<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 0ee413b7c2d8693e -->
<mujoco model="toddlerbot_2xc">
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                            <inertial pos="2.2796e-07 0.00269789 -0.0333792" mass="0.0302318" fullinertia="2.8986699999999968e-05 1.7294600528609375e-05 1.3816899471390615e-05 3.572904404412926e-10 -4.3312980727567943e-10 7.288857389357626e-07" />
                            <geom name="left_elbow_yaw_link_vis_0" type="mesh" mesh="left_elbow_yaw_link_visual" pos="2.2796e-07 0.00269789 -0.0333792" quat="1.0 4.4408900000017292e-16 5.5622e-14 -3.1086250000000248e-15" contype="0" conaffinity="0" group="2" material="elbow_yaw_link_visual_material" />
                            <geom name="left_elbow_yaw_link_col_0" type="box" size="0.0129925 0.02965 0.027563" pos="-1.85713e-17 0.00335 -0.04475" quat="1.0 4.4408900000017292e-16 5.5622e-14 -3.1086250000000248e-15" group="3" />
                            <body name="left_wrist_pitch_driven_body" pos="4.76147e-17 0.022 -0.061">
                              <joint name="left_wrist_pitch_driven" type="hinge" axis="0.0 -1.0 0.0" range="-2.094395102392591 2.0943951023937997" />
                              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                              <body name="left_wrist_pitch_link">
                                <inertial pos="-0.000415054 -0.0218671 0.011496" mass="0.1276" fullinertia="3.298489840429265e-05 4.1588899827080315e-05 3.573550176862697e-05 1.863007263157252e-08 -2.008060521087112e-07 5.357978543795946e-07" />
                                <geom name="left_wrist_pitch_link_vis_0" type="mesh" mesh="left_wrist_pitch_link_visual" pos="-0.000415054 -0.0218671 0.011496" quat="1.0 0.0 2.220445e-16 0.0" contype="0" conaffinity="0" group="2" material="wrist_pitch_link_visual_material" />
                                <geom name="left_wrist_pitch_link_col_0" type="box" size="0.02045 0.0225 0.02325" pos="-0.00045 -0.0215 0.012" quat="1.0 0.0 2.220445e-16 0.0" group="3" />
                                <body name="left_wrist_pitch_drive_body" pos="1.52463e-10 -0.003 0.024">
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                                  <body name="left_wrist_gear_drive">
                                    <inertial pos="-2.93739e-15 0.00503438 -1.20443e-16" mass="0.003" fullinertia="1.3326400000123007e-07 1.3326399999999997e-07 2.2443299999876988e-07 0.0 -3.348824360647447e-13 3.851859888774472e-34" />
                                    <geom name="left_wrist_gear_drive_vis_0" type="mesh" mesh="left_wrist_gear_drive_visual" pos="-2.93739e-15 0.00503438 -1.11022e-16" quat="1.0 1.7116038479999938e-29 2.569055e-13 -2.55536e-15" contype="0" conaffinity="0" group="2" material="wrist_gear_drive_visual_material" />
                                  </body>
                                </body>
                                <body name="left_wrist_roll_body" pos="-0.019 -0.022 -3.58074e-10">
                                  <joint name="left_wrist_roll" type="hinge" axis="-1.0 0.0 0.0" range="-1.5707963267948966 1.5707963267948966" />
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                                  <body name="left_hand">
                                    <inertial pos="0.0176215 0.00315051 -0.0386545" mass="0.043" fullinertia="2.9831500324887887e-05 2.6672099685546494e-05 1.7027399989565668e-05 -1.0423595066024878e-06 -7.696292916381597e-08 -4.6623090606801205e-07" />
                                    <geom name="left_hand_vis_0" type="mesh" mesh="left_hand_visual" pos="0.0176215 0.00315051 -0.0386545" quat="1.0 7.100249999138733e-38 2.220445e-16 -2.22045e-16" contype="0" conaffinity="0" group="2" material="hand_visual_material" />
                                    <geom name="left_hand_col_0" type="box" size="0.037 0.025 0.01" pos="0.0205398 0.0045 -0.047" quat="1.0 7.100249999138733e-38 2.220445e-16 -2.22045e-16" group="3" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
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                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="right_shoulder_pitch_body" pos="-0.0200079 -0.067 0.10175">
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          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
          <body name="right_shoulder_pitch_link">
            <inertial pos="5.66162e-18 -0.0129132 7.55423e-19" mass="0.015" fullinertia="3.2033100000718e-06 6.132639999979373e-06 6.996059999948826e-06 7.773240189282142e-12 -1.3931548655547965e-11 2.855270553300248e-17" />
            <geom name="right_shoulder_pitch_link_vis_0" type="mesh" mesh="right_shoulder_pitch_link_visual" pos="5.66162e-18 -0.0129132 7.55423e-19" quat="1.0 1.6563000000000002e-32 2.1081220770000005e-50 1.2727900000000001e-18" contype="0" conaffinity="0" group="2" material="shoulder_pitch_link_visual_material" />
            <body name="right_shoulder_roll_body" pos="0.019 -0.027 1.03253e-17">
              <joint name="right_shoulder_roll" type="hinge" axis="-1.0 0.0 0.0" range="-0.4363323129976375 1.5707963267958416" />
              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
              <body name="right_shoulder_roll_link">
                <inertial pos="-0.0185402 -0.0117736 -0.00203648" mass="0.1152" fullinertia="2.6605195383088157e-05 3.220990011629834e-05 3.470290450061349e-05 -5.251944005964582e-07 3.292397665679143e-08 -6.366229843280723e-07" />
                <geom name="right_shoulder_roll_link_vis_0" type="mesh" mesh="right_shoulder_roll_link_visual" pos="-0.0185402 -0.0117736 -0.00203648" contype="0" conaffinity="0" group="2" material="shoulder_roll_link_visual_material" />
                <geom name="right_shoulder_roll_link_col_0" type="box" size="0.02045 0.02325 0.023" pos="-0.01855 -0.012 -0.003" group="3" />
                <body name="right_shoulder_yaw_drive_body" pos="-0.019 -0.024 -0.019">
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                  <body name="right_shoulder_gear_drive">
                    <inertial pos="-2.349e-15 -1.16185e-15 -0.00662386" mass="0.004" fullinertia="1.952700000012479e-07 1.9526999999999997e-07 2.8776199999875193e-07 0.0 -3.3974208641643936e-13 0.0" />
                    <geom name="right_shoulder_gear_drive_vis_0" type="mesh" mesh="right_shoulder_gear_drive_visual" pos="-2.349e-15 -1.16573e-15 -0.00662386" quat="1.0 -5.050399999999884e-13 -3.2185350000001826e-13 3.616359999983745e-14" contype="0" conaffinity="0" group="2" material="shoulder_gear_drive_visual_material" />
                  </body>
                </body>
                <body name="right_shoulder_yaw_driven_body" pos="-0.019 -3.58104e-10 -0.025">
                  <joint name="right_shoulder_yaw_driven" type="hinge" axis="0.0 0.0 -1.0" range="-3.14159265358975 3.141592653589836" />
                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                  <body name="right_shoulder_yaw_link">
                    <inertial pos="2.12244e-07 -2.3784e-07 -0.0257842" mass="0.0247439" fullinertia="1.0150900000137753e-05 1.540629999986222e-05 6.9860800000000095e-06 3.324851502420486e-11 -9.970044907375818e-11 -1.1172390033713274e-10" />
                    <geom name="right_shoulder_yaw_link_vis_0" type="mesh" mesh="right_shoulder_yaw_link_visual" pos="2.12244e-07 -2.3784e-07 -0.0257842" quat="1.0 -1.938740000000006e-13 -2.344789999999995e-13 -2.5935000000454593e-15" contype="0" conaffinity="0" group="2" material="shoulder_yaw_link_visual_material" />
                    <geom name="right_shoulder_yaw_link_col_0" type="box" size="0.023 0.0129925 0.027107" pos="0.0 0.0 -0.04425" quat="1.0 -1.938740000000006e-13 -2.344789999999995e-13 -2.5935000000454593e-15" group="3" />
                    <body name="right_elbow_roll_body" pos="0.019 3.1225e-17 -0.061">
                      <joint name="right_elbow_roll" type="hinge" axis="-1.0 0.0 0.0" range="-2.2689280275929393 1.9198621771934514" />
                      <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                      <body name="right_elbow_roll_link">
                        <inertial pos="-0.0185402 -0.0117736 -0.00203648" mass="0.1152" fullinertia="2.6605199976162322e-05 3.220989558591228e-05 3.47029044379254e-05 -5.252184153341422e-07 -3.291264740094252e-08 6.366240992546854e-07" />
                        <geom name="right_elbow_roll_link_vis_0" type="mesh" mesh="right_elbow_roll_link_visual" pos="-0.0185402 -0.0117736 -0.00203648" contype="0" conaffinity="0" group="2" material="elbow_roll_link_visual_material" />
                        <geom name="right_elbow_roll_link_col_0" type="box" size="0.02045 0.02325 0.023" pos="-0.01855 -0.012 -0.003" group="3" />
                        <body name="right_elbow_yaw_drive_body" pos="-0.019 -0.024 -0.019">
                          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                          <body name="right_elbow_gear_drive">
                            <inertial pos="2.34919e-15 1.16031e-15 -0.00662386" mass="0.004" fullinertia="1.952700000012479e-07 1.9526999999999997e-07 2.8776199999875193e-07 0.0 -3.3974208641643936e-13 0.0" />
                            <geom name="right_elbow_gear_drive_vis_0" type="mesh" mesh="right_elbow_gear_drive_visual" pos="2.34919e-15 1.1588e-15 -0.00662386" quat="1.0 1.2982799999999348e-14 -2.1427300000000005e-13 -3.042009999997218e-15" contype="0" conaffinity="0" group="2" material="elbow_gear_drive_visual_material" />
                          </body>
                        </body>
                        <body name="right_elbow_yaw_driven_body" pos="-0.019 -3.58088e-10 -0.025">
                          <joint name="right_elbow_yaw_driven" type="hinge" axis="0.0 0.0 -1.0" range="-3.1415926535897016 3.1415926535898846" />
                          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                          <body name="right_elbow_yaw_link">
                            <inertial pos="-2.2796e-07 -0.00269789 -0.0333792" mass="0.0302318" fullinertia="2.8986699999999968e-05 1.7294600528609375e-05 1.3816899471390615e-05 3.572904404412926e-10 -4.3312980727567943e-10 7.288857389357626e-07" />
                            <geom name="right_elbow_yaw_link_vis_0" type="mesh" mesh="right_elbow_yaw_link_visual" pos="-2.2796e-07 -0.00269789 -0.0333792" quat="1.0 -2.393920000006111e-16 -2.14273e-13 -2.851730000000051e-15" contype="0" conaffinity="0" group="2" material="elbow_yaw_link_visual_material" />
                            <geom name="right_elbow_yaw_link_col_0" type="box" size="0.0129925 0.02965 0.027563" pos="0.0 -0.00335 -0.04475" quat="1.0 -2.393920000006111e-16 -2.14273e-13 -2.851730000000051e-15" group="3" />
                            <body name="right_wrist_pitch_driven_body" pos="-8.69443e-17 -0.022 -0.061">
                              <joint name="right_wrist_pitch_driven" type="hinge" axis="0.0 1.0 0.0" range="-2.0943951023930802 2.0943951023933103" />
                              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                              <body name="right_wrist_pitch_link">
                                <inertial pos="0.000415054 0.0218671 0.011496" mass="0.1276" fullinertia="3.298489840429265e-05 4.1588899827080315e-05 3.573550176862697e-05 1.863007263157252e-08 -2.008060521087112e-07 5.357978543795946e-07" />
                                <geom name="right_wrist_pitch_link_vis_0" type="mesh" mesh="right_wrist_pitch_link_visual" pos="0.000415054 0.0218671 0.011496" contype="0" conaffinity="0" group="2" material="wrist_pitch_link_visual_material" />
                                <geom name="right_wrist_pitch_link_col_0" type="box" size="0.02045 0.0225 0.02325" pos="0.00045 0.0215 0.012" group="3" />
                                <body name="right_wrist_pitch_drive_body" pos="-1.52463e-10 0.003 0.024">
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                                  <body name="right_wrist_gear_drive">
                                    <inertial pos="2.93983e-15 -0.00503438 -1.23985e-16" mass="0.003" fullinertia="1.3326400000123007e-07 1.3326399999999997e-07 2.2443299999876988e-07 0.0 -3.348824360647447e-13 3.851859888774472e-34" />
                                    <geom name="right_wrist_gear_drive_vis_0" type="mesh" mesh="right_wrist_gear_drive_visual" pos="2.93983e-15 -0.00503438 -1.1214e-16" quat="1.0 -5.699515941575001e-28 -2.566835e-13 -2.220445e-15" contype="0" conaffinity="0" group="2" material="wrist_gear_drive_visual_material" />
                                  </body>
                                </body>
                                <body name="right_wrist_roll_body" pos="0.019 0.022 -3.58075e-10">
                                  <joint name="right_wrist_roll" type="hinge" axis="1.0 0.0 0.0" range="-1.5707963267948966 1.5707963267948966" />
                                  <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-09 1e-09 1e-09 0.0 0.0 0.0" />
                                  <body name="right_hand">
                                    <inertial pos="-0.0203795 -0.00314939 -0.0386553" mass="0.043" fullinertia="2.9833300394688508e-05 2.6673499589118735e-05 1.7027800016192773e-05 -1.0424794037176996e-06 -7.753942506868436e-08 -4.661921757841771e-07" />
                                    <geom name="right_hand_vis_0" type="mesh" mesh="right_hand_visual" pos="-0.0203795 -0.00314939 -0.0386553" contype="0" conaffinity="0" group="2" material="hand_visual_material" />
                                    <geom name="right_hand_col_0" type="box" size="0.037 0.025 0.01" pos="-0.0174602 -0.0045 -0.047" group="3" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
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              </body>
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          </body>
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  </worldbody>
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    <exclude body1="torso_freejoint_body" body2="torso" />
    <exclude body1="torso" body2="neck_yaw_drive_body" />
    <exclude body1="neck_yaw_drive_body" body2="neck_yaw_gear_drive" />
    <exclude body1="torso" body2="neck_yaw_driven_body" />
    <exclude body1="neck_yaw_driven_body" body2="neck_yaw_link" />
    <exclude body1="neck_yaw_link" body2="neck_pitch_body" />
    <exclude body1="neck_pitch_body" body2="head" />
    <exclude body1="head" body2="neck_pitch_act_body" />
    <exclude body1="neck_pitch_act_body" body2="neck_pitch_plate" />
    <exclude body1="neck_pitch_plate" body2="neck_pitch_front_body" />
    <exclude body1="neck_pitch_front_body" body2="neck_rod" />
    <exclude body1="neck_pitch_plate" body2="neck_pitch_back_body" />
    <exclude body1="neck_pitch_back_body" body2="neck_rod_2" />
    <exclude body1="torso" body2="waist_yaw_body" />
    <exclude body1="waist_yaw_body" body2="waist_gears" />
    <exclude body1="waist_gears" body2="waist_roll_body" />
    <exclude body1="waist_roll_body" body2="pelvis_link" />
    <exclude body1="pelvis_link" body2="waist_act_1_body" />
    <exclude body1="waist_act_1_body" body2="waist_gear_drive" />
    <exclude body1="pelvis_link" body2="waist_act_2_body" />
    <exclude body1="waist_act_2_body" body2="waist_gear_drive_2" />
    <exclude body1="pelvis_link" body2="left_hip_pitch_body" />
    <exclude body1="left_hip_pitch_body" body2="left_hip_pitch_link" />
    <exclude body1="left_hip_pitch_link" body2="left_hip_roll_body" />
    <exclude body1="left_hip_roll_body" body2="left_hip_roll_link" />
    <exclude body1="left_hip_roll_link" body2="left_hip_yaw_driven_body" />
    <exclude body1="left_hip_yaw_driven_body" body2="left_hip_yaw_link" />
    <exclude body1="left_hip_yaw_link" body2="left_hip_yaw_drive_body" />
    <exclude body1="left_hip_yaw_drive_body" body2="left_hip_yaw_gear_drive" />
    <exclude body1="left_hip_yaw_link" body2="left_knee_body" />
    <exclude body1="left_knee_body" body2="left_knee_link" />
    <exclude body1="left_knee_link" body2="left_ankle_pitch_body" />
    <exclude body1="left_ankle_pitch_body" body2="left_ankle_pitch_link" />
    <exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_body" />
    <exclude body1="left_ankle_roll_body" body2="left_ankle_roll_link" />
    <exclude body1="pelvis_link" body2="right_hip_pitch_body" />
    <exclude body1="right_hip_pitch_body" body2="right_hip_pitch_link" />
    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_body" />
    <exclude body1="right_hip_roll_body" body2="right_hip_roll_link" />
    <exclude body1="right_hip_roll_link" body2="right_hip_yaw_driven_body" />
    <exclude body1="right_hip_yaw_driven_body" body2="right_hip_yaw_link" />
    <exclude body1="right_hip_yaw_link" body2="right_hip_yaw_drive_body" />
    <exclude body1="right_hip_yaw_drive_body" body2="right_hip_yaw_gear_drive" />
    <exclude body1="right_hip_yaw_link" body2="right_knee_body" />
    <exclude body1="right_knee_body" body2="right_knee_link" />
    <exclude body1="right_knee_link" body2="right_ankle_pitch_body" />
    <exclude body1="right_ankle_pitch_body" body2="right_ankle_pitch_link" />
    <exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_body" />
    <exclude body1="right_ankle_roll_body" body2="right_ankle_roll_link" />
    <exclude body1="torso" body2="left_shoulder_pitch_body" />
    <exclude body1="left_shoulder_pitch_body" body2="left_shoulder_pitch_link" />
    <exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_body" />
    <exclude body1="left_shoulder_roll_body" body2="left_shoulder_roll_link" />
    <exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_drive_body" />
    <exclude body1="left_shoulder_yaw_drive_body" body2="left_shoulder_gear_drive" />
    <exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_driven_body" />
    <exclude body1="left_shoulder_yaw_driven_body" body2="left_shoulder_yaw_link" />
    <exclude body1="left_shoulder_yaw_link" body2="left_elbow_roll_body" />
    <exclude body1="left_elbow_roll_body" body2="left_elbow_roll_link" />
    <exclude body1="left_elbow_roll_link" body2="left_elbow_yaw_drive_body" />
    <exclude body1="left_elbow_yaw_drive_body" body2="left_elbow_gear_drive" />
    <exclude body1="left_elbow_roll_link" body2="left_elbow_yaw_driven_body" />
    <exclude body1="left_elbow_yaw_driven_body" body2="left_elbow_yaw_link" />
    <exclude body1="left_elbow_yaw_link" body2="left_wrist_pitch_driven_body" />
    <exclude body1="left_wrist_pitch_driven_body" body2="left_wrist_pitch_link" />
    <exclude body1="left_wrist_pitch_link" body2="left_wrist_pitch_drive_body" />
    <exclude body1="left_wrist_pitch_drive_body" body2="left_wrist_gear_drive" />
    <exclude body1="left_wrist_pitch_link" body2="left_wrist_roll_body" />
    <exclude body1="left_wrist_roll_body" body2="left_hand" />
    <exclude body1="torso" body2="right_shoulder_pitch_body" />
    <exclude body1="right_shoulder_pitch_body" body2="right_shoulder_pitch_link" />
    <exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_body" />
    <exclude body1="right_shoulder_roll_body" body2="right_shoulder_roll_link" />
    <exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_drive_body" />
    <exclude body1="right_shoulder_yaw_drive_body" body2="right_shoulder_gear_drive" />
    <exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_driven_body" />
    <exclude body1="right_shoulder_yaw_driven_body" body2="right_shoulder_yaw_link" />
    <exclude body1="right_shoulder_yaw_link" body2="right_elbow_roll_body" />
    <exclude body1="right_elbow_roll_body" body2="right_elbow_roll_link" />
    <exclude body1="right_elbow_roll_link" body2="right_elbow_yaw_drive_body" />
    <exclude body1="right_elbow_yaw_drive_body" body2="right_elbow_gear_drive" />
    <exclude body1="right_elbow_roll_link" body2="right_elbow_yaw_driven_body" />
    <exclude body1="right_elbow_yaw_driven_body" body2="right_elbow_yaw_link" />
    <exclude body1="right_elbow_yaw_link" body2="right_wrist_pitch_driven_body" />
    <exclude body1="right_wrist_pitch_driven_body" body2="right_wrist_pitch_link" />
    <exclude body1="right_wrist_pitch_link" body2="right_wrist_pitch_drive_body" />
    <exclude body1="right_wrist_pitch_drive_body" body2="right_wrist_gear_drive" />
    <exclude body1="right_wrist_pitch_link" body2="right_wrist_roll_body" />
    <exclude body1="right_wrist_roll_body" body2="right_hand" />
  </contact>
</mujoco>
