<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b158a1120cf2d8e1 -->
<mujoco model="fetch">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="fetch_description/meshes/base_link.dae" />
    <mesh name="r_wheel_link" file="fetch_description/meshes/r_wheel_link.STL" />
    <mesh name="l_wheel_link" file="fetch_description/meshes/l_wheel_link.STL" />
    <mesh name="torso_lift_link" file="fetch_description/meshes/torso_lift_link.dae" />
    <mesh name="torso_lift_link_collision" file="fetch_description/meshes/torso_lift_link_collision.STL" />
    <mesh name="head_pan_link" file="fetch_description/meshes/head_pan_link.dae" />
    <mesh name="head_pan_link_collision" file="fetch_description/meshes/head_pan_link_collision.STL" />
    <mesh name="head_tilt_link" file="fetch_description/meshes/head_tilt_link.dae" />
    <mesh name="head_tilt_link_collision" file="fetch_description/meshes/head_tilt_link_collision.STL" />
    <mesh name="shoulder_pan_link" file="fetch_description/meshes/shoulder_pan_link.dae" />
    <mesh name="shoulder_pan_link_collision" file="fetch_description/meshes/shoulder_pan_link_collision.STL" />
    <mesh name="shoulder_lift_link" file="fetch_description/meshes/shoulder_lift_link.dae" />
    <mesh name="shoulder_lift_link_collision" file="fetch_description/meshes/shoulder_lift_link_collision.STL" />
    <mesh name="upperarm_roll_link" file="fetch_description/meshes/upperarm_roll_link.dae" />
    <mesh name="upperarm_roll_link_collision" file="fetch_description/meshes/upperarm_roll_link_collision.STL" />
    <mesh name="elbow_flex_link" file="fetch_description/meshes/elbow_flex_link.dae" />
    <mesh name="elbow_flex_link_collision" file="fetch_description/meshes/elbow_flex_link_collision.STL" />
    <mesh name="forearm_roll_link" file="fetch_description/meshes/forearm_roll_link.dae" />
    <mesh name="forearm_roll_link_collision" file="fetch_description/meshes/forearm_roll_link_collision.STL" />
    <mesh name="wrist_flex_link" file="fetch_description/meshes/wrist_flex_link.dae" />
    <mesh name="wrist_flex_link_collision" file="fetch_description/meshes/wrist_flex_link_collision.STL" />
    <mesh name="wrist_roll_link" file="fetch_description/meshes/wrist_roll_link.dae" />
    <mesh name="wrist_roll_link_collision" file="fetch_description/meshes/wrist_roll_link_collision.STL" />
    <mesh name="fetch_description_meshes_gripper_link_dae" file="fetch_description/meshes/gripper_link.dae" />
    <mesh name="fetch_description_meshes_gripper_link_STL" file="fetch_description/meshes/gripper_link.STL" />
    <mesh name="r_gripper_finger_link" file="fetch_description/meshes/r_gripper_finger_link.STL" />
    <mesh name="l_gripper_finger_link" file="fetch_description/meshes/l_gripper_finger_link.STL" />
    <mesh name="bellows_link" file="fetch_description/meshes/bellows_link.STL" />
    <mesh name="bellows_link_collision" file="fetch_description/meshes/bellows_link_collision.STL" />
    <mesh name="estop_link" file="fetch_description/meshes/estop_link.STL" />
    <mesh name="laser_link" file="fetch_description/meshes/laser_link.STL" />
    <mesh name="fetch_description_meshes_torso_fixed_link_dae" file="fetch_description/meshes/torso_fixed_link.dae" />
    <mesh name="fetch_description_meshes_torso_fixed_link_STL" file="fetch_description/meshes/torso_fixed_link.STL" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.0036 0.0 0.0014" mass="70.1294" fullinertia="0.0 0.0 0.987 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="cylinder" size="0.28 0.165" pos="0.0 0.0 0.2" group="3" />
      <body name="r_wheel_link" pos="0.0012914 -0.18738 0.055325" quat="1.0 -3.0615e-17 0.0 0.0">
        <joint name="r_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
        <inertial pos="0.0 0.0 0.0" mass="4.3542" fullinertia="0.0045 0.005 0.0045 0.0 0.0 0.0" />
        <geom name="r_wheel_link_vis_0" type="mesh" mesh="r_wheel_link" contype="0" conaffinity="0" group="2" />
        <geom name="r_wheel_link_col_0" type="sphere" size="0.065" group="3" />
      </body>
      <body name="l_wheel_link" pos="0.0012914 0.18738 0.055325" quat="1.0 -3.0615e-17 0.0 0.0">
        <joint name="l_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" />
        <inertial pos="0.0 0.0 0.0" mass="4.3542" fullinertia="0.0045 0.005 0.0045 0.0 0.0 0.0" />
        <geom name="l_wheel_link_vis_0" type="mesh" mesh="l_wheel_link" contype="0" conaffinity="0" group="2" />
        <geom name="l_wheel_link_col_0" type="sphere" size="0.065" group="3" />
      </body>
      <body name="torso_lift_link" pos="-0.086875 0.0 0.37743" quat="1.0 -3.0615e-17 0.0 0.0">
        <joint name="torso_lift_joint" type="slide" axis="0.0 0.0 1.0" range="0.0 0.38615" damping="100.0" />
        <inertial pos="-0.0013 -0.0009 0.2935" mass="10.7796" fullinertia="0.3354 0.3354 0.0954 0.0 -0.0162 -0.0006" />
        <geom name="torso_lift_link_vis_0" type="mesh" mesh="torso_lift_link" contype="0" conaffinity="0" group="2" />
        <geom name="torso_lift_link_col_0" type="mesh" mesh="torso_lift_link_collision" group="3" />
        <body name="head_pan_link" pos="0.053125 0.0 0.603001417713939">
          <joint name="head_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.57 1.57" />
          <inertial pos="0.0321 0.0161 0.039" mass="2.2556" fullinertia="0.0129 0.0095 0.0184 0.0002 0.0007 -0.0" />
          <geom name="head_pan_link_vis_0" type="mesh" mesh="head_pan_link" contype="0" conaffinity="0" group="2" />
          <geom name="head_pan_link_col_0" type="mesh" mesh="head_pan_link_collision" group="3" />
          <body name="head_tilt_link" pos="0.14253 0.0 0.057999">
            <joint name="head_tilt_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.76 1.45" />
            <inertial pos="0.0081 0.0025 0.0113" mass="0.9087" fullinertia="0.0061 0.0014 0.0061 -0.0 0.0002 -0.0001" />
            <geom name="head_tilt_link_vis_0" type="mesh" mesh="head_tilt_link" contype="0" conaffinity="0" group="2" />
            <geom name="head_tilt_link_col_0" type="mesh" mesh="head_tilt_link_collision" group="3" />
            <body name="head_camera_link" pos="0.055 0.0 0.0225">
              <body name="head_camera_rgb_frame" pos="0.0 0.02 0.0">
                <body name="head_camera_rgb_optical_frame" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5" />
              </body>
              <body name="head_camera_depth_frame" pos="0.0 0.045 0.0">
                <body name="head_camera_depth_optical_frame" quat="0.5000000000024483 -0.5 0.4999999999975517 -0.5" />
              </body>
            </body>
          </body>
        </body>
        <body name="shoulder_pan_link" pos="0.119525 0.0 0.34858">
          <joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.6056 1.6056" damping="1.0" />
          <inertial pos="0.0927 -0.0056 0.0564" mass="2.5587" fullinertia="0.0043 0.0087 0.0087 -0.0001 0.001 -0.0001" />
          <geom name="shoulder_pan_link_vis_0" type="mesh" mesh="shoulder_pan_link" contype="0" conaffinity="0" group="2" />
          <geom name="shoulder_pan_link_col_0" type="mesh" mesh="shoulder_pan_link_collision" group="3" />
          <body name="shoulder_lift_link" pos="0.117 0.0 0.0599999999999999">
            <joint name="shoulder_lift_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.221 1.518" damping="1.0" />
            <inertial pos="0.1432 0.0072 -0.0001" mass="2.6615" fullinertia="0.0028 0.0111 0.0112 -0.0021 -0.0 -0.0" />
            <geom name="shoulder_lift_link_vis_0" type="mesh" mesh="shoulder_lift_link" contype="0" conaffinity="0" group="2" />
            <geom name="shoulder_lift_link_col_0" type="mesh" mesh="shoulder_lift_link_collision" group="3" />
            <body name="upperarm_roll_link" pos="0.219 0.0 0.0">
              <joint name="upperarm_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
              <inertial pos="0.1165 0.0014 0.0" mass="2.3311" fullinertia="0.0019 0.0045 0.0047 -0.0001 0.0 0.0" />
              <geom name="upperarm_roll_link_vis_0" type="mesh" mesh="upperarm_roll_link" contype="0" conaffinity="0" group="2" />
              <geom name="upperarm_roll_link_col_0" type="mesh" mesh="upperarm_roll_link_collision" group="3" />
              <body name="elbow_flex_link" pos="0.133 0.0 0.0">
                <joint name="elbow_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.251 2.251" damping="1.0" />
                <inertial pos="0.1279 0.0073 0.0" mass="2.1299" fullinertia="0.0024 0.0082 0.0084 -0.0016 0.0 -0.0" />
                <geom name="elbow_flex_link_vis_0" type="mesh" mesh="elbow_flex_link" contype="0" conaffinity="0" group="2" />
                <geom name="elbow_flex_link_col_0" type="mesh" mesh="elbow_flex_link_collision" group="3" />
                <body name="forearm_roll_link" pos="0.197 0.0 0.0">
                  <joint name="forearm_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
                  <inertial pos="0.1097 -0.0266 0.0" mass="1.6563" fullinertia="0.0016 0.003 0.0035 -0.0003 0.0 -0.0" />
                  <geom name="forearm_roll_link_vis_0" type="mesh" mesh="forearm_roll_link" contype="0" conaffinity="0" group="2" />
                  <geom name="forearm_roll_link_col_0" type="mesh" mesh="forearm_roll_link_collision" group="3" />
                  <body name="wrist_flex_link" pos="0.1245 0.0 0.0">
                    <joint name="wrist_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.16 2.16" damping="1.0" />
                    <inertial pos="0.0882 0.0009 -0.0001" mass="1.725" fullinertia="0.0018 0.0042 0.0042 -0.0001 -0.0 0.0" />
                    <geom name="wrist_flex_link_vis_0" type="mesh" mesh="wrist_flex_link" contype="0" conaffinity="0" group="2" />
                    <geom name="wrist_flex_link_col_0" type="mesh" mesh="wrist_flex_link_collision" group="3" />
                    <body name="wrist_roll_link" pos="0.1385 0.0 0.0">
                      <joint name="wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="5.0" />
                      <inertial pos="0.0095 0.0004 -0.0002" mass="0.1354" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                      <geom name="wrist_roll_link_vis_0" type="mesh" mesh="wrist_roll_link" contype="0" conaffinity="0" group="2" />
                      <geom name="wrist_roll_link_col_0" type="mesh" mesh="wrist_roll_link_collision" group="3" />
                      <body name="gripper_link" pos="0.16645 0.0 0.0">
                        <inertial pos="-0.09 -0.0001 -0.0017" mass="1.5175" fullinertia="0.0013 0.0019 0.0024 -0.0 0.0 -0.0" />
                        <geom name="gripper_link_vis_0" type="mesh" mesh="fetch_description_meshes_gripper_link_dae" contype="0" conaffinity="0" group="2" />
                        <geom name="gripper_link_col_0" type="mesh" mesh="fetch_description_meshes_gripper_link_STL" group="3" />
                        <body name="r_gripper_finger_link" pos="0.0 0.015425 0.0">
                          <joint name="r_gripper_finger_joint" type="slide" axis="0.0 1.0 0.0" range="0.0 0.05" damping="100.0" />
                          <inertial pos="-0.01 0.0 0.0" mass="0.0798" fullinertia="0.002 0.0002 0.0002 0.0 0.0 0.0" />
                          <geom name="r_gripper_finger_link_vis_0" type="mesh" mesh="r_gripper_finger_link" pos="0.0 0.101425 0.0" contype="0" conaffinity="0" group="2" />
                          <geom name="r_gripper_finger_link_col_0" type="box" size="0.031 0.0065 0.013" pos="0.0 -0.009 0.0" group="3" />
                        </body>
                        <body name="l_gripper_finger_link" pos="0.0 -0.015425 0.0">
                          <joint name="l_gripper_finger_joint" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.05" damping="100.0" />
                          <inertial pos="-0.01 0.0 0.0" mass="0.0798" fullinertia="0.002 0.0002 0.0002 0.0 0.0 0.0" />
                          <geom name="l_gripper_finger_link_vis_0" type="mesh" mesh="l_gripper_finger_link" pos="0.0 -0.101425 0.0" contype="0" conaffinity="0" group="2" />
                          <geom name="l_gripper_finger_link_col_0" type="box" size="0.031 0.0065 0.013" pos="0.0 0.009 0.0" group="3" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="bellows_link2">
          <inertial pos="0.0191320000286228 -1.67219873481315e-16 -0.134861625443387" mass="0.169374038216602" fullinertia="0.00331159128762117 0.00174447292786627 0.00169417568121457 -8.9230964321455e-18 -5.38622201018293e-08 -8.06964979976371e-17" />
          <geom name="bellows_link2_vis_0" type="mesh" mesh="bellows_link" contype="0" conaffinity="0" group="2" />
          <geom name="bellows_link2_col_0" type="mesh" mesh="bellows_link_collision" group="3" />
        </body>
      </body>
      <body name="estop_link" pos="-0.12465 0.23892 0.31127" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
        <inertial pos="0.002434512737072 -0.00330608315239905 0.00665139196650039" mass="0.00196130439134723" fullinertia="3.02810026604417e-07 2.93322917127605e-07 2.28513272627183e-07 -1.5862023118056e-08 3.16561396557437e-08 -4.28833522751273e-08" />
        <geom name="estop_link_vis_0" type="mesh" mesh="estop_link" contype="0" conaffinity="0" group="2" />
        <geom name="estop_link_col_0" type="mesh" mesh="estop_link" group="3" />
      </body>
      <body name="laser_link" pos="0.235 0.0 0.2878" quat="-1.0341155355510722e-13 1.0 0.0 -0.0">
        <inertial pos="-0.0306228970175641 0.0007091682908278 0.0551974119471302" mass="0.00833634573995571" fullinertia="1.01866461240801e-06 5.10039589974707e-07 1.28270671527309e-06 -5.88447626567756e-08 7.83857244757914e-08 -7.12664289617235e-09" />
        <geom name="laser_link_vis_0" type="mesh" mesh="laser_link" contype="0" conaffinity="0" group="2" />
        <geom name="laser_link_col_0" type="mesh" mesh="laser_link" group="3" />
      </body>
      <body name="torso_fixed_link" pos="-0.086875 0.0 0.377425" quat="1.0 -3.061515884555945e-17 0.0 0.0">
        <inertial pos="-0.0722 0.0057 0.2656" mass="13.2775" fullinertia="0.3861 0.3388 0.1018 0.0015 -0.0102 0.0117" />
        <geom name="torso_fixed_link_vis_0" type="mesh" mesh="fetch_description_meshes_torso_fixed_link_dae" contype="0" conaffinity="0" group="2" />
        <geom name="torso_fixed_link_col_0" type="mesh" mesh="fetch_description_meshes_torso_fixed_link_STL" group="3" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="r_wheel_link" />
    <exclude body1="base_link" body2="l_wheel_link" />
    <exclude body1="base_link" body2="torso_lift_link" />
    <exclude body1="torso_lift_link" body2="head_pan_link" />
    <exclude body1="head_pan_link" body2="head_tilt_link" />
    <exclude body1="torso_lift_link" body2="shoulder_pan_link" />
    <exclude body1="shoulder_pan_link" body2="shoulder_lift_link" />
    <exclude body1="shoulder_lift_link" body2="upperarm_roll_link" />
    <exclude body1="upperarm_roll_link" body2="elbow_flex_link" />
    <exclude body1="elbow_flex_link" body2="forearm_roll_link" />
    <exclude body1="forearm_roll_link" body2="wrist_flex_link" />
    <exclude body1="wrist_flex_link" body2="wrist_roll_link" />
    <exclude body1="wrist_roll_link" body2="gripper_link" />
    <exclude body1="gripper_link" body2="r_gripper_finger_link" />
    <exclude body1="gripper_link" body2="l_gripper_finger_link" />
    <exclude body1="torso_lift_link" body2="bellows_link2" />
    <exclude body1="base_link" body2="estop_link" />
    <exclude body1="base_link" body2="laser_link" />
    <exclude body1="base_link" body2="torso_fixed_link" />
    <exclude body1="head_tilt_link" body2="head_camera_link" />
    <exclude body1="head_camera_link" body2="head_camera_rgb_frame" />
    <exclude body1="head_camera_rgb_frame" body2="head_camera_rgb_optical_frame" />
    <exclude body1="head_camera_link" body2="head_camera_depth_frame" />
    <exclude body1="head_camera_depth_frame" body2="head_camera_depth_optical_frame" />
  </contact>
</mujoco>
