<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 289abf8a74953382 -->
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                  <geom name="left_shoulder_yaw_link_col_0" type="mesh" mesh="left_shoulder_yaw_link" group="3" />
                  <body name="left_elbow_link" pos="0.0130000000000001 5.00000000004108e-05 -0.1183">
                    <joint name="left_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.3911 0.5236" />
                    <inertial pos="-0.005490625 0.00046824 -0.051280995" mass="1.54710466" fullinertia="0.005924270000000001 0.00606145 0.00081196 -3.36e-06 -0.000361005 -3.693e-05" />
                    <geom name="left_elbow_link_vis_0" type="mesh" mesh="left_elbow_link" contype="0" conaffinity="0" group="2" />
                    <geom name="left_elbow_link_col_0" type="mesh" mesh="left_elbow_link" group="3" />
                    <body name="left_wrist_yaw_link" pos="-0.00799999999999785 4.99999999999945e-05 -0.22199999999999">
                      <joint name="left_wrist_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 1.5708" />
                      <inertial pos="0.002049085 -0.001740855 -0.04309845" mass="0.6406095700000001" fullinertia="0.0027453900000000003 0.002842405 0.00037398499999999996 2.943e-05 9.189e-05 -9.2385e-05" />
                      <geom name="left_wrist_yaw_link_vis_0" type="mesh" mesh="left_wrist_yaw_link" pos="0.0 0.0 0.004" contype="0" conaffinity="0" group="2" />
                      <geom name="left_wrist_yaw_link_col_0" type="mesh" mesh="left_wrist_yaw_link" pos="0.0 0.0 0.004" group="3" />
                      <body name="left_hand_contact" pos="0.0 0.0 -0.121">
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
                        <geom name="left_hand_contact_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
                      </body>
                      <body name="left_hand_manip" pos="0.0 0.0 -0.121" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
                        <geom name="left_hand_manip_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="right_shoulder_pitch_link" pos="-0.0299999999990098 -0.123000000000184 0.276600000000001">
              <joint name="right_shoulder_pitch_joint" type="hinge" axis="-0.0 1.0 -0.0" range="-3.0543 1.0472" />
              <inertial pos="-0.001074835 -0.035558825 0.00249631" mass="0.41826782" fullinertia="0.00058057 0.000707775 0.0007612 -2.8135e-05 -4.21e-06 1.4934999999999998e-05" />
              <geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link" contype="0" conaffinity="0" group="2" />
              <geom name="right_shoulder_pitch_link_col_0" type="mesh" mesh="right_shoulder_pitch_link" group="3" />
              <body name="right_shoulder_roll_link" pos="0.0 -0.0692000055837298 0.0">
                <joint name="right_shoulder_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.9199 0.087266" />
                <inertial pos="-0.00017774499999999999 0.000204635 -0.039822184999999996" mass="1.980050065" fullinertia="0.004159025 0.004117775000000001 0.0012202749999999998 -2.4149999999999997e-06 7.81e-06 1.5975000000000002e-05" />
                <geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link" contype="0" conaffinity="0" group="2" />
                <geom name="right_shoulder_roll_link_col_0" type="mesh" mesh="right_shoulder_roll_link" group="3" />
                <body name="right_shoulder_yaw_link" pos="0.0 0.0 -0.1126">
                  <joint name="right_shoulder_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 2.5307" />
                  <inertial pos="-0.00078608 -0.0024226200000000003 -0.0594" mass="0.487684695" fullinertia="0.001234515 0.001139565 0.0005274 1.697e-05 5.045e-05 -5.975e-05" />
                  <geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link" contype="0" conaffinity="0" group="2" />
                  <geom name="right_shoulder_yaw_link_col_0" type="mesh" mesh="right_shoulder_yaw_link" group="3" />
                  <body name="right_elbow_link" pos="0.0130000000000001 -5.00000000004108e-05 -0.1183">
                    <joint name="right_elbow_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.3911 0.5236" />
                    <inertial pos="-0.005490625 -0.00046824 -0.051280995" mass="1.54710466" fullinertia="0.005924270000000001 0.00606145 0.00081196 3.36e-06 -0.000361005 3.693e-05" />
                    <geom name="right_elbow_link_vis_0" type="mesh" mesh="right_elbow_link" contype="0" conaffinity="0" group="2" />
                    <geom name="right_elbow_link_col_0" type="mesh" mesh="right_elbow_link" group="3" />
                    <body name="right_wrist_yaw_link" pos="-0.00799999999999785 -4.99999999999945e-05 -0.22199999999999">
                      <joint name="right_wrist_yaw_joint" type="hinge" axis="-0.0 -0.0 1.0" range="-1.5708 1.5708" />
                      <inertial pos="0.002049085 0.001740855 -0.04309845" mass="0.6406095700000001" fullinertia="0.0027453900000000003 0.002842405 0.00037398499999999996 -2.943e-05 9.189e-05 9.2385e-05" />
                      <geom name="right_wrist_yaw_link_vis_0" type="mesh" mesh="right_wrist_yaw_link" pos="0.0 0.0 0.004" contype="0" conaffinity="0" group="2" />
                      <geom name="right_wrist_yaw_link_col_0" type="mesh" mesh="right_wrist_yaw_link" pos="0.0 0.0 0.004" group="3" />
                      <body name="right_hand_contact" pos="0.0 0.0 -0.121">
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
                        <geom name="right_hand_contact_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
                      </body>
                      <body name="right_hand_manip" pos="0.0 0.0 -0.121" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-07 1e-07 1e-07 0.0 0.0 0.0" />
                        <geom name="right_hand_manip_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="marker_red" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="base_imu" />
    <exclude body1="base_link" 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="left_ankle_roll_link" body2="contact_foot_center_L" />
    <exclude body1="left_ankle_roll_link" body2="contact_foot_heel_L" />
    <exclude body1="left_ankle_roll_link" body2="contact_foot_tip_L" />
    <exclude body1="base_link" 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="right_ankle_roll_link" body2="contact_foot_center_R" />
    <exclude body1="right_ankle_roll_link" body2="contact_foot_heel_R" />
    <exclude body1="right_ankle_roll_link" body2="contact_foot_tip_R" />
    <exclude body1="base_link" body2="waist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="waist_roll_link" />
    <exclude body1="waist_roll_link" body2="waist_pitch_link" />
    <exclude body1="waist_pitch_link" body2="head_yaw_link" />
    <exclude body1="head_yaw_link" body2="head_pitch_link" />
    <exclude body1="waist_pitch_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_yaw_link" />
    <exclude body1="left_wrist_yaw_link" body2="left_hand_contact" />
    <exclude body1="left_wrist_yaw_link" body2="left_hand_manip" />
    <exclude body1="waist_pitch_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_yaw_link" />
    <exclude body1="right_wrist_yaw_link" body2="right_hand_contact" />
    <exclude body1="right_wrist_yaw_link" body2="right_hand_manip" />
  </contact>
</mujoco>
