<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content e78f182431040286 -->
<mujoco model="gingerurdf">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="gingerurdf/meshes/base_link.STL" />
    <mesh name="Knee_Link" file="gingerurdf/meshes/Knee_Link.STL" />
    <mesh name="Back_Z_Link" file="gingerurdf/meshes/Back_Z_Link.STL" />
    <mesh name="Back_X_Link" file="gingerurdf/meshes/Back_X_Link.STL" />
    <mesh name="Back_Y_Link" file="gingerurdf/meshes/Back_Y_Link.STL" />
    <mesh name="Neck_Z_Link" file="gingerurdf/meshes/Neck_Z_Link.STL" />
    <mesh name="Neck_X_Link" file="gingerurdf/meshes/Neck_X_Link.STL" />
    <mesh name="Head_Y_Link" file="gingerurdf/meshes/Head_Y_Link.STL" />
    <mesh name="Left_Shoulder_X_Link" file="gingerurdf/meshes/Left_Shoulder_X_Link.STL" />
    <mesh name="Left_Shoulder_Y_Link" file="gingerurdf/meshes/Left_Shoulder_Y_Link.STL" />
    <mesh name="Left_Elbow_Z_Link" file="gingerurdf/meshes/Left_Elbow_Z_Link.STL" />
    <mesh name="Left_Elbow_X_Link" file="gingerurdf/meshes/Left_Elbow_X_Link.STL" />
    <mesh name="Left_Wrist_Z_Link" file="gingerurdf/meshes/Left_Wrist_Z_Link.STL" />
    <mesh name="Left_Wrist_X_Link" file="gingerurdf/meshes/Left_Wrist_X_Link.STL" />
    <mesh name="Left_Wrist_Y_Link" file="gingerurdf/meshes/Left_Wrist_Y_Link.STL" />
    <mesh name="Left_1_1_Link" file="gingerurdf/meshes/Left_1_1_Link.STL" />
    <mesh name="Left_1_2_Link" file="gingerurdf/meshes/Left_1_2_Link.STL" />
    <mesh name="Left_2_1_Link" file="gingerurdf/meshes/Left_2_1_Link.STL" />
    <mesh name="Left_2_2_Link" file="gingerurdf/meshes/Left_2_2_Link.STL" />
    <mesh name="Left_2_3_Link" file="gingerurdf/meshes/Left_2_3_Link.STL" />
    <mesh name="Left_3_1_Link" file="gingerurdf/meshes/Left_3_1_Link.STL" />
    <mesh name="Left_3_2_Link" file="gingerurdf/meshes/Left_3_2_Link.STL" />
    <mesh name="Left_3_3_Link" file="gingerurdf/meshes/Left_3_3_Link.STL" />
    <mesh name="Left_4_1_Link" file="gingerurdf/meshes/Left_4_1_Link.STL" />
    <mesh name="Left_4_2_Link" file="gingerurdf/meshes/Left_4_2_Link.STL" />
    <mesh name="Left_4_3_Link" file="gingerurdf/meshes/Left_4_3_Link.STL" />
    <mesh name="Left_5_1_Link" file="gingerurdf/meshes/Left_5_1_Link.STL" />
    <mesh name="Left_5_2_Link" file="gingerurdf/meshes/Left_5_2_Link.STL" />
    <mesh name="Left_5_3_Link" file="gingerurdf/meshes/Left_5_3_Link.STL" />
    <mesh name="Right_Shoulder_X_Link" file="gingerurdf/meshes/Right_Shoulder_X_Link.STL" />
    <mesh name="Right_Shoulder_Y_Link" file="gingerurdf/meshes/Right_Shoulder_Y_Link.STL" />
    <mesh name="Right_Elbow_Z_Link" file="gingerurdf/meshes/Right_Elbow_Z_Link.STL" />
    <mesh name="Right_Elbow_X_Link" file="gingerurdf/meshes/Right_Elbow_X_Link.STL" />
    <mesh name="Right_Wrist_Z_Link" file="gingerurdf/meshes/Right_Wrist_Z_Link.STL" />
    <mesh name="Right_Wrist_X_Link" file="gingerurdf/meshes/Right_Wrist_X_Link.STL" />
    <mesh name="Right_Wrist_Y_Link" file="gingerurdf/meshes/Right_Wrist_Y_Link.STL" />
    <mesh name="Right_1_1_Link" file="gingerurdf/meshes/Right_1_1_Link.STL" />
    <mesh name="Right_1_2_Link" file="gingerurdf/meshes/Right_1_2_Link.STL" />
    <mesh name="Right_2_1_Link" file="gingerurdf/meshes/Right_2_1_Link.STL" />
    <mesh name="Right_2_2_Link" file="gingerurdf/meshes/Right_2_2_Link.STL" />
    <mesh name="Right_2_3_Link" file="gingerurdf/meshes/Right_2_3_Link.STL" />
    <mesh name="Right_3_1_Link" file="gingerurdf/meshes/Right_3_1_Link.STL" />
    <mesh name="Right_3_2_Link" file="gingerurdf/meshes/Right_3_2_Link.STL" />
    <mesh name="Right_3_3_Link" file="gingerurdf/meshes/Right_3_3_Link.STL" />
    <mesh name="Right_4_1_Link" file="gingerurdf/meshes/Right_4_1_Link.STL" />
    <mesh name="Right_4_2_Link" file="gingerurdf/meshes/Right_4_2_Link.STL" />
    <mesh name="Right_4_3_Link" file="gingerurdf/meshes/Right_4_3_Link.STL" />
    <mesh name="Right_5_1_Link" file="gingerurdf/meshes/Right_5_1_Link.STL" />
    <mesh name="Right_5_2_Link" file="gingerurdf/meshes/Right_5_2_Link.STL" />
    <mesh name="Right_5_3_Link" file="gingerurdf/meshes/Right_5_3_Link.STL" />
  </asset>
  <worldbody>
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      <geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
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        <geom name="Knee_Link_col_0" type="mesh" mesh="Knee_Link" group="3" />
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          <body name="Back_X_Link">
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            <body name="Back_Y_Link" pos="0.0 0.104999999999997 0.0">
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                                <joint name="Left_4_2" type="hinge" axis="0.0 0.000139239466305459 -0.999999990306186" limited="false" />
                                <inertial pos="0.000705907028336145 -0.0134354097339386 -0.000382306640676289" mass="0.00402906191195985" fullinertia="5.16880120038819e-09 5.53817365240935e-09 1.12172223189841e-09 5.2958114515696e-10 -1.89027241601897e-09 1.34270833573428e-09" />
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                                <body name="Left_4_3_Link" pos="0.0 -0.0249999941493013 -4.37594629428273e-05">
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                                  <inertial pos="0.000705266797490778 -0.00873660325738534 0.000371613751822292" mass="0.00226058559497118" diaginertia="0 0 0" />
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                                </body>
                              </body>
                            </body>
                            <body name="Left_5_1_Link" pos="0.00266509462525322 -0.108682998728874 -0.0275969639006071">
                              <joint name="Left_5_1" type="hinge" axis="0.0 0.00041986760230001 -0.999999911855594" limited="false" />
                              <inertial pos="0.000536988281664874 -0.0109853047236181 -0.000610711301385555" mass="0.00312159745648743" fullinertia="1.29790497724492e-08 2.57214667592114e-09 1.2628743861775e-08 3.57706372132911e-09 -1.27409029226728e-09 4.10245615568249e-09" />
                              <geom name="Left_5_1_Link_vis_0" type="mesh" mesh="Left_5_1_Link" contype="0" conaffinity="0" group="2" />
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                              <body name="Left_5_2_Link" pos="0.0 -0.023451660741343 0.0">
                                <joint name="Left_5_2" type="hinge" axis="0.0 0.000139239466291091 -0.999999990306185" limited="false" />
                                <inertial pos="0.000633469611439313 -0.0120269762951264 0.000397201488298415" mass="0.00291988673041792" fullinertia="3.11907045010601e-09 3.19912781123734e-09 8.37808079394327e-10 4.16987169115279e-10 1.12141213973801e-09 -1.01891726807594e-09" />
                                <geom name="Left_5_2_Link_vis_0" type="mesh" mesh="Left_5_2_Link" contype="0" conaffinity="0" group="2" />
                                <geom name="Left_5_2_Link_col_0" type="mesh" mesh="Left_5_2_Link" group="3" />
                                <body name="Left_5_3_Link" pos="0.0 -0.0224982100108189 0.000106813574332093">
                                  <joint name="Left_5_3" type="hinge" axis="0.0 -0.000162157164103371 -0.999999986852527" limited="false" />
                                  <inertial pos="-0.000469386756830142 -0.00788575080004528 -0.000375376454334164" mass="0.00164577119180926" diaginertia="0 0 0" />
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                                  <geom name="Left_5_3_Link_col_0" type="mesh" mesh="Left_5_3_Link" group="3" />
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                              </body>
                            </body>
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                <joint name="Right_Shoulder_X" type="hinge" axis="1.0 0.0 0.0" limited="false" />
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                <geom name="Right_Shoulder_X_Link_vis_0" type="mesh" mesh="Right_Shoulder_X_Link" contype="0" conaffinity="0" group="2" />
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                <body name="Right_Shoulder_Y_Link" quat="1.0 0.0 0.0 4.612236910794155e-33">
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                        <body name="Right_Wrist_X_Link">
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                          <geom name="Right_Wrist_X_Link_vis_0" type="mesh" mesh="Right_Wrist_X_Link" contype="0" conaffinity="0" group="2" />
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                          <body name="Right_Wrist_Y_Link">
                            <joint name="Right_Wrist_Y" type="hinge" axis="0.0 0.0 1.0" limited="false" />
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                            <geom name="Right_Wrist_Y_Link_vis_0" type="mesh" mesh="Right_Wrist_Y_Link" contype="0" conaffinity="0" group="2" />
                            <geom name="Right_Wrist_Y_Link_col_0" type="mesh" mesh="Right_Wrist_Y_Link" group="3" />
                            <body name="Right_1_1_Link" pos="0.0421965979105674 -0.0941606527701362 0.0317642107824709">
                              <joint name="Right_1_1" type="hinge" axis="0.653442120633779 0.0561747295623823 -0.754889259918448" limited="false" />
                              <inertial pos="0.00595800407210242 -0.0112503464220567 0.00518269565716167" mass="0.00520499928633448" fullinertia="1.46026852945639e-08 1.67018352348771e-08 2.88770820125758e-08 1.44003423144132e-08 -4.33569194448224e-09 4.03118418439948e-09" />
                              <geom name="Right_1_1_Link_vis_0" type="mesh" mesh="Right_1_1_Link" contype="0" conaffinity="0" group="2" />
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                              <body name="Right_1_2_Link" pos="0.0111118631544056 -0.0219257069936049 0.00848109657008508">
                                <joint name="Right_1_2" type="hinge" axis="0.653442120633895 0.0561747295623124 -0.754889259918354" limited="false" />
                                <inertial pos="0.0056392427710277 -0.00819754869289124 0.00357444528870934" mass="0.00290769681829447" diaginertia="0 0 0" />
                                <geom name="Right_1_2_Link_vis_0" type="mesh" mesh="Right_1_2_Link" contype="0" conaffinity="0" group="2" />
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                            <body name="Right_2_1_Link" pos="-0.00326509462525471 -0.116385781256913 0.0255031390551695">
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                              <inertial pos="-0.00066985141124809 -0.0125483197143753 0.000659735032060071" mass="0.00420346811169996" fullinertia="1.50397346122279e-08 4.08038863972303e-09 1.39803879180608e-08 -4.340045569876e-09 -1.97023831253594e-09 -5.66091051632064e-09" />
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                              <body name="Right_2_2_Link" pos="0.0 -0.0259999990711511 0.0">
                                <joint name="Right_2_2" type="hinge" axis="0.0 -0.000139239466297141 0.999999990306185" limited="false" />
                                <inertial pos="-0.000706017398685699 -0.0134348443977895 -0.000381244916113382" mass="0.0040284859679476" fullinertia="5.17433994163196e-09 5.54490080776831e-09 1.12112873490207e-09 -5.2905913769431e-10 1.89191727366902e-09 1.34201662423538e-09" />
                                <geom name="Right_2_2_Link_vis_0" type="mesh" mesh="Right_2_2_Link" contype="0" conaffinity="0" group="2" />
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                                <body name="Right_2_3_Link" pos="0.0 -0.0249999941493012 -4.37594629424387e-05">
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                                  <inertial pos="-0.000125439689922874 -0.0087635117310203 0.000372031223531577" mass="0.00226043678870431" diaginertia="0 0 0" />
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                            <body name="Right_3_1_Link" pos="-0.00526509462525543 -0.121385781256913 0.0075031390551695">
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                              <inertial pos="-0.0006698514954879 -0.0125483126581099 0.000659740070306725" mass="0.00420347191487237" fullinertia="1.5039616544568e-08 4.0803598454012e-09 1.39802975492638e-08 -4.34002915219813e-09 -1.97022712739865e-09 -5.66085901757152e-09" />
                              <geom name="Right_3_1_Link_vis_0" type="mesh" mesh="Right_3_1_Link" contype="0" conaffinity="0" group="2" />
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                                <joint name="Right_3_2" type="hinge" axis="0.0 -0.000139239466288821 0.999999990306185" limited="false" />
                                <inertial pos="-0.000706016773845797 -0.0134348454094458 -0.000381244083956733" mass="0.00402848679457329" fullinertia="5.17434592709207e-09 5.5449037019298e-09 1.12112884690769e-09 -5.29059738327317e-10 1.89191624844867e-09 1.34202010093817e-09" />
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                                <body name="Right_3_3_Link" pos="0.0 -0.0249999941493003 -4.37594629423554e-05">
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                                  <inertial pos="-0.00107540391792044 -0.00869825462567841 0.000372072446477467" mass="0.00226040981287638" diaginertia="0 0 0" />
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                            <body name="Right_4_1_Link" pos="-0.00326509462525512 -0.113385781256913 -0.0104968609448305">
                              <joint name="Right_4_1" type="hinge" axis="0.0 -0.000139239466287864 0.999999990306185" limited="false" />
                              <inertial pos="-0.000669851866460375 -0.0125483117721521 0.000659739983277591" mass="0.00420347148349026" fullinertia="1.50396076572234e-08 4.08036208900735e-09 1.39802896383705e-08 -4.34002980831545e-09 -1.97022842028165e-09 -5.66085755430599e-09" />
                              <geom name="Right_4_1_Link_vis_0" type="mesh" mesh="Right_4_1_Link" contype="0" conaffinity="0" group="2" />
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                                <joint name="Right_4_2" type="hinge" axis="0.0 -0.000139239466297141 0.999999990306185" limited="false" />
                                <inertial pos="-0.000706017625930283 -0.0134348437223862 -0.000381244702495481" mass="0.0040284856842007" fullinertia="5.17434024204544e-09 5.54490272867705e-09 1.1211281952307e-09 -5.29058568034451e-10 1.89191823119064e-09 1.34201488606521e-09" />
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                                <body name="Right_4_3_Link" pos="0.0 -0.0249999941493013 -4.37594629424942e-05">
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                                  <inertial pos="-0.000705597647268574 -0.00873600975469724 0.000372059188809587" mass="0.00226041772029693" diaginertia="0 0 0" />
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                            <body name="Right_5_1_Link" pos="-0.00266509462525319 -0.108684660379196 -0.0275968261567742">
                              <joint name="Right_5_1" type="hinge" axis="0.0 -0.000139239466285843 0.999999990306185" limited="false" />
                              <inertial pos="-0.000537221600531851 -0.0109835392195001 -0.000610824632974141" mass="0.00312157865590657" fullinertia="1.29781466207984e-08 2.57297501336104e-09 1.2628481501101e-08 -3.57809128039757e-09 1.2745523452812e-09 4.10241023625021e-09" />
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                                <joint name="Right_5_2" type="hinge" axis="0.0 -0.000139239466291097 0.999999990306185" limited="false" />
                                <inertial pos="-0.000633289695338213 -0.012027563843186 0.000398253432958254" mass="0.00292021118476469" fullinertia="3.11579364058411e-09 3.19475101681828e-09 8.38310946785063e-10 -4.17292156719331e-10 -1.12021277430979e-09 -1.01923503264043e-09" />
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                                  <inertial pos="0.000469712313317355 -0.00788437653823271 -0.000374781743929103" mass="0.00164591613742934" diaginertia="0 0 0" />
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    <exclude body1="Knee_Link" body2="Back_Z_Link" />
    <exclude body1="Back_Z_Link" body2="Back_X_Link" />
    <exclude body1="Back_X_Link" body2="Back_Y_Link" />
    <exclude body1="Back_Y_Link" body2="Neck_Z_Link" />
    <exclude body1="Neck_Z_Link" body2="Neck_X_Link" />
    <exclude body1="Neck_X_Link" body2="Head_Y_Link" />
    <exclude body1="Back_Y_Link" body2="Left_Shoulder_X_Link" />
    <exclude body1="Left_Shoulder_X_Link" body2="Left_Shoulder_Y_Link" />
    <exclude body1="Left_Shoulder_Y_Link" body2="Left_Elbow_Z_Link" />
    <exclude body1="Left_Elbow_Z_Link" body2="Left_Elbow_X_Link" />
    <exclude body1="Left_Elbow_X_Link" body2="Left_Wrist_Z_Link" />
    <exclude body1="Left_Wrist_Z_Link" body2="Left_Wrist_X_Link" />
    <exclude body1="Left_Wrist_X_Link" body2="Left_Wrist_Y_Link" />
    <exclude body1="Left_Wrist_Y_Link" body2="Left_1_1_Link" />
    <exclude body1="Left_1_1_Link" body2="Left_1_2_Link" />
    <exclude body1="Left_Wrist_Y_Link" body2="Left_2_1_Link" />
    <exclude body1="Left_2_1_Link" body2="Left_2_2_Link" />
    <exclude body1="Left_2_2_Link" body2="Left_2_3_Link" />
    <exclude body1="Left_Wrist_Y_Link" body2="Left_3_1_Link" />
    <exclude body1="Left_3_1_Link" body2="Left_3_2_Link" />
    <exclude body1="Left_3_2_Link" body2="Left_3_3_Link" />
    <exclude body1="Left_Wrist_Y_Link" body2="Left_4_1_Link" />
    <exclude body1="Left_4_1_Link" body2="Left_4_2_Link" />
    <exclude body1="Left_4_2_Link" body2="Left_4_3_Link" />
    <exclude body1="Left_Wrist_Y_Link" body2="Left_5_1_Link" />
    <exclude body1="Left_5_1_Link" body2="Left_5_2_Link" />
    <exclude body1="Left_5_2_Link" body2="Left_5_3_Link" />
    <exclude body1="Back_Y_Link" body2="Right_Shoulder_X_Link" />
    <exclude body1="Right_Shoulder_X_Link" body2="Right_Shoulder_Y_Link" />
    <exclude body1="Right_Shoulder_Y_Link" body2="Right_Elbow_Z_Link" />
    <exclude body1="Right_Elbow_Z_Link" body2="Right_Elbow_X_Link" />
    <exclude body1="Right_Elbow_X_Link" body2="Right_Wrist_Z_Link" />
    <exclude body1="Right_Wrist_Z_Link" body2="Right_Wrist_X_Link" />
    <exclude body1="Right_Wrist_X_Link" body2="Right_Wrist_Y_Link" />
    <exclude body1="Right_Wrist_Y_Link" body2="Right_1_1_Link" />
    <exclude body1="Right_1_1_Link" body2="Right_1_2_Link" />
    <exclude body1="Right_Wrist_Y_Link" body2="Right_2_1_Link" />
    <exclude body1="Right_2_1_Link" body2="Right_2_2_Link" />
    <exclude body1="Right_2_2_Link" body2="Right_2_3_Link" />
    <exclude body1="Right_Wrist_Y_Link" body2="Right_3_1_Link" />
    <exclude body1="Right_3_1_Link" body2="Right_3_2_Link" />
    <exclude body1="Right_3_2_Link" body2="Right_3_3_Link" />
    <exclude body1="Right_Wrist_Y_Link" body2="Right_4_1_Link" />
    <exclude body1="Right_4_1_Link" body2="Right_4_2_Link" />
    <exclude body1="Right_4_2_Link" body2="Right_4_3_Link" />
    <exclude body1="Right_Wrist_Y_Link" body2="Right_5_1_Link" />
    <exclude body1="Right_5_1_Link" body2="Right_5_2_Link" />
    <exclude body1="Right_5_2_Link" body2="Right_5_3_Link" />
  </contact>
</mujoco>
