<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content d4fcb3bda1efde11 -->
<mujoco model="RomeoH37">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="NeckPitch" file="romeo_description/meshes/NeckPitch.dae" />
    <mesh name="NeckPitch_0.10" file="romeo_description/meshes/NeckPitch_0.10.stl" />
    <mesh name="HeadRoll" file="romeo_description/meshes/HeadRoll.dae" />
    <mesh name="HeadRoll_0.10" file="romeo_description/meshes/HeadRoll_0.10.stl" />
    <mesh name="LHipPitch" file="romeo_description/meshes/LHipPitch.dae" />
    <mesh name="LHipPitch_0.10" file="romeo_description/meshes/LHipPitch_0.10.stl" />
    <mesh name="LKneePitch" file="romeo_description/meshes/LKneePitch.dae" />
    <mesh name="LKneePitch_0.10" file="romeo_description/meshes/LKneePitch_0.10.stl" />
    <mesh name="LAnkleRoll" file="romeo_description/meshes/LAnkleRoll.dae" />
    <mesh name="LAnkleRoll_0.10" file="romeo_description/meshes/LAnkleRoll_0.10.stl" />
    <mesh name="RHipPitch" file="romeo_description/meshes/RHipPitch.dae" />
    <mesh name="RHipPitch_0.10" file="romeo_description/meshes/RHipPitch_0.10.stl" />
    <mesh name="RKneePitch" file="romeo_description/meshes/RKneePitch.dae" />
    <mesh name="RKneePitch_0.10" file="romeo_description/meshes/RKneePitch_0.10.stl" />
    <mesh name="RAnkleRoll" file="romeo_description/meshes/RAnkleRoll.dae" />
    <mesh name="RAnkleRoll_0.10" file="romeo_description/meshes/RAnkleRoll_0.10.stl" />
    <mesh name="Torso" file="romeo_description/meshes/Torso.dae" />
    <mesh name="Torso_0.10" file="romeo_description/meshes/Torso_0.10.stl" />
    <mesh name="TrunkYaw" file="romeo_description/meshes/TrunkYaw.dae" />
    <mesh name="TrunkYaw_0.10" file="romeo_description/meshes/TrunkYaw_0.10.stl" />
    <mesh name="LShoulderYaw" file="romeo_description/meshes/LShoulderYaw.dae" />
    <mesh name="LShoulderYaw_0.10" file="romeo_description/meshes/LShoulderYaw_0.10.stl" />
    <mesh name="LElbowYaw" file="romeo_description/meshes/LElbowYaw.dae" />
    <mesh name="LElbowYaw_0.10" file="romeo_description/meshes/LElbowYaw_0.10.stl" />
    <mesh name="LWristRoll" file="romeo_description/meshes/LWristRoll.dae" />
    <mesh name="LWristRoll_0.10" file="romeo_description/meshes/LWristRoll_0.10.stl" />
    <mesh name="LWristYaw" file="romeo_description/meshes/LWristYaw.dae" />
    <mesh name="LWristYaw_0.10" file="romeo_description/meshes/LWristYaw_0.10.stl" />
    <mesh name="LWristPitch" file="romeo_description/meshes/LWristPitch.dae" />
    <mesh name="LWristPitch_0.10" file="romeo_description/meshes/LWristPitch_0.10.stl" />
    <mesh name="RShoulderYaw" file="romeo_description/meshes/RShoulderYaw.dae" />
    <mesh name="RShoulderYaw_0.10" file="romeo_description/meshes/RShoulderYaw_0.10.stl" />
    <mesh name="RElbowYaw" file="romeo_description/meshes/RElbowYaw.dae" />
    <mesh name="RElbowYaw_0.10" file="romeo_description/meshes/RElbowYaw_0.10.stl" />
    <mesh name="RWristRoll" file="romeo_description/meshes/RWristRoll.dae" />
    <mesh name="RWristRoll_0.10" file="romeo_description/meshes/RWristRoll_0.10.stl" />
    <mesh name="RWristYaw" file="romeo_description/meshes/RWristYaw.dae" />
    <mesh name="RWristYaw_0.10" file="romeo_description/meshes/RWristYaw_0.10.stl" />
    <mesh name="RWristPitch" file="romeo_description/meshes/RWristPitch.dae" />
    <mesh name="RWristPitch_0.10" file="romeo_description/meshes/RWristPitch_0.10.stl" />
    <mesh name="LEyePitch" file="romeo_description/meshes/LEyePitch.dae" />
    <mesh name="LEyePitch_0.10" file="romeo_description/meshes/LEyePitch_0.10.stl" />
    <mesh name="REyePitch" file="romeo_description/meshes/REyePitch.dae" />
    <mesh name="REyePitch_0.10" file="romeo_description/meshes/REyePitch_0.10.stl" />
    <mesh name="RFinger13" file="romeo_description/meshes/RFinger13.dae" />
    <mesh name="RFinger13_0.10" file="romeo_description/meshes/RFinger13_0.10.stl" />
    <mesh name="RFinger12" file="romeo_description/meshes/RFinger12.dae" />
    <mesh name="RFinger12_0.10" file="romeo_description/meshes/RFinger12_0.10.stl" />
    <mesh name="LFinger33" file="romeo_description/meshes/LFinger33.dae" />
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    <mesh name="RFinger31" file="romeo_description/meshes/RFinger31.dae" />
    <mesh name="RFinger31_0.10" file="romeo_description/meshes/RFinger31_0.10.stl" />
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    <mesh name="LFinger32" file="romeo_description/meshes/LFinger32.dae" />
    <mesh name="LFinger32_0.10" file="romeo_description/meshes/LFinger32_0.10.stl" />
    <mesh name="LFinger11" file="romeo_description/meshes/LFinger11.dae" />
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    <mesh name="LThumb3" file="romeo_description/meshes/LThumb3.dae" />
    <mesh name="LThumb3_0.10" file="romeo_description/meshes/LThumb3_0.10.stl" />
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    <mesh name="Cap" file="romeo_description/meshes/Cap.dae" />
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  <worldbody>
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              <inertial pos="0.00249 0.00205 -0.00147" mass="0.714778" fullinertia="0.000937272 0.000548117 0.00101855 5.64884e-07 -2.02714e-06 -2.95823e-06" />
              <body name="RThigh">
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                <inertial pos="-0.02138 0.00255 -0.14577" mass="4.71096" fullinertia="0.0390706 0.0395116 0.0122599 -0.000537853 0.0250104 -0.00278999" />
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                <geom name="RThigh_col_0" type="mesh" mesh="RHipPitch_0.10" group="3" />
                <body name="RTibia" pos="0.0 0.0 -0.322">
                  <joint name="RKneePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.0218 1.9722" />
                  <inertial pos="-0.00415 0.00054 -0.11011" mass="2.72291" fullinertia="0.0159124 0.0158076 0.00369233 -1.21492e-05 0.00301963 -0.000329953" />
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                  <geom name="RTibia_col_0" type="mesh" mesh="RKneePitch_0.10" group="3" />
                  <body name="RAnklePitch_link" pos="0.0 0.0 -0.29">
                    <joint name="RAnklePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.5149 0.7505" />
                    <inertial pos="0.00132 0.00117 0.00015" mass="0.464512" fullinertia="0.000367336 0.000239298 0.000425531 1.31739e-06 1.0441e-07 -1.06885e-06" />
                    <body name="r_ankle">
                      <joint name="RAnkleRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.3491 0.3491" />
                      <inertial pos="0.0483878 -0.00120158 -0.0367645" mass="1.06764" fullinertia="0.000978167 0.00586633 0.00589599 -0.000173863 -0.000879138 0.000155656" />
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                      <geom name="r_ankle_col_0" type="mesh" mesh="RAnkleRoll_0.10" group="3" />
                      <body name="r_sole" pos="0.0 0.0 -0.0651" />
                      <body name="RFsrFToeRearRight_frame" pos="0.11898 -0.0335 -0.06226">
                        <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="RFsrFToeRearRight_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrRearCenter_frame" pos="0.01448 -0.0145 -0.06226">
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                        <geom name="RFsrRearCenter_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
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                      <body name="RFsrFrontCenter_frame" pos="0.07498 -0.01275 -0.06226">
                        <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="RFsrFrontCenter_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrFToeFrontRight_frame" pos="0.16098 -0.024 -0.06226">
                        <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="RFsrFToeFrontRight_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrHeelRight_frame" pos="-0.04602 -0.017 -0.06226">
                        <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="RFsrHeelRight_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrFToeRearLeft_frame" pos="0.12698 0.0315 -0.06226">
                        <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="RFsrFToeRearLeft_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrHeelLeft_frame" pos="-0.04602 0.017 -0.06226">
                        <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="RFsrHeelLeft_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
                      <body name="RFsrFToeFrontLeft_frame" pos="0.17298 0.023 -0.06226">
                        <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="RFsrFToeFrontLeft_frame_col_0" type="box" size="0.005 0.005 0.0025" group="3" />
                      </body>
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                </body>
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            </body>
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          <body name="ImuTorsoAccelerometer_frame" pos="0.06185 0.0087 -0.1582" />
          <body name="ImuTorsoGyrometer_frame" pos="0.06185 0.0087 -0.1582" />
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        <body name="LShoulder" pos="0.049862 0.19 0.073851" quat="1.0 7.4506e-09 3.72529e-09 -2.7755645674e-17">
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            <inertial pos="0.0965281 0.00465308 0.00168775" mass="0.861545" fullinertia="0.00118557 0.00312162 0.00289955 0.000596133 0.0011173 -2.05919e-05" />
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            <geom name="LShoulderYaw_link_col_0" type="mesh" mesh="LShoulderYaw_0.10" group="3" />
            <body name="LForeArm" pos="0.210824 7.40511e-09 -0.008631" quat="1.0 -1.28057e-09 5.9631150677e-18 -4.65661e-09">
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              <inertial pos="-0.0348859 -0.0011589 -0.00148134" mass="0.600439" fullinertia="0.000207598 0.000507683 0.000456309 1.2053e-05 -1.86312e-05 1.56171e-06" />
              <body name="LElbow" quat="1.0 -7.47519999010114e-09 -9.313200007945278e-09 1.0628849303819674e-09">
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                <inertial pos="0.068523 0.0097 0.00458766" mass="0.460203" fullinertia="0.000503576 0.00127777 0.00122813 0.000585803 3.19975e-05 3.67296e-05" />
                <geom name="LElbow_vis_0" type="mesh" mesh="LElbowYaw" contype="0" conaffinity="0" group="2" />
                <geom name="LElbow_col_0" type="mesh" mesh="LElbowYaw_0.10" group="3" />
                <body name="LWristRoll_link" pos="0.190404 0.0 0.008631" quat="1.0 0.0 -3.72529e-09 0.0">
                  <joint name="LWristRoll" type="hinge" axis="0.998987 0.0 0.0449994" range="-3.6303 0.4887" />
                  <inertial pos="-0.0592449 6e-05 -0.00144745" mass="0.218316" fullinertia="0.000100812 0.000384336 0.000366084 -1.81881e-06 -4.56681e-05 -1.11019e-07" />
                  <geom name="LWristRoll_link_vis_0" type="mesh" mesh="LWristRoll" contype="0" conaffinity="0" group="2" />
                  <geom name="LWristRoll_link_col_0" type="mesh" mesh="LWristRoll_0.10" group="3" />
                  <body name="LWristYaw_link">
                    <joint name="LWristYaw" type="hinge" axis="-0.0449994 0.0 0.998987" range="-0.4014 0.4014" />
                    <inertial pos="-0.00657144 0.00017 -0.000115829" mass="0.0758774" fullinertia="1.55687e-05 3.52487e-05 3.4791e-05 -5.1829e-08 -8.72923e-07 1.94513e-08" />
                    <geom name="LWristYaw_link_vis_0" type="mesh" mesh="LWristYaw" contype="0" conaffinity="0" group="2" />
                    <geom name="LWristYaw_link_col_0" type="mesh" mesh="LWristYaw_0.10" group="3" />
                    <body name="l_wrist">
                      <joint name="LWristPitch" type="hinge" axis="0.0 1.0 0.0" range="-0.988 0.8969" />
                      <inertial pos="0.07358 -0.00628 -0.00098" mass="0.442191" fullinertia="0.000404603 0.000829354 0.00102014 -0.000404247 1.89685e-05 7.81042e-05" />
                      <geom name="l_wrist_vis_0" type="mesh" mesh="LWristPitch" contype="0" conaffinity="0" group="2" />
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                      <body name="l_gripper" pos="-0.0579412 -0.0159 -0.00260997" quat="-0.015912812065995204 0.01591462950772749 -0.7069289634112685 -0.706926408949371">
                        <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" />
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                      <body name="LFinger21_link" pos="0.12934 0.0 0.01499" quat="0.5000024999971231 -0.49999933659873846 0.5000006633936351 0.49999749999712306">
                        <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" contype="0" conaffinity="0" group="2" />
                        <geom name="LFinger21_link_col_0" type="mesh" mesh="LFinger21_0.10" group="3" />
                        <body name="LFinger22_link" pos="0.0 -0.02309 0.0">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger22_link_col_0" type="mesh" mesh="LFinger22_0.10" group="3" />
                          <body name="LFinger23_link" pos="0.0 -0.02309 0.0">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger23_link_col_0" type="mesh" mesh="LFinger23_0.10" group="3" />
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                        </body>
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                      <body name="LFinger11_link" pos="0.12385 -0.03024 0.00999" quat="0.5296098085230154 -0.4685245856075928 0.5296078631657036 0.46852286461869247">
                        <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" contype="0" conaffinity="0" group="2" />
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                        <body name="LFinger12_link" pos="0.0 -0.0230929 -4.02331e-06">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger12_link_col_0" type="mesh" mesh="LFinger12_0.10" group="3" />
                          <body name="LFinger13_link" pos="0.0 -0.0230916 5.90086e-06">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger13_link_col_0" type="mesh" mesh="LFinger13_0.10" group="3" />
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                      <body name="LFinger31_link" pos="0.11215 0.03024 0.00999" quat="-0.5296085652536593 0.46852599096796343 0.5296066198917807 0.4685242699842253">
                        <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" contype="0" conaffinity="0" group="2" />
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                        <body name="LFinger32_link" pos="0.0 0.0230928 4.02331e-06">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="LFinger32_link_col_0" type="mesh" mesh="LFinger32_0.10" group="3" />
                          <body name="LFinger33_link" pos="0.0 0.0230916 -5.91576e-06">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="LFinger33_link_col_0" type="mesh" mesh="LFinger33_0.10" group="3" />
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                      <body name="LThumb1_link" pos="0.0624 -0.03131 -0.00574" quat="0.5695781662634276 0.0467527006608896 0.817855777644654 -0.06713288665149633">
                        <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" contype="0" conaffinity="0" group="2" />
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                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="LThumb2_link_col_0" type="mesh" mesh="LThumb2_0.10" group="3" />
                          <body name="LThumb3_link" pos="0.0187362 0.0135152 5.21541e-06" quat="0.9999999999999996 -2.980234999999999e-08 -2.2204538890999995e-16 7.450599999999997e-09">
                            <joint name="LThumb3" 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="LThumb3_link_vis_0" type="mesh" mesh="LThumb3" contype="0" conaffinity="0" group="2" />
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        <body name="RShoulder" pos="0.049862 -0.19 0.073851" quat="1.0 -7.4506e-09 3.72529e-09 2.7755645674e-17">
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          <inertial pos="-0.0112798 0.0260712 0.00468882" mass="0.541429" fullinertia="0.00032868 0.000199958 0.000354645 0.000102539 1.9336e-05 -3.81835e-05" />
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            <inertial pos="0.0965281 -0.00465308 0.00168775" mass="0.861545" fullinertia="0.00118857 0.00311916 0.002899 -0.00036285 0.001154 1.86519e-05" />
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                  <inertial pos="-0.0592449 -6e-05 -0.00144745" mass="0.218316" fullinertia="0.000100812 0.000384336 0.000366084 -2.66721e-07 -4.56681e-05 -7.30984e-08" />
                  <geom name="RWristRoll_link_vis_0" type="mesh" mesh="RWristRoll" contype="0" conaffinity="0" group="2" />
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                    <inertial pos="-0.00657144 -0.00017 -0.000115829" mass="0.0758774" fullinertia="1.55687e-05 3.52487e-05 3.4791e-05 1.17703e-07 -8.72923e-07 2.24395e-08" />
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                    <geom name="RWristYaw_link_col_0" type="mesh" mesh="RWristYaw_0.10" group="3" />
                    <body name="r_wrist">
                      <joint name="RWristPitch" type="hinge" axis="0.0 1.0 0.0" range="-0.9868 0.8981" />
                      <inertial pos="0.07358 0.00628 -0.00098" mass="0.442191" fullinertia="0.000404603 0.000829354 0.00102014 4.4107e-06 1.89685e-05 7.26613e-05" />
                      <geom name="r_wrist_vis_0" type="mesh" mesh="RWristPitch" contype="0" conaffinity="0" group="2" />
                      <geom name="r_wrist_col_0" type="mesh" mesh="RWristPitch_0.10" group="3" />
                      <body name="r_gripper" pos="-0.0579412 -0.0159 -0.00260997" quat="-0.015912812065995204 0.01591462950772749 -0.7069289634112685 -0.706926408949371">
                        <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="RFinger31_link" pos="0.11215 -0.03024 0.00999" quat="0.5296098085230154 -0.4685245856075928 0.5296078631657036 0.46852286461869247">
                        <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" contype="0" conaffinity="0" group="2" />
                        <geom name="RFinger31_link_col_0" type="mesh" mesh="RFinger31_0.10" group="3" />
                        <body name="RFinger32_link" pos="0.0 -0.0230929 -4.02331e-06">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger32_link_col_0" type="mesh" mesh="RFinger32_0.10" group="3" />
                          <body name="RFinger33_link" pos="0.0 -0.0230916 5.90086e-06">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger33_link_col_0" type="mesh" mesh="RFinger33_0.10" group="3" />
                          </body>
                        </body>
                      </body>
                      <body name="RFinger21_link" pos="0.12934 0.0 0.01499" quat="0.5000024999971231 -0.49999933659873846 -0.5000006633936351 -0.49999749999712306">
                        <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" contype="0" conaffinity="0" group="2" />
                        <geom name="RFinger21_link_col_0" type="mesh" mesh="RFinger21_0.10" group="3" />
                        <body name="RFinger22_link" pos="0.0 0.02309 0.0">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger22_link_col_0" type="mesh" mesh="RFinger22_0.10" group="3" />
                          <body name="RFinger23_link" pos="0.0 0.02309 0.0">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger23_link_col_0" type="mesh" mesh="RFinger23_0.10" group="3" />
                          </body>
                        </body>
                      </body>
                      <body name="RFinger11_link" pos="0.12385 0.03024 0.00999" quat="-0.5296085652536593 0.46852599096796343 0.5296066198917807 0.4685242699842253">
                        <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" contype="0" conaffinity="0" group="2" />
                        <geom name="RFinger11_link_col_0" type="mesh" mesh="RFinger11_0.10" group="3" />
                        <body name="RFinger12_link" pos="0.0 0.0230929 4.02331e-06">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="RFinger12_link_col_0" type="mesh" mesh="RFinger12_0.10" group="3" />
                          <body name="RFinger13_link" pos="0.0 0.0230916 -5.90086e-06">
                            <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" contype="0" conaffinity="0" group="2" />
                            <geom name="RFinger13_link_col_0" type="mesh" mesh="RFinger13_0.10" group="3" />
                          </body>
                        </body>
                      </body>
                      <body name="RThumb1_link" pos="0.0624 0.03131 -0.00574" quat="0.8178558046845437 0.06713255723799282 -0.569578139223538 0.04675303007439329">
                        <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" contype="0" conaffinity="0" group="2" />
                        <geom name="RThumb1_link_col_0" type="mesh" mesh="RThumb1_0.10" group="3" />
                        <body name="RThumb2_link" pos="-0.000329241 0.0388865 -0.017011" quat="0.5221683633424284 0.33217949918201134 -0.42161227490645725 -0.6627518919593361">
                          <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" contype="0" conaffinity="0" group="2" />
                          <geom name="RThumb2_link_col_0" type="mesh" mesh="RThumb2_0.10" group="3" />
                          <body name="RThumb3_link" pos="-0.0187362 -0.0135152 -5.21541e-06" quat="0.9999999999999996 -2.980234994448855e-08 -7.450600222045386e-09 7.450599777954607e-09">
                            <joint name="RThumb3" 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="RThumb3_link_vis_0" type="mesh" mesh="RThumb3" contype="0" conaffinity="0" group="2" />
                            <geom name="RThumb3_link_col_0" type="mesh" mesh="RThumb3_0.10" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="torso" body2="NeckYaw_link" />
    <exclude body1="NeckYaw_link" body2="NeckPitch_link" />
    <exclude body1="NeckPitch_link" body2="HeadPitch_link" />
    <exclude body1="HeadPitch_link" body2="HeadRoll_link" />
    <exclude body1="HeadRoll_link" body2="gaze" />
    <exclude body1="body" body2="LHipYaw_link" />
    <exclude body1="LHipYaw_link" body2="LHip" />
    <exclude body1="LHip" body2="LThigh" />
    <exclude body1="LThigh" body2="LTibia" />
    <exclude body1="LTibia" body2="LAnklePitch_link" />
    <exclude body1="LAnklePitch_link" body2="l_ankle" />
    <exclude body1="l_ankle" body2="l_sole" />
    <exclude body1="body" body2="RHipYaw_link" />
    <exclude body1="RHipYaw_link" body2="RHip" />
    <exclude body1="RHip" body2="RThigh" />
    <exclude body1="RThigh" body2="RTibia" />
    <exclude body1="RTibia" body2="RAnklePitch_link" />
    <exclude body1="RAnklePitch_link" body2="r_ankle" />
    <exclude body1="r_ankle" body2="r_sole" />
    <exclude body1="base_link" body2="torso" />
    <exclude body1="torso" body2="body" />
    <exclude body1="torso" body2="LShoulder" />
    <exclude body1="LShoulder" body2="LShoulderYaw_link" />
    <exclude body1="LShoulderYaw_link" body2="LForeArm" />
    <exclude body1="LForeArm" body2="LElbow" />
    <exclude body1="LElbow" body2="LWristRoll_link" />
    <exclude body1="LWristRoll_link" body2="LWristYaw_link" />
    <exclude body1="LWristYaw_link" body2="l_wrist" />
    <exclude body1="l_wrist" body2="l_gripper" />
    <exclude body1="torso" body2="RShoulder" />
    <exclude body1="RShoulder" body2="RShoulderYaw_link" />
    <exclude body1="RShoulderYaw_link" body2="RForeArm" />
    <exclude body1="RForeArm" body2="RElbow" />
    <exclude body1="RElbow" body2="RWristRoll_link" />
    <exclude body1="RWristRoll_link" body2="RWristYaw_link" />
    <exclude body1="RWristYaw_link" body2="r_wrist" />
    <exclude body1="r_wrist" body2="r_gripper" />
    <exclude body1="HeadRoll_link" body2="LEyeYaw_link" />
    <exclude body1="LEyeYaw_link" body2="LEye" />
    <exclude body1="HeadRoll_link" body2="REyeYaw_link" />
    <exclude body1="REyeYaw_link" body2="REye" />
    <exclude body1="r_ankle" body2="RFsrFToeRearRight_frame" />
    <exclude body1="LEye" body2="CameraLeftEye_frame" />
    <exclude body1="HeadRoll_link" body2="ImuHeadGyrometer_frame" />
    <exclude body1="r_ankle" body2="RFsrRearCenter_frame" />
    <exclude body1="r_ankle" body2="RFsrFrontCenter_frame" />
    <exclude body1="CameraLeftEye_frame" body2="CameraLeftEye_optical_frame" />
    <exclude body1="l_ankle" body2="LFsrHeelRight_frame" />
    <exclude body1="REye" body2="CameraRightEye_frame" />
    <exclude body1="CameraRight_frame" body2="CameraRight_optical_frame" />
    <exclude body1="CameraRightEye_frame" body2="CameraRightEye_optical_frame" />
    <exclude body1="r_ankle" body2="RFsrFToeFrontRight_frame" />
    <exclude body1="r_ankle" body2="RFsrHeelRight_frame" />
    <exclude body1="r_ankle" body2="RFsrFToeRearLeft_frame" />
    <exclude body1="body" body2="ImuTorsoAccelerometer_frame" />
    <exclude body1="l_ankle" body2="LFsrFToeRearRight_frame" />
    <exclude body1="l_ankle" body2="LFsrHeelLeft_frame" />
    <exclude body1="HeadRoll_link" body2="CameraRight_frame" />
    <exclude body1="body" body2="ImuTorsoGyrometer_frame" />
    <exclude body1="l_ankle" body2="LFsrFToeRearLeft_frame" />
    <exclude body1="l_ankle" body2="LFsrRearCenter_frame" />
    <exclude body1="HeadRoll_link" body2="CameraLeft_frame" />
    <exclude body1="CameraLeft_frame" body2="CameraLeft_optical_frame" />
    <exclude body1="l_ankle" body2="LFsrFToeFrontRight_frame" />
    <exclude body1="r_ankle" body2="RFsrHeelLeft_frame" />
    <exclude body1="HeadRoll_link" body2="ImuHeadAccelerometer_frame" />
    <exclude body1="l_ankle" body2="LFsrFrontCenter_frame" />
    <exclude body1="r_ankle" body2="RFsrFToeFrontLeft_frame" />
    <exclude body1="l_ankle" body2="LFsrFToeFrontLeft_frame" />
    <exclude body1="RFinger12_link" body2="RFinger13_link" />
    <exclude body1="RFinger11_link" body2="RFinger12_link" />
    <exclude body1="LFinger32_link" body2="LFinger33_link" />
    <exclude body1="r_wrist" body2="RFinger31_link" />
    <exclude body1="RFinger31_link" body2="RFinger32_link" />
    <exclude body1="l_wrist" body2="LFinger21_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="LFinger21_link" body2="LFinger22_link" />
    <exclude body1="r_wrist" body2="RFinger21_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="l_wrist" body2="LFinger31_link" />
    <exclude body1="RFinger32_link" body2="RFinger33_link" />
    <exclude body1="LThumb2_link" body2="LThumb3_link" />
    <exclude body1="l_wrist" body2="LThumb1_link" />
    <exclude body1="r_wrist" body2="RThumb1_link" />
    <exclude body1="RThumb1_link" body2="RThumb2_link" />
    <exclude body1="LThumb1_link" body2="LThumb2_link" />
    <exclude body1="RThumb2_link" body2="RThumb3_link" />
    <exclude body1="HeadRoll_link" body2="CameraDepth_frame" />
    <exclude body1="HeadRoll_link" body2="Cap" />
  </contact>
</mujoco>
