<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 38afdfbc23dded1d -->
<mujoco model="HU_D04_01">
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    <mesh name="left_hip_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_hip_roll_link.STL" />
    <mesh name="left_hip_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_hip_yaw_link.STL" />
    <mesh name="left_knee_link" file="HU_D04_description/meshes/HU_D04_01/left_knee_link.STL" />
    <mesh name="left_ankle_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_ankle_pitch_link.STL" />
    <mesh name="left_ankle_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_ankle_roll_link.STL" />
    <mesh name="right_hip_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_pitch_link.STL" />
    <mesh name="right_hip_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_roll_link.STL" />
    <mesh name="right_hip_yaw_link" file="HU_D04_description/meshes/HU_D04_01/right_hip_yaw_link.STL" />
    <mesh name="right_knee_link" file="HU_D04_description/meshes/HU_D04_01/right_knee_link.STL" />
    <mesh name="right_ankle_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_ankle_pitch_link.STL" />
    <mesh name="right_ankle_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_ankle_roll_link.STL" />
    <mesh name="waist_yaw_link" file="HU_D04_description/meshes/HU_D04_01/waist_yaw_link.STL" />
    <mesh name="waist_roll_link" file="HU_D04_description/meshes/HU_D04_01/waist_roll_link.STL" />
    <mesh name="waist_pitch_link" file="HU_D04_description/meshes/HU_D04_01/waist_pitch_link.STL" />
    <mesh name="left_shoulder_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_pitch_link.STL" />
    <mesh name="left_shoulder_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_roll_link.STL" />
    <mesh name="left_shoulder_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_shoulder_yaw_link.STL" />
    <mesh name="left_elbow_link" file="HU_D04_description/meshes/HU_D04_01/left_elbow_link.STL" />
    <mesh name="left_wrist_yaw_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_yaw_link.STL" />
    <mesh name="left_wrist_pitch_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_pitch_link.STL" />
    <mesh name="left_wrist_roll_link" file="HU_D04_description/meshes/HU_D04_01/left_wrist_roll_link.STL" />
    <mesh name="right_shoulder_pitch_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_pitch_link.STL" />
    <mesh name="right_shoulder_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_roll_link.STL" />
    <mesh name="right_shoulder_yaw_link" file="HU_D04_description/meshes/HU_D04_01/right_shoulder_yaw_link.STL" />
    <mesh name="right_elbow_link" file="HU_D04_description/meshes/HU_D04_01/right_elbow_link.STL" />
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    <mesh name="right_wrist_roll_link" file="HU_D04_description/meshes/HU_D04_01/right_wrist_roll_link.STL" />
    <mesh name="neck_yaw_link" file="HU_D04_description/meshes/HU_D04_01/neck_yaw_link.STL" />
    <mesh name="neck_pitch_link" file="HU_D04_description/meshes/HU_D04_01/neck_pitch_link.STL" />
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                      <body name="right_wrist_pitch_link" pos="0.0 0.0 -0.0342">
                        <joint name="right_wrist_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.571 1.571" />
                        <inertial pos="0.001436 -0.001303 -0.032233" mass="0.658602" fullinertia="0.000952 0.000963 0.000296 -1e-06 2.8e-05 2.4e-05" />
                        <geom name="right_wrist_pitch_link_vis_0" type="mesh" mesh="right_wrist_pitch_link" contype="0" conaffinity="0" group="2" />
                        <body name="right_wrist_roll_link" pos="0.0 0.0 -0.065">
                          <joint name="right_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.571 1.571" />
                          <inertial pos="0.004695 0.002046 -0.088776" mass="0.581445" fullinertia="0.002124 0.002273 0.000445 -2.9e-05 6e-05 8.4e-05" />
                          <geom name="right_wrist_roll_link_vis_0" type="mesh" mesh="right_wrist_roll_link" contype="0" conaffinity="0" group="2" />
                          <body name="right_hand_contact" pos="0.0 0.0 -0.058">
                            <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" />
                          </body>
                          <body name="right_hand_manip" pos="0.0 0.0 -0.058" 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" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="head_yaw_link" pos="-0.013 0.0 0.3882">
              <joint name="head_yaw_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.785 0.785" />
              <inertial pos="-7e-05 0.002132 0.037884" mass="0.35819" fullinertia="0.000163 0.000162 0.000146 0.0 2e-06 2e-06" />
              <geom name="head_yaw_link_vis_0" type="mesh" mesh="neck_yaw_link" contype="0" conaffinity="0" group="2" />
              <body name="head_pitch_link" pos="0.0 0.0 0.0395">
                <joint name="head_pitch_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.524 0.785" />
                <inertial pos="0.010255 -0.000319 0.069397" mass="0.776041" fullinertia="0.00265 0.002337 0.003495 -2e-06 0.000195 0.0" />
                <geom name="head_pitch_link_vis_0" type="mesh" mesh="neck_pitch_link" contype="0" conaffinity="0" group="2" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <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="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_wrist_pitch_link" />
    <exclude body1="left_wrist_pitch_link" body2="left_wrist_roll_link" />
    <exclude body1="left_wrist_roll_link" body2="left_hand_contact" />
    <exclude body1="left_wrist_roll_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_wrist_pitch_link" />
    <exclude body1="right_wrist_pitch_link" body2="right_wrist_roll_link" />
    <exclude body1="right_wrist_roll_link" body2="right_hand_contact" />
    <exclude body1="right_wrist_roll_link" body2="right_hand_manip" />
    <exclude body1="waist_pitch_link" body2="head_yaw_link" />
    <exclude body1="head_yaw_link" body2="head_pitch_link" />
  </contact>
</mujoco>
