<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b75727263d88acf2 -->
<mujoco model="jvrc1">
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                                <joint name="R_LTHUMB" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="R_LTHUMB_S_vis_0" type="mesh" mesh="R_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="R_LTHUMB_S_col_0" type="mesh" mesh="R_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="R_UINDEX_S" pos="0.025 -0.016 -0.084">
                              <joint name="R_UINDEX" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
                              <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                              <geom name="R_UINDEX_S_vis_0" type="mesh" mesh="R_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                              <geom name="R_UINDEX_S_col_0" type="mesh" mesh="R_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              <body name="R_LINDEX_S" pos="3.46944695195e-17 -2.77555756156e-17 -0.045">
                                <joint name="R_LINDEX" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="R_LINDEX_S_vis_0" type="mesh" mesh="R_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="R_LINDEX_S_col_0" type="mesh" mesh="R_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="R_ULITTLE_S" pos="-0.025 -0.016 -0.084">
                              <joint name="R_ULITTLE" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
                              <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                              <geom name="R_ULITTLE_S_vis_0" type="mesh" mesh="R_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                              <geom name="R_ULITTLE_S_col_0" type="mesh" mesh="R_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              <body name="R_LLITTLE_S" pos="-3.46944695195e-17 -1.38777878078e-16 -0.045">
                                <joint name="R_LLITTLE" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="R_LLITTLE_S_vis_0" type="mesh" mesh="R_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="R_LLITTLE_S_col_0" type="mesh" mesh="R_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="rhsensor" />
                            <body name="r_wrist" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
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                <geom name="L_SHOULDER_P_S_vis_0" type="mesh" mesh="L_SHOULDER_P_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                <geom name="L_SHOULDER_P_S_col_0" type="mesh" mesh="L_SHOULDER_P_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                <body name="L_SHOULDER_R_S" pos="0.0 2.77555756156e-17 -5.55111512313e-16">
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                  <body name="L_SHOULDER_Y_S" pos="0.0 2.77555756156e-17 -5.55111512313e-16">
                    <joint name="L_SHOULDER_Y" type="hinge" axis="0.0 0.0 1.0" range="-1.57079632679 1.57079632679" />
                    <inertial pos="-0.01 0.0 -0.19" mass="2.0" fullinertia="0.01365 0.0146 0.00635 0.0 0.0 0.0" />
                    <geom name="L_SHOULDER_Y_S_vis_0" type="mesh" mesh="L_SHOULDER_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                    <geom name="L_SHOULDER_Y_S_col_0" type="mesh" mesh="L_SHOULDER_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                    <body name="L_ELBOW_P_S" pos="0.004 -2.77555756156e-17 -0.305">
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                      <geom name="L_ELBOW_P_S_col_0" type="mesh" mesh="L_ELBOW_P_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
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                          <joint name="L_WRIST_R" type="hinge" axis="1.0 0.0 0.0" range="-1.91986217719 1.91986217719" />
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                          <body name="L_WRIST_Y_S" pos="0.0 -2.77555756156e-16 -1.80411241502e-16">
                            <joint name="L_WRIST_Y" type="hinge" axis="0.0 0.0 1.0" range="-2.61799387799 2.61799387799" />
                            <inertial pos="0.0 -0.01 -0.06" mass="0.5" fullinertia="0.0004625 0.0007625 0.0004625 0.0 0.0 0.0" />
                            <geom name="L_WRIST_Y_S_vis_0" type="mesh" mesh="L_WRIST_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                            <geom name="L_WRIST_Y_S_col_0" type="mesh" mesh="L_WRIST_Y_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                            <body name="L_UTHUMB_S" pos="0.0 -0.033 -0.084">
                              <joint name="L_UTHUMB" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
                              <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                              <geom name="L_UTHUMB_S_vis_0" type="mesh" mesh="L_UTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                              <geom name="L_UTHUMB_S_col_0" type="mesh" mesh="L_UTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              <body name="L_LTHUMB_S" pos="0.0 2.16493489802e-15 -0.045">
                                <joint name="L_LTHUMB" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="L_LTHUMB_S_vis_0" type="mesh" mesh="L_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="L_LTHUMB_S_col_0" type="mesh" mesh="L_LTHUMB_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="L_UINDEX_S" pos="0.025 0.016 -0.084">
                              <joint name="L_UINDEX" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
                              <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                              <geom name="L_UINDEX_S_vis_0" type="mesh" mesh="L_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                              <geom name="L_UINDEX_S_col_0" type="mesh" mesh="L_UINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              <body name="L_LINDEX_S" pos="3.46944695195e-17 1.38777878078e-16 -0.045">
                                <joint name="L_LINDEX" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="L_LINDEX_S_vis_0" type="mesh" mesh="L_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="L_LINDEX_S_col_0" type="mesh" mesh="L_LINDEX_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="L_ULITTLE_S" pos="-0.025 0.016 -0.084">
                              <joint name="L_ULITTLE" type="hinge" axis="1.0 0.0 0.0" range="-0.785398163397 0.785398163397" />
                              <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                              <geom name="L_ULITTLE_S_vis_0" type="mesh" mesh="L_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                              <geom name="L_ULITTLE_S_col_0" type="mesh" mesh="L_ULITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              <body name="L_LLITTLE_S" pos="-3.46944695195e-17 2.77555756156e-17 -0.045">
                                <joint name="L_LLITTLE" type="hinge" axis="1.0 0.0 0.0" range="-2.356194490191 2.356194490191" />
                                <inertial pos="0.0 0.0 -0.015" mass="0.2" fullinertia="6.16666666667e-05 6.16666666667e-05 2.66666666667e-05 0.0 0.0 0.0" />
                                <geom name="L_LLITTLE_S_vis_0" type="mesh" mesh="L_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
                                <geom name="L_LLITTLE_S_col_0" type="mesh" mesh="L_LLITTLE_S" quat="0.7071054825112363 0.0 -0.0 0.7071080798594735" group="3" />
                              </body>
                            </body>
                            <body name="lhsensor" />
                            <body name="l_wrist" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="gsensor" />
        <body name="gyrometer" />
      </body>
    </body>
  </worldbody>
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    <exclude body1="base_link" body2="PELVIS_S" />
    <exclude body1="PELVIS_S" body2="R_HIP_P_S" />
    <exclude body1="R_HIP_P_S" body2="R_HIP_R_S" />
    <exclude body1="R_HIP_R_S" body2="R_HIP_Y_S" />
    <exclude body1="R_HIP_Y_S" body2="R_KNEE_S" />
    <exclude body1="R_KNEE_S" body2="R_ANKLE_R_S" />
    <exclude body1="R_ANKLE_R_S" body2="R_ANKLE_P_S" />
    <exclude body1="PELVIS_S" body2="L_HIP_P_S" />
    <exclude body1="L_HIP_P_S" body2="L_HIP_R_S" />
    <exclude body1="L_HIP_R_S" body2="L_HIP_Y_S" />
    <exclude body1="L_HIP_Y_S" body2="L_KNEE_S" />
    <exclude body1="L_KNEE_S" body2="L_ANKLE_R_S" />
    <exclude body1="L_ANKLE_R_S" body2="L_ANKLE_P_S" />
    <exclude body1="PELVIS_S" body2="WAIST_Y_S" />
    <exclude body1="WAIST_Y_S" body2="WAIST_P_S" />
    <exclude body1="WAIST_P_S" body2="WAIST_R_S" />
    <exclude body1="WAIST_R_S" body2="NECK_Y_S" />
    <exclude body1="NECK_Y_S" body2="NECK_R_S" />
    <exclude body1="NECK_R_S" body2="NECK_P_S" />
    <exclude body1="WAIST_R_S" body2="R_SHOULDER_P_S" />
    <exclude body1="R_SHOULDER_P_S" body2="R_SHOULDER_R_S" />
    <exclude body1="R_SHOULDER_R_S" body2="R_SHOULDER_Y_S" />
    <exclude body1="R_SHOULDER_Y_S" body2="R_ELBOW_P_S" />
    <exclude body1="R_ELBOW_P_S" body2="R_ELBOW_Y_S" />
    <exclude body1="R_ELBOW_Y_S" body2="R_WRIST_R_S" />
    <exclude body1="R_WRIST_R_S" body2="R_WRIST_Y_S" />
    <exclude body1="R_WRIST_Y_S" body2="R_UTHUMB_S" />
    <exclude body1="R_UTHUMB_S" body2="R_LTHUMB_S" />
    <exclude body1="R_WRIST_Y_S" body2="R_UINDEX_S" />
    <exclude body1="R_UINDEX_S" body2="R_LINDEX_S" />
    <exclude body1="R_WRIST_Y_S" body2="R_ULITTLE_S" />
    <exclude body1="R_ULITTLE_S" body2="R_LLITTLE_S" />
    <exclude body1="WAIST_R_S" body2="L_SHOULDER_P_S" />
    <exclude body1="L_SHOULDER_P_S" body2="L_SHOULDER_R_S" />
    <exclude body1="L_SHOULDER_R_S" body2="L_SHOULDER_Y_S" />
    <exclude body1="L_SHOULDER_Y_S" body2="L_ELBOW_P_S" />
    <exclude body1="L_ELBOW_P_S" body2="L_ELBOW_Y_S" />
    <exclude body1="L_ELBOW_Y_S" body2="L_WRIST_R_S" />
    <exclude body1="L_WRIST_R_S" body2="L_WRIST_Y_S" />
    <exclude body1="L_WRIST_Y_S" body2="L_UTHUMB_S" />
    <exclude body1="L_UTHUMB_S" body2="L_LTHUMB_S" />
    <exclude body1="L_WRIST_Y_S" body2="L_UINDEX_S" />
    <exclude body1="L_UINDEX_S" body2="L_LINDEX_S" />
    <exclude body1="L_WRIST_Y_S" body2="L_ULITTLE_S" />
    <exclude body1="L_ULITTLE_S" body2="L_LLITTLE_S" />
    <exclude body1="PELVIS_S" body2="gsensor" />
    <exclude body1="PELVIS_S" body2="gyrometer" />
    <exclude body1="R_ANKLE_P_S" body2="rfsensor" />
    <exclude body1="L_ANKLE_P_S" body2="lfsensor" />
    <exclude body1="NECK_P_S" body2="rcamera" />
    <exclude body1="NECK_P_S" body2="lcamera" />
    <exclude body1="NECK_P_S" body2="dcamera" />
    <exclude body1="NECK_P_S" body2="ranger" />
    <exclude body1="R_WRIST_Y_S" body2="rhsensor" />
    <exclude body1="L_WRIST_Y_S" body2="lhsensor" />
    <exclude body1="R_WRIST_Y_S" body2="r_wrist" />
    <exclude body1="L_WRIST_Y_S" body2="l_wrist" />
    <exclude body1="R_ANKLE_P_S" body2="r_ankle" />
    <exclude body1="L_ANKLE_P_S" body2="l_ankle" />
  </contact>
</mujoco>
