<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content ecee0f718ea4fe2a -->
<mujoco model="r2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
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    <material name="dirty_white" rgba="0.322 0.322 0.322 1.0" />
    <material name="gold" rgba="0.878 0.49 0.008 1.0" />
    <material name="steel" rgba="0.7 0.7 0.7 1.0" />
    <material name="blue" rgba="0.0 0.0 0.8 1.0" />
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    <mesh name="Body_Cover" file="r2_description/meshes/r2_upperbody/Body_Cover.dae" />
    <mesh name="Backpack" file="r2_description/meshes/r2_upperbody/Backpack.dae" />
    <mesh name="Neck_Lower" file="r2_description/meshes/r2_upperbody/Neck_Lower.dae" />
    <mesh name="Neck_Upper" file="r2_description/meshes/r2_upperbody/Neck_Upper.dae" />
    <mesh name="Head" file="r2_description/meshes/r2_upperbody/Head.dae" />
    <mesh name="Left_Shoulder_Upper" file="r2_description/meshes/r2_upperbody/Left_Shoulder_Upper.dae" />
    <mesh name="Left_Shoulder_Lower" file="r2_description/meshes/r2_upperbody/Left_Shoulder_Lower.dae" />
    <mesh name="Left_Upper_Arm" file="r2_description/meshes/r2_upperbody/Left_Upper_Arm.dae" />
    <mesh name="Left_Elbow" file="r2_description/meshes/r2_upperbody/Left_Elbow.dae" />
    <mesh name="Left_Forearm" file="r2_description/meshes/r2_upperbody/Left_Forearm.dae" />
    <mesh name="Left_Palm" file="r2_description/meshes/r2_upperbody/Left_Palm.dae" />
    <mesh name="Left_Thumb_Carp" file="r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" />
    <mesh name="Left_Thumb_MtCar" file="r2_description/meshes/r2_upperbody/Left_Thumb_MtCar.dae" />
    <mesh name="Thumb_Proximal" file="r2_description/meshes/r2_upperbody/Thumb_Proximal.dae" />
    <mesh name="Thumb_Dist" file="r2_description/meshes/r2_upperbody/Thumb_Dist.dae" />
    <mesh name="Finger_Proximal" file="r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
    <mesh name="Finger_Mid" file="r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
    <mesh name="Right_Shoulder_Upper" file="r2_description/meshes/r2_upperbody/Right_Shoulder_Upper.dae" />
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    <mesh name="Right_Upper_Arm" file="r2_description/meshes/r2_upperbody/Right_Upper_Arm.dae" />
    <mesh name="Right_Elbow" file="r2_description/meshes/r2_upperbody/Right_Elbow.dae" />
    <mesh name="Right_Forearm" file="r2_description/meshes/r2_upperbody/Right_Forearm.dae" />
    <mesh name="Right_Palm" file="r2_description/meshes/r2_upperbody/Right_Palm.dae" />
    <mesh name="Left_Thumb_Carp_0p9_0p9_0p9" file="r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" scale="0.9 0.9 0.9" />
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    <mesh name="Right_Thumb_MtCar_0p9_0p9_0p9" file="r2_description/meshes/r2_upperbody/Right_Thumb_MtCar.dae" scale="0.9 0.9 0.9" />
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    <mesh name="r2cl_ext_pelvis" file="r2_description/meshes/r2c_legs/r2cl_ext_pelvis.dae" />
    <mesh name="r2cl_ext_bone3" file="r2_description/meshes/r2c_legs/r2cl_ext_bone3.dae" />
    <mesh name="r2cl_ext_bone1" file="r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
    <mesh name="r2cl_ext_bone2" file="r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
    <mesh name="foot_body" file="r2_description/meshes/r2c_legs/foot_body.dae" />
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                                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                                  </body>
                                  <body name="r2/right_leg/gripper/st_tip" pos="0.0 0.0 0.21991">
                                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                                  </body>
                                  <body name="r2/right_leg/nano_physical" pos="-0.025 0.07 0.13">
                                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                                  </body>
                                  <body name="r2/right_leg/flea_physical" pos="0.025 0.07 0.13">
                                    <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="r2/world_ref" body2="r2/robot_world" />
    <exclude body1="r2/robot_world" body2="r2/robot_base" />
    <exclude body1="r2/robot_base" body2="r2/waist_mass" />
    <exclude body1="r2/robot_base" body2="r2/waist_center" />
    <exclude body1="r2/waist_center" body2="r2/robot_reference" />
    <exclude body1="r2/waist_center" body2="r2/body_cover" />
    <exclude body1="r2/waist_center" body2="r2/backpack" />
    <exclude body1="r2/waist_center" body2="r2/left_arm/shoulder/jr3" />
    <exclude body1="r2/waist_center" body2="r2/right_arm/shoulder/jr3" />
    <exclude body1="r2/waist_center" body2="r2/imu" />
    <exclude body1="r2/waist_center" body2="r2/neck_lower" />
    <exclude body1="r2/neck_lower" body2="r2/neck_upper" />
    <exclude body1="r2/neck_upper" body2="r2/head" />
    <exclude body1="r2/head" body2="r2/head/vision_base" />
    <exclude body1="r2/head/vision_base" body2="r2/head/asus_frame" />
    <exclude body1="r2/head/asus_frame" body2="r2/head/asus_depth_frame" />
    <exclude body1="r2/head/vision_base" body2="r2/head/vision_center_frame" />
    <exclude body1="r2/head/vision_center_frame" body2="r2/head/left_camera_frame" />
    <exclude body1="r2/head/left_camera_frame" body2="r2/head/grasshopper/left_camera" />
    <exclude body1="r2/head/vision_center_frame" body2="r2/head/right_camera_frame" />
    <exclude body1="r2/head/right_camera_frame" body2="r2/head/grasshopper/right_camera" />
    <exclude body1="r2/left_arm/shoulder/jr3" body2="r2/left_shoulder_roll" />
    <exclude body1="r2/left_shoulder_roll" body2="r2/left_shoulder_pitch" />
    <exclude body1="r2/left_shoulder_pitch" body2="r2/left_upper_arm" />
    <exclude body1="r2/left_upper_arm" body2="r2/left_elbow" />
    <exclude body1="r2/left_elbow" body2="r2/left_joint4_output" />
    <exclude body1="r2/left_joint4_output" body2="r2/left_arm/forearm/jr3" />
    <exclude body1="r2/left_arm/forearm/jr3" body2="r2/left_lower_arm" />
    <exclude body1="r2/left_lower_arm" body2="r2/left_wrist_pitch" />
    <exclude body1="r2/left_wrist_pitch" body2="r2/left_wrist_yaw" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_palm" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_thumb_base" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_index_base" />
    <exclude body1="r2/left_index_base" body2="r2/left_index_yaw" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_middle_base" />
    <exclude body1="r2/left_middle_base" body2="r2/left_middle_yaw" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_ring_proximal" />
    <exclude body1="r2/left_wrist_yaw" body2="r2/left_little_proximal" />
    <exclude body1="r2/left_thumb_base" body2="r2/left_thumb_proximal" />
    <exclude body1="r2/left_thumb_proximal" body2="r2/left_thumb_medial_prime" />
    <exclude body1="r2/left_thumb_medial_prime" body2="r2/left_thumb_medial" />
    <exclude body1="r2/left_thumb_medial" body2="r2/left_thumb_distal" />
    <exclude body1="r2/left_thumb_distal" body2="r2/left_thumb_tip" />
    <exclude body1="r2/left_index_yaw" body2="r2/left_index_proximal" />
    <exclude body1="r2/left_index_proximal" body2="r2/left_index_medial" />
    <exclude body1="r2/left_middle_yaw" body2="r2/left_middle_proximal" />
    <exclude body1="r2/left_middle_proximal" body2="r2/left_middle_medial" />
    <exclude body1="r2/right_arm/shoulder/jr3" body2="r2/right_shoulder_roll" />
    <exclude body1="r2/right_shoulder_roll" body2="r2/right_shoulder_pitch" />
    <exclude body1="r2/right_shoulder_pitch" body2="r2/right_upper_arm" />
    <exclude body1="r2/right_upper_arm" body2="r2/right_elbow" />
    <exclude body1="r2/right_elbow" body2="r2/right_joint4_output" />
    <exclude body1="r2/right_joint4_output" body2="r2/right_arm/forearm/jr3" />
    <exclude body1="r2/right_arm/forearm/jr3" body2="r2/right_lower_arm" />
    <exclude body1="r2/right_lower_arm" body2="r2/right_wrist_pitch" />
    <exclude body1="r2/right_wrist_pitch" body2="r2/right_wrist_yaw" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_palm" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_thumb_base" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_index_base" />
    <exclude body1="r2/right_index_base" body2="r2/right_index_yaw" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_middle_base" />
    <exclude body1="r2/right_middle_base" body2="r2/right_middle_yaw" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_ring_proximal" />
    <exclude body1="r2/right_wrist_yaw" body2="r2/right_little_proximal" />
    <exclude body1="r2/right_thumb_base" body2="r2/right_thumb_proximal" />
    <exclude body1="r2/right_thumb_proximal" body2="r2/right_thumb_medial_prime" />
    <exclude body1="r2/right_thumb_medial_prime" body2="r2/right_thumb_medial" />
    <exclude body1="r2/right_thumb_medial" body2="r2/right_thumb_distal" />
    <exclude body1="r2/right_thumb_distal" body2="r2/right_thumb_tip" />
    <exclude body1="r2/right_index_yaw" body2="r2/right_index_proximal" />
    <exclude body1="r2/right_index_proximal" body2="r2/right_index_medial" />
    <exclude body1="r2/right_middle_yaw" body2="r2/right_middle_proximal" />
    <exclude body1="r2/right_middle_proximal" body2="r2/right_middle_medial" />
    <exclude body1="r2/robot_base" body2="r2/pelvis" />
    <exclude body1="r2/pelvis" body2="r2/left_leg_base" />
    <exclude body1="r2/left_leg_base" body2="r2/left_leg_j0_base" />
    <exclude body1="r2/left_leg_j0_base" body2="r2/left_hip_roll" />
    <exclude body1="r2/left_hip_roll" body2="r2/left_hip_pitch" />
    <exclude body1="r2/left_hip_pitch" body2="r2/left_upper_leg" />
    <exclude body1="r2/left_upper_leg" body2="r2/left_knee" />
    <exclude body1="r2/left_knee" body2="r2/left_lower_leg" />
    <exclude body1="r2/left_lower_leg" body2="r2/left_ankle_pitch" />
    <exclude body1="r2/left_ankle_pitch" body2="r2/left_ankle_roll" />
    <exclude body1="r2/left_ankle_roll" body2="r2/left_leg/ati" />
    <exclude body1="r2/left_leg/ati" body2="r2/left_leg_foot" />
    <exclude body1="r2/left_leg_foot" body2="r2/left_leg/gripper/tip" />
    <exclude body1="r2/left_leg_foot" body2="r2/left_leg/gripper/st_tip" />
    <exclude body1="r2/left_leg_foot" body2="r2/left_leg/nano_physical" />
    <exclude body1="r2/left_leg_foot" body2="r2/left_leg/flea_physical" />
    <exclude body1="r2/pelvis" body2="r2/right_leg_base" />
    <exclude body1="r2/right_leg_base" body2="r2/right_leg_j0_base" />
    <exclude body1="r2/right_leg_j0_base" body2="r2/right_hip_roll" />
    <exclude body1="r2/right_hip_roll" body2="r2/right_hip_pitch" />
    <exclude body1="r2/right_hip_pitch" body2="r2/right_upper_leg" />
    <exclude body1="r2/right_upper_leg" body2="r2/right_knee" />
    <exclude body1="r2/right_knee" body2="r2/right_lower_leg" />
    <exclude body1="r2/right_lower_leg" body2="r2/right_ankle_pitch" />
    <exclude body1="r2/right_ankle_pitch" body2="r2/right_ankle_roll" />
    <exclude body1="r2/right_ankle_roll" body2="r2/right_leg/ati" />
    <exclude body1="r2/right_leg/ati" body2="r2/right_leg_foot" />
    <exclude body1="r2/right_leg_foot" body2="r2/right_leg/gripper/tip" />
    <exclude body1="r2/right_leg_foot" body2="r2/right_leg/gripper/st_tip" />
    <exclude body1="r2/right_leg_foot" body2="r2/right_leg/nano_physical" />
    <exclude body1="r2/right_leg_foot" body2="r2/right_leg/flea_physical" />
  </contact>
</mujoco>
