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                                <geom name="r_hand_ring_2_vis_0" type="mesh" mesh="sim_ecub_1n1_r_hand_ring_2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
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    <exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_8" />
    <exclude body1="l_hand_ring_2" body2="l_hand_ring_skin_9" />
    <exclude body1="l_foot_rear" body2="l_sole" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_0" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_1" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_10" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_11" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_2" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_3" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_4" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_5" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_6" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_7" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_8" />
    <exclude body1="l_hand_thumb_3" body2="l_hand_thumb_skin_9" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_0" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_1" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_10" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_11" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_2" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_3" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_4" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_5" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_6" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_7" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_8" />
    <exclude body1="r_hand_index_3" body2="r_hand_index_skin_9" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_0" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_1" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_10" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_11" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_2" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_3" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_4" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_5" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_6" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_7" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_8" />
    <exclude body1="r_hand_middle_2" body2="r_hand_middle_skin_9" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_0" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_1" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_10" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_11" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_2" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_3" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_4" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_5" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_6" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_7" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_8" />
    <exclude body1="r_hand_pinkie_2" body2="r_hand_pinkie_skin_9" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_0" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_1" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_10" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_11" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_2" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_3" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_4" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_5" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_6" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_7" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_8" />
    <exclude body1="r_hand_ring_2" body2="r_hand_ring_skin_9" />
    <exclude body1="r_foot_rear" body2="r_sole" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_0" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_1" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_10" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_11" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_2" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_3" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_4" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_5" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_6" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_7" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_8" />
    <exclude body1="r_hand_thumb_3" body2="r_hand_thumb_skin_9" />
    <exclude body1="torso_1" body2="waist_imu_0" />
    <exclude body1="root_link" body2="base_link" />
  </contact>
</mujoco>
