<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content ef0344655ad2c395 -->
<mujoco model="baxter">
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    <mesh name="H1" file="baxter_description/meshes/head/H1.DAE" />
    <mesh name="S0" file="baxter_description/meshes/upper_shoulder/S0.DAE" />
    <mesh name="S1" file="baxter_description/meshes/lower_shoulder/S1.DAE" />
    <mesh name="E0" file="baxter_description/meshes/upper_elbow/E0.DAE" />
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    <mesh name="W0" file="baxter_description/meshes/upper_forearm/W0.DAE" />
    <mesh name="W1" file="baxter_description/meshes/lower_forearm/W1.DAE" />
    <mesh name="W2" file="baxter_description/meshes/wrist/W2.DAE" />
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                        <geom name="left_wrist_vis_0" type="mesh" mesh="W2" contype="0" conaffinity="0" group="2" material="lightgrey" />
                        <geom name="left_wrist_col_0" type="cylinder" size="0.06 0.0825" group="3" />
                        <body name="left_hand" pos="0.0 0.0 0.11355">
                          <inertial pos="0.01093 0.00042 -0.01532" mass="0.19125" fullinertia="0.00017588 0.00021166377 0.00023745397 1.47073e-06 2.43633e-05 1.72689e-06" />
                          <geom name="left_hand_col_0" type="cylinder" size="0.04 0.0232" pos="0.0 0.0 -0.0232" group="3" />
                          <body name="left_hand_camera" pos="0.03825 0.012 0.015355" quat="0.7071067800533724 0.0 0.0 -0.7071067823197227">
                            <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <geom name="left_hand_camera_vis_0" type="cylinder" size="0.02 0.005" contype="0" conaffinity="0" group="2" material="blue" />
                          </body>
                          <body name="left_hand_camera_axis" pos="0.03825 0.012 0.015355">
                            <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                          </body>
                          <body name="left_hand_range" pos="0.032 -0.020245 0.0288" quat="0.5000000000024483 -0.4999999999975517 -0.5 -0.5">
                            <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <geom name="left_hand_range_vis_0" type="box" size="0.0025 0.01 0.0025" contype="0" conaffinity="0" group="2" material="blue" />
                          </body>
                          <body name="left_hand_accelerometer" pos="0.00198 0.000133 -0.0146">
                            <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <geom name="left_hand_accelerometer_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
                          </body>
                          <body name="left_gripper_base">
                            <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                            <geom name="left_gripper_base_vis_0" type="box" size="0.0125 0.0375 0.0175" pos="0.0 0.0 -0.02" contype="0" conaffinity="0" group="2" material="darkred" />
                            <body name="left_gripper" pos="0.0 0.0 0.025">
                              <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                              <geom name="left_gripper_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="black" />
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                  <body name="left_upper_forearm_visual" pos="0.088 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
                    <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                    <geom name="left_upper_forearm_visual_col_0" type="cylinder" size="0.06 0.136" pos="0.0 0.0 0.136" group="3" />
                  </body>
                </body>
              </body>
              <body name="left_upper_elbow_visual" pos="0.107 0.0 0.0" quat="0.5000000000024483 0.5 0.4999999999975517 0.5">
                <inertial pos="0.0 0.0 0.0" mass="0.0001" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
                <geom name="left_upper_elbow_visual_col_0" type="cylinder" size="0.06 0.1365" pos="0.0 0.0 0.1365" group="3" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="collision_head_link_1" />
    <exclude body1="base" body2="collision_head_link_2" />
    <exclude body1="head" body2="dummyhead1" />
    <exclude body1="base" body2="torso" />
    <exclude body1="torso" body2="left_torso_itb" />
    <exclude body1="torso" body2="right_torso_itb" />
    <exclude body1="torso" body2="pedestal" />
    <exclude body1="torso" body2="head" />
    <exclude body1="head" body2="screen" />
    <exclude body1="head" body2="head_camera" />
    <exclude body1="screen" body2="display" />
    <exclude body1="torso" body2="sonar_ring" />
    <exclude body1="torso" body2="right_arm_mount" />
    <exclude body1="right_arm_mount" body2="right_upper_shoulder" />
    <exclude body1="right_upper_shoulder" body2="right_lower_shoulder" />
    <exclude body1="right_lower_shoulder" body2="right_upper_elbow" />
    <exclude body1="right_lower_shoulder" body2="right_upper_elbow_visual" />
    <exclude body1="right_upper_elbow" body2="right_lower_elbow" />
    <exclude body1="right_lower_elbow" body2="right_upper_forearm" />
    <exclude body1="right_lower_elbow" body2="right_upper_forearm_visual" />
    <exclude body1="right_upper_forearm" body2="right_arm_itb" />
    <exclude body1="right_upper_forearm" body2="right_lower_forearm" />
    <exclude body1="right_lower_forearm" body2="right_wrist" />
    <exclude body1="right_wrist" body2="right_hand" />
    <exclude body1="right_hand" body2="right_hand_camera" />
    <exclude body1="right_hand" body2="right_hand_camera_axis" />
    <exclude body1="right_hand" body2="right_hand_range" />
    <exclude body1="right_hand" body2="right_hand_accelerometer" />
    <exclude body1="right_hand" body2="right_gripper_base" />
    <exclude body1="right_gripper_base" body2="right_gripper" />
    <exclude body1="torso" body2="left_arm_mount" />
    <exclude body1="left_arm_mount" body2="left_upper_shoulder" />
    <exclude body1="left_upper_shoulder" body2="left_lower_shoulder" />
    <exclude body1="left_lower_shoulder" body2="left_upper_elbow" />
    <exclude body1="left_lower_shoulder" body2="left_upper_elbow_visual" />
    <exclude body1="left_upper_elbow" body2="left_lower_elbow" />
    <exclude body1="left_lower_elbow" body2="left_upper_forearm" />
    <exclude body1="left_lower_elbow" body2="left_upper_forearm_visual" />
    <exclude body1="left_upper_forearm" body2="left_arm_itb" />
    <exclude body1="left_upper_forearm" body2="left_lower_forearm" />
    <exclude body1="left_lower_forearm" body2="left_wrist" />
    <exclude body1="left_wrist" body2="left_hand" />
    <exclude body1="left_hand" body2="left_hand_camera" />
    <exclude body1="left_hand" body2="left_hand_camera_axis" />
    <exclude body1="left_hand" body2="left_hand_range" />
    <exclude body1="left_hand" body2="left_hand_accelerometer" />
    <exclude body1="left_hand" body2="left_gripper_base" />
    <exclude body1="left_gripper_base" body2="left_gripper" />
  </contact>
</mujoco>
