<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 0219c15e40dd537d -->
<mujoco model="hsrc">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="body_main" rgba="1.0 0.0 0.0 1.0" />
    <material name="body_sub" rgba="0.33 0.33 0.33 1.0" />
    <material name="wheel" rgba="0.2 0.2 0.2 1.0" />
    <material name="black" rgba="0.1 0.1 0.1 1.0" />
    <material name="tablet" rgba="0.1 0.1 0.2 1.0" />
    <mesh name="base_light" file="hsrc_description/meshes/base_v0/base_light.dae" />
    <mesh name="body_light" file="hsrc_description/meshes/base_v0/body_light.dae" />
    <mesh name="torso_base" file="hsrc_description/meshes/base_v0/torso_base.dae" />
    <mesh name="base" file="hsrc_description/meshes/base_v0/base.stl" />
    <mesh name="hsrb_parts_description_meshes_sensors_laser_dae" file="hsrb_parts_description/meshes/sensors/laser.dae" />
    <mesh name="hsrb_parts_description_meshes_sensors_laser_stl" file="hsrb_parts_description/meshes/sensors/laser.stl" />
    <mesh name="hsrc_description_meshes_base_v0_bumper_dae" file="hsrc_description/meshes/base_v0/bumper.dae" />
    <mesh name="hsrc_description_meshes_base_v0_bumper_stl" file="hsrc_description/meshes/base_v0/bumper.stl" />
    <mesh name="hsrc_description_meshes_torso_v0_torso_dae" file="hsrc_description/meshes/torso_v0/torso.dae" />
    <mesh name="hsrc_description_meshes_torso_v0_torso_stl" file="hsrc_description/meshes/torso_v0/torso.stl" />
    <mesh name="hsrc_description_meshes_head_v0_head_pan_dae" file="hsrc_description/meshes/head_v0/head_pan.dae" />
    <mesh name="hsrc_description_meshes_head_v0_head_pan_stl" file="hsrc_description/meshes/head_v0/head_pan.stl" />
    <mesh name="hsrc_description_meshes_head_v0_head_dae" file="hsrc_description/meshes/head_v0/head.dae" />
    <mesh name="hsrc_description_meshes_head_v0_head_stl" file="hsrc_description/meshes/head_v0/head.stl" />
    <mesh name="head_camera" file="hsrb_parts_description/meshes/sensors/head_camera.dae" />
    <mesh name="hsrb_parts_description_meshes_sensors_xtion_dae" file="hsrb_parts_description/meshes/sensors/xtion.dae" />
    <mesh name="hsrb_parts_description_meshes_sensors_xtion_stl" file="hsrb_parts_description/meshes/sensors/xtion.stl" />
    <mesh name="hsrc_description_meshes_arm_v0_shoulder_dae" file="hsrc_description/meshes/arm_v0/shoulder.dae" />
    <mesh name="hsrc_description_meshes_arm_v0_shoulder_stl" file="hsrc_description/meshes/arm_v0/shoulder.stl" />
    <mesh name="hsrc_description_meshes_arm_v0_arm_flex_dae" file="hsrc_description/meshes/arm_v0/arm_flex.dae" />
    <mesh name="hsrc_description_meshes_arm_v0_arm_flex_stl" file="hsrc_description/meshes/arm_v0/arm_flex.stl" />
    <mesh name="hsrc_description_meshes_arm_v0_arm_roll_dae" file="hsrc_description/meshes/arm_v0/arm_roll.dae" />
    <mesh name="hsrc_description_meshes_arm_v0_arm_roll_stl" file="hsrc_description/meshes/arm_v0/arm_roll.stl" />
    <mesh name="wrist_flex" file="hsrc_description/meshes/wrist_v0/wrist_flex.dae" />
    <mesh name="wrist_roll" file="hsrc_description/meshes/wrist_v0/wrist_roll.dae" />
    <mesh name="wrist_roll_1" file="hsrc_description/meshes/wrist_v0/wrist_roll_1.stl" />
    <mesh name="wrist_roll_2" file="hsrc_description/meshes/wrist_v0/wrist_roll_2.stl" />
    <mesh name="hsrc_description_meshes_hand_v0_palm_dae" file="hsrc_description/meshes/hand_v0/palm.dae" />
    <mesh name="hsrc_description_meshes_hand_v0_palm_stl" file="hsrc_description/meshes/hand_v0/palm.stl" />
    <mesh name="l_proximal" file="hsrc_description/meshes/hand_v0/l_proximal.dae" />
    <mesh name="l_distal" file="hsrc_description/meshes/hand_v0/l_distal.dae" />
    <mesh name="r_proximal" file="hsrc_description/meshes/hand_v0/r_proximal.dae" />
    <mesh name="r_distal" file="hsrc_description/meshes/hand_v0/r_distal.dae" />
  </asset>
  <worldbody>
    <body name="base_footprint">
      <body name="base_link">
        <inertial pos="-0.025978 -0.005498 0.17633" mass="50.0" fullinertia="0.3742 0.3436 0.1509 0.000434172172 0.03088 0.01775" />
        <geom name="base_link_vis_0" type="mesh" mesh="base_light" contype="0" conaffinity="0" group="2" />
        <geom name="base_link_vis_1" type="mesh" mesh="body_light" contype="0" conaffinity="0" group="2" />
        <geom name="base_link_vis_2" type="mesh" mesh="torso_base" contype="0" conaffinity="0" group="2" />
        <geom name="base_link_col_0" type="mesh" mesh="base" group="3" />
        <body name="base_roll_link">
          <joint name="base_roll_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" damping="0.7" />
          <inertial pos="-0.019482 0.002191 0.071013" mass="10.239419" fullinertia="0.07671 0.09057 0.145 -0.01005 0.001749 0.001549" />
          <body name="base_r_drive_wheel_link" pos="-0.11 -0.133 0.0445">
            <joint name="base_r_drive_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
            <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
            <geom name="base_r_drive_wheel_link_vis_0" type="cylinder" size="0.0445 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="wheel" />
            <geom name="base_r_drive_wheel_link_col_0" type="cylinder" size="0.0445 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
          <body name="base_l_drive_wheel_link" pos="-0.11 0.133 0.0445">
            <joint name="base_l_drive_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
            <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
            <geom name="base_l_drive_wheel_link_vis_0" type="cylinder" size="0.0445 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" material="wheel" />
            <geom name="base_l_drive_wheel_link_col_0" type="cylinder" size="0.0445 0.015" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
          <body name="base_r_passive_wheel_x_frame" pos="0.1665 -0.055 0.0245">
            <joint name="base_r_passive_wheel_x_frame_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="1.0" />
            <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
            <body name="base_r_passive_wheel_y_frame">
              <joint name="base_r_passive_wheel_y_frame_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
              <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
              <body name="base_r_passive_wheel_z_link">
                <joint name="base_r_passive_wheel_z_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
                <geom name="base_r_passive_wheel_z_link_vis_0" type="sphere" size="0.0245" contype="0" conaffinity="0" group="2" material="wheel" />
                <geom name="base_r_passive_wheel_z_link_col_0" type="sphere" size="0.0245" group="3" />
              </body>
            </body>
          </body>
          <body name="base_l_passive_wheel_x_frame" pos="0.1665 0.055 0.0245">
            <joint name="base_l_passive_wheel_x_frame_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="1.0" />
            <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
            <body name="base_l_passive_wheel_y_frame">
              <joint name="base_l_passive_wheel_y_frame_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
              <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
              <body name="base_l_passive_wheel_z_link">
                <joint name="base_l_passive_wheel_z_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
                <geom name="base_l_passive_wheel_z_link_vis_0" type="sphere" size="0.0245" contype="0" conaffinity="0" group="2" material="wheel" />
                <geom name="base_l_passive_wheel_z_link_col_0" type="sphere" size="0.0245" group="3" />
              </body>
            </body>
          </body>
        </body>
        <body name="base_range_sensor_link" pos="0.167 0.0 0.1904">
          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
          <geom name="base_range_sensor_link_vis_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_laser_dae" contype="0" conaffinity="0" group="2" />
          <geom name="base_range_sensor_link_col_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_laser_stl" group="3" />
        </body>
        <body name="base_imu_frame" pos="0.0005 0.1296 0.181">
          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
        </body>
        <body name="base_f_bumper_link">
          <joint name="base_f_bumper_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
          <inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="0.001537 0.001537 0.002875 0.0 0.0 0.0" />
          <geom name="base_f_bumper_link_vis_0" type="mesh" mesh="hsrc_description_meshes_base_v0_bumper_dae" contype="0" conaffinity="0" group="2" />
          <geom name="base_f_bumper_link_col_0" type="mesh" mesh="hsrc_description_meshes_base_v0_bumper_stl" group="3" />
        </body>
        <body name="base_b_bumper_link" quat="6.123233995736766e-17 0.0 0.0 1.0">
          <joint name="base_b_bumper_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
          <inertial pos="0.0 0.0 0.0" mass="0.06" fullinertia="0.001537 0.001537 0.002875 0.0 0.0 0.0" />
          <geom name="base_b_bumper_link_vis_0" type="mesh" mesh="hsrc_description_meshes_base_v0_bumper_dae" contype="0" conaffinity="0" group="2" />
          <geom name="base_b_bumper_link_col_0" type="mesh" mesh="hsrc_description_meshes_base_v0_bumper_stl" group="3" />
        </body>
        <body name="torso_lift_link" pos="0.0 0.0 0.762">
          <joint name="torso_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.345" damping="500.0" />
          <inertial pos="-0.051142 0.003454 -0.2905" mass="3.420779" fullinertia="0.1045 0.105 0.01284 -0.000460884801 0.000101130383 0.002941" />
          <geom name="torso_lift_link_vis_0" type="mesh" mesh="hsrc_description_meshes_torso_v0_torso_dae" contype="0" conaffinity="0" group="2" />
          <geom name="torso_lift_link_col_0" type="mesh" mesh="hsrc_description_meshes_torso_v0_torso_stl" group="3" />
          <body name="head_pan_link">
            <joint name="head_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.84 1.75" damping="1.0" />
            <inertial pos="0.001724 -0.001969 -0.028886" mass="0.571903" fullinertia="0.0009711421 0.00065335493 0.000765202576 6.179487e-05 -0.000113923121 6.9036305e-05" />
            <geom name="head_pan_link_vis_0" type="mesh" mesh="hsrc_description_meshes_head_v0_head_pan_dae" contype="0" conaffinity="0" group="2" />
            <geom name="head_pan_link_col_0" type="mesh" mesh="hsrc_description_meshes_head_v0_head_pan_stl" group="3" />
            <body name="head_tilt_link" pos="0.02 0.0 0.0">
              <joint name="head_tilt_joint" type="hinge" axis="0.0 -1.0 0.0" range="-1.57 0.52" damping="10.0" />
              <inertial pos="-0.055376 -0.002436 0.117733" mass="2.123802" fullinertia="0.01941 0.01498 0.01167 -0.000138091054 0.005035 8.7492537e-05" />
              <geom name="head_tilt_link_vis_0" type="mesh" mesh="hsrc_description_meshes_head_v0_head_dae" contype="0" conaffinity="0" group="2" />
              <geom name="head_tilt_link_col_0" type="mesh" mesh="hsrc_description_meshes_head_v0_head_stl" group="3" />
              <body name="head_l_stereo_camera_link" pos="0.0262 0.07 0.08" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                <geom name="head_l_stereo_camera_link_vis_0" type="mesh" mesh="head_camera" contype="0" conaffinity="0" group="2" />
                <body name="head_l_stereo_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                </body>
              </body>
              <body name="head_r_stereo_camera_link" pos="0.0262 -0.07 0.08" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                <geom name="head_r_stereo_camera_link_vis_0" type="mesh" mesh="head_camera" contype="0" conaffinity="0" group="2" />
                <body name="head_r_stereo_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                </body>
              </body>
              <body name="head_rgbd_sensor_link" pos="-0.0786 0.022 0.248" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                <geom name="head_rgbd_sensor_link_vis_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_xtion_dae" contype="0" conaffinity="0" group="2" />
                <geom name="head_rgbd_sensor_link_col_0" type="mesh" mesh="hsrb_parts_description_meshes_sensors_xtion_stl" group="3" />
                <body name="head_rgbd_sensor_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="arm_lift_link" pos="0.0 0.0 0.35">
          <joint name="arm_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.69" damping="1.0" />
          <inertial pos="0.051549 0.042438 -0.064145" mass="1.275819" fullinertia="0.004633 0.008065 0.007672 0.000475272668 -0.002403 -0.000100268629" />
          <geom name="arm_lift_link_vis_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_shoulder_dae" contype="0" conaffinity="0" group="2" />
          <geom name="arm_lift_link_col_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_shoulder_stl" group="3" />
          <body name="arm_flex_link" pos="0.141 0.0785 0.0">
            <joint name="arm_flex_joint" type="hinge" axis="0.0 -1.0 0.0" range="-2.62 0.0" damping="1.0" />
            <inertial pos="0.000632 0.006404 0.118529" mass="1.339295" fullinertia="0.007528 0.007102 0.001552 -2.0284207e-05 -2.2947194e-05 -9.1796075e-05" />
            <geom name="arm_flex_link_vis_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_arm_flex_dae" contype="0" conaffinity="0" group="2" />
            <geom name="arm_flex_link_col_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_arm_flex_stl" group="3" />
            <body name="arm_roll_link" pos="0.005 0.0 0.345">
              <joint name="arm_roll_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.92 3.67" damping="0.1" />
              <inertial pos="-0.006927 0.002039 -0.064837" mass="0.247936" fullinertia="0.004267 0.000780923828 0.00412 -1.8322199e-05 1.7984455e-05 -1.392334e-05" />
              <geom name="arm_roll_link_vis_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_arm_roll_dae" contype="0" conaffinity="0" group="2" />
              <geom name="arm_roll_link_col_0" type="mesh" mesh="hsrc_description_meshes_arm_v0_arm_roll_stl" group="3" />
              <body name="wrist_flex_link">
                <joint name="wrist_flex_joint" type="hinge" axis="0.0 -1.0 0.0" range="-1.75 1.22" damping="1.0" />
                <inertial pos="0.000131 -0.003929 0.00217" mass="0.681225" fullinertia="7.4353558e-05 3.8432887e-05 6.4680918e-05 4.94515e-07 2.2937e-08 -2.55576e-06" />
                <geom name="wrist_flex_link_vis_0" type="mesh" mesh="wrist_flex" contype="0" conaffinity="0" group="2" material="body_sub" />
                <geom name="wrist_flex_link_vis_1" type="cylinder" size="0.017 0.01" pos="0.0 0.0 0.04" contype="0" conaffinity="0" group="2" material="body_sub" />
                <geom name="wrist_flex_link_col_0" type="cylinder" size="0.017 0.02" pos="0.0 0.0 0.03" group="3" />
                <body name="wrist_ft_sensor_mount_link">
                  <joint name="wrist_roll_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.92 3.67" damping="1.0" />
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                  <body name="wrist_ft_sensor_frame" pos="0.0 0.0 0.1" quat="6.123233995736766e-17 1.0 0.0 0.0">
                    <joint name="wrist_ft_sensor_frame_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" />
                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                    <body name="wrist_roll_link" pos="0.0 0.0 0.1" quat="6.123233995736766e-17 -1.0 0.0 0.0">
                      <inertial pos="-0.001416 -0.001547 0.081689" mass="0.761692" fullinertia="0.000805633819 0.000768077165 0.000453406611 -1.4431758e-05 2.8204659e-05 2.2460226e-05" />
                      <geom name="wrist_roll_link_vis_0" type="mesh" mesh="wrist_roll" contype="0" conaffinity="0" group="2" />
                      <geom name="wrist_roll_link_col_0" type="mesh" mesh="wrist_roll_1" group="3" />
                      <geom name="wrist_roll_link_col_1" type="mesh" mesh="wrist_roll_2" group="3" />
                      <body name="hand_palm_link" pos="0.0 0.0 0.155" quat="6.123233995736766e-17 0.0 0.0 1.0">
                        <inertial pos="0.0 0.0 0.0" mass="0.15" fullinertia="0.015 0.015 0.015 0.0 0.0 0.0" />
                        <geom name="hand_palm_link_vis_0" type="mesh" mesh="hsrc_description_meshes_hand_v0_palm_dae" contype="0" conaffinity="0" group="2" />
                        <geom name="hand_palm_link_col_0" type="mesh" mesh="hsrc_description_meshes_hand_v0_palm_stl" group="3" />
                        <body name="hand_motor_dummy_link">
                          <joint name="hand_motor_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
                          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                        </body>
                        <body name="hand_l_proximal_link" pos="-0.031 -0.0245 -0.0165">
                          <joint name="hand_l_proximal_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
                          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                          <body name="hand_l_spring_proximal_link">
                            <joint name="hand_l_spring_proximal_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.698" damping="0.0001" />
                            <inertial pos="0.021418 0.00248 0.022688" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                            <geom name="hand_l_spring_proximal_link_vis_0" type="mesh" mesh="l_proximal" contype="0" conaffinity="0" group="2" />
                            <geom name="hand_l_spring_proximal_link_col_0" type="box" size="0.016 0.0075 0.025" pos="0.0205 -0.0075 0.04" group="3" />
                            <body name="hand_l_mimic_distal_link" pos="0.0 0.0 0.07">
                              <joint name="hand_l_mimic_distal_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.698 -0.0" damping="0.0001" />
                              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                              <body name="hand_l_distal_link">
                                <joint name="hand_l_distal_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.24 0.798" damping="0.0001" />
                                <inertial pos="0.011116 0.005679 0.017532" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                <geom name="hand_l_distal_link_vis_0" type="mesh" mesh="l_distal" contype="0" conaffinity="0" group="2" />
                                <geom name="hand_l_distal_link_col_0" type="box" size="0.02 0.005 0.016" pos="0.02 0.018 0.025" group="3" />
                                <geom name="hand_l_distal_link_col_1" type="box" size="0.02 0.0115 0.02" pos="0.02 0.0015 0.02" group="3" />
                                <body name="hand_l_finger_tip_frame" pos="0.0195 0.0226 0.0409" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                </body>
                                <body name="hand_l_finger_vacuum_frame" pos="0.0065 -0.00953 0.035577" quat="0.9396926207859084 0.3420201433256687 0.0 0.0">
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                  <geom name="hand_l_finger_vacuum_frame_vis_0" type="box" size="0.004 0.004 0.01" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" material="body_sub" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                        <body name="hand_r_proximal_link" pos="-0.031 0.0245 -0.0165">
                          <joint name="hand_r_proximal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-0.798 1.24" damping="0.0001" />
                          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                          <body name="hand_r_spring_proximal_link">
                            <joint name="hand_r_spring_proximal_joint" type="hinge" axis="-1.0 0.0 0.0" range="0.0 0.698" damping="0.0001" />
                            <inertial pos="0.013203 0.002096 0.023311" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                            <geom name="hand_r_spring_proximal_link_vis_0" type="mesh" mesh="r_proximal" contype="0" conaffinity="0" group="2" />
                            <geom name="hand_r_spring_proximal_link_col_0" type="box" size="0.016 0.0075 0.025" pos="0.0205 0.0075 0.04" group="3" />
                            <body name="hand_r_mimic_distal_link" pos="0.0 0.0 0.07">
                              <joint name="hand_r_mimic_distal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-0.698 -0.0" damping="0.0001" />
                              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                              <body name="hand_r_distal_link">
                                <joint name="hand_r_distal_joint" type="hinge" axis="-1.0 0.0 0.0" range="-1.24 0.798" damping="0.0001" />
                                <inertial pos="0.014256 -0.008321 0.015591" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                <geom name="hand_r_distal_link_vis_0" type="mesh" mesh="r_distal" contype="0" conaffinity="0" group="2" />
                                <geom name="hand_r_distal_link_col_0" type="box" size="0.02 0.005 0.016" pos="0.02 -0.018 0.025" group="3" />
                                <geom name="hand_r_distal_link_col_1" type="box" size="0.02 0.0115 0.02" pos="0.02 -0.0015 0.02" group="3" />
                                <body name="hand_r_finger_tip_frame" pos="0.0195 -0.0226 0.0409" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                        <body name="hand_camera_frame" pos="0.026 0.0 0.0034">
                          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                          <body name="hand_camera_gazebo_frame" quat="0.5000000000000001 0.5 -0.5 0.4999999999999999">
                            <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_footprint" body2="base_link" />
    <exclude body1="base_link" body2="base_roll_link" />
    <exclude body1="base_roll_link" body2="base_r_drive_wheel_link" />
    <exclude body1="base_roll_link" body2="base_l_drive_wheel_link" />
    <exclude body1="base_roll_link" body2="base_r_passive_wheel_x_frame" />
    <exclude body1="base_r_passive_wheel_x_frame" body2="base_r_passive_wheel_y_frame" />
    <exclude body1="base_r_passive_wheel_y_frame" body2="base_r_passive_wheel_z_link" />
    <exclude body1="base_roll_link" body2="base_l_passive_wheel_x_frame" />
    <exclude body1="base_l_passive_wheel_x_frame" body2="base_l_passive_wheel_y_frame" />
    <exclude body1="base_l_passive_wheel_y_frame" body2="base_l_passive_wheel_z_link" />
    <exclude body1="base_link" body2="base_range_sensor_link" />
    <exclude body1="base_link" body2="base_imu_frame" />
    <exclude body1="base_link" body2="base_f_bumper_link" />
    <exclude body1="base_link" body2="base_b_bumper_link" />
    <exclude body1="base_link" body2="torso_lift_link" />
    <exclude body1="torso_lift_link" body2="head_pan_link" />
    <exclude body1="head_pan_link" body2="head_tilt_link" />
    <exclude body1="head_tilt_link" body2="head_l_stereo_camera_link" />
    <exclude body1="head_l_stereo_camera_link" body2="head_l_stereo_camera_gazebo_frame" />
    <exclude body1="head_tilt_link" body2="head_r_stereo_camera_link" />
    <exclude body1="head_r_stereo_camera_link" body2="head_r_stereo_camera_gazebo_frame" />
    <exclude body1="head_tilt_link" body2="head_rgbd_sensor_link" />
    <exclude body1="head_rgbd_sensor_link" body2="head_rgbd_sensor_gazebo_frame" />
    <exclude body1="base_link" body2="arm_lift_link" />
    <exclude body1="arm_lift_link" body2="arm_flex_link" />
    <exclude body1="arm_flex_link" body2="arm_roll_link" />
    <exclude body1="arm_roll_link" body2="wrist_flex_link" />
    <exclude body1="wrist_flex_link" body2="wrist_ft_sensor_mount_link" />
    <exclude body1="wrist_ft_sensor_frame" body2="wrist_roll_link" />
    <exclude body1="wrist_ft_sensor_mount_link" body2="wrist_ft_sensor_frame" />
    <exclude body1="wrist_roll_link" body2="hand_palm_link" />
    <exclude body1="hand_palm_link" body2="hand_motor_dummy_link" />
    <exclude body1="hand_palm_link" body2="hand_l_proximal_link" />
    <exclude body1="hand_l_proximal_link" body2="hand_l_spring_proximal_link" />
    <exclude body1="hand_l_spring_proximal_link" body2="hand_l_mimic_distal_link" />
    <exclude body1="hand_l_mimic_distal_link" body2="hand_l_distal_link" />
    <exclude body1="hand_l_distal_link" body2="hand_l_finger_tip_frame" />
    <exclude body1="hand_l_distal_link" body2="hand_l_finger_vacuum_frame" />
    <exclude body1="hand_palm_link" body2="hand_r_proximal_link" />
    <exclude body1="hand_r_proximal_link" body2="hand_r_spring_proximal_link" />
    <exclude body1="hand_r_spring_proximal_link" body2="hand_r_mimic_distal_link" />
    <exclude body1="hand_r_mimic_distal_link" body2="hand_r_distal_link" />
    <exclude body1="hand_r_distal_link" body2="hand_r_finger_tip_frame" />
    <exclude body1="hand_palm_link" body2="hand_camera_frame" />
    <exclude body1="hand_camera_frame" body2="hand_camera_gazebo_frame" />
  </contact>
</mujoco>
