<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 50db2cd8987cf9ab -->
<mujoco model="g1_29dof">
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    <mesh name="right_knee_link" file="meshes/right_knee_link.STL" />
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                          <geom name="left_wrist_yaw_link_col_0" type="mesh" mesh="left_wrist_yaw_link" group="3" />
                          <body name="left_rubber_hand" pos="0.0415 0.003 0.0">
                            <inertial pos="0.05361310808 -0.0029590524 0.00215413091" mass="0.17" fullinertia="0.00010099485234748 0.00028135871571621 0.00021894770413514 3.618590790516e-05 -7.4301518642e-07 3.30189743286e-06" />
                            <geom name="left_rubber_hand_vis_0" type="mesh" mesh="left_rubber_hand" contype="0" conaffinity="0" group="2" material="white" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.9902640743722195 -0.13920148374281427 1.3872204401988457e-05 9.868683842420437e-05">
              <joint name="right_shoulder_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.0892 2.6704" />
              <inertial pos="0.0 -0.035892 -0.011628" mass="0.718" fullinertia="0.0004291 0.000453 0.000423 9.2e-06 6.4e-06 -2.26e-05" />
              <geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
              <geom name="right_shoulder_pitch_link_col_0" type="cylinder" size="0.03 0.025" pos="0.0 -0.04 -0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
              <body name="right_shoulder_roll_link" pos="0.0 -0.038 -0.013831" quat="0.9902682552548409 0.1391717738427347 0.0 0.0">
                <joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-2.2515 1.5882" />
                <inertial pos="-0.000227 -0.00727 -0.063243" mass="0.643" fullinertia="0.0006177 0.0006912 0.0003894 1e-06 8.7e-06 5.3e-06" />
                <geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link" contype="0" conaffinity="0" group="2" material="white" />
                <geom name="right_shoulder_roll_link_col_0" type="cylinder" size="0.03 0.015" pos="-0.004 -0.006 -0.053" group="3" />
                <body name="right_shoulder_yaw_link" pos="0.0 -0.00624 -0.1032">
                  <joint name="right_shoulder_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.618 2.618" />
                  <inertial pos="0.010773 0.002949 -0.072009" mass="0.734" fullinertia="0.0009988 0.0010605 0.0004354 -7.9e-06 0.0001412 2.86e-05" />
                  <geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
                  <geom name="right_shoulder_yaw_link_col_0" type="mesh" mesh="right_shoulder_yaw_link" group="3" />
                  <body name="right_elbow_link" pos="0.015783 0.0 -0.080518">
                    <joint name="right_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.0472 2.0944" />
                    <inertial pos="0.064956 -0.004454 -0.010062" mass="0.6" fullinertia="0.0002891 0.0004152 0.0004197 -6.53e-05 1.72e-05 5.6e-06" />
                    <geom name="right_elbow_link_vis_0" type="mesh" mesh="right_elbow_link" contype="0" conaffinity="0" group="2" material="white" />
                    <geom name="right_elbow_link_col_0" type="mesh" mesh="right_elbow_link" group="3" />
                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
                      <joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.972222054 1.972222054" />
                      <inertial pos="0.01713944778 -0.00053759094 4.8864e-07" mass="0.08544498" fullinertia="4.821544023e-05 3.722899093e-05 5.482106541e-05 4.24511021e-06 5.10599e-09 1.23525e-09" />
                      <geom name="right_wrist_roll_link_vis_0" type="mesh" mesh="right_wrist_roll_link" contype="0" conaffinity="0" group="2" material="white" />
                      <geom name="right_wrist_roll_link_col_0" type="mesh" mesh="right_wrist_roll_link" group="3" />
                      <body name="right_wrist_pitch_link" pos="0.038 0.0 0.0">
                        <joint name="right_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.614429558 1.614429558" />
                        <inertial pos="0.02299989837 0.00111685314 -0.00111658096" mass="0.48404956" fullinertia="0.00016579646273 0.0004295405741 0.00042953697654 1.231206746e-05 1.231699194e-05 -8.1417712e-07" />
                        <geom name="right_wrist_pitch_link_vis_0" type="mesh" mesh="right_wrist_pitch_link" contype="0" conaffinity="0" group="2" material="white" />
                        <geom name="right_wrist_pitch_link_col_0" type="mesh" mesh="right_wrist_pitch_link" group="3" />
                        <body name="right_wrist_yaw_link" pos="0.046 0.0 0.0">
                          <joint name="right_wrist_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.614429558 1.614429558" />
                          <inertial pos="0.02200381568 -0.00049485096 0.00053861123" mass="0.08457647" fullinertia="4.929128828e-05 5.973338134e-05 3.928083826e-05 4.5735494e-07 4.45867591e-06 -4.3217198e-07" />
                          <geom name="right_wrist_yaw_link_vis_0" type="mesh" mesh="right_wrist_yaw_link" contype="0" conaffinity="0" group="2" material="white" />
                          <geom name="right_wrist_yaw_link_col_0" type="mesh" mesh="right_wrist_yaw_link" group="3" />
                          <body name="right_rubber_hand" pos="0.0415 -0.003 0.0">
                            <inertial pos="0.05361310808 0.0029590524 0.00215413091" mass="0.17" fullinertia="0.00010099485234748 0.00028135871571621 0.00021894770413514 -3.618590790516e-05 -7.4301518642e-07 -3.30189743286e-06" />
                            <geom name="right_rubber_hand_vis_0" type="mesh" mesh="right_rubber_hand" contype="0" conaffinity="0" group="2" material="white" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="imu_in_pelvis" pos="0.04525 0.0 -0.08339" />
    </body>
  </worldbody>
  <contact>
    <exclude body1="pelvis" body2="pelvis_contour_link" />
    <exclude body1="pelvis" body2="left_hip_pitch_link" />
    <exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
    <exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
    <exclude body1="left_hip_yaw_link" body2="left_knee_link" />
    <exclude body1="left_knee_link" body2="left_ankle_pitch_link" />
    <exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_link" />
    <exclude body1="pelvis" body2="right_hip_pitch_link" />
    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
    <exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
    <exclude body1="right_hip_yaw_link" body2="right_knee_link" />
    <exclude body1="right_knee_link" body2="right_ankle_pitch_link" />
    <exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_link" />
    <exclude body1="pelvis" body2="waist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="waist_roll_link" />
    <exclude body1="waist_roll_link" body2="torso_link" />
    <exclude body1="torso_link" body2="logo_link" />
    <exclude body1="torso_link" body2="head_link" />
    <exclude body1="torso_link" body2="waist_support_link" />
    <exclude body1="torso_link" body2="imu_in_torso" />
    <exclude body1="pelvis" body2="imu_in_pelvis" />
    <exclude body1="torso_link" body2="d435_link" />
    <exclude body1="torso_link" body2="mid360_link" />
    <exclude body1="torso_link" body2="left_shoulder_pitch_link" />
    <exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
    <exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
    <exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
    <exclude body1="left_elbow_link" body2="left_wrist_roll_link" />
    <exclude body1="left_wrist_roll_link" body2="left_wrist_pitch_link" />
    <exclude body1="left_wrist_pitch_link" body2="left_wrist_yaw_link" />
    <exclude body1="left_wrist_yaw_link" body2="left_rubber_hand" />
    <exclude body1="torso_link" body2="right_shoulder_pitch_link" />
    <exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
    <exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
    <exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
    <exclude body1="right_elbow_link" body2="right_wrist_roll_link" />
    <exclude body1="right_wrist_roll_link" body2="right_wrist_pitch_link" />
    <exclude body1="right_wrist_pitch_link" body2="right_wrist_yaw_link" />
    <exclude body1="right_wrist_yaw_link" body2="right_rubber_hand" />
  </contact>
</mujoco>
