<?xml version="1.0"?>
<robot name="foh_v0_2">
  <!-- Generated by tools/build_data.py. X forward, Y left, Z up. -->
  <!-- MuJoCo reads this block; other parsers ignore it. Keeps the coloured visual geoms (group 1) beside the collision geoms (group 0). -->
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  <material name="camera"><color rgba="0.914 0.914 0.914 1"/></material>
  <material name="servo"><color rgba="0.122 0.165 0.227 1"/></material>
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    <visual name="hand_R.gripper_servo_R#2"><origin xyz="0.00000 0.00000 -0.02400" rpy="0 0 0"/><geometry><box size="0.04600 0.02400 0.04000"/></geometry><material name="servo"/></visual>
    <collision name="hand_R.gripper_servo_R#2.col"><origin xyz="0.00000 0.00000 -0.02400" rpy="0 0 0"/><geometry><box size="0.04600 0.02400 0.04000"/></geometry></collision>
    <visual name="hand_R.finger_Ra#3"><origin xyz="0.03000 0.00000 -0.08700" rpy="0 0 0"/><geometry><box size="0.01200 0.01600 0.08600"/></geometry><material name="pla"/></visual>
    <collision name="hand_R.finger_Ra#3.col"><origin xyz="0.03000 0.00000 -0.08700" rpy="0 0 0"/><geometry><box size="0.01200 0.01600 0.08600"/></geometry></collision>
    <visual name="hand_R.finger_pad_Ra#4"><origin xyz="0.02200 0.00000 -0.10400" rpy="0 0 0"/><geometry><box size="0.00400 0.01400 0.04000"/></geometry><material name="tpu"/></visual>
    <collision name="hand_R.finger_pad_Ra#4.col"><origin xyz="0.02200 0.00000 -0.10400" rpy="0 0 0"/><geometry><box size="0.00400 0.01400 0.04000"/></geometry></collision>
    <visual name="hand_R.finger_Rb#5"><origin xyz="-0.03000 0.00000 -0.08700" rpy="0 0 0"/><geometry><box size="0.01200 0.01600 0.08600"/></geometry><material name="pla"/></visual>
    <collision name="hand_R.finger_Rb#5.col"><origin xyz="-0.03000 0.00000 -0.08700" rpy="0 0 0"/><geometry><box size="0.01200 0.01600 0.08600"/></geometry></collision>
    <visual name="hand_R.finger_pad_Rb#6"><origin xyz="-0.02200 0.00000 -0.10400" rpy="0 0 0"/><geometry><box size="0.00400 0.01400 0.04000"/></geometry><material name="tpu"/></visual>
    <collision name="hand_R.finger_pad_Rb#6.col"><origin xyz="-0.02200 0.00000 -0.10400" rpy="0 0 0"/><geometry><box size="0.00400 0.01400 0.04000"/></geometry></collision>
  </link>
  <joint name="waist" type="revolute">
    <parent link="pelvis"/><child link="torso"/>
    <origin xyz="0.00000 0.00000 0.59000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 0 1"/>
    <limit lower="-1.5708" upper="1.5708" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_pitch_L" type="revolute">
    <parent link="pelvis"/><child link="hip_roll_bracket_L"/>
    <origin xyz="0.00000 0.07400 0.46000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-1.8326" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_roll_L" type="revolute">
    <parent link="hip_roll_bracket_L"/><child link="hip_yaw_housing_L"/>
    <origin xyz="0.04400 0.05800 0.00000" rpy="0.00000 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="-0.2094" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_yaw_L" type="revolute">
    <parent link="hip_yaw_housing_L"/><child link="thigh_L"/>
    <origin xyz="-0.04400 0.00000 -0.13450" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 0 1"/>
    <limit lower="-1.5708" upper="1.5708" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="knee_L" type="revolute">
    <parent link="thigh_L"/><child link="shank_L"/>
    <origin xyz="0.00000 0.04975 -0.06250" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="0.0000" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="ankle_pitch_L" type="revolute">
    <parent link="shank_L"/><child link="ankle_block_L"/>
    <origin xyz="0.00000 0.01625 -0.16300" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-0.8727" upper="0.8727" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="ankle_roll_L" type="revolute">
    <parent link="ankle_block_L"/><child link="foot_L"/>
    <origin xyz="-0.06500 -0.05000 -0.03000" rpy="0.00000 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="-0.5236" upper="0.5236" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_pitch_R" type="revolute">
    <parent link="pelvis"/><child link="hip_roll_bracket_R"/>
    <origin xyz="0.00000 -0.07400 0.46000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-1.8326" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_roll_R" type="revolute">
    <parent link="hip_roll_bracket_R"/><child link="hip_yaw_housing_R"/>
    <origin xyz="0.04400 -0.05800 0.00000" rpy="-0.00000 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="-0.2094" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="hip_yaw_R" type="revolute">
    <parent link="hip_yaw_housing_R"/><child link="thigh_R"/>
    <origin xyz="-0.04400 0.00000 -0.13450" rpy="0.00000 0.00000 -0.00000"/><axis xyz="0 0 -1"/>
    <limit lower="-1.5708" upper="1.5708" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="knee_R" type="revolute">
    <parent link="thigh_R"/><child link="shank_R"/>
    <origin xyz="0.00000 -0.04975 -0.06250" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="0.0000" upper="1.8326" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="ankle_pitch_R" type="revolute">
    <parent link="shank_R"/><child link="ankle_block_R"/>
    <origin xyz="0.00000 -0.01625 -0.16300" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-0.8727" upper="0.8727" effort="60" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="ankle_roll_R" type="revolute">
    <parent link="ankle_block_R"/><child link="foot_R"/>
    <origin xyz="-0.06500 0.05000 -0.03000" rpy="-0.00000 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="-0.5236" upper="0.5236" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_pitch_L" type="revolute">
    <parent link="torso"/><child link="shoulder_roll_bracket_L"/>
    <origin xyz="0.00000 0.09900 0.35000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-3.1416" upper="3.1416" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_roll_L" type="revolute">
    <parent link="shoulder_roll_bracket_L"/><child link="upper_arm_yoke_L"/>
    <origin xyz="0.03800 0.13300 0.00000" rpy="0.00000 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="0.0000" upper="2.6180" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_yaw_L" type="revolute">
    <parent link="upper_arm_yoke_L"/><child link="upper_arm_L"/>
    <origin xyz="-0.03800 0.00000 -0.11350" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 0 1"/>
    <limit lower="-3.1416" upper="3.1416" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="elbow_L" type="revolute">
    <parent link="upper_arm_L"/><child link="forearm_L"/>
    <origin xyz="0.00000 0.03300 -0.09650" rpy="0.00000 -0.00000 0.00000"/><axis xyz="0 -1 0"/>
    <limit lower="0.0000" upper="2.0944" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="wrist_roll_L" type="revolute">
    <parent link="forearm_L"/><child link="hand_L"/>
    <origin xyz="0.00000 -0.03300 -0.19300" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 0 1"/>
    <limit lower="-3.1416" upper="3.1416" effort="5.5" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_pitch_R" type="revolute">
    <parent link="torso"/><child link="shoulder_roll_bracket_R"/>
    <origin xyz="0.00000 -0.09900 0.35000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-3.1416" upper="3.1416" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_roll_R" type="revolute">
    <parent link="shoulder_roll_bracket_R"/><child link="upper_arm_yoke_R"/>
    <origin xyz="0.03800 -0.13300 0.00000" rpy="-0.00000 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="0.0000" upper="2.6180" effort="36" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_yaw_R" type="revolute">
    <parent link="upper_arm_yoke_R"/><child link="upper_arm_R"/>
    <origin xyz="-0.03800 0.00000 -0.11350" rpy="0.00000 0.00000 -0.00000"/><axis xyz="0 0 -1"/>
    <limit lower="-3.1416" upper="3.1416" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="elbow_R" type="revolute">
    <parent link="upper_arm_R"/><child link="forearm_R"/>
    <origin xyz="0.00000 -0.03300 -0.09650" rpy="0.00000 -0.00000 0.00000"/><axis xyz="0 -1 0"/>
    <limit lower="0.0000" upper="2.0944" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="wrist_roll_R" type="revolute">
    <parent link="forearm_R"/><child link="hand_R"/>
    <origin xyz="0.00000 0.03300 -0.19300" rpy="0.00000 0.00000 -0.00000"/><axis xyz="0 0 -1"/>
    <limit lower="-3.1416" upper="3.1416" effort="5.5" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
</robot>
