<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content e5699318fa6e588a -->
<mujoco model="draco_3">
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              </body>
              <body name="l_knee_fe_ld" pos="0.0 0.0 -0.1115386">
                <joint name="l_knee_fe_jd" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
                <inertial pos="0.00392246 0.00238405 -0.07941" mass="2.55664" fullinertia="0.011 0.013 0.005 -0.000259001 -0.000169 0.001" />
                <geom name="l_knee_fe_ld_vis_0" type="mesh" mesh="l_knee_fe_ld3" pos="0.0 -0.1 0.59" contype="0" conaffinity="0" group="2" />
                <body name="l_ankle_fe_link" pos="0.0 0.00599 -0.248231">
                  <joint name="l_ankle_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.0472" />
                  <inertial pos="2.67715e-05 0.0277455 -0.000699218" mass="0.183143" fullinertia="8.90758e-05 5.81098e-05 0.000101604 2.90654e-07 -2.26413e-06 1.95082e-07" />
                  <geom name="l_ankle_fe_link_vis_0" type="mesh" mesh="l_ankle_fe_link" pos="0.0 -0.105 0.83" contype="0" conaffinity="0" group="2" material="white" />
                  <body name="l_ankle_ie_link">
                    <joint name="l_ankle_ie" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.261799" />
                    <inertial pos="-0.00320518 -0.0068186 -0.0444808" mass="0.436553" fullinertia="0.000962376 0.00165909 0.00108264 -2.58627e-05 0.000122026 0.000188621" />
                    <geom name="l_ankle_ie_link_vis_0" type="mesh" mesh="l_ankle_ie_link" pos="0.01 -0.08 0.835" contype="0" conaffinity="0" group="2" material="white" />
                    <geom name="l_ankle_ie_link_col_0" type="box" size="0.125 0.075 0.02955" pos="0.0 -0.005 -0.046" group="3" />
                    <body name="l_foot_contact" pos="0.0 0.0 -0.076">
                      <inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="r_hip_ie_link" pos="0.0 -0.06 -0.0893782" quat="0.9659257972493452 -0.25881915348021844 0.0 0.0">
        <joint name="r_hip_ie" type="hinge" axis="0.0 0.0 1.0" range="-0.872665 0.872665" />
        <inertial pos="-0.00703461 -0.00580298 -0.0246181" mass="0.139506" fullinertia="0.000107149 0.000199317 0.000158733 6.38614e-06 5.12641e-06 2.66262e-07" />
        <geom name="r_hip_ie_link_vis_0" type="mesh" mesh="r_hip_ie_link" contype="0" conaffinity="0" group="2" material="black" />
        <body name="r_hip_aa_link" pos="0.0 0.0 -0.07" quat="0.9659257972493452 0.25881915348021844 0.0 0.0">
          <joint name="r_hip_aa" type="hinge" axis="1.0 0.0 0.0" range="-0.785398 0.261799" />
          <inertial pos="-0.000513526 -0.0019221 -0.00112805" mass="0.849423" fullinertia="0.000807304 0.000791593 0.000937825 -2.90747e-05 1.16932e-05 -2.47696e-05" />
          <geom name="r_hip_aa_link_vis_0" type="mesh" mesh="r_hip_aa_link" pos="0.0 0.1 0.15" contype="0" conaffinity="0" group="2" material="black" />
          <body name="r_hip_fe_link">
            <joint name="r_hip_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.52716 0.523599" />
            <inertial pos="0.00121565 -0.000254558 -0.171535" mass="4.983" fullinertia="0.057 0.063 0.015 -0.0003353 0.001 -0.004" />
            <geom name="r_hip_fe_link_vis_0" type="mesh" mesh="r_hip_fe_link3" pos="0.0 0.1 0.15" contype="0" conaffinity="0" group="2" />
            <body name="r_knee_fe_lp" pos="0.0 0.0 -0.324231">
              <joint name="r_knee_fe_jp" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
              <inertial pos="4.28378e-09 -0.000374047 -0.0259832" mass="0.152083" fullinertia="0.001 0.000343441 0.000321184 4.75046e-11 -3.71034e-11 2.06816e-05" />
              <geom name="r_knee_fe_lp_vis_0" type="mesh" mesh="r_knee_fe_lp" pos="0.005 0.1 0.47" contype="0" conaffinity="0" group="2" material="black" />
              <body name="r_knee_adj_link" pos="0.0 0.0 -0.0557693">
                <inertial pos="0.0 -0.006 -0.0323676" mass="0.090042" fullinertia="0.000230283 7.20839e-05 0.000195694 7.86884e-09 2.52488e-19 -8.07064e-19" />
                <geom name="r_knee_adj_link_vis_0" type="mesh" mesh="r_knee_adj_link" contype="0" conaffinity="0" group="2" material="black" />
              </body>
              <body name="r_knee_fe_ld" pos="0.0 0.0 -0.1115386">
                <joint name="r_knee_fe_jd" type="hinge" axis="0.0 1.0 0.0" range="-0.0872665 1.52716" />
                <inertial pos="0.00388972 -0.00235124 -0.0784681" mass="2.58619" fullinertia="0.0110576 0.0125163 0.005 0.00025372 -0.000138968 -0.001" />
                <geom name="r_knee_fe_ld_vis_0" type="mesh" mesh="r_knee_fe_ld3" pos="0.0 0.1 0.59" contype="0" conaffinity="0" group="2" />
                <body name="r_ankle_fe_link" pos="0.0 -0.006 -0.248231">
                  <joint name="r_ankle_fe" type="hinge" axis="0.0 1.0 0.0" range="-1.5708 1.0472" />
                  <inertial pos="0.0 -0.0277456 -0.000698932" mass="0.183145" fullinertia="8.9077e-05 5.81093e-05 0.000101603 -5.7205e-07 -2.14649e-06 -1.95113e-07" />
                  <geom name="r_ankle_fe_link_vis_0" type="mesh" mesh="r_ankle_fe_link" pos="0.0 0.105 0.83" contype="0" conaffinity="0" group="2" material="white" />
                  <body name="r_ankle_ie_link">
                    <joint name="r_ankle_ie" type="hinge" axis="1.0 0.0 0.0" range="-0.261799 0.785398" />
                    <inertial pos="-0.00300438 0.00685638 -0.0443499" mass="0.437539" fullinertia="0.000967631 0.00163004 0.00111644 2.37588e-05 0.000131807 -0.000128971" />
                    <geom name="r_ankle_ie_link_vis_0" type="mesh" mesh="r_ankle_ie_link" pos="0.01 0.08 0.835" contype="0" conaffinity="0" group="2" material="white" />
                    <geom name="r_ankle_ie_link_col_0" type="box" size="0.125 0.075 0.02955" pos="0.0 0.005 -0.046" group="3" />
                    <body name="r_foot_contact" pos="0.0 0.0 -0.076">
                      <inertial pos="0.0 0.0 0.0" mass="1e-09" diaginertia="0 0 0" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="torso_link" body2="torso_com_link" />
    <exclude body1="torso_link" body2="neck_pitch_link" />
    <exclude body1="neck_pitch_link" body2="camera" />
    <exclude body1="torso_link" body2="l_shoulder_fe_link" />
    <exclude body1="l_shoulder_fe_link" body2="l_shoulder_aa_link" />
    <exclude body1="l_shoulder_aa_link" body2="l_shoulder_ie_link" />
    <exclude body1="l_shoulder_ie_link" body2="l_elbow_fe_link" />
    <exclude body1="l_elbow_fe_link" body2="l_wrist_ps_link" />
    <exclude body1="l_wrist_ps_link" body2="l_wrist_pitch_link" />
    <exclude body1="l_wrist_pitch_link" body2="l_sake_gripper_link" />
    <exclude body1="l_wrist_pitch_link" body2="left_ezgripper_palm_link" />
    <exclude body1="left_ezgripper_palm_link" body2="left_ezgripper_finger_L1_1" />
    <exclude body1="left_ezgripper_palm_link" body2="left_ezgripper_finger_L1_2" />
    <exclude body1="left_ezgripper_finger_L1_1" body2="left_ezgripper_finger_L2_1" />
    <exclude body1="left_ezgripper_finger_L1_2" body2="left_ezgripper_finger_L2_2" />
    <exclude body1="l_sake_gripper_link" body2="l_hand_contact" />
    <exclude body1="torso_link" body2="r_shoulder_fe_link" />
    <exclude body1="r_shoulder_fe_link" body2="r_shoulder_aa_link" />
    <exclude body1="r_shoulder_aa_link" body2="r_shoulder_ie_link" />
    <exclude body1="r_shoulder_ie_link" body2="r_elbow_fe_link" />
    <exclude body1="r_elbow_fe_link" body2="r_wrist_ps_link" />
    <exclude body1="r_wrist_ps_link" body2="r_wrist_pitch_link" />
    <exclude body1="r_wrist_pitch_link" body2="r_sake_gripper_link" />
    <exclude body1="r_wrist_pitch_link" body2="right_ezgripper_palm_link" />
    <exclude body1="right_ezgripper_palm_link" body2="right_ezgripper_finger_L1_1" />
    <exclude body1="right_ezgripper_palm_link" body2="right_ezgripper_finger_L1_2" />
    <exclude body1="right_ezgripper_finger_L1_1" body2="right_ezgripper_finger_L2_1" />
    <exclude body1="right_ezgripper_finger_L1_2" body2="right_ezgripper_finger_L2_2" />
    <exclude body1="r_sake_gripper_link" body2="r_hand_contact" />
    <exclude body1="torso_link" body2="l_hip_ie_link" />
    <exclude body1="l_hip_ie_link" body2="l_hip_aa_link" />
    <exclude body1="l_hip_aa_link" body2="l_hip_fe_link" />
    <exclude body1="l_hip_fe_link" body2="l_knee_fe_lp" />
    <exclude body1="l_knee_fe_lp" body2="l_knee_adj_link" />
    <exclude body1="l_knee_fe_lp" body2="l_knee_fe_ld" />
    <exclude body1="l_knee_fe_ld" body2="l_ankle_fe_link" />
    <exclude body1="l_ankle_fe_link" body2="l_ankle_ie_link" />
    <exclude body1="l_ankle_ie_link" body2="l_foot_contact" />
    <exclude body1="torso_link" body2="r_hip_ie_link" />
    <exclude body1="r_hip_ie_link" body2="r_hip_aa_link" />
    <exclude body1="r_hip_aa_link" body2="r_hip_fe_link" />
    <exclude body1="r_hip_fe_link" body2="r_knee_fe_lp" />
    <exclude body1="r_knee_fe_lp" body2="r_knee_adj_link" />
    <exclude body1="r_knee_fe_lp" body2="r_knee_fe_ld" />
    <exclude body1="r_knee_fe_ld" body2="r_ankle_fe_link" />
    <exclude body1="r_ankle_fe_link" body2="r_ankle_ie_link" />
    <exclude body1="r_ankle_ie_link" body2="r_foot_contact" />
  </contact>
</mujoco>
