<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content dc1d79ce874a03f5 -->
<mujoco model="h1_2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="dark" rgba="0.1 0.1 0.1 1.0" />
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="pelvis" file="meshes/pelvis.STL" />
    <mesh name="left_hip_yaw_link" file="meshes/left_hip_yaw_link.STL" />
    <mesh name="left_hip_pitch_link" file="meshes/left_hip_pitch_link.STL" />
    <mesh name="left_hip_roll_link" file="meshes/left_hip_roll_link.STL" />
    <mesh name="left_knee_link" file="meshes/left_knee_link.STL" />
    <mesh name="left_ankle_pitch_link" file="meshes/left_ankle_pitch_link.STL" />
    <mesh name="left_ankle_roll_link" file="meshes/left_ankle_roll_link.STL" />
    <mesh name="right_hip_yaw_link" file="meshes/right_hip_yaw_link.STL" />
    <mesh name="right_hip_pitch_link" file="meshes/right_hip_pitch_link.STL" />
    <mesh name="right_hip_roll_link" file="meshes/right_hip_roll_link.STL" />
    <mesh name="right_knee_link" file="meshes/right_knee_link.STL" />
    <mesh name="right_ankle_pitch_link" file="meshes/right_ankle_pitch_link.STL" />
    <mesh name="right_ankle_roll_link" file="meshes/right_ankle_roll_link.STL" />
    <mesh name="torso_link" file="meshes/torso_link.STL" />
    <mesh name="left_shoulder_pitch_link" file="meshes/left_shoulder_pitch_link.STL" />
    <mesh name="left_shoulder_roll_link" file="meshes/left_shoulder_roll_link.STL" />
    <mesh name="left_shoulder_yaw_link" file="meshes/left_shoulder_yaw_link.STL" />
    <mesh name="left_elbow_link" file="meshes/left_elbow_link.STL" />
    <mesh name="left_wrist_roll_link" file="meshes/left_wrist_roll_link.STL" />
    <mesh name="left_wrist_pitch_link" file="meshes/left_wrist_pitch_link.STL" />
    <mesh name="wrist_yaw_link" file="meshes/wrist_yaw_link.STL" />
    <mesh name="right_shoulder_pitch_link" file="meshes/right_shoulder_pitch_link.STL" />
    <mesh name="right_shoulder_roll_link" file="meshes/right_shoulder_roll_link.STL" />
    <mesh name="right_shoulder_yaw_link" file="meshes/right_shoulder_yaw_link.STL" />
    <mesh name="right_elbow_link" file="meshes/right_elbow_link.STL" />
    <mesh name="right_wrist_roll_link" file="meshes/right_wrist_roll_link.STL" />
    <mesh name="right_wrist_pitch_link" file="meshes/right_wrist_pitch_link.STL" />
    <mesh name="logo_link" file="meshes/logo_link.STL" />
    <mesh name="L_hand_base_link" file="meshes/L_hand_base_link.STL" />
    <mesh name="link11_L" file="meshes/link11_L.STL" />
    <mesh name="link12_L" file="meshes/link12_L.STL" />
    <mesh name="link13_L" file="meshes/link13_L.STL" />
    <mesh name="link14_L" file="meshes/link14_L.STL" />
    <mesh name="link15_L" file="meshes/link15_L.STL" />
    <mesh name="link16_L" file="meshes/link16_L.STL" />
    <mesh name="link17_L" file="meshes/link17_L.STL" />
    <mesh name="link18_L" file="meshes/link18_L.STL" />
    <mesh name="link19_L" file="meshes/link19_L.STL" />
    <mesh name="link20_L" file="meshes/link20_L.STL" />
    <mesh name="link21_L" file="meshes/link21_L.STL" />
    <mesh name="link22_L" file="meshes/link22_L.STL" />
    <mesh name="R_hand_base_link" file="meshes/R_hand_base_link.STL" />
    <mesh name="link11_R" file="meshes/link11_R.STL" />
    <mesh name="link12_R" file="meshes/link12_R.STL" />
    <mesh name="link13_R" file="meshes/link13_R.STL" />
    <mesh name="link14_R" file="meshes/link14_R.STL" />
    <mesh name="link15_R" file="meshes/link15_R.STL" />
    <mesh name="link16_R" file="meshes/link16_R.STL" />
    <mesh name="link17_R" file="meshes/link17_R.STL" />
    <mesh name="link18_R" file="meshes/link18_R.STL" />
    <mesh name="link19_R" file="meshes/link19_R.STL" />
    <mesh name="link20_R" file="meshes/link20_R.STL" />
    <mesh name="link21_R" file="meshes/link21_R.STL" />
    <mesh name="link22_R" file="meshes/link22_R.STL" />
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                  <geom name="left_ankle_roll_link_vis_0" type="mesh" mesh="left_ankle_roll_link" contype="0" conaffinity="0" group="2" material="dark" />
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              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="right_hip_yaw_link" pos="0.0 -0.0875 -0.1632">
        <joint name="right_hip_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.43 0.43" />
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                          <inertial pos="0.0012971 -0.011934 -0.0059999" mass="0.0042405" fullinertia="6.6215e-07 2.1167e-07 6.9402e-07 1.8442e-08 1.0279e-12 -1.4277e-11" />
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                          <joint name="R_ring_proximal_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.7" />
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                          <joint name="R_pinky_proximal_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.7" />
                          <inertial pos="0.001297 0.011934 -0.0060001" mass="0.0042403" fullinertia="6.6211e-07 2.1167e-07 6.9397e-07 -1.8461e-08 1.6907e-12 -6.9334e-12" />
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                            <joint name="R_pinky_intermediate_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.7" />
                            <inertial pos="0.0024748 0.016203 -0.0050031" mass="0.0035996" fullinertia="4.3913e-07 7.0247e-08 4.4867e-07 4.1418e-08 3.7168e-11 5.8613e-11" />
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    <exclude body1="left_hip_roll_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" />
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    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
    <exclude body1="right_hip_roll_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="torso_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="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="torso_link" body2="logo_link" />
    <exclude body1="torso_link" body2="imu_link" />
    <exclude body1="torso_link" body2="camera_link" />
    <exclude body1="torso_link" body2="lidar_link" />
    <exclude body1="left_wrist_yaw_link" body2="L_hand_base_link" />
    <exclude body1="L_hand_base_link" body2="L_thumb_proximal_base" />
    <exclude body1="L_thumb_proximal_base" body2="L_thumb_proximal" />
    <exclude body1="L_thumb_proximal" body2="L_thumb_intermediate" />
    <exclude body1="L_thumb_intermediate" body2="L_thumb_distal" />
    <exclude body1="L_hand_base_link" body2="L_index_proximal" />
    <exclude body1="L_index_proximal" body2="L_index_intermediate" />
    <exclude body1="L_hand_base_link" body2="L_middle_proximal" />
    <exclude body1="L_middle_proximal" body2="L_middle_intermediate" />
    <exclude body1="L_hand_base_link" body2="L_ring_proximal" />
    <exclude body1="L_ring_proximal" body2="L_ring_intermediate" />
    <exclude body1="L_hand_base_link" body2="L_pinky_proximal" />
    <exclude body1="L_pinky_proximal" body2="L_pinky_intermediate" />
    <exclude body1="right_wrist_yaw_link" body2="R_hand_base_link" />
    <exclude body1="R_hand_base_link" body2="R_thumb_proximal_base" />
    <exclude body1="R_thumb_proximal_base" body2="R_thumb_proximal" />
    <exclude body1="R_thumb_proximal" body2="R_thumb_intermediate" />
    <exclude body1="R_thumb_intermediate" body2="R_thumb_distal" />
    <exclude body1="R_hand_base_link" body2="R_index_proximal" />
    <exclude body1="R_index_proximal" body2="R_index_intermediate" />
    <exclude body1="R_hand_base_link" body2="R_middle_proximal" />
    <exclude body1="R_middle_proximal" body2="R_middle_intermediate" />
    <exclude body1="R_hand_base_link" body2="R_ring_proximal" />
    <exclude body1="R_ring_proximal" body2="R_ring_intermediate" />
    <exclude body1="R_hand_base_link" body2="R_pinky_proximal" />
    <exclude body1="R_pinky_proximal" body2="R_pinky_intermediate" />
  </contact>
</mujoco>
