<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c1cca93813b0ff54 -->
<mujoco model="pepper">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.0 0.0 0.0 1.0" />
    <material name="dark_grey" rgba="0.1 0.1 0.1 1.0" />
    <material name="grey" rgba="0.6 0.6 0.6 1.0" />
    <material name="white" rgba="0.9 0.9 0.9 1.0" />
    <mesh name="HeadYaw_0p1_0p1_0p1" file="pepper_description/meshes/HeadYaw.dae" scale="0.1 0.1 0.1" />
    <mesh name="HeadYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="HeadPitch_0p1_0p1_0p1" file="pepper_description/meshes/HeadPitch.dae" scale="0.1 0.1 0.1" />
    <mesh name="HeadPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="HipRoll_0p1_0p1_0p1" file="pepper_description/meshes/HipRoll.dae" scale="0.1 0.1 0.1" />
    <mesh name="HipRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="HipPitch_0p1_0p1_0p1" file="pepper_description/meshes/HipPitch.dae" scale="0.1 0.1 0.1" />
    <mesh name="HipPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="KneePitch_0p1_0p1_0p1" file="pepper_description/meshes/KneePitch.dae" scale="0.1 0.1 0.1" />
    <mesh name="KneePitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="Torso_0p1_0p1_0p1" file="pepper_description/meshes/Torso.dae" scale="0.1 0.1 0.1" />
    <mesh name="Torso_0p10_0p1_0p1_0p1" file="pepper_description/meshes/Torso_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LShoulderPitch_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderPitch.dae" scale="0.1 0.1 0.1" />
    <mesh name="LShoulderPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LShoulderRoll_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderRoll.dae" scale="0.1 0.1 0.1" />
    <mesh name="LShoulderRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LElbowYaw_0p1_0p1_0p1" file="pepper_description/meshes/LElbowYaw.dae" scale="0.1 0.1 0.1" />
    <mesh name="LElbowYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LElbowRoll_0p1_0p1_0p1" file="pepper_description/meshes/LElbowRoll.dae" scale="0.1 0.1 0.1" />
    <mesh name="LElbowRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LWristYaw_0p1_0p1_0p1" file="pepper_description/meshes/LWristYaw.dae" scale="0.1 0.1 0.1" />
    <mesh name="LWristYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RShoulderPitch_0p1_0p1_0p1" file="pepper_description/meshes/RShoulderPitch.dae" scale="0.1 0.1 0.1" />
    <mesh name="RShoulderPitch_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RShoulderRoll_0p1_0p1_0p1" file="pepper_description/meshes/RShoulderRoll.dae" scale="0.1 0.1 0.1" />
    <mesh name="RShoulderRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RElbowYaw_0p1_0p1_0p1" file="pepper_description/meshes/RElbowYaw.dae" scale="0.1 0.1 0.1" />
    <mesh name="RElbowYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RElbowRoll_0p1_0p1_0p1" file="pepper_description/meshes/RElbowRoll.dae" scale="0.1 0.1 0.1" />
    <mesh name="RElbowRoll_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RWristYaw_0p1_0p1_0p1" file="pepper_description/meshes/RWristYaw.dae" scale="0.1 0.1 0.1" />
    <mesh name="RWristYaw_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger41_0p1_0p1_0p1" file="pepper_description/meshes/RFinger41.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger41_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger41_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger42_0p1_0p1_0p1" file="pepper_description/meshes/LFinger42.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger42_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger42_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger12_0p1_0p1_0p1" file="pepper_description/meshes/RFinger12.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger12_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger12_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger33_0p1_0p1_0p1" file="pepper_description/meshes/LFinger33.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger33_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger33_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger31_0p1_0p1_0p1" file="pepper_description/meshes/RFinger31.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger31_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger31_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger21_0p1_0p1_0p1" file="pepper_description/meshes/LFinger21.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger21_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger21_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger32_0p1_0p1_0p1" file="pepper_description/meshes/RFinger32.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger32_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger32_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger13_0p1_0p1_0p1" file="pepper_description/meshes/LFinger13.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger13_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger13_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger32_0p1_0p1_0p1" file="pepper_description/meshes/LFinger32.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger32_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger32_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger11_0p1_0p1_0p1" file="pepper_description/meshes/LFinger11.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger11_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger11_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger22_0p1_0p1_0p1" file="pepper_description/meshes/RFinger22.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger22_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger22_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger13_0p1_0p1_0p1" file="pepper_description/meshes/RFinger13.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger13_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger13_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger22_0p1_0p1_0p1" file="pepper_description/meshes/LFinger22.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger22_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger22_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger21_0p1_0p1_0p1" file="pepper_description/meshes/RFinger21.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger21_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger21_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger41_0p1_0p1_0p1" file="pepper_description/meshes/LFinger41.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger41_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger41_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger12_0p1_0p1_0p1" file="pepper_description/meshes/LFinger12.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger12_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger12_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger23_0p1_0p1_0p1" file="pepper_description/meshes/RFinger23.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger23_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger23_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger11_0p1_0p1_0p1" file="pepper_description/meshes/RFinger11.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger11_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger11_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger23_0p1_0p1_0p1" file="pepper_description/meshes/LFinger23.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger23_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger23_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger43_0p1_0p1_0p1" file="pepper_description/meshes/LFinger43.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger43_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger43_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger43_0p1_0p1_0p1" file="pepper_description/meshes/RFinger43.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger43_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger43_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger42_0p1_0p1_0p1" file="pepper_description/meshes/RFinger42.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger42_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger42_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LFinger31_0p1_0p1_0p1" file="pepper_description/meshes/LFinger31.dae" scale="0.1 0.1 0.1" />
    <mesh name="LFinger31_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LFinger31_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RFinger33_0p1_0p1_0p1" file="pepper_description/meshes/RFinger33.dae" scale="0.1 0.1 0.1" />
    <mesh name="RFinger33_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RFinger33_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LThumb1_0p1_0p1_0p1" file="pepper_description/meshes/LThumb1.dae" scale="0.1 0.1 0.1" />
    <mesh name="LThumb1_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LThumb1_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RThumb2_0p1_0p1_0p1" file="pepper_description/meshes/RThumb2.dae" scale="0.1 0.1 0.1" />
    <mesh name="RThumb2_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RThumb2_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="RThumb1_0p1_0p1_0p1" file="pepper_description/meshes/RThumb1.dae" scale="0.1 0.1 0.1" />
    <mesh name="RThumb1_0p10_0p1_0p1_0p1" file="pepper_description/meshes/RThumb1_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="LThumb2_0p1_0p1_0p1" file="pepper_description/meshes/LThumb2.dae" scale="0.1 0.1 0.1" />
    <mesh name="LThumb2_0p10_0p1_0p1_0p1" file="pepper_description/meshes/LThumb2_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="WheelFL_0p1_0p1_0p1" file="pepper_description/meshes/WheelFL.dae" scale="0.1 0.1 0.1" />
    <mesh name="WheelFL_0p10_0p1_0p1_0p1" file="pepper_description/meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="WheelB_0p1_0p1_0p1" file="pepper_description/meshes/WheelB.dae" scale="0.1 0.1 0.1" />
    <mesh name="WheelB_0p10_0p1_0p1_0p1" file="pepper_description/meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="WheelFR_0p1_0p1_0p1" file="pepper_description/meshes/WheelFR.dae" scale="0.1 0.1 0.1" />
    <mesh name="WheelFR_0p10_0p1_0p1_0p1" file="pepper_description/meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1" />
    <mesh name="d435" file="pepper_description/meshes/d435.dae" />
    <mesh name="camera_body" file="pepper_description/meshes/camera_body.stl" />
    <mesh name="camera_base" file="pepper_description/meshes/camera_base.stl" />
    <mesh name="camera_visor" file="pepper_description/meshes/camera_visor.stl" />
    <mesh name="t265" file="pepper_description/meshes/t265.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <body name="Tibia" pos="0.0 0.0 0.334">
        <inertial pos="0.00220451 0.0 -0.185729" mass="11.6015" fullinertia="0.129229 0.122839 0.108168 -0.000401943 0.00048556 -1.01666e-08" />
        <geom name="Tibia_vis_0" type="mesh" mesh="KneePitch_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
        <geom name="Tibia_col_0" type="mesh" mesh="KneePitch_0p10_0p1_0p1_0p1" group="3" />
        <body name="Pelvis">
          <joint name="KneePitch" type="hinge" axis="0.0 -1.0 0.0" range="-0.514872 0.514872" />
          <inertial pos="0.00237 0.0 -0.09654" mass="2.45917" fullinertia="0.034351 0.0303122 0.0143771 0.0 0.000223034 -8.37542e-05" />
          <geom name="Pelvis_vis_0" type="mesh" mesh="HipPitch_0p1_0p1_0p1" pos="0.0 0.0 0.268" contype="0" conaffinity="0" group="2" />
          <geom name="Pelvis_col_0" type="mesh" mesh="HipPitch_0p10_0p1_0p1_0p1" pos="0.0 0.0 0.268" group="3" />
          <body name="Hip" pos="0.0 0.0 0.268">
            <joint name="HipPitch" type="hinge" axis="0.0 -1.0 0.0" range="-1.03847 1.03847" />
            <inertial pos="0.00032 0.0 -0.06039" mass="1.02338" fullinertia="0.00502422 0.00640971 0.00441082 0.0 -2.54911e-05 0.000159449" />
            <geom name="Hip_vis_0" type="mesh" mesh="HipRoll_0p1_0p1_0p1" pos="0.0 0.0 0.079" contype="0" conaffinity="0" group="2" />
            <geom name="Hip_col_0" type="mesh" mesh="HipRoll_0p10_0p1_0p1_0p1" pos="0.0 0.0 0.079" group="3" />
            <body name="torso" pos="0.0 0.0 0.079">
              <joint name="HipRoll" type="hinge" axis="-1.0 0.0 0.0" range="-0.514872 0.514872" />
              <inertial pos="0.00322 0.0 -0.01029" mass="3.99533" fullinertia="0.0452761 0.0432702 0.0258881 0.0 0.00499091 -0.000266886" />
              <geom name="torso_vis_0" type="mesh" mesh="Torso_0p1_0p1_0p1" pos="2e-05 0.0 0.139" contype="0" conaffinity="0" group="2" />
              <geom name="torso_col_0" type="mesh" mesh="Torso_0p10_0p1_0p1_0p1" pos="2e-05 0.0 0.139" group="3" />
              <body name="Neck" pos="-0.038 0.0 0.3089">
                <joint name="HeadYaw" type="hinge" axis="0.0 0.0 1.0" range="-2.08567 2.08567" />
                <inertial pos="-0.00207 0.0 -0.02636" mass="0.27391" fullinertia="0.000343501 0.000493898 0.000215252 0.0 -1.88563e-05 2.09863e-06" />
                <geom name="Neck_vis_0" type="mesh" mesh="HeadYaw_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                <geom name="Neck_col_0" type="mesh" mesh="HeadYaw_0p10_0p1_0p1_0p1" group="3" />
                <body name="Head">
                  <joint name="HeadPitch" type="hinge" axis="0.0 1.0 0.0" range="-0.706858 0.43" />
                  <inertial pos="0.00312 0.0 0.11152" mass="1.51893" fullinertia="0.00597209 0.0059054 0.00570374 0.0 0.000125138 4.3428e-07" />
                  <geom name="Head_vis_0" type="mesh" mesh="HeadPitch_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                  <geom name="Head_col_0" type="mesh" mesh="HeadPitch_0p10_0p1_0p1_0p1" group="3" />
                  <body name="CameraTop_frame" pos="0.08601 0.0 0.16284">
                    <body name="CameraTop_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
                    <body name="RealSense_screw_frame" pos="0.0 0.0 0.017">
                      <geom name="RealSense_screw_frame_vis_0" type="mesh" mesh="d435" contype="0" conaffinity="0" group="2" />
                      <body name="RealSence_color_frame" pos="0.0 0.0325 0.0125">
                        <body name="RealSence_color_optical_frame" quat="0.5000001633974483 -0.4999999999999733 0.49999983660255165 -0.4999999999999733" />
                      </body>
                      <body name="RealSence_depth_frame" pos="0.0 0.0175 0.0125">
                        <body name="RealSence_depth_optical_frame" quat="0.5000001633974483 -0.4999999999999733 0.49999983660255165 -0.4999999999999733" />
                      </body>
                      <body name="camera_base" pos="0.015 0.0005 0.045">
                        <geom name="camera_base_vis_0" type="mesh" mesh="camera_base" contype="0" conaffinity="0" group="2" material="grey" />
                        <body name="camera_body" pos="-0.0757 0.0 0.008">
                          <geom name="camera_body_vis_0" type="mesh" mesh="camera_body" contype="0" conaffinity="0" group="2" material="white" />
                        </body>
                        <body name="camera_visor">
                          <geom name="camera_visor_vis_0" type="mesh" mesh="camera_visor" contype="0" conaffinity="0" group="2" material="black" />
                        </body>
                        <body name="kinect_depth_optical_frame" pos="0.0 0.0 0.0018" quat="0.4734707757682681 -0.5255697744817153 0.5251514157407374 -0.4730938883457835" />
                        <body name="kinect_imu_frame" pos="-0.051074 -0.0033404 0.0027" quat="6.341362302272584e-07 0.0007963264582434141 0.9999993658637698 0.0007963264582434141" />
                      </body>
                      <body name="t265" pos="0.0 0.0 0.064">
                        <geom name="t265_vis_0" type="mesh" mesh="t265" pos="0.0 0.0 0.01225" contype="0" conaffinity="0" group="2" material="grey" />
                        <body name="t265_pose" pos="0.00625 0.0 0.01225" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="LShoulder" pos="-0.057 0.14974 0.22582">
                <joint name="LShoulderPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.08567 2.08567" />
                <inertial pos="0.00018 -0.01856 0.00099" mass="0.3125" fullinertia="0.000361198 0.000137229 0.000399194 -1.98347e-06 6.35907e-07 -5.68878e-06" />
                <geom name="LShoulder_vis_0" type="mesh" mesh="LShoulderPitch_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                <geom name="LShoulder_col_0" type="mesh" mesh="LShoulderPitch_0p10_0p1_0p1_0p1" group="3" />
                <body name="LBicep">
                  <joint name="LShoulderRoll" type="hinge" axis="0.0 0.0 1.0" range="0.00872665 1.56207" />
                  <inertial pos="0.08151 0.01284 -0.01017" mass="0.50527" fullinertia="0.000500872 0.00126284 0.00115718 -3.55918e-05 8.51263e-05 9.06813e-06" />
                  <geom name="LBicep_vis_0" type="mesh" mesh="LShoulderRoll_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                  <geom name="LBicep_col_0" type="mesh" mesh="LShoulderRoll_0p10_0p1_0p1_0p1" group="3" />
                  <body name="LElbow" pos="0.1812 0.015 0.00013" quat="0.9969173585528084 0.0 -0.07845878036326605 0.0">
                    <joint name="LElbowYaw" type="hinge" axis="1.0 0.0 0.0" range="-2.08567 2.08567" />
                    <inertial pos="-0.02297 -0.00019 0.00119" mass="0.27495" fullinertia="0.000122971 0.000331766 0.000303047 9.86024e-07 -2.55838e-05 -1.98925e-06" />
                    <geom name="LElbow_vis_0" type="mesh" mesh="LElbowYaw_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                    <geom name="LElbow_col_0" type="mesh" mesh="LElbowYaw_0p10_0p1_0p1_0p1" group="3" />
                    <body name="LForeArm">
                      <joint name="LElbowRoll" type="hinge" axis="0.0 0.0 1.0" range="-1.56207 -0.00872665" />
                      <inertial pos="0.0593 0.00271 -0.01014" mass="0.16579" fullinertia="0.00156513 0.00173219 0.000273081 1.47517e-05 -6.05746e-05 -1.7619e-07" />
                      <geom name="LForeArm_vis_0" type="mesh" mesh="LElbowRoll_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                      <geom name="LForeArm_col_0" type="mesh" mesh="LElbowRoll_0p10_0p1_0p1_0p1" group="3" />
                      <body name="l_wrist" pos="0.15 0.0 0.0">
                        <joint name="LWristYaw" type="hinge" axis="1.0 0.0 0.0" range="-1.82387 1.82387" />
                        <inertial pos="0.03536 -0.00072 -0.00207" mass="0.27555" fullinertia="0.000151643 0.000431099 0.000456172 1.06629e-05 2.89509e-06 -3.13715e-06" />
                        <geom name="l_wrist_vis_0" type="mesh" mesh="LWristYaw_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                        <geom name="l_wrist_col_0" type="mesh" mesh="LWristYaw_0p10_0p1_0p1_0p1" group="3" />
                        <body name="l_gripper" pos="0.025 0.0 0.0">
                          <joint name="LHand" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                        </body>
                        <body name="LFinger21_link" pos="0.0873 -0.0073 0.006" quat="0.6012883225680202 0.6228844213474988 0.33468778875240207 -0.3720906271944451">
                          <joint name="LFinger21" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="LFinger21_link_vis_0" type="mesh" mesh="LFinger21_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger21_link_col_0" type="mesh" mesh="LFinger21_0p10_0p1_0p1_0p1" group="3" />
                          <body name="LFinger22_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="LFinger22" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="LFinger22_link_vis_0" type="mesh" mesh="LFinger22_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger22_link_col_0" type="mesh" mesh="LFinger22_0p10_0p1_0p1_0p1" group="3" />
                            <body name="LFinger23_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="LFinger23" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="LFinger23_link_vis_0" type="mesh" mesh="LFinger23_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="LFinger23_link_col_0" type="mesh" mesh="LFinger23_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="LFinger11_link" pos="0.0821 -0.0268 0.004" quat="0.5517154895438643 0.6695542027042644 0.30866700430634453 -0.3899126423841348">
                          <joint name="LFinger11" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="LFinger11_link_vis_0" type="mesh" mesh="LFinger11_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger11_link_col_0" type="mesh" mesh="LFinger11_0p10_0p1_0p1_0p1" group="3" />
                          <body name="LFinger12_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="LFinger12" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="LFinger12_link_vis_0" type="mesh" mesh="LFinger12_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger12_link_col_0" type="mesh" mesh="LFinger12_0p10_0p1_0p1_0p1" group="3" />
                            <body name="LFinger13_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="LFinger13" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="LFinger13_link_vis_0" type="mesh" mesh="LFinger13_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="LFinger13_link_col_0" type="mesh" mesh="LFinger13_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="LFinger41_link" pos="0.074 0.0309 0.0" quat="0.6748398295356534 0.5448257881495541 0.39948222711874604 -0.29693436186429145">
                          <joint name="LFinger41" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="LFinger41_link_vis_0" type="mesh" mesh="LFinger41_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger41_link_col_0" type="mesh" mesh="LFinger41_0p10_0p1_0p1_0p1" group="3" />
                          <body name="LFinger42_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="LFinger42" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="LFinger42_link_vis_0" type="mesh" mesh="LFinger42_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger42_link_col_0" type="mesh" mesh="LFinger42_0p10_0p1_0p1_0p1" group="3" />
                            <body name="LFinger43_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="LFinger43" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="LFinger43_link_vis_0" type="mesh" mesh="LFinger43_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="LFinger43_link_col_0" type="mesh" mesh="LFinger43_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="LFinger31_link" pos="0.0833 0.0123 0.004" quat="0.6389760937251748 0.5853427914433085 0.3622228213571678 -0.34333365090116835">
                          <joint name="LFinger31" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="LFinger31_link_vis_0" type="mesh" mesh="LFinger31_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger31_link_col_0" type="mesh" mesh="LFinger31_0p10_0p1_0p1_0p1" group="3" />
                          <body name="LFinger32_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="LFinger32" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="LFinger32_link_vis_0" type="mesh" mesh="LFinger32_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger32_link_col_0" type="mesh" mesh="LFinger32_0p10_0p1_0p1_0p1" group="3" />
                            <body name="LFinger33_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="LFinger33" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="LFinger33_link_vis_0" type="mesh" mesh="LFinger33_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="LFinger33_link_col_0" type="mesh" mesh="LFinger33_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="LThumb1_link" pos="0.0482 -0.0357 -0.0199" quat="0.44804726249021787 -0.8080503748361272 -0.04842275532994672 0.37942519561630605">
                          <joint name="LThumb1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="LThumb1_link_vis_0" type="mesh" mesh="LThumb1_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="LThumb1_link_col_0" type="mesh" mesh="LThumb1_0p10_0p1_0p1_0p1" group="3" />
                          <body name="LThumb2_link" pos="0.022 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="LThumb2" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="LThumb2_link_vis_0" type="mesh" mesh="LThumb2_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="LThumb2_link_col_0" type="mesh" mesh="LThumb2_0p10_0p1_0p1_0p1" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="RShoulder" pos="-0.057 -0.14974 0.22582">
                <joint name="RShoulderPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.08567 2.08567" />
                <inertial pos="0.00018 0.01856 0.00099" mass="0.3125" fullinertia="0.000361198 0.000137229 0.000399194 1.98347e-06 6.35907e-07 5.68878e-06" />
                <geom name="RShoulder_vis_0" type="mesh" mesh="RShoulderPitch_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                <geom name="RShoulder_col_0" type="mesh" mesh="RShoulderPitch_0p10_0p1_0p1_0p1" group="3" />
                <body name="RBicep">
                  <joint name="RShoulderRoll" type="hinge" axis="0.0 0.0 1.0" range="-1.56207 -0.00872665" />
                  <inertial pos="0.08151 -0.01284 -0.01017" mass="0.50527" fullinertia="0.000500872 0.00126284 0.00115718 3.55918e-05 8.51263e-05 -9.06813e-06" />
                  <geom name="RBicep_vis_0" type="mesh" mesh="RShoulderRoll_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                  <geom name="RBicep_col_0" type="mesh" mesh="RShoulderRoll_0p10_0p1_0p1_0p1" group="3" />
                  <body name="RElbow" pos="0.1812 -0.015 0.00013" quat="0.9969173585528084 0.0 -0.07845878036326605 0.0">
                    <joint name="RElbowYaw" type="hinge" axis="1.0 0.0 0.0" range="-2.08567 2.08567" />
                    <inertial pos="-0.02297 0.00019 0.00119" mass="0.27495" fullinertia="0.000122971 0.000331766 0.000303047 -9.86024e-07 -2.55838e-05 1.98925e-06" />
                    <geom name="RElbow_vis_0" type="mesh" mesh="RElbowYaw_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                    <geom name="RElbow_col_0" type="mesh" mesh="RElbowYaw_0p10_0p1_0p1_0p1" group="3" />
                    <body name="RForeArm">
                      <joint name="RElbowRoll" type="hinge" axis="0.0 0.0 1.0" range="0.00872665 1.56207" />
                      <inertial pos="0.0593 -0.00271 -0.01014" mass="0.16579" fullinertia="0.00156513 0.00173219 0.000273081 -1.47517e-05 -6.05746e-05 1.7619e-07" />
                      <geom name="RForeArm_vis_0" type="mesh" mesh="RElbowRoll_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                      <geom name="RForeArm_col_0" type="mesh" mesh="RElbowRoll_0p10_0p1_0p1_0p1" group="3" />
                      <body name="r_wrist" pos="0.15 0.0 0.0">
                        <joint name="RWristYaw" type="hinge" axis="1.0 0.0 0.0" range="-1.82387 1.82387" />
                        <inertial pos="0.03536 0.00072 -0.00207" mass="0.27555" fullinertia="0.000151643 0.000431099 0.000456172 -1.06629e-05 2.89509e-06 3.13715e-06" />
                        <geom name="r_wrist_vis_0" type="mesh" mesh="RWristYaw_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                        <geom name="r_wrist_col_0" type="mesh" mesh="RWristYaw_0p10_0p1_0p1_0p1" group="3" />
                        <body name="r_gripper" pos="0.025 0.0 0.0">
                          <joint name="RHand" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                        </body>
                        <body name="RFinger41_link" pos="0.074 -0.0309 0.0" quat="0.5448266835231165 0.6748391066629841 0.29693489189501027 -0.3994818331473985">
                          <joint name="RFinger41" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="RFinger41_link_vis_0" type="mesh" mesh="RFinger41_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger41_link_col_0" type="mesh" mesh="RFinger41_0p10_0p1_0p1_0p1" group="3" />
                          <body name="RFinger42_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="RFinger42" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="RFinger42_link_vis_0" type="mesh" mesh="RFinger42_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger42_link_col_0" type="mesh" mesh="RFinger42_0p10_0p1_0p1_0p1" group="3" />
                            <body name="RFinger43_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="RFinger43" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="RFinger43_link_vis_0" type="mesh" mesh="RFinger43_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="RFinger43_link_col_0" type="mesh" mesh="RFinger43_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="RFinger31_link" pos="0.0833 -0.0123 0.004" quat="0.5853440014550866 0.6389749737603331 0.3433347704714023 -0.3622217804796929">
                          <joint name="RFinger31" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="RFinger31_link_vis_0" type="mesh" mesh="RFinger31_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger31_link_col_0" type="mesh" mesh="RFinger31_0p10_0p1_0p1_0p1" group="3" />
                          <body name="RFinger32_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="RFinger32" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="RFinger32_link_vis_0" type="mesh" mesh="RFinger32_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger32_link_col_0" type="mesh" mesh="RFinger32_0p10_0p1_0p1_0p1" group="3" />
                            <body name="RFinger33_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="RFinger33" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="RFinger33_link_vis_0" type="mesh" mesh="RFinger33_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="RFinger33_link_col_0" type="mesh" mesh="RFinger33_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="RFinger21_link" pos="0.0873 0.0073 0.006" quat="0.6228822126879615 0.6012906105461991 0.3720893978150412 -0.33468915551533485">
                          <joint name="RFinger21" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="RFinger21_link_vis_0" type="mesh" mesh="RFinger21_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger21_link_col_0" type="mesh" mesh="RFinger21_0p10_0p1_0p1_0p1" group="3" />
                          <body name="RFinger22_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="RFinger22" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="RFinger22_link_vis_0" type="mesh" mesh="RFinger22_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger22_link_col_0" type="mesh" mesh="RFinger22_0p10_0p1_0p1_0p1" group="3" />
                            <body name="RFinger23_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="RFinger23" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="RFinger23_link_vis_0" type="mesh" mesh="RFinger23_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="RFinger23_link_col_0" type="mesh" mesh="RFinger23_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="RFinger11_link" pos="0.0821 0.0268 0.004" quat="0.6695549347169709 0.5517146011822794 0.38991305192159764 -0.30866648697196886">
                          <joint name="RFinger11" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="RFinger11_link_vis_0" type="mesh" mesh="RFinger11_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger11_link_col_0" type="mesh" mesh="RFinger11_0p10_0p1_0p1_0p1" group="3" />
                          <body name="RFinger12_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="RFinger12" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="RFinger12_link_vis_0" type="mesh" mesh="RFinger12_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger12_link_col_0" type="mesh" mesh="RFinger12_0p10_0p1_0p1_0p1" group="3" />
                            <body name="RFinger13_link" pos="0.018 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                              <joint name="RFinger13" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                              <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                              <geom name="RFinger13_link_vis_0" type="mesh" mesh="RFinger13_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                              <geom name="RFinger13_link_col_0" type="mesh" mesh="RFinger13_0p10_0p1_0p1_0p1" group="3" />
                            </body>
                          </body>
                        </body>
                        <body name="RThumb1_link" pos="0.0482 0.0357 -0.0199" quat="0.8080509693022373 -0.4480461903727101 0.37942513136890743 -0.04842325874931727">
                          <joint name="RThumb1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                          <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                          <geom name="RThumb1_link_vis_0" type="mesh" mesh="RThumb1_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                          <geom name="RThumb1_link_col_0" type="mesh" mesh="RThumb1_0p10_0p1_0p1_0p1" group="3" />
                          <body name="RThumb2_link" pos="0.022 0.0 0.0" quat="0.866024791582939 0.0 0.0 -0.5000010603626028">
                            <joint name="RThumb2" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                            <inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
                            <geom name="RThumb2_link_vis_0" type="mesh" mesh="RThumb2_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
                            <geom name="RThumb2_link_col_0" type="mesh" mesh="RThumb2_0p10_0p1_0p1_0p1" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="tablet" pos="0.0839249 0.0 0.2" quat="0.9659257972493452 0.0 -0.25881915348021844 0.0" />
            </body>
          </body>
        </body>
        <body name="WheelFL_link" pos="0.09 0.155 -0.264" quat="0.8589478174029562 0.0 0.0 0.5120631279234015">
          <inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
          <geom name="WheelFL_link_vis_0" type="mesh" mesh="WheelFL_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
          <geom name="WheelFL_link_col_0" type="mesh" mesh="WheelFL_0p10_0p1_0p1_0p1" group="3" />
        </body>
        <body name="WheelB_link" pos="-0.17 0.0 -0.264" quat="1.3267948966775328e-06 0.0 0.0 -0.9999999999991198">
          <inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
          <geom name="WheelB_link_vis_0" type="mesh" mesh="WheelB_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
          <geom name="WheelB_link_col_0" type="mesh" mesh="WheelB_0p10_0p1_0p1_0p1" group="3" />
        </body>
        <body name="WheelFR_link" pos="0.09 -0.155 -0.264" quat="0.8589478174029562 0.0 0.0 -0.5120631279234015">
          <inertial pos="0.0 0.0 0.0" mass="1.58028" fullinertia="0.00299756 0.00303229 0.00296585 6.3068e-07 5.56903e-06 -9.0408e-07" />
          <geom name="WheelFR_link_vis_0" type="mesh" mesh="WheelFR_0p1_0p1_0p1" contype="0" conaffinity="0" group="2" />
          <geom name="WheelFR_link_col_0" type="mesh" mesh="WheelFR_0p10_0p1_0p1_0p1" group="3" />
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="torso" body2="Neck" />
    <exclude body1="Neck" body2="Head" />
    <exclude body1="Hip" body2="torso" />
    <exclude body1="Pelvis" body2="Hip" />
    <exclude body1="Tibia" body2="Pelvis" />
    <exclude body1="torso" body2="LShoulder" />
    <exclude body1="LShoulder" body2="LBicep" />
    <exclude body1="LBicep" body2="LElbow" />
    <exclude body1="LElbow" body2="LForeArm" />
    <exclude body1="LForeArm" body2="l_wrist" />
    <exclude body1="l_wrist" body2="l_gripper" />
    <exclude body1="torso" body2="RShoulder" />
    <exclude body1="RShoulder" body2="RBicep" />
    <exclude body1="RBicep" body2="RElbow" />
    <exclude body1="RElbow" body2="RForeArm" />
    <exclude body1="RForeArm" body2="r_wrist" />
    <exclude body1="r_wrist" body2="r_gripper" />
    <exclude body1="r_wrist" body2="RFinger41_link" />
    <exclude body1="LFinger41_link" body2="LFinger42_link" />
    <exclude body1="RFinger11_link" body2="RFinger12_link" />
    <exclude body1="LFinger32_link" body2="LFinger33_link" />
    <exclude body1="r_wrist" body2="RFinger31_link" />
    <exclude body1="l_wrist" body2="LFinger21_link" />
    <exclude body1="RFinger31_link" body2="RFinger32_link" />
    <exclude body1="LFinger12_link" body2="LFinger13_link" />
    <exclude body1="LFinger31_link" body2="LFinger32_link" />
    <exclude body1="l_wrist" body2="LFinger11_link" />
    <exclude body1="RFinger21_link" body2="RFinger22_link" />
    <exclude body1="RFinger12_link" body2="RFinger13_link" />
    <exclude body1="LFinger21_link" body2="LFinger22_link" />
    <exclude body1="r_wrist" body2="RFinger21_link" />
    <exclude body1="l_wrist" body2="LFinger41_link" />
    <exclude body1="LFinger11_link" body2="LFinger12_link" />
    <exclude body1="RFinger22_link" body2="RFinger23_link" />
    <exclude body1="r_wrist" body2="RFinger11_link" />
    <exclude body1="LFinger22_link" body2="LFinger23_link" />
    <exclude body1="LFinger42_link" body2="LFinger43_link" />
    <exclude body1="RFinger42_link" body2="RFinger43_link" />
    <exclude body1="RFinger41_link" body2="RFinger42_link" />
    <exclude body1="l_wrist" body2="LFinger31_link" />
    <exclude body1="RFinger32_link" body2="RFinger33_link" />
    <exclude body1="l_wrist" body2="LThumb1_link" />
    <exclude body1="RThumb1_link" body2="RThumb2_link" />
    <exclude body1="r_wrist" body2="RThumb1_link" />
    <exclude body1="LThumb1_link" body2="LThumb2_link" />
    <exclude body1="Tibia" body2="WheelFL_link" />
    <exclude body1="Tibia" body2="WheelB_link" />
    <exclude body1="Tibia" body2="WheelFR_link" />
    <exclude body1="base_link" body2="Tibia" />
    <exclude body1="Head" body2="CameraTop_frame" />
    <exclude body1="CameraTop_frame" body2="CameraTop_optical_frame" />
    <exclude body1="CameraTop_frame" body2="RealSense_screw_frame" />
    <exclude body1="RealSense_screw_frame" body2="RealSence_color_frame" />
    <exclude body1="RealSence_color_frame" body2="RealSence_color_optical_frame" />
    <exclude body1="RealSense_screw_frame" body2="RealSence_depth_frame" />
    <exclude body1="RealSence_depth_frame" body2="RealSence_depth_optical_frame" />
    <exclude body1="camera_base" body2="camera_body" />
    <exclude body1="camera_base" body2="camera_visor" />
    <exclude body1="RealSense_screw_frame" body2="camera_base" />
    <exclude body1="camera_base" body2="kinect_depth_optical_frame" />
    <exclude body1="camera_base" body2="kinect_imu_frame" />
    <exclude body1="RealSense_screw_frame" body2="t265" />
    <exclude body1="t265" body2="t265_pose" />
    <exclude body1="torso" body2="tablet" />
  </contact>
</mujoco>
