<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 47d047bed9a37990 -->
<mujoco model="valkyrie">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="head_camera" file="val_description/model/meshes/multisense/head_camera.dae" />
    <mesh name="pelvis" file="val_description/model/meshes/pelvis/pelvis.dae" />
    <mesh name="torsoyaw" file="val_description/model/meshes/torso/torsoyaw.dae" />
    <mesh name="torsopitch" file="val_description/model/meshes/torso/torsopitch.dae" />
    <mesh name="torso" file="val_description/model/meshes/torso/torso.dae" />
    <mesh name="neckj1" file="val_description/model/meshes/head/neckj1.dae" />
    <mesh name="neckj2" file="val_description/model/meshes/head/neckj2.dae" />
    <mesh name="head_multisense_no_visor" file="val_description/model/meshes/head/head_multisense_no_visor.dae" />
    <mesh name="aj1_right" file="val_description/model/meshes/arms/aj1_right.dae" />
    <mesh name="aj2_right" file="val_description/model/meshes/arms/aj2_right.dae" />
    <mesh name="aj3_right" file="val_description/model/meshes/arms/aj3_right.dae" />
    <mesh name="aj4_right" file="val_description/model/meshes/arms/aj4_right.dae" />
    <mesh name="aj5_right" file="val_description/model/meshes/arms/aj5_right.dae" />
    <mesh name="aj6_right" file="val_description/model/meshes/arms/aj6_right.dae" />
    <mesh name="palm_right" file="val_description/model/meshes/arms/palm_right.dae" />
    <mesh name="thumbj1_right" file="val_description/model/meshes/fingers/thumbj1_right.dae" />
    <mesh name="thumbj2_right" file="val_description/model/meshes/fingers/thumbj2_right.dae" />
    <mesh name="thumbj3_right" file="val_description/model/meshes/fingers/thumbj3_right.dae" />
    <mesh name="thumbj4_right" file="val_description/model/meshes/fingers/thumbj4_right.dae" />
    <mesh name="indexj1_right" file="val_description/model/meshes/fingers/indexj1_right.dae" />
    <mesh name="indexj2_right" file="val_description/model/meshes/fingers/indexj2_right.dae" />
    <mesh name="indexj3_right" file="val_description/model/meshes/fingers/indexj3_right.dae" />
    <mesh name="middlej1_right" file="val_description/model/meshes/fingers/middlej1_right.dae" />
    <mesh name="middlej2_right" file="val_description/model/meshes/fingers/middlej2_right.dae" />
    <mesh name="middlej3_right" file="val_description/model/meshes/fingers/middlej3_right.dae" />
    <mesh name="pinkyj1_right" file="val_description/model/meshes/fingers/pinkyj1_right.dae" />
    <mesh name="pinkyj2_right" file="val_description/model/meshes/fingers/pinkyj2_right.dae" />
    <mesh name="pinkyj3_right" file="val_description/model/meshes/fingers/pinkyj3_right.dae" />
    <mesh name="aj1_left" file="val_description/model/meshes/arms/aj1_left.dae" />
    <mesh name="aj2_left" file="val_description/model/meshes/arms/aj2_left.dae" />
    <mesh name="aj3_left" file="val_description/model/meshes/arms/aj3_left.dae" />
    <mesh name="aj4_left" file="val_description/model/meshes/arms/aj4_left.dae" />
    <mesh name="aj5_left" file="val_description/model/meshes/arms/aj5_left.dae" />
    <mesh name="aj6_left" file="val_description/model/meshes/arms/aj6_left.dae" />
    <mesh name="palm_left" file="val_description/model/meshes/arms/palm_left.dae" />
    <mesh name="thumbj1_left" file="val_description/model/meshes/fingers/thumbj1_left.dae" />
    <mesh name="thumbj2_left" file="val_description/model/meshes/fingers/thumbj2_left.dae" />
    <mesh name="thumbj3_left" file="val_description/model/meshes/fingers/thumbj3_left.dae" />
    <mesh name="thumbj4_left" file="val_description/model/meshes/fingers/thumbj4_left.dae" />
    <mesh name="indexj1_left" file="val_description/model/meshes/fingers/indexj1_left.dae" />
    <mesh name="indexj2_left" file="val_description/model/meshes/fingers/indexj2_left.dae" />
    <mesh name="indexj3_left" file="val_description/model/meshes/fingers/indexj3_left.dae" />
    <mesh name="middlej1_left" file="val_description/model/meshes/fingers/middlej1_left.dae" />
    <mesh name="middlej2_left" file="val_description/model/meshes/fingers/middlej2_left.dae" />
    <mesh name="middlej3_left" file="val_description/model/meshes/fingers/middlej3_left.dae" />
    <mesh name="pinkyj1_left" file="val_description/model/meshes/fingers/pinkyj1_left.dae" />
    <mesh name="pinkyj2_left" file="val_description/model/meshes/fingers/pinkyj2_left.dae" />
    <mesh name="pinkyj3_left" file="val_description/model/meshes/fingers/pinkyj3_left.dae" />
    <mesh name="lj1_right" file="val_description/model/meshes/legs/lj1_right.dae" />
    <mesh name="lj3_right" file="val_description/model/meshes/legs/lj3_right.dae" />
    <mesh name="lj4_right" file="val_description/model/meshes/legs/lj4_right.dae" />
    <mesh name="lj5" file="val_description/model/meshes/legs/lj5.dae" />
    <mesh name="foot" file="val_description/model/meshes/legs/foot.dae" />
    <mesh name="lj1_left" file="val_description/model/meshes/legs/lj1_left.dae" />
    <mesh name="lj3_left" file="val_description/model/meshes/legs/lj3_left.dae" />
    <mesh name="lj4_left" file="val_description/model/meshes/legs/lj4_left.dae" />
  </asset>
  <worldbody>
    <body name="pelvis">
      <inertial pos="-0.00532 -0.003512 -0.0036" mass="8.22" fullinertia="0.11866378 0.097963425 0.083854638 -0.000143482 0.003271293 0.002159545" />
      <geom name="pelvis_vis_0" type="mesh" mesh="pelvis" contype="0" conaffinity="0" group="2" />
      <geom name="pelvis_col_0" type="mesh" mesh="pelvis" group="3" />
      <body name="torsoYawLink">
        <joint name="torsoYaw" type="hinge" axis="0.0 0.0 1.0" range="-1.329 1.181" damping="0.1" />
        <inertial pos="0.0 0.0 -0.01" mass="0.5" fullinertia="0.000608427 0.000620328 0.001078108 -1.172e-06 1.647e-06 -2.33e-07" />
        <geom name="torsoYawLink_vis_0" type="mesh" mesh="torsoyaw" contype="0" conaffinity="0" group="2" />
        <geom name="torsoYawLink_col_0" type="mesh" mesh="torsoyaw" group="3" />
        <body name="torsoPitchLink" pos="0.04191 0.0 0.0">
          <joint name="torsoPitch" type="hinge" axis="0.0 1.0 0.0" range="-0.13 0.666" damping="0.1" />
          <inertial pos="0.0 0.0 0.005" mass="0.1" fullinertia="3.032e-05 2.1274e-05 2.8285e-05 0.0 -1.145e-06 0.0" />
          <geom name="torsoPitchLink_vis_0" type="mesh" mesh="torsopitch" contype="0" conaffinity="0" group="2" />
          <geom name="torsoPitchLink_col_0" type="mesh" mesh="torsopitch" group="3" />
          <body name="torso" pos="0.0 0.0 0.0203">
            <joint name="torsoRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.23 0.255" damping="0.1" />
            <inertial pos="-0.095548 -0.003337 0.243098" mass="39.47" fullinertia="0.87326933 1.0108485 0.77839801 9.9563e-05 0.061345211 0.00181849" />
            <geom name="torso_vis_0" type="mesh" mesh="torso" contype="0" conaffinity="0" group="2" />
            <geom name="torso_col_0" type="mesh" mesh="torso" group="3" />
            <body name="lowerNeckPitchLink" pos="0.0203518 0.0 0.33845">
              <joint name="lowerNeckPitch" type="hinge" axis="0.0 1.0 0.0" range="0.0 1.162" damping="0.1" />
              <inertial pos="-0.02 0.0 0.04" mass="1.05" fullinertia="0.001470716 0.001851919 0.000832117 -0.000126021 0.000632521 0.000243012" />
              <geom name="lowerNeckPitchLink_vis_0" type="mesh" mesh="neckj1" contype="0" conaffinity="0" group="2" />
              <geom name="lowerNeckPitchLink_col_0" type="mesh" mesh="neckj1" group="3" />
              <body name="neckYawLink" pos="-0.051924 0.0 0.0">
                <joint name="neckYaw" type="hinge" axis="0.0 0.0 1.0" range="-1.04719755 1.04719755" damping="0.1" />
                <inertial pos="-0.03 -0.01 0.15" mass="1.4" fullinertia="0.001997698 0.002919928 0.002119751 -0.000180062 0.000723677 0.000246467" />
                <geom name="neckYawLink_vis_0" type="mesh" mesh="neckj2" contype="0" conaffinity="0" group="2" />
                <geom name="neckYawLink_col_0" type="mesh" mesh="neckj2" group="3" />
                <body name="upperNeckPitchLink" pos="-0.06 0.0 0.195997">
                  <joint name="upperNeckPitch" type="hinge" axis="0.0 1.0 0.0" range="-0.872 0.0" damping="0.1" />
                  <inertial pos="0.100912 0.005783 0.034787" mass="3.89" fullinertia="0.039847525 0.041418564 0.036841236 -0.000470418 -0.002829842 -0.000782564" />
                  <geom name="upperNeckPitchLink_vis_0" type="mesh" mesh="head_multisense_no_visor" contype="0" conaffinity="0" group="2" />
                  <geom name="upperNeckPitchLink_col_0" type="mesh" mesh="head_multisense_no_visor" group="3" />
                  <body name="head" pos="0.183585961 0.0 0.075353826" quat="1.3239541269527598e-06 -0.9978589232344411 8.677653815577423e-08 0.06540312928019064">
                    <inertial pos="-0.075493 3.3383e-05 0.02774" mass="1.41984" fullinertia="0.0039688 0.0041178 0.0035243 -1.5797e-06 -0.00089293 -6.8415e-07" />
                    <geom name="head_col_0" type="box" size="0.06555 0.06 0.02955" pos="-0.0503 0.0 -0.00195" group="3" />
                    <geom name="head_col_1" type="box" size="0.0234 0.06 0.0592" pos="-0.093 0.0 0.0868" group="3" />
                    <body name="hokuyo_link" pos="-0.0446 0.0 0.088">
                      <joint name="hokuyo_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="0.01" />
                      <inertial pos="0.032428 0.0004084 -0.0041835" mass="0.057654" fullinertia="3.7174e-05 4.2412e-05 4.167e-05 4.9927e-08 1.1015e-05 -9.8165e-09" />
                      <geom name="hokuyo_link_vis_0" type="mesh" mesh="head_camera" pos="0.045 -0.0261018277 -0.08342369" quat="0.9877007947590948 -0.1563558122752478 0.0 0.0" contype="0" conaffinity="0" group="2" />
                      <geom name="hokuyo_link_col_0" type="box" size="0.04 0.03 0.02119" pos="0.01885 0.0 -0.02119" group="3" />
                      <geom name="hokuyo_link_col_1" type="cylinder" size="0.024425 0.0235" pos="0.03 0.0 0.0235" group="3" />
                      <body name="head_hokuyo_frame" pos="0.03 0.0 0.015">
                        <inertial pos="0.042428 0.0004084 0.0108165" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                      </body>
                    </body>
                    <body name="left_camera_frame" pos="0.0 0.035 -0.002">
                      <inertial pos="-0.075493 0.035033383 0.02574" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                      <body name="left_camera_optical_frame" quat="0.4999981633974483 -0.49999999999662686 0.5000018366025516 -0.49999999999662686" />
                    </body>
                    <body name="right_camera_frame" pos="0.0 -0.035 -0.002">
                      <inertial pos="-0.075493 -0.034966617 0.02574" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                      <body name="right_camera_optical_frame" quat="0.4999981633974483 -0.49999999999662686 0.5000018366025516 -0.49999999999662686" />
                    </body>
                    <body name="center_top_led_frame" pos="0.01125 0.0 0.0105">
                      <inertial pos="-0.064243 3.3383e-05 0.03824" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                    </body>
                    <body name="center_bottom_led_frame" pos="0.01125 0.0 -0.0155">
                      <inertial pos="-0.064243 3.3383e-05 0.01224" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                    </body>
                    <body name="left_led_frame" pos="-0.01443 0.07452 0.050346" quat="0.9623794503228082 0.019624784794462044 -0.0723140985821569 0.2611729935586575">
                      <inertial pos="-0.089923 0.074553383 0.078086" mass="1e-05" fullinertia="9.999999999999997e-07 1e-06 9.999999999999997e-07 -9.926167350636332e-24 0.0 0.0" />
                    </body>
                    <body name="right_led_frame" pos="-0.01443 -0.07452 0.050346" quat="0.9623794503228082 -0.019624784794462044 -0.0723140985821569 -0.2611729935586575">
                      <inertial pos="-0.089923 -0.074486617 0.07908" mass="1e-05" fullinertia="9.999999999999997e-07 1e-06 9.999999999999997e-07 9.926167350636332e-24 0.0 0.0" />
                    </body>
                    <body name="head_imu_link" pos="-0.0475 0.035 0.0">
                      <inertial pos="-0.122993 0.035033383 0.02774" mass="1e-05" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                      <geom name="head_imu_link_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="rightShoulderPitchLink" pos="-0.0316 0.0 0.2984">
              <joint name="rightShoulderPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.85 2.0" damping="0.1" />
              <inertial pos="0.012 -0.251 0.0" mass="2.65" fullinertia="0.013718167 0.010502833 0.014806433 0.0 0.0 0.0" />
              <geom name="rightShoulderPitchLink_vis_0" type="mesh" mesh="aj1_right" contype="0" conaffinity="0" group="2" />
              <geom name="rightShoulderPitchLink_col_0" type="mesh" mesh="aj1_right" group="3" />
              <body name="rightShoulderRollLink" pos="0.0 -0.2499 0.0">
                <joint name="rightShoulderRoll" type="hinge" axis="1.0 0.0 0.0" range="-1.266 1.519" damping="0.1" />
                <inertial pos="0.008513 -0.02068 -0.001088" mass="3.97" fullinertia="0.014598842 0.006452136 0.016848319 -0.00066764 3.629e-05 8.283e-05" />
                <geom name="rightShoulderRollLink_vis_0" type="mesh" mesh="aj2_right" contype="0" conaffinity="0" group="2" />
                <geom name="rightShoulderRollLink_col_0" type="mesh" mesh="aj2_right" group="3" />
                <body name="rightShoulderYawLink">
                  <joint name="rightShoulderYaw" type="hinge" axis="0.0 1.0 0.0" range="-3.1 2.18" damping="0.1" />
                  <inertial pos="-0.004304 -0.209832 -0.007295" mass="3.085" fullinertia="0.039355177 0.004905765 0.041879481 0.007827077 0.000753947 -0.002723873" />
                  <geom name="rightShoulderYawLink_vis_0" type="mesh" mesh="aj3_right" contype="0" conaffinity="0" group="2" />
                  <geom name="rightShoulderYawLink_col_0" type="mesh" mesh="aj3_right" group="3" />
                  <body name="rightElbowPitchLink" pos="0.0254 -0.33 0.0">
                    <joint name="rightElbowPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.12 2.174" damping="0.1" />
                    <inertial pos="-0.020344 -0.014722 -0.0223" mass="1.83" fullinertia="0.003314516 0.003505669 0.003011283 -0.000535099 -0.000728077 -0.000423865" />
                    <geom name="rightElbowPitchLink_vis_0" type="mesh" mesh="aj4_right" contype="0" conaffinity="0" group="2" />
                    <geom name="rightElbowPitchLink_col_0" type="mesh" mesh="aj4_right" group="3" />
                    <body name="rightForearmLink" pos="-0.0254 0.0 0.0">
                      <joint name="rightForearmYaw" type="hinge" axis="0.0 1.0 0.0" range="-2.019 3.14" damping="0.1" />
                      <inertial pos="0.015 -0.13 0.019564" mass="2.476" fullinertia="0.01175543 0.005071567 0.011365657 -0.001300853 -0.000727141 -0.001695416" />
                      <geom name="rightForearmLink_vis_0" type="mesh" mesh="aj5_right" contype="0" conaffinity="0" group="2" />
                      <geom name="rightForearmLink_col_0" type="mesh" mesh="aj5_right" group="3" />
                      <body name="rightWristRollLink" pos="0.0 -0.2871 0.0">
                        <joint name="rightWristRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.625 0.62" damping="0.1" />
                        <inertial pos="0.0 -0.0 0.0" mass="0.14" fullinertia="3.0251e-05 3.772e-05 9.395e-06 -1.25e-07 -3.6e-08 0.0" />
                        <geom name="rightWristRollLink_vis_0" type="mesh" mesh="aj6_right" contype="0" conaffinity="0" group="2" />
                        <geom name="rightWristRollLink_col_0" type="mesh" mesh="aj6_right" group="3" />
                        <body name="rightPalm">
                          <joint name="rightWristPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.49 0.36" damping="0.1" />
                          <inertial pos="0.002954 -0.052034 -0.000236" mass="0.712" fullinertia="0.000943493 0.000711024 0.000610199 3.4393e-05 -3.8828e-05 2.3429e-05" />
                          <geom name="rightPalm_vis_0" type="mesh" mesh="palm_right" contype="0" conaffinity="0" group="2" />
                          <geom name="rightPalm_col_0" type="mesh" mesh="palm_right" group="3" />
                          <body name="rightThumbRollLink" pos="0.0049 -0.0351 0.0228" quat="0.984804787860646 0.17366499303759564 0.0 0.0">
                            <joint name="rightThumbRoll" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.356" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 -0.0 0.01" mass="0.017" fullinertia="2.7778767e-06 3.5462642e-06 1.3553297e-06 5.6718533e-09 -9.5523207e-08 3.663718e-08" />
                            <geom name="rightThumbRollLink_vis_0" type="mesh" mesh="thumbj1_right" contype="0" conaffinity="0" group="2" />
                            <geom name="rightThumbRollLink_col_0" type="mesh" mesh="thumbj1_right" group="3" />
                            <body name="rightThumbPitch1Link" pos="0.0 0.0 0.0229" quat="0.984804787860646 -0.17366499303759564 0.0 0.0">
                              <joint name="rightThumbPitch1" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.658" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 -0.005 0.02" mass="0.02" fullinertia="4.239e-06 4.582e-06 1.47e-06 0.0 -0.0 0.0" />
                              <geom name="rightThumbPitch1Link_vis_0" type="mesh" mesh="thumbj2_right" contype="0" conaffinity="0" group="2" />
                              <geom name="rightThumbPitch1Link_col_0" type="mesh" mesh="thumbj2_right" group="3" />
                              <body name="rightThumbPitch2Link" pos="0.0 -0.0066 0.0375">
                                <joint name="rightThumbPitch2" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.92" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 -0.004 0.017" mass="0.013" fullinertia="1.266e-06 1.503e-06 6.99e-07 0.0 -0.0 -0.0" />
                                <geom name="rightThumbPitch2Link_vis_0" type="mesh" mesh="thumbj3_right" contype="0" conaffinity="0" group="2" />
                                <geom name="rightThumbPitch2Link_col_0" type="mesh" mesh="thumbj3_right" group="3" />
                                <body name="rightThumbPitch3Link" pos="0.0 -0.0049 0.0275">
                                  <joint name="rightThumbPitch3" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.57" damping="0.5" frictionloss="0.5" />
                                  <inertial pos="0.0 -0.004 0.01" mass="0.006" fullinertia="3.22e-07 4.06e-07 2.1e-07 0.0 0.0 0.0" />
                                  <geom name="rightThumbPitch3Link_vis_0" type="mesh" mesh="thumbj4_right" contype="0" conaffinity="0" group="2" />
                                  <geom name="rightThumbPitch3Link_col_0" type="mesh" mesh="thumbj4_right" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                          <body name="rightIndexFingerPitch1Link" pos="0.0022 -0.0976 0.0235" quat="0.9961961327668584 -0.08713934278129419 0.0 0.0">
                            <joint name="rightIndexFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.57" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 -0.02 0.0" mass="0.02" fullinertia="4.232e-06 1.215e-06 3.892e-06 -6e-08 -8e-09 -7e-09" />
                            <geom name="rightIndexFingerPitch1Link_vis_0" type="mesh" mesh="indexj1_right" contype="0" conaffinity="0" group="2" />
                            <geom name="rightIndexFingerPitch1Link_col_0" type="mesh" mesh="indexj1_right" group="3" />
                            <body name="rightIndexFingerPitch2Link" pos="0.0 -0.0381 0.0">
                              <joint name="rightIndexFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.658" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 -0.013 0.0" mass="0.018" fullinertia="1.562e-06 7.22e-07 1.255e-06 -1.7e-08 -1.3e-08 3.1e-08" />
                              <geom name="rightIndexFingerPitch2Link_vis_0" type="mesh" mesh="indexj2_right" contype="0" conaffinity="0" group="2" />
                              <geom name="rightIndexFingerPitch2Link_col_0" type="mesh" mesh="indexj2_right" group="3" />
                              <body name="rightIndexFingerPitch3Link" pos="0.0 -0.0229 0.0">
                                <joint name="rightIndexFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.92" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 -0.01 0.0" mass="0.01" fullinertia="6.02e-07 2.09e-07 5.02e-07 -2.4e-08 0.0 1.7e-08" />
                                <geom name="rightIndexFingerPitch3Link_vis_0" type="mesh" mesh="indexj3_right" contype="0" conaffinity="0" group="2" />
                                <geom name="rightIndexFingerPitch3Link_col_0" type="mesh" mesh="indexj3_right" group="3" />
                              </body>
                            </body>
                          </body>
                          <body name="rightMiddleFingerPitch1Link" pos="0.0022 -0.097 -0.0119" quat="0.9981339756301131 0.06106199057371892 0.0 0.0">
                            <joint name="rightMiddleFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.658" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 -0.02 0.0" mass="0.02" fullinertia="5.148e-06 1.322e-06 4.592e-06 -4.2e-08 -1.1e-08 -4e-09" />
                            <geom name="rightMiddleFingerPitch1Link_vis_0" type="mesh" mesh="middlej1_right" contype="0" conaffinity="0" group="2" />
                            <geom name="rightMiddleFingerPitch1Link_col_0" type="mesh" mesh="middlej1_right" group="3" />
                            <body name="rightMiddleFingerPitch2Link" pos="0.0 -0.0381 0.0">
                              <joint name="rightMiddleFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.92" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 -0.013 0.0" mass="0.011" fullinertia="1.97e-06 5.54e-07 2.272e-06 3.4e-08 -1.1e-08 -7.8e-08" />
                              <geom name="rightMiddleFingerPitch2Link_vis_0" type="mesh" mesh="middlej2_right" contype="0" conaffinity="0" group="2" />
                              <geom name="rightMiddleFingerPitch2Link_col_0" type="mesh" mesh="middlej2_right" group="3" />
                              <body name="rightMiddleFingerPitch3Link" pos="0.0 -0.0229 0.0">
                                <joint name="rightMiddleFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.57" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 -0.01 0.0" mass="0.006" fullinertia="3.96e-07 1.6e-07 3.03e-07 -9e-09 -1e-09 1.6e-08" />
                                <geom name="rightMiddleFingerPitch3Link_vis_0" type="mesh" mesh="middlej3_right" contype="0" conaffinity="0" group="2" />
                                <geom name="rightMiddleFingerPitch3Link_col_0" type="mesh" mesh="middlej3_right" group="3" />
                              </body>
                            </body>
                          </body>
                          <body name="rightPinkyPitch1Link" pos="0.0022 -0.0838 -0.041" quat="0.9981339756301131 0.06106199057371892 0.0 0.0">
                            <joint name="rightPinkyPitch1" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.57" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 -0.02 0.0" mass="0.02" fullinertia="5.148e-06 1.322e-06 4.592e-06 -4.2e-08 -1.1e-08 -4e-09" />
                            <geom name="rightPinkyPitch1Link_vis_0" type="mesh" mesh="pinkyj1_right" contype="0" conaffinity="0" group="2" />
                            <geom name="rightPinkyPitch1Link_col_0" type="mesh" mesh="pinkyj1_right" group="3" />
                            <body name="rightPinkyPitch2Link" pos="0.0 -0.0381 0.0">
                              <joint name="rightPinkyPitch2" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.658" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 -0.013 0.0" mass="0.011" fullinertia="1.97e-06 5.54e-07 2.272e-06 3.4e-08 -1.1e-08 -7.8e-08" />
                              <geom name="rightPinkyPitch2Link_vis_0" type="mesh" mesh="pinkyj2_right" contype="0" conaffinity="0" group="2" />
                              <geom name="rightPinkyPitch2Link_col_0" type="mesh" mesh="pinkyj2_right" group="3" />
                              <body name="rightPinkyPitch3Link" pos="0.0 -0.0229 0.0">
                                <joint name="rightPinkyPitch3" type="hinge" axis="0.0 0.0 1.0" range="0.0 1.92" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 -0.01 0.0" mass="0.006" fullinertia="3.96e-07 1.6e-07 3.03e-07 -9e-09 -1e-09 1.6e-08" />
                                <geom name="rightPinkyPitch3Link_vis_0" type="mesh" mesh="pinkyj3_right" contype="0" conaffinity="0" group="2" />
                                <geom name="rightPinkyPitch3Link_col_0" type="mesh" mesh="pinkyj3_right" group="3" />
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="leftShoulderPitchLink" pos="-0.0316 0.0 0.2984">
              <joint name="leftShoulderPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.85 2.0" damping="0.1" />
              <inertial pos="-0.012 0.251 0.0" mass="2.65" fullinertia="0.013718167 0.010502833 0.014806433 0.0 0.0 0.0" />
              <geom name="leftShoulderPitchLink_vis_0" type="mesh" mesh="aj1_left" contype="0" conaffinity="0" group="2" />
              <geom name="leftShoulderPitchLink_col_0" type="mesh" mesh="aj1_left" group="3" />
              <body name="leftShoulderRollLink" pos="0.0 0.2499 0.0">
                <joint name="leftShoulderRoll" type="hinge" axis="1.0 0.0 0.0" range="-1.519 1.266" damping="0.1" />
                <inertial pos="-0.008513 0.02068 -0.001088" mass="3.97" fullinertia="0.014598842 0.006452136 0.016848319 -0.00066764 -3.629e-05 -8.283e-05" />
                <geom name="leftShoulderRollLink_vis_0" type="mesh" mesh="aj2_left" contype="0" conaffinity="0" group="2" />
                <geom name="leftShoulderRollLink_col_0" type="mesh" mesh="aj2_left" group="3" />
                <body name="leftShoulderYawLink">
                  <joint name="leftShoulderYaw" type="hinge" axis="0.0 1.0 0.0" range="-3.1 2.18" damping="0.1" />
                  <inertial pos="-0.004304 0.209832 0.007295" mass="3.085" fullinertia="0.039355177 0.004905765 0.041879481 -0.007827077 -0.000753947 0.002723873" />
                  <geom name="leftShoulderYawLink_vis_0" type="mesh" mesh="aj3_left" contype="0" conaffinity="0" group="2" />
                  <geom name="leftShoulderYawLink_col_0" type="mesh" mesh="aj3_left" group="3" />
                  <body name="leftElbowPitchLink" pos="0.0254 0.33 0.0">
                    <joint name="leftElbowPitch" type="hinge" axis="0.0 0.0 1.0" range="-2.174 0.12" damping="0.1" />
                    <inertial pos="-0.020344 0.014722 0.0223" mass="1.83" fullinertia="0.003314516 0.003505669 0.003011283 0.000535099 0.000728077 -0.000423865" />
                    <geom name="leftElbowPitchLink_vis_0" type="mesh" mesh="aj4_left" contype="0" conaffinity="0" group="2" />
                    <geom name="leftElbowPitchLink_col_0" type="mesh" mesh="aj4_left" group="3" />
                    <body name="leftForearmLink" pos="-0.0254 0.0 0.0">
                      <joint name="leftForearmYaw" type="hinge" axis="0.0 1.0 0.0" range="-2.019 3.14" damping="0.1" />
                      <inertial pos="0.015 0.13 0.019564" mass="2.476" fullinertia="0.01175543 0.005071567 0.011365657 0.001300853 -0.000727141 0.001695416" />
                      <geom name="leftForearmLink_vis_0" type="mesh" mesh="aj5_left" contype="0" conaffinity="0" group="2" />
                      <geom name="leftForearmLink_col_0" type="mesh" mesh="aj5_left" group="3" />
                      <body name="leftWristRollLink" pos="0.0 0.2871 0.0">
                        <joint name="leftWristRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.62 0.625" damping="0.1" />
                        <inertial pos="0.0 0.0 0.0" mass="0.14" fullinertia="3.0251e-05 3.772e-05 9.395e-06 1.25e-07 3.6e-08 0.0" />
                        <geom name="leftWristRollLink_vis_0" type="mesh" mesh="aj6_left" contype="0" conaffinity="0" group="2" />
                        <geom name="leftWristRollLink_col_0" type="mesh" mesh="aj6_left" group="3" />
                        <body name="leftPalm">
                          <joint name="leftWristPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.36 0.49" damping="0.1" />
                          <inertial pos="0.002954 0.052034 -0.000236" mass="0.712" fullinertia="0.000943493 0.000711024 0.000610199 3.4393e-05 3.8828e-05 -2.3429e-05" />
                          <geom name="leftPalm_vis_0" type="mesh" mesh="palm_left" contype="0" conaffinity="0" group="2" />
                          <geom name="leftPalm_col_0" type="mesh" mesh="palm_left" group="3" />
                          <body name="leftThumbRollLink" pos="0.0049 0.0351 0.0228" quat="0.984804787860646 -0.17366499303759564 0.0 0.0">
                            <joint name="leftThumbRoll" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.356" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 0.0 0.01" mass="0.017" fullinertia="2.7778767e-06 3.5462642e-06 1.3553297e-06 5.6718533e-09 9.5523207e-08 -3.663718e-08" />
                            <geom name="leftThumbRollLink_vis_0" type="mesh" mesh="thumbj1_left" contype="0" conaffinity="0" group="2" />
                            <geom name="leftThumbRollLink_col_0" type="mesh" mesh="thumbj1_left" group="3" />
                            <body name="leftThumbPitch1Link" pos="0.0 0.0 0.0229" quat="0.984804787860646 0.17366499303759564 0.0 0.0">
                              <joint name="leftThumbPitch1" type="hinge" axis="1.0 0.0 0.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 0.005 0.02" mass="0.02" fullinertia="4.239e-06 4.582e-06 1.47e-06 0.0 0.0 -0.0" />
                              <geom name="leftThumbPitch1Link_vis_0" type="mesh" mesh="thumbj2_left" contype="0" conaffinity="0" group="2" />
                              <geom name="leftThumbPitch1Link_col_0" type="mesh" mesh="thumbj2_left" group="3" />
                              <body name="leftThumbPitch2Link" pos="0.0 0.0066 0.0375">
                                <joint name="leftThumbPitch2" type="hinge" axis="1.0 0.0 0.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 0.004 0.017" mass="0.013" fullinertia="1.266e-06 1.503e-06 6.99e-07 0.0 0.0 0.0" />
                                <geom name="leftThumbPitch2Link_vis_0" type="mesh" mesh="thumbj3_left" contype="0" conaffinity="0" group="2" />
                                <geom name="leftThumbPitch2Link_col_0" type="mesh" mesh="thumbj3_left" group="3" />
                                <body name="leftThumbPitch3Link" pos="0.0 0.0049 0.0275">
                                  <joint name="leftThumbPitch3" type="hinge" axis="1.0 0.0 0.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
                                  <inertial pos="0.0 0.004 0.01" mass="0.006" fullinertia="3.22e-07 4.06e-07 2.1e-07 0.0 0.0 0.0" />
                                  <geom name="leftThumbPitch3Link_vis_0" type="mesh" mesh="thumbj4_left" contype="0" conaffinity="0" group="2" />
                                  <geom name="leftThumbPitch3Link_col_0" type="mesh" mesh="thumbj4_left" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                          <body name="leftIndexFingerPitch1Link" pos="0.0022 0.0976 0.0235" quat="0.9961961327668584 0.08713934278129419 0.0 0.0">
                            <joint name="leftIndexFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 0.02 0.0" mass="0.02" fullinertia="4.232e-06 1.215e-06 3.892e-06 6e-08 8e-09 -7e-09" />
                            <geom name="leftIndexFingerPitch1Link_vis_0" type="mesh" mesh="indexj1_left" contype="0" conaffinity="0" group="2" />
                            <geom name="leftIndexFingerPitch1Link_col_0" type="mesh" mesh="indexj1_left" group="3" />
                            <body name="leftIndexFingerPitch2Link" pos="0.0 0.0381 0.0">
                              <joint name="leftIndexFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 0.013 0.0" mass="0.018" fullinertia="1.562e-06 7.22e-07 1.255e-06 1.7e-08 1.3e-08 3.1e-08" />
                              <geom name="leftIndexFingerPitch2Link_vis_0" type="mesh" mesh="indexj2_left" contype="0" conaffinity="0" group="2" />
                              <geom name="leftIndexFingerPitch2Link_col_0" type="mesh" mesh="indexj2_left" group="3" />
                              <body name="leftIndexFingerPitch3Link" pos="0.0 0.0229 0.0">
                                <joint name="leftIndexFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 0.01 0.0" mass="0.01" fullinertia="6.02e-07 2.09e-07 5.02e-07 2.4e-08 -0.0 1.7e-08" />
                                <geom name="leftIndexFingerPitch3Link_vis_0" type="mesh" mesh="indexj3_left" contype="0" conaffinity="0" group="2" />
                                <geom name="leftIndexFingerPitch3Link_col_0" type="mesh" mesh="indexj3_left" group="3" />
                              </body>
                            </body>
                          </body>
                          <body name="leftMiddleFingerPitch1Link" pos="0.0022 0.097 -0.0119" quat="0.9981339756301131 -0.06106199057371892 0.0 0.0">
                            <joint name="leftMiddleFingerPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 0.02 0.0" mass="0.02" fullinertia="5.148e-06 1.322e-06 4.592e-06 4.2e-08 1.1e-08 -4e-09" />
                            <geom name="leftMiddleFingerPitch1Link_vis_0" type="mesh" mesh="middlej1_left" contype="0" conaffinity="0" group="2" />
                            <geom name="leftMiddleFingerPitch1Link_col_0" type="mesh" mesh="middlej1_left" group="3" />
                            <body name="leftMiddleFingerPitch2Link" pos="0.0 0.0381 0.0">
                              <joint name="leftMiddleFingerPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 0.013 0.0" mass="0.011" fullinertia="1.97e-06 5.54e-07 2.272e-06 -3.4e-08 1.1e-08 -7.8e-08" />
                              <geom name="leftMiddleFingerPitch2Link_vis_0" type="mesh" mesh="middlej2_left" contype="0" conaffinity="0" group="2" />
                              <geom name="leftMiddleFingerPitch2Link_col_0" type="mesh" mesh="middlej2_left" group="3" />
                              <body name="leftMiddleFingerPitch3Link" pos="0.0 0.0229 0.0">
                                <joint name="leftMiddleFingerPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 0.01 0.0" mass="0.006" fullinertia="3.96e-07 1.6e-07 3.03e-07 9e-09 1e-09 1.6e-08" />
                                <geom name="leftMiddleFingerPitch3Link_vis_0" type="mesh" mesh="middlej3_left" contype="0" conaffinity="0" group="2" />
                                <geom name="leftMiddleFingerPitch3Link_col_0" type="mesh" mesh="middlej3_left" group="3" />
                              </body>
                            </body>
                          </body>
                          <body name="leftPinkyPitch1Link" pos="0.0022 0.0838 -0.041" quat="0.9981339756301131 -0.06106199057371892 0.0 0.0">
                            <joint name="leftPinkyPitch1" type="hinge" axis="0.0 0.0 1.0" range="-1.57 -0.0" damping="0.5" frictionloss="0.5" />
                            <inertial pos="0.0 0.02 0.0" mass="0.02" fullinertia="5.148e-06 1.322e-06 4.592e-06 4.2e-08 1.1e-08 -4e-09" />
                            <geom name="leftPinkyPitch1Link_vis_0" type="mesh" mesh="pinkyj1_left" contype="0" conaffinity="0" group="2" />
                            <geom name="leftPinkyPitch1Link_col_0" type="mesh" mesh="pinkyj1_left" group="3" />
                            <body name="leftPinkyPitch2Link" pos="0.0 0.0381 0.0">
                              <joint name="leftPinkyPitch2" type="hinge" axis="0.0 0.0 1.0" range="-1.658 -0.0" damping="0.5" frictionloss="0.5" />
                              <inertial pos="0.0 0.013 0.0" mass="0.011" fullinertia="1.97e-06 5.54e-07 2.272e-06 -3.4e-08 1.1e-08 -7.8e-08" />
                              <geom name="leftPinkyPitch2Link_vis_0" type="mesh" mesh="pinkyj2_left" contype="0" conaffinity="0" group="2" />
                              <geom name="leftPinkyPitch2Link_col_0" type="mesh" mesh="pinkyj2_left" group="3" />
                              <body name="leftPinkyPitch3Link" pos="0.0 0.0229 0.0">
                                <joint name="leftPinkyPitch3" type="hinge" axis="0.0 0.0 1.0" range="-1.92 -0.0" damping="0.5" frictionloss="0.5" />
                                <inertial pos="0.0 0.01 0.0" mass="0.006" fullinertia="3.96e-07 1.6e-07 3.03e-07 9e-09 1e-09 1.6e-08" />
                                <geom name="leftPinkyPitch3Link_vis_0" type="mesh" mesh="pinkyj3_left" contype="0" conaffinity="0" group="2" />
                                <geom name="leftPinkyPitch3Link_col_0" type="mesh" mesh="pinkyj3_left" group="3" />
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="leftTorsoImu_Frame" pos="-0.0627634 0.134239 0.3630676" quat="0.7071408370313327 -0.7070727237014777 0.0 0.0">
              <inertial pos="0.0 0.0 0.0" mass="1e-07" fullinertia="3.33333333333e-22 3.33333333333e-22 5e-22 0.0 0.0 0.0" />
            </body>
            <body name="rightHazardCamera_Frame" pos="0.0345 -0.0406 0.1135" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
              <inertial pos="0.0 0.0 0.0" mass="1e-07" fullinertia="3.33333333333e-22 3.33333333333e-22 5e-22 0.0 0.0 0.0" />
            </body>
            <body name="leftHazardCamera_Frame" pos="0.0345 0.0406 0.1135" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
              <inertial pos="0.0 0.0 0.0" mass="1e-07" fullinertia="3.33333333333e-22 3.33333333333e-22 5e-22 0.0 0.0 0.0" />
            </body>
          </body>
        </body>
      </body>
      <body name="rightHipYawLink" pos="0.0 -0.1016 -0.1853">
        <joint name="rightHipYaw" type="hinge" axis="0.0 0.0 1.0" range="-1.1 0.4141" damping="0.1" />
        <inertial pos="0.02176 0.00131 0.03867" mass="2.39" fullinertia="0.017260978 0.014866198 0.011238178 0.0 0.0 0.0" />
        <geom name="rightHipYawLink_vis_0" type="mesh" mesh="lj1_right" contype="0" conaffinity="0" group="2" />
        <geom name="rightHipYawLink_col_0" type="mesh" mesh="lj1_right" group="3" />
        <body name="rightHipRollLink">
          <joint name="rightHipRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.5515 0.467" damping="0.1" />
          <inertial pos="0.012959 -0.00755 -0.01595" mass="3.665" fullinertia="0.005978962 0.009372646 0.008193117 0.000234823 0.000553962 -0.000778956" />
          <body name="rightHipPitchLink" pos="0.0 0.0 -0.0609">
            <joint name="rightHipPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.42 1.619" damping="0.1" />
            <inertial pos="0.016691 -0.091397 -0.207875" mass="10.2" fullinertia="0.24083413 0.25689705 0.023276352 -3.5915e-05 0.003699383 0.001333005" />
            <geom name="rightHipPitchLink_vis_0" type="mesh" mesh="lj3_right" contype="0" conaffinity="0" group="2" />
            <geom name="rightHipPitchLink_col_0" type="mesh" mesh="lj3_right" group="3" />
            <body name="rightKneePitchLink" pos="0.000112225 -0.0361046 -0.430959">
              <joint name="rightKneePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.083 2.057" damping="0.1" />
              <inertial pos="-0.022183 0.001703 -0.189418" mass="6.2" fullinertia="0.086935683 0.091584066 0.014017272 9.929e-05 0.000573207 0.000313745" />
              <geom name="rightKneePitchLink_vis_0" type="mesh" mesh="lj4_right" contype="0" conaffinity="0" group="2" />
              <geom name="rightKneePitchLink_col_0" type="mesh" mesh="lj4_right" group="3" />
              <body name="rightAnklePitchLink" pos="-0.0102381 0.0 -0.40627">
                <joint name="rightAnklePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.93 0.65" damping="0.1" />
                <inertial pos="0.0 0.0 0.0" mass="0.03" fullinertia="4.377e-06 4.322e-06 7.015e-06 0.0 0.0 0.0" />
                <geom name="rightAnklePitchLink_vis_0" type="mesh" mesh="lj5" contype="0" conaffinity="0" group="2" />
                <geom name="rightAnklePitchLink_col_0" type="mesh" mesh="lj5" group="3" />
                <body name="rightFoot">
                  <joint name="rightAnkleRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.4 0.4" damping="0.3" />
                  <inertial pos="0.037702 0.005161 -0.047634" mass="2.27" fullinertia="0.00623936 0.017786991 0.020774433 0.000217174 0.001340587 -0.000187749" />
                  <geom name="rightFoot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" />
                  <geom name="rightFoot_col_0" type="box" size="0.135 0.08 0.032" pos="0.045 0.0 -0.056" group="3" />
                  <body name="rightCOP_Frame" pos="0.0189 0.0 -0.0783">
                    <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="8.33333333333e-05 8.33333333333e-05 0.000125 0.0 0.0 0.0" />
                  </body>
                  <body name="rightFootSixAxis_Frame" pos="0.0215646 0.0 -0.051054" quat="0.0007963267107332633 0.9999996829318346 0.0 0.0">
                    <inertial pos="0.0 0.0 0.0" mass="1e-07" fullinertia="3.33333333333e-22 3.33333333333e-22 5e-22 0.0 0.0 0.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="leftHipYawLink" pos="0.0 0.1016 -0.1853">
        <joint name="leftHipYaw" type="hinge" axis="0.0 0.0 1.0" range="-0.4141 1.1" damping="0.1" />
        <inertial pos="0.02176 -0.00131 0.03867" mass="2.39" fullinertia="0.017260978 0.014866198 0.011238178 0.0 0.0 0.0" />
        <geom name="leftHipYawLink_vis_0" type="mesh" mesh="lj1_left" contype="0" conaffinity="0" group="2" />
        <geom name="leftHipYawLink_col_0" type="mesh" mesh="lj1_left" group="3" />
        <body name="leftHipRollLink">
          <joint name="leftHipRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.467 0.5515" damping="0.1" />
          <inertial pos="0.012959 0.00755 -0.01595" mass="3.665" fullinertia="0.005978962 0.009372646 0.008193117 -0.000234823 0.000553962 0.000778956" />
          <body name="leftHipPitchLink" pos="0.0 0.0 -0.0609">
            <joint name="leftHipPitch" type="hinge" axis="0.0 1.0 0.0" range="-2.42 1.619" damping="0.1" />
            <inertial pos="0.016691 0.091397 -0.207875" mass="10.2" fullinertia="0.24083413 0.25689705 0.023276352 3.5915e-05 0.003699383 -0.001333005" />
            <geom name="leftHipPitchLink_vis_0" type="mesh" mesh="lj3_left" contype="0" conaffinity="0" group="2" />
            <geom name="leftHipPitchLink_col_0" type="mesh" mesh="lj3_left" group="3" />
            <body name="leftKneePitchLink" pos="0.000112225 0.0361046 -0.430959">
              <joint name="leftKneePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.083 2.057" damping="0.1" />
              <inertial pos="-0.022183 0.001703 -0.189418" mass="6.2" fullinertia="0.086935683 0.091584066 0.014017272 9.929e-05 0.000573207 0.000313745" />
              <geom name="leftKneePitchLink_vis_0" type="mesh" mesh="lj4_left" contype="0" conaffinity="0" group="2" />
              <geom name="leftKneePitchLink_col_0" type="mesh" mesh="lj4_left" group="3" />
              <body name="leftAnklePitchLink" pos="-0.0102381 0.0 -0.40627">
                <joint name="leftAnklePitch" type="hinge" axis="0.0 1.0 0.0" range="-0.93 0.65" damping="0.1" />
                <inertial pos="0.0 0.0 0.0" mass="0.03" fullinertia="4.377e-06 4.322e-06 7.015e-06 0.0 0.0 0.0" />
                <geom name="leftAnklePitchLink_vis_0" type="mesh" mesh="lj5" contype="0" conaffinity="0" group="2" />
                <geom name="leftAnklePitchLink_col_0" type="mesh" mesh="lj5" group="3" />
                <body name="leftFoot">
                  <joint name="leftAnkleRoll" type="hinge" axis="1.0 0.0 0.0" range="-0.4 0.4" damping="0.3" />
                  <inertial pos="0.037702 0.005161 -0.047634" mass="2.27" fullinertia="0.00623936 0.017786991 0.020774433 0.000217174 0.001340587 -0.000187749" />
                  <geom name="leftFoot_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" />
                  <geom name="leftFoot_col_0" type="box" size="0.135 0.08 0.032" pos="0.045 0.0 -0.056" group="3" />
                  <body name="leftCOP_Frame" pos="0.0189 0.0 -0.0783">
                    <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="8.33333333333e-05 8.33333333333e-05 0.000125 0.0 0.0 0.0" />
                  </body>
                  <body name="leftFootSixAxis_Frame" pos="0.0215646 0.0 -0.051054" quat="0.0007963267107332633 0.9999996829318346 0.0 0.0">
                    <inertial pos="0.0 0.0 0.0" mass="1e-07" fullinertia="3.33333333333e-22 3.33333333333e-22 5e-22 0.0 0.0 0.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="head" body2="hokuyo_link" />
    <exclude body1="hokuyo_link" body2="head_hokuyo_frame" />
    <exclude body1="head" body2="left_camera_frame" />
    <exclude body1="left_camera_frame" body2="left_camera_optical_frame" />
    <exclude body1="head" body2="right_camera_frame" />
    <exclude body1="right_camera_frame" body2="right_camera_optical_frame" />
    <exclude body1="head" body2="center_top_led_frame" />
    <exclude body1="head" body2="center_bottom_led_frame" />
    <exclude body1="head" body2="left_led_frame" />
    <exclude body1="head" body2="right_led_frame" />
    <exclude body1="head" body2="head_imu_link" />
    <exclude body1="pelvis" body2="torsoYawLink" />
    <exclude body1="torsoYawLink" body2="torsoPitchLink" />
    <exclude body1="torsoPitchLink" body2="torso" />
    <exclude body1="torso" body2="lowerNeckPitchLink" />
    <exclude body1="lowerNeckPitchLink" body2="neckYawLink" />
    <exclude body1="neckYawLink" body2="upperNeckPitchLink" />
    <exclude body1="torso" body2="rightShoulderPitchLink" />
    <exclude body1="rightShoulderPitchLink" body2="rightShoulderRollLink" />
    <exclude body1="rightShoulderRollLink" body2="rightShoulderYawLink" />
    <exclude body1="rightShoulderYawLink" body2="rightElbowPitchLink" />
    <exclude body1="rightElbowPitchLink" body2="rightForearmLink" />
    <exclude body1="rightForearmLink" body2="rightWristRollLink" />
    <exclude body1="rightWristRollLink" body2="rightPalm" />
    <exclude body1="rightPalm" body2="rightThumbRollLink" />
    <exclude body1="rightThumbRollLink" body2="rightThumbPitch1Link" />
    <exclude body1="rightThumbPitch1Link" body2="rightThumbPitch2Link" />
    <exclude body1="rightThumbPitch2Link" body2="rightThumbPitch3Link" />
    <exclude body1="rightPalm" body2="rightIndexFingerPitch1Link" />
    <exclude body1="rightIndexFingerPitch1Link" body2="rightIndexFingerPitch2Link" />
    <exclude body1="rightIndexFingerPitch2Link" body2="rightIndexFingerPitch3Link" />
    <exclude body1="rightPalm" body2="rightMiddleFingerPitch1Link" />
    <exclude body1="rightMiddleFingerPitch1Link" body2="rightMiddleFingerPitch2Link" />
    <exclude body1="rightMiddleFingerPitch2Link" body2="rightMiddleFingerPitch3Link" />
    <exclude body1="rightPalm" body2="rightPinkyPitch1Link" />
    <exclude body1="rightPinkyPitch1Link" body2="rightPinkyPitch2Link" />
    <exclude body1="rightPinkyPitch2Link" body2="rightPinkyPitch3Link" />
    <exclude body1="torso" body2="leftShoulderPitchLink" />
    <exclude body1="leftShoulderPitchLink" body2="leftShoulderRollLink" />
    <exclude body1="leftShoulderRollLink" body2="leftShoulderYawLink" />
    <exclude body1="leftShoulderYawLink" body2="leftElbowPitchLink" />
    <exclude body1="leftElbowPitchLink" body2="leftForearmLink" />
    <exclude body1="leftForearmLink" body2="leftWristRollLink" />
    <exclude body1="leftWristRollLink" body2="leftPalm" />
    <exclude body1="leftPalm" body2="leftThumbRollLink" />
    <exclude body1="leftThumbRollLink" body2="leftThumbPitch1Link" />
    <exclude body1="leftThumbPitch1Link" body2="leftThumbPitch2Link" />
    <exclude body1="leftThumbPitch2Link" body2="leftThumbPitch3Link" />
    <exclude body1="leftPalm" body2="leftIndexFingerPitch1Link" />
    <exclude body1="leftIndexFingerPitch1Link" body2="leftIndexFingerPitch2Link" />
    <exclude body1="leftIndexFingerPitch2Link" body2="leftIndexFingerPitch3Link" />
    <exclude body1="leftPalm" body2="leftMiddleFingerPitch1Link" />
    <exclude body1="leftMiddleFingerPitch1Link" body2="leftMiddleFingerPitch2Link" />
    <exclude body1="leftMiddleFingerPitch2Link" body2="leftMiddleFingerPitch3Link" />
    <exclude body1="leftPalm" body2="leftPinkyPitch1Link" />
    <exclude body1="leftPinkyPitch1Link" body2="leftPinkyPitch2Link" />
    <exclude body1="leftPinkyPitch2Link" body2="leftPinkyPitch3Link" />
    <exclude body1="pelvis" body2="rightHipYawLink" />
    <exclude body1="rightHipYawLink" body2="rightHipRollLink" />
    <exclude body1="rightHipRollLink" body2="rightHipPitchLink" />
    <exclude body1="rightHipPitchLink" body2="rightKneePitchLink" />
    <exclude body1="rightKneePitchLink" body2="rightAnklePitchLink" />
    <exclude body1="rightAnklePitchLink" body2="rightFoot" />
    <exclude body1="pelvis" body2="leftHipYawLink" />
    <exclude body1="leftHipYawLink" body2="leftHipRollLink" />
    <exclude body1="leftHipRollLink" body2="leftHipPitchLink" />
    <exclude body1="leftHipPitchLink" body2="leftKneePitchLink" />
    <exclude body1="leftKneePitchLink" body2="leftAnklePitchLink" />
    <exclude body1="leftAnklePitchLink" body2="leftFoot" />
    <exclude body1="leftFoot" body2="leftCOP_Frame" />
    <exclude body1="leftFoot" body2="leftFootSixAxis_Frame" />
    <exclude body1="rightFoot" body2="rightCOP_Frame" />
    <exclude body1="rightFoot" body2="rightFootSixAxis_Frame" />
    <exclude body1="upperNeckPitchLink" body2="head" />
    <exclude body1="torso" body2="leftTorsoImu_Frame" />
    <exclude body1="torso" body2="rightHazardCamera_Frame" />
    <exclude body1="torso" body2="leftHazardCamera_Frame" />
  </contact>
</mujoco>
