<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content bb202f15dd9421df -->
<mujoco model="bambot">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="green" rgba="0.06 0.4 0.1 1.0" />
    <material name="black" rgba="0.06 0.1 0.1 1.0" />
    <mesh name="Bambot_Body_0p001_0p001_0p001" file="meshes/Bambot_Body.stl" scale="0.001 0.001 0.001" />
    <mesh name="Base" file="meshes/Base.stl" />
    <mesh name="Base_Motor" file="meshes/Base_Motor.stl" />
    <mesh name="Rotation_Pitch" file="meshes/Rotation_Pitch.stl" />
    <mesh name="Rotation_Pitch_Motor" file="meshes/Rotation_Pitch_Motor.stl" />
    <mesh name="Upper_Arm" file="meshes/Upper_Arm.stl" />
    <mesh name="Upper_Arm_Motor" file="meshes/Upper_Arm_Motor.stl" />
    <mesh name="Lower_Arm" file="meshes/Lower_Arm.stl" />
    <mesh name="Lower_Arm_Motor" file="meshes/Lower_Arm_Motor.stl" />
    <mesh name="Wrist_Pitch_Roll" file="meshes/Wrist_Pitch_Roll.stl" />
    <mesh name="Wrist_Pitch_Roll_Motor" file="meshes/Wrist_Pitch_Roll_Motor.stl" />
    <mesh name="Fixed_Jaw" file="meshes/Fixed_Jaw.stl" />
    <mesh name="Fixed_Jaw_Motor" file="meshes/Fixed_Jaw_Motor.stl" />
    <mesh name="Moving_Jaw" file="meshes/Moving_Jaw.stl" />
    <mesh name="BambotWheel_0p001_0p001_0p001" file="meshes/BambotWheel.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="Bambot_Body_0p001_0p001_0p001" pos="-0.5 0.0 0.4" contype="0" conaffinity="0" group="2" material="green" />
      <body name="R_Base" pos="-0.17 -0.42 0.64" quat="4.473711358158385e-06 -0.7071080798453213 0.7071054824970842 4.473727791047958e-06">
        <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
        <geom name="R_Base_vis_0" type="mesh" mesh="Base" contype="0" conaffinity="0" group="2" material="green" />
        <geom name="R_Base_vis_1" type="mesh" mesh="Base_Motor" contype="0" conaffinity="0" group="2" material="black" />
        <geom name="R_Base_col_0" type="mesh" mesh="Base" group="3" />
        <body name="R_Rotation_Pitch" pos="0.0 -0.0452 0.0165" quat="0.7071090180427968 0.7071045443232221 0.0 0.0">
          <joint name="R_Rotation" type="hinge" axis="0.0 -1.0 0.0" range="-2.0 2.0" />
          <inertial pos="-9.07886e-05 0.0590972 0.031089" mass="0.119226" fullinertia="5.94278e-05 5.89975e-05 3.13712e-05 0.0 0.0 0.0" />
          <geom name="R_Rotation_Pitch_vis_0" type="mesh" mesh="Rotation_Pitch" contype="0" conaffinity="0" group="2" material="green" />
          <geom name="R_Rotation_Pitch_vis_1" type="mesh" mesh="Rotation_Pitch_Motor" contype="0" conaffinity="0" group="2" material="black" />
          <geom name="R_Rotation_Pitch_col_0" type="mesh" mesh="Rotation_Pitch" group="3" />
          <body name="R_Upper_Arm" pos="0.0 0.1025 0.0306" quat="0.9987502603949663 -0.04997916927067833 0.0 0.0">
            <joint name="R_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.4 1.7139" />
            <inertial pos="-1.72052e-05 0.0701802 0.00310545" mass="0.162409" fullinertia="0.000213312 0.000167164 7.01522e-05 0.0 0.0 0.0" />
            <geom name="R_Upper_Arm_vis_0" type="mesh" mesh="Upper_Arm" contype="0" conaffinity="0" group="2" material="green" />
            <geom name="R_Upper_Arm_vis_1" type="mesh" mesh="Upper_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
            <geom name="R_Upper_Arm_col_0" type="mesh" mesh="Upper_Arm" group="3" />
            <body name="R_Lower_Arm" pos="0.0 0.11257 0.028" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
              <joint name="R_Elbow" type="hinge" axis="1.0 0.0 0.0" range="0.0 3.0" />
              <inertial pos="-0.00339604 0.00137796 0.0768007" mass="0.147968" fullinertia="0.000138803 0.000107748 4.84242e-05 0.0 0.0 0.0" />
              <geom name="R_Lower_Arm_vis_0" type="mesh" mesh="Lower_Arm" contype="0" conaffinity="0" group="2" material="green" />
              <geom name="R_Lower_Arm_vis_1" type="mesh" mesh="Lower_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
              <geom name="R_Lower_Arm_col_0" type="mesh" mesh="Lower_Arm" group="3" />
              <body name="R_Wrist_Pitch_Roll" pos="0.0 0.0052 0.1349" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
                <joint name="R_Wrist_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.8 1.8" />
                <inertial pos="-0.00852653 -0.0352279 -2.34622e-05" mass="0.0661321" fullinertia="3.45403e-05 2.39041e-05 1.94704e-05 0.0 0.0 0.0" />
                <geom name="R_Wrist_Pitch_Roll_vis_0" type="mesh" mesh="Wrist_Pitch_Roll" contype="0" conaffinity="0" group="2" material="green" />
                <geom name="R_Wrist_Pitch_Roll_vis_1" type="mesh" mesh="Wrist_Pitch_Roll_Motor" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="R_Wrist_Pitch_Roll_col_0" type="mesh" mesh="Wrist_Pitch_Roll" group="3" />
                <body name="R_Fixed_Jaw" pos="0.0 -0.0601 0.0">
                  <joint name="R_Wrist_Roll" type="hinge" axis="0.0 1.0 0.0" range="-1.57079 1.57079" />
                  <inertial pos="0.00552377 -0.0280167 0.000483583" mass="0.0929859" fullinertia="5.03136e-05 4.64098e-05 2.72961e-05 0.0 0.0 0.0" />
                  <geom name="R_Fixed_Jaw_vis_0" type="mesh" mesh="Fixed_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  <geom name="R_Fixed_Jaw_vis_1" type="mesh" mesh="Fixed_Jaw_Motor" contype="0" conaffinity="0" group="2" material="black" />
                  <body name="R_Moving_Jaw" pos="-0.0202 -0.0244 0.0" quat="6.326794896668469e-06 0.0 0.9999999999799858 0.0">
                    <joint name="R_Jaw" type="hinge" axis="0.0 0.0 1.0" range="-0.2 1.7" />
                    <inertial pos="-0.00161745 -0.0303473 0.000449646" mass="0.0202444" fullinertia="1.11265e-05 8.99651e-06 2.99548e-06 0.0 0.0 0.0" />
                    <geom name="R_Moving_Jaw_vis_0" type="mesh" mesh="Moving_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="L_Base" pos="-0.18 -0.07 0.64" quat="4.473711358158385e-06 -0.7071080798453213 0.7071054824970842 4.473727791047958e-06">
        <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
        <geom name="L_Base_vis_0" type="mesh" mesh="Base" contype="0" conaffinity="0" group="2" material="green" />
        <geom name="L_Base_vis_1" type="mesh" mesh="Base_Motor" contype="0" conaffinity="0" group="2" material="black" />
        <geom name="L_Base_col_0" type="mesh" mesh="Base" group="3" />
        <body name="L_Rotation_Pitch" pos="0.0 -0.0452 0.0165" quat="0.7071090180427968 0.7071045443232221 0.0 0.0">
          <joint name="L_Rotation" type="hinge" axis="0.0 -1.0 0.0" range="-2.0 2.0" />
          <inertial pos="-9.07886e-05 0.0590972 0.031089" mass="0.119226" fullinertia="5.94278e-05 5.89975e-05 3.13712e-05 0.0 0.0 0.0" />
          <geom name="L_Rotation_Pitch_vis_0" type="mesh" mesh="Rotation_Pitch" contype="0" conaffinity="0" group="2" material="green" />
          <geom name="L_Rotation_Pitch_vis_1" type="mesh" mesh="Rotation_Pitch_Motor" contype="0" conaffinity="0" group="2" material="black" />
          <geom name="L_Rotation_Pitch_col_0" type="mesh" mesh="Rotation_Pitch" group="3" />
          <body name="L_Upper_Arm" pos="0.0 0.1025 0.0306" quat="0.9987502603949663 -0.04997916927067833 0.0 0.0">
            <joint name="L_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.4 1.7139" />
            <inertial pos="-1.72052e-05 0.0701802 0.00310545" mass="0.162409" fullinertia="0.000213312 0.000167164 7.01522e-05 0.0 0.0 0.0" />
            <geom name="L_Upper_Arm_vis_0" type="mesh" mesh="Upper_Arm" contype="0" conaffinity="0" group="2" material="green" />
            <geom name="L_Upper_Arm_vis_1" type="mesh" mesh="Upper_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
            <geom name="L_Upper_Arm_col_0" type="mesh" mesh="Upper_Arm" group="3" />
            <body name="L_Lower_Arm" pos="0.0 0.11257 0.028" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
              <joint name="L_Elbow" type="hinge" axis="1.0 0.0 0.0" range="0.0 3.0" />
              <inertial pos="-0.00339604 0.00137796 0.0768007" mass="0.147968" fullinertia="0.000138803 0.000107748 4.84242e-05 0.0 0.0 0.0" />
              <geom name="L_Lower_Arm_vis_0" type="mesh" mesh="Lower_Arm" contype="0" conaffinity="0" group="2" material="green" />
              <geom name="L_Lower_Arm_vis_1" type="mesh" mesh="Lower_Arm_Motor" contype="0" conaffinity="0" group="2" material="black" />
              <geom name="L_Lower_Arm_col_0" type="mesh" mesh="Lower_Arm" group="3" />
              <body name="L_Wrist_Pitch_Roll" pos="0.0 0.0052 0.1349" quat="0.7071090180427968 -0.7071045443232221 0.0 0.0">
                <joint name="L_Wrist_Pitch" type="hinge" axis="1.0 0.0 0.0" range="-1.8 1.8" />
                <inertial pos="-0.00852653 -0.0352279 -2.34622e-05" mass="0.0661321" fullinertia="3.45403e-05 2.39041e-05 1.94704e-05 0.0 0.0 0.0" />
                <geom name="L_Wrist_Pitch_Roll_vis_0" type="mesh" mesh="Wrist_Pitch_Roll" contype="0" conaffinity="0" group="2" material="green" />
                <geom name="L_Wrist_Pitch_Roll_vis_1" type="mesh" mesh="Wrist_Pitch_Roll_Motor" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="L_Wrist_Pitch_Roll_col_0" type="mesh" mesh="Wrist_Pitch_Roll" group="3" />
                <body name="L_Fixed_Jaw" pos="0.0 -0.0601 0.0">
                  <joint name="L_Wrist_Roll" type="hinge" axis="0.0 1.0 0.0" range="-1.57079 1.57079" />
                  <inertial pos="0.00552377 -0.0280167 0.000483583" mass="0.0929859" fullinertia="5.03136e-05 4.64098e-05 2.72961e-05 0.0 0.0 0.0" />
                  <geom name="L_Fixed_Jaw_vis_0" type="mesh" mesh="Fixed_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  <geom name="L_Fixed_Jaw_vis_1" type="mesh" mesh="Fixed_Jaw_Motor" contype="0" conaffinity="0" group="2" material="black" />
                  <body name="L_Moving_Jaw" pos="-0.0202 -0.0244 0.0" quat="6.326794896668469e-06 0.0 0.9999999999799858 0.0">
                    <joint name="L_Jaw" type="hinge" axis="0.0 0.0 1.0" range="-0.2 1.7" />
                    <inertial pos="-0.00161745 -0.0303473 0.000449646" mass="0.0202444" fullinertia="1.11265e-05 8.99651e-06 2.99548e-06 0.0 0.0 0.0" />
                    <geom name="L_Moving_Jaw_vis_0" type="mesh" mesh="Moving_Jaw" contype="0" conaffinity="0" group="2" material="green" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="left_motor" pos="-0.1 0.0 -0.03" quat="0.35355124167760826 0.6123744261620394 0.35355254034621864 -0.6123721767893033">
        <geom name="left_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="right_motor" pos="-0.1 -0.48 -0.03" quat="0.35355124167760826 -0.6123744261620394 0.35355254034621864 0.6123721767893033">
        <geom name="right_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="back_motor" pos="-0.52 -0.25 -0.03" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
        <geom name="back_motor_vis_0" type="mesh" mesh="Base_Motor" pos="0.0 -0.04 0.1" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="left_wheel" pos="-0.1 0.0 -0.03" quat="0.35355124167760826 0.6123744261620394 0.35355254034621864 -0.6123721767893033">
        <joint name="left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="left_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="back_wheel" pos="-0.52 -0.25 -0.03" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
        <joint name="back_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="back_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
      <body name="right_wheel" pos="-0.1 -0.48 -0.03" quat="0.35355124167760826 -0.6123744261620394 0.35355254034621864 0.6123721767893033">
        <joint name="right_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <geom name="right_wheel_vis_0" type="mesh" mesh="BambotWheel_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="black" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="R_Base" />
    <exclude body1="R_Base" body2="R_Rotation_Pitch" />
    <exclude body1="R_Rotation_Pitch" body2="R_Upper_Arm" />
    <exclude body1="R_Upper_Arm" body2="R_Lower_Arm" />
    <exclude body1="R_Lower_Arm" body2="R_Wrist_Pitch_Roll" />
    <exclude body1="R_Wrist_Pitch_Roll" body2="R_Fixed_Jaw" />
    <exclude body1="R_Fixed_Jaw" body2="R_Moving_Jaw" />
    <exclude body1="base_link" body2="L_Base" />
    <exclude body1="L_Base" body2="L_Rotation_Pitch" />
    <exclude body1="L_Rotation_Pitch" body2="L_Upper_Arm" />
    <exclude body1="L_Upper_Arm" body2="L_Lower_Arm" />
    <exclude body1="L_Lower_Arm" body2="L_Wrist_Pitch_Roll" />
    <exclude body1="L_Wrist_Pitch_Roll" body2="L_Fixed_Jaw" />
    <exclude body1="L_Fixed_Jaw" body2="L_Moving_Jaw" />
    <exclude body1="base_link" body2="left_motor" />
    <exclude body1="base_link" body2="right_motor" />
    <exclude body1="base_link" body2="back_motor" />
    <exclude body1="base_link" body2="left_wheel" />
    <exclude body1="base_link" body2="back_wheel" />
    <exclude body1="base_link" body2="right_wheel" />
  </contact>
</mujoco>
