<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 99a5bfb3628ff51b -->
<mujoco model="eve_r3">
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                                      <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                                      <geom name="qbhand_left_middle_distal_link_vis_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                                      <geom name="qbhand_left_middle_distal_link_col_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" group="3" />
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                        <body name="qbhand_left_ring_knuckle_link" pos="0.02 -0.007 -0.014" quat="0.0007963267107332633 0.0 0.9999996829318346 0.0">
                          <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="qbhand_left_ring_knuckle_link_vis_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                          <geom name="qbhand_left_ring_knuckle_link_col_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" group="3" />
                          <body name="qbhand_left_ring_proximal_virtual_link" pos="0.0 0.009 0.0" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
                            <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <body name="qbhand_left_ring_proximal_link" pos="0.013 0.0 0.0">
                              <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                              <geom name="qbhand_left_ring_proximal_link_vis_0" type="mesh" mesh="ph_medium_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                              <geom name="qbhand_left_ring_proximal_link_col_0" type="mesh" mesh="ph_medium_0p001_0p001_0p001" group="3" />
                              <body name="qbhand_left_ring_middle_virtual_link" pos="0.017 0.0 0.0">
                                <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                                <body name="qbhand_left_ring_middle_link" pos="0.013 0.0 0.0">
                                  <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                                  <geom name="qbhand_left_ring_middle_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                                  <geom name="qbhand_left_ring_middle_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
                                  <body name="qbhand_left_ring_distal_virtual_link" pos="0.009 0.0 0.0">
                                    <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                                    <body name="qbhand_left_ring_distal_link" pos="0.013 0.0 0.0">
                                      <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                                      <geom name="qbhand_left_ring_distal_link_vis_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                                      <geom name="qbhand_left_ring_distal_link_col_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" group="3" />
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                        <body name="qbhand_left_little_knuckle_link" pos="0.04 -0.012 -0.014" quat="0.0007963267107332633 0.0 0.9999996829318346 0.0">
                          <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="qbhand_left_little_knuckle_link_vis_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                          <geom name="qbhand_left_little_knuckle_link_col_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" group="3" />
                          <body name="qbhand_left_little_proximal_virtual_link" pos="0.0 0.009 0.0" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
                            <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <body name="qbhand_left_little_proximal_link" pos="0.013 0.0 0.0">
                              <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                              <geom name="qbhand_left_little_proximal_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                              <geom name="qbhand_left_little_proximal_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
                              <body name="qbhand_left_little_middle_virtual_link" pos="0.009 0.0 0.0">
                                <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                                <body name="qbhand_left_little_middle_link" pos="0.013 0.0 0.0">
                                  <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                                  <geom name="qbhand_left_little_middle_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                                  <geom name="qbhand_left_little_middle_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
                                  <body name="qbhand_left_little_distal_virtual_link" pos="0.009 0.0 0.0">
                                    <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                                    <body name="qbhand_left_little_distal_link" pos="0.013 0.0 0.0">
                                      <inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                                      <geom name="qbhand_left_little_distal_link_vis_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
                                      <geom name="qbhand_left_little_distal_link_col_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" group="3" />
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="head" pos="0.00646 0.00085 0.67201">
        <joint name="j_neck_y" type="hinge" axis="0.0 1.0 0.0" range="-0.335 0.506" />
        <inertial pos="0.02485953 -0.00373226 0.11157957" mass="1.84975554" fullinertia="0.01343625 0.01517256 0.00763704 -0.00015664 -0.00146014 0.00017375" />
        <geom name="head_vis_0" type="mesh" mesh="head" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="pelvis" body2="abdomen" />
    <exclude body1="abdomen" body2="hip_x_link" />
    <exclude body1="hip_x_link" body2="thigh" />
    <exclude body1="thigh" body2="shin" />
    <exclude body1="shin" body2="ankle_y_link" />
    <exclude body1="ankle_y_link" body2="base" />
    <exclude body1="base" body2="l_wheel" />
    <exclude body1="base" body2="r_wheel" />
    <exclude body1="pelvis" body2="r_scapula" />
    <exclude body1="r_scapula" body2="r_shoulder" />
    <exclude body1="r_shoulder" body2="r_upper_arm" />
    <exclude body1="r_upper_arm" body2="r_elbow" />
    <exclude body1="r_elbow" body2="r_lower_arm" />
    <exclude body1="r_lower_arm" body2="r_wrist" />
    <exclude body1="r_wrist" body2="r_palm" />
    <exclude body1="r_palm" body2="qbhand_right_base_link" />
    <exclude body1="qbhand_right_base_link" body2="qbhand_right_palm_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_tendon_virtual_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_thumb_knuckle_link" />
    <exclude body1="qbhand_right_thumb_knuckle_link" body2="qbhand_right_thumb_proximal_virtual_link" />
    <exclude body1="qbhand_right_thumb_proximal_virtual_link" body2="qbhand_right_thumb_proximal_link" />
    <exclude body1="qbhand_right_thumb_proximal_link" body2="qbhand_right_thumb_distal_virtual_link" />
    <exclude body1="qbhand_right_thumb_distal_virtual_link" body2="qbhand_right_thumb_distal_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_index_knuckle_link" />
    <exclude body1="qbhand_right_index_knuckle_link" body2="qbhand_right_index_proximal_virtual_link" />
    <exclude body1="qbhand_right_index_proximal_virtual_link" body2="qbhand_right_index_proximal_link" />
    <exclude body1="qbhand_right_index_proximal_link" body2="qbhand_right_index_middle_virtual_link" />
    <exclude body1="qbhand_right_index_middle_virtual_link" body2="qbhand_right_index_middle_link" />
    <exclude body1="qbhand_right_index_middle_link" body2="qbhand_right_index_distal_virtual_link" />
    <exclude body1="qbhand_right_index_distal_virtual_link" body2="qbhand_right_index_distal_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_middle_knuckle_link" />
    <exclude body1="qbhand_right_middle_knuckle_link" body2="qbhand_right_middle_proximal_virtual_link" />
    <exclude body1="qbhand_right_middle_proximal_virtual_link" body2="qbhand_right_middle_proximal_link" />
    <exclude body1="qbhand_right_middle_proximal_link" body2="qbhand_right_middle_middle_virtual_link" />
    <exclude body1="qbhand_right_middle_middle_virtual_link" body2="qbhand_right_middle_middle_link" />
    <exclude body1="qbhand_right_middle_middle_link" body2="qbhand_right_middle_distal_virtual_link" />
    <exclude body1="qbhand_right_middle_distal_virtual_link" body2="qbhand_right_middle_distal_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_ring_knuckle_link" />
    <exclude body1="qbhand_right_ring_knuckle_link" body2="qbhand_right_ring_proximal_virtual_link" />
    <exclude body1="qbhand_right_ring_proximal_virtual_link" body2="qbhand_right_ring_proximal_link" />
    <exclude body1="qbhand_right_ring_proximal_link" body2="qbhand_right_ring_middle_virtual_link" />
    <exclude body1="qbhand_right_ring_middle_virtual_link" body2="qbhand_right_ring_middle_link" />
    <exclude body1="qbhand_right_ring_middle_link" body2="qbhand_right_ring_distal_virtual_link" />
    <exclude body1="qbhand_right_ring_distal_virtual_link" body2="qbhand_right_ring_distal_link" />
    <exclude body1="qbhand_right_palm_link" body2="qbhand_right_little_knuckle_link" />
    <exclude body1="qbhand_right_little_knuckle_link" body2="qbhand_right_little_proximal_virtual_link" />
    <exclude body1="qbhand_right_little_proximal_virtual_link" body2="qbhand_right_little_proximal_link" />
    <exclude body1="qbhand_right_little_proximal_link" body2="qbhand_right_little_middle_virtual_link" />
    <exclude body1="qbhand_right_little_middle_virtual_link" body2="qbhand_right_little_middle_link" />
    <exclude body1="qbhand_right_little_middle_link" body2="qbhand_right_little_distal_virtual_link" />
    <exclude body1="qbhand_right_little_distal_virtual_link" body2="qbhand_right_little_distal_link" />
    <exclude body1="pelvis" body2="l_scapula" />
    <exclude body1="l_scapula" body2="l_shoulder" />
    <exclude body1="l_shoulder" body2="l_upper_arm" />
    <exclude body1="l_upper_arm" body2="l_elbow" />
    <exclude body1="l_elbow" body2="l_lower_arm" />
    <exclude body1="l_lower_arm" body2="l_wrist" />
    <exclude body1="l_wrist" body2="l_palm" />
    <exclude body1="l_palm" body2="qbhand_left_base_link" />
    <exclude body1="qbhand_left_base_link" body2="qbhand_left_palm_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_tendon_virtual_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_thumb_knuckle_link" />
    <exclude body1="qbhand_left_thumb_knuckle_link" body2="qbhand_left_thumb_proximal_virtual_link" />
    <exclude body1="qbhand_left_thumb_proximal_virtual_link" body2="qbhand_left_thumb_proximal_link" />
    <exclude body1="qbhand_left_thumb_proximal_link" body2="qbhand_left_thumb_distal_virtual_link" />
    <exclude body1="qbhand_left_thumb_distal_virtual_link" body2="qbhand_left_thumb_distal_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_index_knuckle_link" />
    <exclude body1="qbhand_left_index_knuckle_link" body2="qbhand_left_index_proximal_virtual_link" />
    <exclude body1="qbhand_left_index_proximal_virtual_link" body2="qbhand_left_index_proximal_link" />
    <exclude body1="qbhand_left_index_proximal_link" body2="qbhand_left_index_middle_virtual_link" />
    <exclude body1="qbhand_left_index_middle_virtual_link" body2="qbhand_left_index_middle_link" />
    <exclude body1="qbhand_left_index_middle_link" body2="qbhand_left_index_distal_virtual_link" />
    <exclude body1="qbhand_left_index_distal_virtual_link" body2="qbhand_left_index_distal_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_middle_knuckle_link" />
    <exclude body1="qbhand_left_middle_knuckle_link" body2="qbhand_left_middle_proximal_virtual_link" />
    <exclude body1="qbhand_left_middle_proximal_virtual_link" body2="qbhand_left_middle_proximal_link" />
    <exclude body1="qbhand_left_middle_proximal_link" body2="qbhand_left_middle_middle_virtual_link" />
    <exclude body1="qbhand_left_middle_middle_virtual_link" body2="qbhand_left_middle_middle_link" />
    <exclude body1="qbhand_left_middle_middle_link" body2="qbhand_left_middle_distal_virtual_link" />
    <exclude body1="qbhand_left_middle_distal_virtual_link" body2="qbhand_left_middle_distal_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_ring_knuckle_link" />
    <exclude body1="qbhand_left_ring_knuckle_link" body2="qbhand_left_ring_proximal_virtual_link" />
    <exclude body1="qbhand_left_ring_proximal_virtual_link" body2="qbhand_left_ring_proximal_link" />
    <exclude body1="qbhand_left_ring_proximal_link" body2="qbhand_left_ring_middle_virtual_link" />
    <exclude body1="qbhand_left_ring_middle_virtual_link" body2="qbhand_left_ring_middle_link" />
    <exclude body1="qbhand_left_ring_middle_link" body2="qbhand_left_ring_distal_virtual_link" />
    <exclude body1="qbhand_left_ring_distal_virtual_link" body2="qbhand_left_ring_distal_link" />
    <exclude body1="qbhand_left_palm_link" body2="qbhand_left_little_knuckle_link" />
    <exclude body1="qbhand_left_little_knuckle_link" body2="qbhand_left_little_proximal_virtual_link" />
    <exclude body1="qbhand_left_little_proximal_virtual_link" body2="qbhand_left_little_proximal_link" />
    <exclude body1="qbhand_left_little_proximal_link" body2="qbhand_left_little_middle_virtual_link" />
    <exclude body1="qbhand_left_little_middle_virtual_link" body2="qbhand_left_little_middle_link" />
    <exclude body1="qbhand_left_little_middle_link" body2="qbhand_left_little_distal_virtual_link" />
    <exclude body1="qbhand_left_little_distal_virtual_link" body2="qbhand_left_little_distal_link" />
    <exclude body1="pelvis" body2="head" />
  </contact>
</mujoco>
