<?xml version="1.0"?>
<robot name="foh_v2_0">
  <!-- 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="hand"><color rgba="0.541 0.576 0.627 1"/></material>
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    <visual name="forearm_R.forearm_lower_R#7"><origin xyz="0.00000 -0.02960 -0.25950" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00700"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#7.col"><origin xyz="0.00000 -0.02960 -0.25950" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00700"/></geometry></collision>
    <visual name="forearm_R.forearm_lower_R#8"><origin xyz="0.00000 -0.02960 -0.26550" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#8.col"><origin xyz="0.00000 -0.02960 -0.26550" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry></collision>
    <visual name="forearm_R.forearm_lower_R#9"><origin xyz="0.00000 -0.02960 -0.25350" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#9.col"><origin xyz="0.00000 -0.02960 -0.25350" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry></collision>
    <visual name="forearm_R.forearm_lower_R#10"><origin xyz="0.00000 -0.02960 -0.23700" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.02800"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#10.col"><origin xyz="0.00000 -0.02960 -0.23700" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.02800"/></geometry></collision>
    <visual name="forearm_R.forearm_lower_R#11"><origin xyz="0.00000 -0.02960 -0.22050" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#11.col"><origin xyz="0.00000 -0.02960 -0.22050" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00500"/></geometry></collision>
    <visual name="forearm_R.forearm_lower_R#12"><origin xyz="0.00000 -0.02960 -0.21400" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00800"/></geometry><material name="bhl_pla"/></visual>
    <collision name="forearm_R.forearm_lower_R#12.col"><origin xyz="0.00000 -0.02960 -0.21400" rpy="0 0 0"/><geometry><cylinder radius="0.04500" length="0.00800"/></geometry></collision>
    <visual name="forearm_R.forearm_socket_bottom_R#13"><origin xyz="0.00000 -0.02850 -0.19100" rpy="0 0 0"/><geometry><box size="0.05000 0.05000 0.00800"/></geometry><material name="petg_cf"/></visual>
    <collision name="forearm_R.forearm_socket_bottom_R#13.col"><origin xyz="0.00000 -0.02850 -0.19100" rpy="0 0 0"/><geometry><box size="0.05000 0.05000 0.00800"/></geometry></collision>
    <visual name="forearm_R.forearm_socket_bottom_R#14"><origin xyz="0.00000 -0.02850 -0.16200" rpy="0 0 0"/><geometry><cylinder radius="0.01850" length="0.05000"/></geometry><material name="petg_cf"/></visual>
    <collision name="forearm_R.forearm_socket_bottom_R#14.col"><origin xyz="0.00000 -0.02850 -0.16200" rpy="0 0 0"/><geometry><cylinder radius="0.01850" length="0.05000"/></geometry></collision>
    <visual name="forearm_R.forearm_tube_R#15"><origin xyz="0.00000 -0.02850 -0.11950" rpy="0 0 0"/><geometry><cylinder radius="0.01250" length="0.11500"/></geometry><material name="cf_tube"/></visual>
    <collision name="forearm_R.forearm_tube_R#15.col"><origin xyz="0.00000 -0.02850 -0.11950" rpy="0 0 0"/><geometry><cylinder radius="0.01250" length="0.11500"/></geometry></collision>
    <visual name="forearm_R.wrist_roll_R_act#16"><origin xyz="0.00000 -0.02960 -0.23700" rpy="0 0 0"/><geometry><cylinder radius="0.03250" length="0.02800"/></geometry><material name="actuator"/></visual>
    <collision name="forearm_R.wrist_roll_R_act#16.col"><origin xyz="0.00000 -0.02960 -0.23700" rpy="0 0 0"/><geometry><cylinder radius="0.03250" length="0.02800"/></geometry></collision>
    <visual name="forearm_R.wrist_roll_R_act#17"><origin xyz="0.00000 -0.02960 -0.25350" rpy="0 0 0"/><geometry><cylinder radius="0.03925" length="0.00500"/></geometry><material name="flange"/></visual>
    <collision name="forearm_R.wrist_roll_R_act#17.col"><origin xyz="0.00000 -0.02960 -0.25350" rpy="0 0 0"/><geometry><cylinder radius="0.03925" length="0.00500"/></geometry></collision>
    <visual name="forearm_R.wrist_roll_R_act#18"><origin xyz="0.00000 -0.02960 -0.25775" rpy="0 0 0"/><geometry><cylinder radius="0.02150" length="0.00350"/></geometry><material name="flange"/></visual>
    <collision name="forearm_R.wrist_roll_R_act#18.col"><origin xyz="0.00000 -0.02960 -0.25775" rpy="0 0 0"/><geometry><cylinder radius="0.02150" length="0.00350"/></geometry></collision>
    <visual name="forearm_R.wrist_roll_R_act#19"><origin xyz="0.00000 -0.02960 -0.22050" rpy="0 0 0"/><geometry><cylinder radius="0.03000" length="0.00500"/></geometry><material name="enclosure"/></visual>
    <collision name="forearm_R.wrist_roll_R_act#19.col"><origin xyz="0.00000 -0.02960 -0.22050" rpy="0 0 0"/><geometry><cylinder radius="0.03000" length="0.00500"/></geometry></collision>
    <visual name="forearm_R.wrist_roll_R_bearing#20"><origin xyz="0.00000 -0.02960 -0.26550" rpy="0 0 0"/><geometry><cylinder radius="0.02200" length="0.00500"/></geometry><material name="steel"/></visual>
    <collision name="forearm_R.wrist_roll_R_bearing#20.col"><origin xyz="0.00000 -0.02960 -0.26550" rpy="0 0 0"/><geometry><cylinder radius="0.02200" length="0.00500"/></geometry></collision>
  </link>
  <link name="hand_R">
    <inertial><origin xyz="0.00000 -0.00060 -0.07682" rpy="0 0 0"/><mass value="0.4160"/><inertia ixx="1.010529e-03" ixy="0.000000e+00" ixz="6.776264e-21" iyy="1.142406e-03" iyz="-1.534050e-05" izz="1.819456e-04"/></inertial>
    <visual name="hand_R.wrist_roll_R_coupler#0"><origin xyz="0.00000 0.00000 0.00900" rpy="0 0 0"/><geometry><cylinder radius="0.02200" length="0.00300"/></geometry><material name="petg_cf"/></visual>
    <collision name="hand_R.wrist_roll_R_coupler#0.col"><origin xyz="0.00000 0.00000 0.00900" rpy="0 0 0"/><geometry><cylinder radius="0.02200" length="0.00300"/></geometry></collision>
    <visual name="hand_R.wrist_roll_R_coupler#1"><origin xyz="0.00000 0.00000 0.00375" rpy="0 0 0"/><geometry><cylinder radius="0.01750" length="0.00750"/></geometry><material name="petg_cf"/></visual>
    <collision name="hand_R.wrist_roll_R_coupler#1.col"><origin xyz="0.00000 0.00000 0.00375" rpy="0 0 0"/><geometry><cylinder radius="0.01750" length="0.00750"/></geometry></collision>
    <visual name="hand_R.hand_flange_R#2"><origin xyz="0.00000 0.00000 -0.00300" rpy="0 0 0"/><geometry><box size="0.05000 0.05000 0.00600"/></geometry><material name="petg_cf"/></visual>
    <collision name="hand_R.hand_flange_R#2.col"><origin xyz="0.00000 0.00000 -0.00300" rpy="0 0 0"/><geometry><box size="0.05000 0.05000 0.00600"/></geometry></collision>
    <visual name="hand_R.hand_R#3"><origin xyz="0.00000 0.00000 -0.05350" rpy="0 0 0"/><geometry><box size="0.07000 0.02800 0.09500"/></geometry><material name="hand"/></visual>
    <collision name="hand_R.hand_R#3.col"><origin xyz="0.00000 0.00000 -0.05350" rpy="0 0 0"/><geometry><box size="0.07000 0.02800 0.09500"/></geometry></collision>
    <visual name="hand_R.hand_R#4"><origin xyz="-0.02400 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry><material name="hand"/></visual>
    <collision name="hand_R.hand_R#4.col"><origin xyz="-0.02400 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry></collision>
    <visual name="hand_R.hand_R#5"><origin xyz="-0.00800 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry><material name="hand"/></visual>
    <collision name="hand_R.hand_R#5.col"><origin xyz="-0.00800 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry></collision>
    <visual name="hand_R.hand_R#6"><origin xyz="0.00800 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry><material name="hand"/></visual>
    <collision name="hand_R.hand_R#6.col"><origin xyz="0.00800 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry></collision>
    <visual name="hand_R.hand_R#7"><origin xyz="0.02400 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry><material name="hand"/></visual>
    <collision name="hand_R.hand_R#7.col"><origin xyz="0.02400 -0.00200 -0.13850" rpy="0 0 0"/><geometry><box size="0.01400 0.02000 0.07500"/></geometry></collision>
  </link>
  <joint name="hip_pitch_L" type="revolute">
    <parent link="pelvis"/><child link="hip_roll_bracket_L"/>
    <origin xyz="0.00000 0.07400 0.95000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-1.5708" upper="1.7453" 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="0.04600 0.06600 0.00000" rpy="0.00000 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="-0.2094" upper="0.7854" 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="-0.04600 0.00000 -0.13650" 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="-0.01150 -0.01000 -0.28350" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="0.0000" upper="2.0944" 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 0.00000 -0.41500" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-0.7854" upper="0.7854" effort="17" 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="0.04000 0.02500 -0.05000" rpy="0.00000 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="-0.4363" upper="0.4363" effort="17" 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 0.95000" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-1.5708" upper="1.7453" 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="0.04600 -0.06600 0.00000" rpy="-0.00000 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="-0.2094" upper="0.7854" 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="-0.04600 0.00000 -0.13650" 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="-0.01150 0.01000 -0.28350" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="0.0000" upper="2.0944" 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 0.00000 -0.41500" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 1 0"/>
    <limit lower="-0.7854" upper="0.7854" effort="17" 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="0.04000 -0.02500 -0.05000" rpy="-0.00000 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="-0.4363" upper="0.4363" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_pitch_L" type="revolute">
    <parent link="pelvis"/><child link="shoulder_bracket_L"/>
    <origin xyz="0.00000 0.13050 1.42500" 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_bracket_L"/><child link="upper_arm_L"/>
    <origin xyz="0.02550 0.04300 0.00000" rpy="0.17453 0.00000 0.00000"/><axis xyz="1 0 0"/>
    <limit lower="0.0000" upper="2.6180" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_yaw_L" type="revolute">
    <parent link="upper_arm_L"/><child link="elbow_bracket_L"/>
    <origin xyz="-0.00290 0.00000 -0.29700" rpy="0.00000 0.00000 0.00000"/><axis xyz="0 0 1"/>
    <limit lower="-1.5708" upper="1.5708" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="elbow_L" type="revolute">
    <parent link="elbow_bracket_L"/><child link="forearm_L"/>
    <origin xyz="0.00000 -0.02450 -0.04300" rpy="0.00000 -0.00000 0.00000"/><axis xyz="0 -1 0"/>
    <limit lower="0.0000" upper="1.7453" 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 0.02960 -0.27000" 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="shoulder_pitch_R" type="revolute">
    <parent link="pelvis"/><child link="shoulder_bracket_R"/>
    <origin xyz="0.00000 -0.13050 1.42500" 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_bracket_R"/><child link="upper_arm_R"/>
    <origin xyz="0.02550 -0.04300 0.00000" rpy="-0.17453 0.00000 0.00000"/><axis xyz="-1 0 0"/>
    <limit lower="0.0000" upper="2.6180" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="shoulder_yaw_R" type="revolute">
    <parent link="upper_arm_R"/><child link="elbow_bracket_R"/>
    <origin xyz="-0.00290 0.00000 -0.29700" rpy="0.00000 0.00000 -0.00000"/><axis xyz="0 0 -1"/>
    <limit lower="-1.5708" upper="1.5708" effort="17" velocity="20"/>
    <dynamics damping="0.2" friction="0.0"/>
  </joint>
  <joint name="elbow_R" type="revolute">
    <parent link="elbow_bracket_R"/><child link="forearm_R"/>
    <origin xyz="0.00000 0.02450 -0.04300" rpy="0.00000 -0.00000 0.00000"/><axis xyz="0 -1 0"/>
    <limit lower="0.0000" upper="1.7453" 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 -0.02960 -0.27000" 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>
</robot>
