint name="neck_pitch2head_depth_cam_mount_joint" pos="0 0 0" axis="1 0 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1"/>
                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="head_depth_cam_mount_link"/>
                      <geom type="mesh" rgba="1 1 1 1" mesh="head_depth_cam_mount_link"/>
                      <body name="camera_link" pos="0.05 0 0.03">
                        <inertial pos="0 0 0" mass="0.05" diaginertia="8.33333e-07 8.33333e-07 8.33333e-07"/>
                        <geom size="0.005 0.005 0.005" type="box" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1"/>
                        <geom size="0.005 0.005 0.005" type="box" rgba="1 1 1 1"/>
                      </body>
                      <body name="right_ear_link" pos="0 -0.065 0.045">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="7.70823e-05 7.07541e-05 7.00313e-06"/>
                        <joint name="head_depth_cam_mount2right_ear_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="right_ear_link"/>
                        <geom type="mesh" rgba="1 1 1 1" mesh="right_ear_link"/>
                      </body>
                      <body name="left_ear_link" pos="0 0.065 0.045">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="7.70823e-05 7.07541e-05 7.00313e-06"/>
                        <joint name="head_depth_cam_mount2left_ear_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="left_ear_link"/>
                        <geom type="mesh" rgba="1 1 1 1" mesh="left_ear_link"/>
                      </body>
                    </body>
                  </body>
                </body>
                <body name="right_shoul_base_link" pos="0 -0.12 -0.05" quat="0.866059 0.499941 0 0">
                  <inertial pos="0 0 0" mass="0.2" diaginertia="0.00011375 0.00011375 4e-05"/>
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1"/>
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" rgba="1 1 1 1"/>
                  <body name="right_shoul_link" pos="0 0 0.075">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.000151667 0.000151667 9e-05"/>
                    <joint name="right_shoul_base2shoul_joint" pos="0 0 0" axis="0 0 1" range="-2.5132 2.5132" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1"/>
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" rgba="1 0 0 1"/>
                    <body name="right_shoul_rot_link" pos="0 0 0.08" quat="0.866059 -0.499941 0 0">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.2" diaginertia="9e-05 7.16667e-05 7.16667e-05"/>
                      <joint name="right_shoul2shoul_rot_joint" pos="0 0 0" axis="1 0 0" range="-1.57075 0.50264" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" rgba="0 0 1 1"/>
                      <body name="right_upper_arm_link" pos="0 0 -0.0625">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000295128 0.000264693 9.86314e-05"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="right_upper_arm_link"/>
                        <geom type="mesh" rgba="1 1 1 1" mesh="right_upper_arm_link"/>
                        <body name="right_armrot_link" pos="0 0 -0.0625">
                          <inertial pos="0 0 0" mass="0.1" diaginertia="0.000573437 0.000552867 8.46372e-05"/>
                          <joint name="right_arm2armrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                          <geom pos="0 0 -0.11" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="right_elbow_link"/>
                          <geom size="0.03 0.11" pos="0 0 -0.11" type="cylinder" rgba="1 1 1 1"/>
                          <body name="right_elbow_link" pos="0 0 -0.22">
                            <inertial pos="0 0 0" mass="0.1" diaginertia="7.58333e-05 7.58333e-05 4.5e-05"/>
                            <joint name="right_armrot2elbow_joint" pos="0 0 0" axis="0 1 0" range="-2.19905 0" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                            <geom size="0.03 0.04" quat="0.500023 0.499977 0.5 -0.5" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                            <geom size="0.03 0.04" quat="0.500023 0.499977 0.5 -0.5" type="cylinder" rgba="0 0 1 1"/>
                            <body name="right_forearm_link" pos="0 0 -0.045">
                              <inertial pos="0 0 0" mass="0.1" diaginertia="9e-05 9e-05 4.5e-05"/>
                              <geom size="0.03 0.045" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1"/>
                              <geom size="0.03 0.045" type="cylinder" rgba="1 1 1 1"/>
                              <body name="right_forearmrot_link" pos="0 0 -0.045">
                                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000399952 0.000388406 0.000112426"/>
                                <joint name="right_forearm2forearmrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                <geom pos="0 0 -0.09" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="right_forearm_link"/>
                                <geom size="0.015 0.09" pos="0 0 -0.09" type="cylinder" rgba="1 1 1 1"/>
                                <body name="right_forearm_pitch_link" pos="0 0 -0.18">
                                  <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05"/>
                                  <joint name="right_forearmrot2forearm_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                  <geom size="0.015 0.015" quat="0.707123 0.70709 0 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                                  <geom size="0.01 0.015" quat="0.707123 0.70709 0 0" type="cylinder" rgba="0 0 1 1"/>
                                  <body name="right_forearm_roll_link">
                                    <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05"/>
                                    <joint name="right_forearm_pitch2forearm_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                    <geom size="0.015 0.015" quat="0.707123 0 0.70709 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1"/>
                                    <geom size="0.01 0.015" quat="0.707123 0 0.70709 0" type="cylinder" rgba="1 0 0 1"/>
                                    <body name="right_hand_link" pos="0 0 -0.1">
                                      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000382709 0.000378299 0.000122885"/>
                                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_link"/>
                                      <geom size="0.02 0.01 0.06" type="box" rgba="1 1 1 1"/>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
                <body name="left_shoul_base_link" pos="0 0.12 -0.05" quat="0.866059 -0.499941 0 0">
                  <inertial pos="0 0 0" mass="0.2" diaginertia="0.00011375 0.00011375 4e-05"/>
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1"/>
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" rgba="1 1 1 1"/>
                  <body name="left_shoul_link" pos="0 0 0.075">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.000151667 0.000151667 9e-05"/>
                    <joint name="left_shoul_base2shoul_joint" pos="0 0 0" axis="0 0 1" range="-2.5132 2.5132" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1"/>
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" rgba="1 0 0 1"/>
                    <body name="left_shoul_rot_link" pos="0 0 0.08" quat="0.866059 0.499941 0 0">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.2" diaginertia="9e-05 7.16667e-05 7.16667e-05"/>
                      <joint name="left_shoul2shoul_rot_joint" pos="0 0 0" axis="1 0 0" range="-0.50264 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1"/>
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" rgba="0 0 1 1"/>
                      <body name="left_upper_arm_link" pos="0 0 -0.0625">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000295128 0.000264693 9.86314e-05"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="left_upper_arm_link"/>
                        <geom type="mesh" rgba="1 1 1 1" mesh="left_upper_arm_link"/>
                        <body name="left_armrot_link" pos="0 0 -0.0625">
                          <inertial pos="0 0 0" mass="0.1" diaginertia="0.000573437 0.000552867 8.46372e-05"/>
                          <joint name="left_arm2armrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                          <geom pos="0 0 -0.11" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="left_elbow_link"/>
                          <geom size="0.03 0.11" pos="0 0 -0.11" type="cylinder" rgba="1 1 1 1"/>
                          <body name="left_elbow_link" pos="0 0 -0.22">
                            <inertial pos="0 0 0" mass="0.1" diaginertia="7.58333e-05 7.58333e-05 4.5e-05"/>
                            <joint name="left_armrot2elbow_joint" pos="0 0 0" axis="0 1 0" range="-2.19905 0" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                            <geom size="0.03 0.04" quat="0.500023 -0.499977 -0.5 -0.5" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                            <geom size="0.03 0.04" quat="0.500023 -0.499977 -0.5 -0.5" type="cylinder" rgba="0 0 1 1"/>
                            <body name="left_forearm_link" pos="0 0 -0.045">
                              <inertial pos="0 0 0" mass="0.1" diaginertia="9e-05 9e-05 4.5e-05"/>
                              <geom size="0.03 0.045" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1"/>
                              <geom size="0.03 0.045" type="cylinder" rgba="1 1 1 1"/>
                              <body name="left_forearmrot_link" pos="0 0 -0.045">
                                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000399952 0.000388406 0.000112426"/>
                                <joint name="left_forearm2forearmrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                <geom pos="0 0 -0.09" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="left_forearm_link"/>
                                <geom size="0.015 0.09" pos="0 0 -0.09" type="cylinder" rgba="1 1 1 1"/>
                                <body name="left_forearm_pitch_link" pos="0 0 -0.18">
                                  <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05"/>
                                  <joint name="left_forearmrot2forearm_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                  <geom size="0.015 0.015" quat="0.707123 -0.70709 0 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1"/>
                                  <geom size="0.01 0.015" quat="0.707123 -0.70709 0 0" type="cylinder" rgba="0 0 1 1"/>
                                  <body name="left_forearm_roll_link">
                                    <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05"/>
                                    <joint name="left_forearm_pitch2forearm_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1"/>
                                    <geom size="0.015 0.015" quat="0.707123 0 -0.70709 0" type="cylinder" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1"/>
                                    <geom size="0.01 0.015" quat="0.707123 0 -0.70709 0" type="cylinder" rgba="1 0 0 1"/>
                                    <body name="left_hand_link" pos="0 0 -0.1">
                                      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000382709 0.000378299 0.000122885"/>
                                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_link"/>
                                      <geom size="0.02 0.01 0.06" type="box" rgba="1 1 1 1"/>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
</mujoco>
