<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content fd32e1085ffa03fa -->
<mujoco model="talos">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="DarkGrey" rgba="0.5 0.5 0.5 1.0" />
    <material name="Blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="Green" rgba="0.0 0.8 0.0 1.0" />
    <material name="Grey" rgba="0.7 0.7 0.7 1.0" />
    <material name="LightGrey" rgba="0.9 0.9 0.9 1.0" />
    <material name="Red" rgba="0.8 0.0 0.0 1.0" />
    <material name="White" rgba="1.0 1.0 1.0 1.0" />
    <material name="Orange" rgba="1.0 0.5 0.0 1.0" />
    <mesh name="torso_2" file="talos_data/meshes/torso/torso_2.STL" />
    <mesh name="torso_2_collision" file="talos_data/meshes/torso/torso_2_collision.STL" />
    <mesh name="torso_1" file="talos_data/meshes/torso/torso_1.STL" />
    <mesh name="torso_base_link" file="talos_data/meshes/torso/base_link.STL" />
    <mesh name="torso_base_link_collision" file="talos_data/meshes/torso/base_link_collision.STL" />
    <mesh name="head_1" file="talos_data/meshes/head/head_1.stl" />
    <mesh name="head_1_collision" file="talos_data/meshes/head/head_1_collision.stl" />
    <mesh name="head_2" file="talos_data/meshes/head/head_2.stl" />
    <mesh name="head_2_collision" file="talos_data/meshes/head/head_2_collision.stl" />
    <mesh name="orbbec" file="talos_data/meshes/sensors/orbbec/orbbec.STL" />
    <mesh name="arm_1" file="talos_data/meshes/arm/arm_1.STL" />
    <mesh name="arm_1_collision" file="talos_data/meshes/arm/arm_1_collision.STL" />
    <mesh name="arm_2" file="talos_data/meshes/arm/arm_2.STL" />
    <mesh name="arm_2_collision" file="talos_data/meshes/arm/arm_2_collision.STL" />
    <mesh name="arm_3" file="talos_data/meshes/arm/arm_3.STL" />
    <mesh name="arm_3_collision" file="talos_data/meshes/arm/arm_3_collision.STL" />
    <mesh name="arm_4" file="talos_data/meshes/arm/arm_4.STL" />
    <mesh name="arm_4_collision" file="talos_data/meshes/arm/arm_4_collision.STL" />
    <mesh name="arm_5" file="talos_data/meshes/arm/arm_5.STL" />
    <mesh name="arm_5_collision" file="talos_data/meshes/arm/arm_5_collision.STL" />
    <mesh name="arm_6" file="talos_data/meshes/arm/arm_6.STL" />
    <mesh name="arm_6_collision" file="talos_data/meshes/arm/arm_6_collision.STL" />
    <mesh name="arm_7" file="talos_data/meshes/arm/arm_7.STL" />
    <mesh name="arm_7_collision" file="talos_data/meshes/arm/arm_7_collision.STL" />
    <mesh name="arm_1_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_1.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_1_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_1_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_2_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_2.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_2_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_2_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_3_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_3.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_3_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_3_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_4_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_4.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_4_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_4_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_5_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_5.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_5_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_5_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_6_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_6.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_6_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_6_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_7_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_7.STL" scale="1.0 -1.0 1.0" />
    <mesh name="arm_7_collision_1p0_n1p0_1p0" file="talos_data/meshes/arm/arm_7_collision.STL" scale="1.0 -1.0 1.0" />
    <mesh name="gripper_base_link" file="talos_data/meshes/gripper/base_link.STL" />
    <mesh name="gripper_base_link_collision" file="talos_data/meshes/gripper/base_link_collision.STL" />
    <mesh name="gripper_motor_double" file="talos_data/meshes/gripper/gripper_motor_double.STL" />
    <mesh name="gripper_motor_double_collision" file="talos_data/meshes/gripper/gripper_motor_double_collision.STL" />
    <mesh name="inner_double" file="talos_data/meshes/gripper/inner_double.STL" />
    <mesh name="inner_double_collision" file="talos_data/meshes/gripper/inner_double_collision.STL" />
    <mesh name="fingertip" file="talos_data/meshes/gripper/fingertip.STL" />
    <mesh name="fingertip_collision" file="talos_data/meshes/gripper/fingertip_collision.STL" />
    <mesh name="gripper_motor_single" file="talos_data/meshes/gripper/gripper_motor_single.STL" />
    <mesh name="gripper_motor_single_collision" file="talos_data/meshes/gripper/gripper_motor_single_collision.STL" />
    <mesh name="inner_single" file="talos_data/meshes/gripper/inner_single.STL" />
    <mesh name="inner_single_collision" file="talos_data/meshes/gripper/inner_single_collision.STL" />
    <mesh name="hip_z_lo_res" file="talos_data/meshes/v2/hip_z_lo_res.stl" />
    <mesh name="hip_z_collision" file="talos_data/meshes/v2/hip_z_collision.stl" />
    <mesh name="hip_x_lo_res" file="talos_data/meshes/v2/hip_x_lo_res.stl" />
    <mesh name="hip_x_collision" file="talos_data/meshes/v2/hip_x_collision.stl" />
    <mesh name="hip_y_lo_res" file="talos_data/meshes/v2/hip_y_lo_res.stl" />
    <mesh name="hip_y_collision" file="talos_data/meshes/v2/hip_y_collision.stl" />
    <mesh name="knee_lo_res" file="talos_data/meshes/v2/knee_lo_res.stl" />
    <mesh name="knee_collision" file="talos_data/meshes/v2/knee_collision.stl" />
    <mesh name="ankle_Y_lo_res" file="talos_data/meshes/v2/ankle_Y_lo_res.stl" />
    <mesh name="ankle_Y_collision" file="talos_data/meshes/v2/ankle_Y_collision.stl" />
    <mesh name="ankle_X_lo_res" file="talos_data/meshes/v2/ankle_X_lo_res.stl" />
    <mesh name="hip_z_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_z_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_z_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_z_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_x_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_x_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_x_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_x_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_y_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_y_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="hip_y_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/hip_y_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="knee_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/knee_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="knee_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/knee_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_Y_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_Y_collision_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_Y_collision.stl" scale="1.0 -1.0 1.0" />
    <mesh name="ankle_X_lo_res_1p0_n1p0_1p0" file="talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1.0 -1.0 1.0" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.08222 0.00838 -0.07261" mass="13.5381" fullinertia="0.06989 0.039982 0.082345 -0.000117 0.00023 -0.001325" />
      <geom name="base_link_vis_0" type="mesh" mesh="torso_base_link" contype="0" conaffinity="0" group="2" material="LightGrey" />
      <geom name="base_link_col_0" type="mesh" mesh="torso_base_link_collision" group="3" />
      <body name="torso_1_link" pos="0.0 0.0 0.0722">
        <joint name="torso_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.308996939 1.308996939" damping="1.0" frictionloss="1.0" />
        <inertial pos="0.00013 -1e-05 -0.01306" mass="3.02433" fullinertia="0.007594 0.004292 0.007497 1e-06 -4.8e-05 -1e-06" />
        <geom name="torso_1_link_vis_0" type="mesh" mesh="torso_1" contype="0" conaffinity="0" group="2" material="LightGrey" />
        <geom name="torso_1_link_col_0" type="mesh" mesh="torso_1" group="3" />
        <body name="torso_2_link">
          <joint name="torso_2_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.261799387799 0.785398163397" damping="1.0" frictionloss="1.0" />
          <inertial pos="-0.04551 -0.00053 0.16386" mass="17.55011" fullinertia="0.373769 0.247902 0.281404 0.000639 0.012196 7e-06" />
          <geom name="torso_2_link_vis_0" type="mesh" mesh="torso_2" contype="0" conaffinity="0" group="2" material="LightGrey" />
          <geom name="torso_2_link_col_0" type="mesh" mesh="torso_2_collision" group="3" />
          <body name="imu_link" pos="0.04925 0.0 0.078" quat="-7.312301077203117e-14 0.7071067811882787 0.7071067811848163 -7.312301077167311e-14">
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            <geom name="imu_link_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" />
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          <body name="head_1_link" pos="0.0 0.0 0.316">
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            <inertial pos="0.0012 0.00145 0.02165" mass="0.65988" fullinertia="0.001221 0.000924 0.001033 -4e-06 7e-05 -4.1e-05" />
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            <geom name="head_1_link_col_0" type="mesh" mesh="head_1_collision" group="3" />
            <body name="head_2_link">
              <joint name="head_2_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.308996939 1.308996939" damping="0.5" frictionloss="1.0" />
              <inertial pos="-0.01036 -0.00037 0.13778" mass="1.40353" fullinertia="0.007225 0.006873 0.004373 -2.5e-05 0.000329 4.4e-05" />
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              <geom name="head_2_link_col_0" type="mesh" mesh="head_2_collision" group="3" />
              <body name="rgbd_link" pos="0.066 0.0 0.1982">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="3e-05 3e-05 2e-06 0.0 0.0 0.0" />
                <geom name="rgbd_link_vis_0" type="mesh" mesh="orbbec" contype="0" conaffinity="0" group="2" material="DarkGrey" />
                <geom name="rgbd_link_col_0" type="box" size="0.02 0.0925 0.015" pos="-0.01 0.0025 0.0" group="3" />
                <body name="rgbd_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5">
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                <body name="rgbd_depth_frame" pos="0.0 0.03751 0.0">
                  <body name="rgbd_depth_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
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                <body name="rgbd_rgb_frame" pos="0.0 0.01251 0.0">
                  <body name="rgbd_rgb_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
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              </body>
            </body>
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          <body name="arm_left_1_link" pos="0.0 0.1575 0.232">
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            <inertial pos="-0.01346 0.0913 0.04812" mass="1.42896" fullinertia="0.005551 0.001673 0.005822 -0.000731 8e-06 -6e-05" />
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              <inertial pos="0.02607 0.00049 -0.05209" mass="1.67729" fullinertia="0.007087 0.007936 0.003788 -1.4e-05 0.002142 3e-05" />
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                  <inertial pos="-0.00655 -0.02107 -0.02612" mass="1.10216" fullinertia="0.002217 0.002418 0.001115 -0.000101 0.000288 -0.000393" />
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                  <geom name="arm_left_4_link_col_0" type="mesh" mesh="arm_4_collision" group="3" />
                  <body name="arm_left_5_link" pos="-0.02 0.0 -0.2643">
                    <joint name="arm_left_5_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.53072741539 2.53072741539" damping="1.0" frictionloss="1.0" />
                    <inertial pos="-6e-05 0.00326 0.07963" mass="1.77792" fullinertia="0.003495 0.004368 0.002283 -1.3e-05 -1e-05 9.7e-05" />
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                    <geom name="arm_left_5_link_col_0" type="mesh" mesh="arm_5_collision" group="3" />
                    <body name="arm_left_6_link">
                      <joint name="arm_left_6_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.3962634016 1.3962634016" damping="1.0" frictionloss="1.0" />
                      <inertial pos="2e-05 -0.00197 -0.00059" mass="0.30931" fullinertia="0.000107 0.000141 0.000154 0.0 0.0 -0.0" />
                      <geom name="arm_left_6_link_vis_0" type="mesh" mesh="arm_6" contype="0" conaffinity="0" group="2" material="LightGrey" />
                      <geom name="arm_left_6_link_col_0" type="mesh" mesh="arm_6_collision" group="3" />
                      <body name="arm_left_7_link">
                        <joint name="arm_left_7_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.698131700798 0.698131700798" damping="1.0" frictionloss="1.0" />
                        <inertial pos="0.007525 0.001378 -0.02463" mass="0.308441" fullinertia="0.000309 0.000219 0.000176 2e-06 -2e-06 1.2e-05" />
                        <geom name="arm_left_7_link_vis_0" type="mesh" mesh="arm_7" contype="0" conaffinity="0" group="2" material="DarkGrey" />
                        <geom name="arm_left_7_link_col_0" type="mesh" mesh="arm_7_collision" group="3" />
                        <body name="wrist_left_ft_link" pos="0.0 0.0 -0.051" quat="-0.7071067811848895 0.0 -0.0 -0.7071067811882056">
                          <inertial pos="0.0 0.0 0.0" mass="0.1" diaginertia="0 0 0" />
                          <geom name="wrist_left_ft_link_vis_0" type="cylinder" size="0.0225 0.00785" contype="0" conaffinity="0" group="2" material="LightGrey" />
                          <geom name="wrist_left_ft_link_col_0" type="cylinder" size="0.0225 0.00785" group="3" />
                          <body name="wrist_left_ft_tool_link" pos="0.0 0.0 -0.012725" quat="-0.7071067811848895 -0.0 0.0 0.7071067811882056">
                            <inertial pos="0.0 0.0 0.0" mass="0.1" diaginertia="0 0 0" />
                            <geom name="wrist_left_ft_tool_link_vis_0" type="cylinder" size="0.025 0.004875" contype="0" conaffinity="0" group="2" />
                            <geom name="wrist_left_ft_tool_link_col_0" type="cylinder" size="0.025 0.004875" group="3" />
                            <body name="gripper_left_base_link" pos="0.0 0.0 -0.02875">
                              <inertial pos="-0.00534 0.00362 -0.02357" mass="0.61585" fullinertia="0.000472 0.000521 0.00069 -8e-06 3.5e-05 0.0" />
                              <geom name="gripper_left_base_link_vis_0" type="mesh" mesh="gripper_base_link" contype="0" conaffinity="0" group="2" material="DarkGrey" />
                              <geom name="gripper_left_base_link_col_0" type="mesh" mesh="gripper_base_link_collision" group="3" />
                              <body name="gripper_left_motor_double_link" pos="0.0 0.02025 -0.03">
                                <joint name="gripper_left_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0471975512 0.0" damping="1.0" frictionloss="1.0" />
                                <inertial pos="0.0227 0.01781 -0.00977" mass="0.16889" fullinertia="0.001159 0.001221 0.001268 -7e-05 3.8e-05 -5.3e-05" />
                                <geom name="gripper_left_motor_double_link_vis_0" type="mesh" mesh="gripper_motor_double" contype="0" conaffinity="0" group="2" material="Orange" />
                                <geom name="gripper_left_motor_double_link_col_0" type="mesh" mesh="gripper_motor_double_collision" group="3" />
                              </body>
                              <body name="gripper_left_inner_double_link" pos="0.0 0.00525 -0.05598">
                                <joint name="gripper_left_inner_double_joint" type="hinge" axis="1.0 0.0 0.0" range="-1.0471975512 0.0" />
                                <inertial pos="-0.00056 0.03358 -0.01741" mass="0.11922" fullinertia="9.1e-05 0.000156 0.000126 1e-06 -1e-06 -3.2e-05" />
                                <geom name="gripper_left_inner_double_link_vis_0" type="mesh" mesh="inner_double" contype="0" conaffinity="0" group="2" material="Orange" />
                                <geom name="gripper_left_inner_double_link_col_0" type="mesh" mesh="inner_double_collision" group="3" />
                                <body name="gripper_left_fingertip_1_link" pos="0.032 0.04589 -0.06553">
                                  <joint name="gripper_left_fingertip_1_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
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                                  <geom name="gripper_left_fingertip_1_link_col_0" type="mesh" mesh="fingertip_collision" group="3" />
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                                <body name="gripper_left_fingertip_2_link" pos="-0.032 0.04589 -0.06553">
                                  <joint name="gripper_left_fingertip_2_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                  <inertial pos="0.0 0.0046 -0.00254" mass="0.0263" fullinertia="8e-06 9e-06 2e-06 0.0 0.0 1e-06" />
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                              </body>
                              <body name="gripper_left_motor_single_link" pos="0.0 -0.02025 -0.03">
                                <joint name="gripper_left_motor_single_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                <inertial pos="0.02589 -0.01284 -0.0064" mass="0.14765" fullinertia="0.000115 0.000153 0.00019 5.2e-05 2.5e-05 3.4e-05" />
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                                <geom name="gripper_left_motor_single_link_col_0" type="mesh" mesh="gripper_motor_single_collision" group="3" />
                              </body>
                              <body name="gripper_left_inner_single_link" pos="0.0 -0.00525 -0.05598">
                                <joint name="gripper_left_inner_single_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                <inertial pos="0.0 -0.03253 -0.01883" mass="0.05356" fullinertia="4.7e-05 3.5e-05 2.4e-05 -0.0 -0.0 1.7e-05" />
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                                <geom name="gripper_left_inner_single_link_col_0" type="mesh" mesh="inner_single_collision" group="3" />
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                                  <joint name="gripper_left_fingertip_3_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                  <inertial pos="0.0 0.0046 -0.00254" mass="0.0263" fullinertia="8e-06 9e-06 2e-06 0.0 0.0 1e-06" />
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                                <inertial pos="-0.00056 0.03358 -0.01741" mass="0.11922" fullinertia="9.1e-05 0.000156 0.000126 1e-06 -1e-06 -3.2e-05" />
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                                  <inertial pos="0.0 0.0046 -0.00254" mass="0.0263" fullinertia="8e-06 9e-06 2e-06 0.0 0.0 1e-06" />
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                              <body name="gripper_right_motor_single_link" pos="0.0 -0.02025 -0.03">
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                                <inertial pos="0.02589 -0.01284 -0.0064" mass="0.14765" fullinertia="0.000115 0.000153 0.00019 5.2e-05 2.5e-05 3.4e-05" />
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                              <body name="gripper_right_inner_single_link" pos="0.0 -0.00525 -0.05598">
                                <joint name="gripper_right_inner_single_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.0471975512" />
                                <inertial pos="0.0 -0.03253 -0.01883" mass="0.05356" fullinertia="4.7e-05 3.5e-05 2.4e-05 -0.0 -0.0 1.7e-05" />
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                                  <inertial pos="0.0 0.0046 -0.00254" mass="0.0263" fullinertia="8e-06 9e-06 2e-06 0.0 0.0 1e-06" />
                                  <geom name="gripper_right_fingertip_3_link_vis_0" type="mesh" mesh="fingertip" contype="0" conaffinity="0" group="2" material="DarkGrey" />
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              <joint name="leg_right_4_joint" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.618" />
              <inertial pos="0.0152 -0.02331 -0.12063" mass="3.63668" fullinertia="0.035315 0.029336 0.01174 -2.9e-05 -0.000166 0.001305" />
              <geom name="leg_right_4_link_vis_0" type="mesh" mesh="knee_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="DarkGrey" />
              <geom name="leg_right_4_link_col_0" type="mesh" mesh="knee_collision_1p0_n1p0_1p0" group="3" />
              <body name="leg_right_5_link" pos="0.0 0.0 -0.325">
                <joint name="leg_right_5_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.309 0.768" />
                <inertial pos="-0.01106 -0.04708 0.05271" mass="1.24433" fullinertia="0.011487 0.009526 0.003908 0.000686 -0.000526 -0.002633" />
                <geom name="leg_right_5_link_vis_0" type="mesh" mesh="ankle_Y_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="leg_right_5_link_col_0" type="mesh" mesh="ankle_Y_collision_1p0_n1p0_1p0" group="3" />
                <body name="leg_right_6_link">
                  <joint name="leg_right_6_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.5236 0.5236" />
                  <inertial pos="-0.02087 -0.00019 -0.06059" mass="1.59457" fullinertia="0.003838 0.006572 0.005044 1.6e-05 -0.001041 -1.7e-05" />
                  <geom name="leg_right_6_link_vis_0" type="mesh" mesh="ankle_X_lo_res_1p0_n1p0_1p0" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="leg_right_6_link_col_0" type="box" size="0.105 0.065 0.01" pos="0.0 0.0 -0.1" group="3" />
                  <body name="right_sole_link" pos="0.0 0.0 -0.107">
                    <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>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="torso_1_link" />
    <exclude body1="torso_1_link" body2="torso_2_link" />
    <exclude body1="torso_2_link" body2="imu_link" />
    <exclude body1="torso_2_link" body2="head_1_link" />
    <exclude body1="head_1_link" body2="head_2_link" />
    <exclude body1="head_2_link" body2="rgbd_link" />
    <exclude body1="rgbd_link" body2="rgbd_optical_frame" />
    <exclude body1="rgbd_link" body2="rgbd_depth_frame" />
    <exclude body1="rgbd_depth_frame" body2="rgbd_depth_optical_frame" />
    <exclude body1="rgbd_link" body2="rgbd_rgb_frame" />
    <exclude body1="rgbd_rgb_frame" body2="rgbd_rgb_optical_frame" />
    <exclude body1="torso_2_link" body2="arm_left_1_link" />
    <exclude body1="arm_left_1_link" body2="arm_left_2_link" />
    <exclude body1="arm_left_2_link" body2="arm_left_3_link" />
    <exclude body1="arm_left_3_link" body2="arm_left_4_link" />
    <exclude body1="arm_left_4_link" body2="arm_left_5_link" />
    <exclude body1="arm_left_5_link" body2="arm_left_6_link" />
    <exclude body1="arm_left_6_link" body2="arm_left_7_link" />
    <exclude body1="torso_2_link" body2="arm_right_1_link" />
    <exclude body1="arm_right_1_link" body2="arm_right_2_link" />
    <exclude body1="arm_right_2_link" body2="arm_right_3_link" />
    <exclude body1="arm_right_3_link" body2="arm_right_4_link" />
    <exclude body1="arm_right_4_link" body2="arm_right_5_link" />
    <exclude body1="arm_right_5_link" body2="arm_right_6_link" />
    <exclude body1="arm_right_6_link" body2="arm_right_7_link" />
    <exclude body1="arm_right_7_link" body2="wrist_right_ft_link" />
    <exclude body1="wrist_right_ft_link" body2="wrist_right_ft_tool_link" />
    <exclude body1="arm_left_7_link" body2="wrist_left_ft_link" />
    <exclude body1="wrist_left_ft_link" body2="wrist_left_ft_tool_link" />
    <exclude body1="wrist_left_ft_tool_link" body2="gripper_left_base_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_motor_double_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_inner_double_link" />
    <exclude body1="gripper_left_inner_double_link" body2="gripper_left_fingertip_1_link" />
    <exclude body1="gripper_left_inner_double_link" body2="gripper_left_fingertip_2_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_motor_single_link" />
    <exclude body1="gripper_left_base_link" body2="gripper_left_inner_single_link" />
    <exclude body1="gripper_left_inner_single_link" body2="gripper_left_fingertip_3_link" />
    <exclude body1="wrist_right_ft_tool_link" body2="gripper_right_base_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_motor_double_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_inner_double_link" />
    <exclude body1="gripper_right_inner_double_link" body2="gripper_right_fingertip_1_link" />
    <exclude body1="gripper_right_inner_double_link" body2="gripper_right_fingertip_2_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_motor_single_link" />
    <exclude body1="gripper_right_base_link" body2="gripper_right_inner_single_link" />
    <exclude body1="gripper_right_inner_single_link" body2="gripper_right_fingertip_3_link" />
    <exclude body1="base_link" body2="leg_left_1_link" />
    <exclude body1="leg_left_1_link" body2="leg_left_2_link" />
    <exclude body1="leg_left_2_link" body2="leg_left_3_link" />
    <exclude body1="leg_left_3_link" body2="leg_left_4_link" />
    <exclude body1="leg_left_4_link" body2="leg_left_5_link" />
    <exclude body1="leg_left_5_link" body2="leg_left_6_link" />
    <exclude body1="leg_left_6_link" body2="left_sole_link" />
    <exclude body1="base_link" body2="leg_right_1_link" />
    <exclude body1="leg_right_1_link" body2="leg_right_2_link" />
    <exclude body1="leg_right_2_link" body2="leg_right_3_link" />
    <exclude body1="leg_right_3_link" body2="leg_right_4_link" />
    <exclude body1="leg_right_4_link" body2="leg_right_5_link" />
    <exclude body1="leg_right_5_link" body2="leg_right_6_link" />
    <exclude body1="leg_right_6_link" body2="right_sole_link" />
  </contact>
</mujoco>
