<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 71a23460d062e8f0 -->
<mujoco model="JAXON_JVRC">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="BODY" file="jaxon_description/meshes/BODY.dae" />
    <mesh name="CHEST_LINK0" file="jaxon_description/meshes/CHEST_LINK0.dae" />
    <mesh name="CHEST_LINK1" file="jaxon_description/meshes/CHEST_LINK1.dae" />
    <mesh name="CHEST_LINK2" file="jaxon_description/meshes/CHEST_LINK2.dae" />
    <mesh name="HEAD_LINK0" file="jaxon_description/meshes/HEAD_LINK0.dae" />
    <mesh name="HEAD_LINK1" file="jaxon_description/meshes/HEAD_LINK1.dae" />
    <mesh name="RANGE_LINK" file="jaxon_description/meshes/RANGE_LINK.dae" />
    <mesh name="LARM_LINK0" file="jaxon_description/meshes/LARM_LINK0.dae" />
    <mesh name="LARM_LINK1" file="jaxon_description/meshes/LARM_LINK1.dae" />
    <mesh name="LARM_LINK2" file="jaxon_description/meshes/LARM_LINK2.dae" />
    <mesh name="LARM_LINK3" file="jaxon_description/meshes/LARM_LINK3.dae" />
    <mesh name="LARM_LINK4" file="jaxon_description/meshes/LARM_LINK4.dae" />
    <mesh name="LARM_LINK5" file="jaxon_description/meshes/LARM_LINK5.dae" />
    <mesh name="LARM_LINK6" file="jaxon_description/meshes/LARM_LINK6.dae" />
    <mesh name="LARM_LINK7" file="jaxon_description/meshes/LARM_LINK7.dae" />
    <mesh name="LARM_FINGER0" file="jaxon_description/meshes/LARM_FINGER0.dae" />
    <mesh name="LARM_FINGER1" file="jaxon_description/meshes/LARM_FINGER1.dae" />
    <mesh name="RARM_LINK0" file="jaxon_description/meshes/RARM_LINK0.dae" />
    <mesh name="RARM_LINK1" file="jaxon_description/meshes/RARM_LINK1.dae" />
    <mesh name="RARM_LINK2" file="jaxon_description/meshes/RARM_LINK2.dae" />
    <mesh name="RARM_LINK3" file="jaxon_description/meshes/RARM_LINK3.dae" />
    <mesh name="RARM_LINK4" file="jaxon_description/meshes/RARM_LINK4.dae" />
    <mesh name="RARM_LINK5" file="jaxon_description/meshes/RARM_LINK5.dae" />
    <mesh name="RARM_LINK6" file="jaxon_description/meshes/RARM_LINK6.dae" />
    <mesh name="RARM_LINK7" file="jaxon_description/meshes/RARM_LINK7.dae" />
    <mesh name="RARM_FINGER0" file="jaxon_description/meshes/RARM_FINGER0.dae" />
    <mesh name="RARM_FINGER1" file="jaxon_description/meshes/RARM_FINGER1.dae" />
    <mesh name="LLEG_LINK0" file="jaxon_description/meshes/LLEG_LINK0.dae" />
    <mesh name="LLEG_LINK1" file="jaxon_description/meshes/LLEG_LINK1.dae" />
    <mesh name="LLEG_LINK2" file="jaxon_description/meshes/LLEG_LINK2.dae" />
    <mesh name="LLEG_LINK3" file="jaxon_description/meshes/LLEG_LINK3.dae" />
    <mesh name="LLEG_LINK4" file="jaxon_description/meshes/LLEG_LINK4.dae" />
    <mesh name="LLEG_LINK5" file="jaxon_description/meshes/LLEG_LINK5.dae" />
    <mesh name="RLEG_LINK0" file="jaxon_description/meshes/RLEG_LINK0.dae" />
    <mesh name="RLEG_LINK1" file="jaxon_description/meshes/RLEG_LINK1.dae" />
    <mesh name="RLEG_LINK2" file="jaxon_description/meshes/RLEG_LINK2.dae" />
    <mesh name="RLEG_LINK3" file="jaxon_description/meshes/RLEG_LINK3.dae" />
    <mesh name="RLEG_LINK4" file="jaxon_description/meshes/RLEG_LINK4.dae" />
    <mesh name="RLEG_LINK5" file="jaxon_description/meshes/RLEG_LINK5.dae" />
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  <worldbody>
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                              <geom name="RARM_FINGER0_col_0" type="mesh" mesh="RARM_FINGER0" pos="0.0 0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0" group="3" />
                            </body>
                            <body name="RARM_FINGER1" pos="0.0 -0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0">
                              <joint name="RARM_F_JOINT1" type="hinge" axis="0.0 0.0 1.0" range="-0.610865 1.39626" damping="0.2" />
                              <inertial pos="0.077 0.0138 0.0" mass="0.3" fullinertia="4.4505e-05 0.001245 0.00128 0.000156 2.75981e-19 -3.50627e-20" />
                              <geom name="RARM_FINGER1_vis_0" type="mesh" mesh="RARM_FINGER1" pos="0.0 -0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0" contype="0" conaffinity="0" group="2" />
                              <geom name="RARM_FINGER1_col_0" type="mesh" mesh="RARM_FINGER1" pos="0.0 -0.06 -0.1725" quat="0.7071054825112363 0.0 0.7071080798594735 -0.0" group="3" />
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="LLEG_LINK0" pos="0.0 0.1 0.0095">
        <joint name="LLEG_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.0972 1.02662" damping="0.2" />
        <inertial pos="-0.02299 -0.00588 -0.07031" mass="2.915" fullinertia="0.00999808 0.00999559 0.00999172 -1.99354e-06 7.22147e-07 3.13302e-06" />
        <geom name="LLEG_LINK0_vis_0" type="mesh" mesh="LLEG_LINK0" pos="0.0 0.1 0.0095" contype="0" conaffinity="0" group="2" />
        <geom name="LLEG_LINK0_col_0" type="mesh" mesh="LLEG_LINK0" pos="0.0 0.1 0.0095" group="3" />
        <body name="LLEG_LINK1" pos="0.0 0.0 -0.122">
          <joint name="LLEG_JOINT1" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.725029" damping="0.2" />
          <inertial pos="-0.00441 0.00696 -0.00694" mass="1.199" fullinertia="0.00299879 0.00179963 0.00343603 -3.30504e-37 9.70868e-20 4.51014e-37" />
          <geom name="LLEG_LINK1_vis_0" type="mesh" mesh="LLEG_LINK1" pos="0.0 0.0 -0.122" contype="0" conaffinity="0" group="2" />
          <geom name="LLEG_LINK1_col_0" type="mesh" mesh="LLEG_LINK1" pos="0.0 0.0 -0.122" group="3" />
          <body name="LLEG_LINK2" pos="0.0 0.0 -0.01">
            <joint name="LLEG_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.11843 0.785398" damping="0.2" />
            <inertial pos="0.00658 0.03431 -0.18864" mass="5.783" fullinertia="0.109779 0.109973 0.0103577 0.0002015 0.00500356 -0.00331032" />
            <geom name="LLEG_LINK2_vis_0" type="mesh" mesh="LLEG_LINK2" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" />
            <geom name="LLEG_LINK2_col_0" type="mesh" mesh="LLEG_LINK2" pos="0.0 0.0 -0.01" group="3" />
            <body name="LLEG_LINK3" pos="0.0 0.0 -0.38">
              <joint name="LLEG_JOINT3" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.77419" damping="0.2" />
              <inertial pos="0.0176 0.01611 -0.17992" mass="3.156" fullinertia="0.0592962 0.0592638 0.00799027 0.0 0.0 0.0" />
              <geom name="LLEG_LINK3_vis_0" type="mesh" mesh="LLEG_LINK3" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
              <geom name="LLEG_LINK3_col_0" type="mesh" mesh="LLEG_LINK3" pos="0.0 0.0 -0.38" group="3" />
              <body name="LLEG_LINK4" pos="0.0 0.0 -0.38">
                <joint name="LLEG_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.38564 1.47343" damping="0.2" />
                <inertial pos="-0.00769 0.00203 -0.00714" mass="0.836" fullinertia="0.0014428 0.001606 0.00150135 0.0 0.0 0.0" />
                <geom name="LLEG_LINK4_vis_0" type="mesh" mesh="LLEG_LINK4" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
                <geom name="LLEG_LINK4_col_0" type="mesh" mesh="LLEG_LINK4" pos="0.0 0.0 -0.38" group="3" />
                <body name="LLEG_LINK5" pos="0.0 0.0 -0.04">
                  <joint name="LLEG_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" damping="0.2" />
                  <inertial pos="0.00064 0.00264 -0.05633" mass="1.552" fullinertia="0.00442296 0.00907896 0.00902826 0.0 0.0 0.0" />
                  <geom name="LLEG_LINK5_vis_0" type="mesh" mesh="LLEG_LINK5" pos="0.0 0.0 -0.04" contype="0" conaffinity="0" group="2" />
                  <geom name="LLEG_LINK5_col_0" type="mesh" mesh="LLEG_LINK5" pos="0.0 0.0 -0.04" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RLEG_LINK0" pos="0.0 -0.1 0.0095">
        <joint name="RLEG_JOINT0" type="hinge" axis="0.0 0.0 1.0" range="-1.02662 1.0972" damping="0.2" />
        <inertial pos="-0.02299 0.00588 -0.07031" mass="2.915" fullinertia="0.00999808 0.00999559 0.00999172 -1.99354e-06 -7.22147e-07 -3.13302e-06" />
        <geom name="RLEG_LINK0_vis_0" type="mesh" mesh="RLEG_LINK0" pos="0.0 -0.1 0.0095" contype="0" conaffinity="0" group="2" />
        <geom name="RLEG_LINK0_col_0" type="mesh" mesh="RLEG_LINK0" pos="0.0 -0.1 0.0095" group="3" />
        <body name="RLEG_LINK1" pos="0.0 0.0 -0.122">
          <joint name="RLEG_JOINT1" type="hinge" axis="1.0 0.0 0.0" range="-0.725029 0.523599" damping="0.2" />
          <inertial pos="-0.00441 -0.00696 -0.00694" mass="1.199" fullinertia="0.00299879 0.00179963 0.00343603 3.30504e-37 9.70868e-20 -4.51014e-37" />
          <geom name="RLEG_LINK1_vis_0" type="mesh" mesh="RLEG_LINK1" pos="0.0 0.0 -0.122" contype="0" conaffinity="0" group="2" />
          <geom name="RLEG_LINK1_col_0" type="mesh" mesh="RLEG_LINK1" pos="0.0 0.0 -0.122" group="3" />
          <body name="RLEG_LINK2" pos="0.0 0.0 -0.01">
            <joint name="RLEG_JOINT2" type="hinge" axis="0.0 1.0 0.0" range="-2.11843 0.785398" damping="0.2" />
            <inertial pos="0.00658 -0.03431 -0.18864" mass="5.783" fullinertia="0.109779 0.109973 0.0103577 -0.0002015 0.00500356 0.00331032" />
            <geom name="RLEG_LINK2_vis_0" type="mesh" mesh="RLEG_LINK2" pos="0.0 0.0 -0.01" contype="0" conaffinity="0" group="2" />
            <geom name="RLEG_LINK2_col_0" type="mesh" mesh="RLEG_LINK2" pos="0.0 0.0 -0.01" group="3" />
            <body name="RLEG_LINK3" pos="0.0 0.0 -0.38">
              <joint name="RLEG_JOINT3" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.77419" damping="0.2" />
              <inertial pos="0.0176 -0.01611 -0.17992" mass="3.156" fullinertia="0.0592962 0.0592638 0.00799027 0.0 0.0 0.0" />
              <geom name="RLEG_LINK3_vis_0" type="mesh" mesh="RLEG_LINK3" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
              <geom name="RLEG_LINK3_col_0" type="mesh" mesh="RLEG_LINK3" pos="0.0 0.0 -0.38" group="3" />
              <body name="RLEG_LINK4" pos="0.0 0.0 -0.38">
                <joint name="RLEG_JOINT4" type="hinge" axis="0.0 1.0 0.0" range="-1.38564 1.47343" damping="0.2" />
                <inertial pos="-0.00769 -0.00203 -0.00714" mass="0.836" fullinertia="0.0014428 0.001606 0.00150135 0.0 0.0 0.0" />
                <geom name="RLEG_LINK4_vis_0" type="mesh" mesh="RLEG_LINK4" pos="0.0 0.0 -0.38" contype="0" conaffinity="0" group="2" />
                <geom name="RLEG_LINK4_col_0" type="mesh" mesh="RLEG_LINK4" pos="0.0 0.0 -0.38" group="3" />
                <body name="RLEG_LINK5" pos="0.0 0.0 -0.04">
                  <joint name="RLEG_JOINT5" type="hinge" axis="1.0 0.0 0.0" range="-1.0472 1.0472" damping="0.2" />
                  <inertial pos="0.00064 -0.00264 -0.05633" mass="1.552" fullinertia="0.00442296 0.00907896 0.00902826 0.0 0.0 0.0" />
                  <geom name="RLEG_LINK5_vis_0" type="mesh" mesh="RLEG_LINK5" pos="0.0 0.0 -0.04" contype="0" conaffinity="0" group="2" />
                  <geom name="RLEG_LINK5_col_0" type="mesh" mesh="RLEG_LINK5" pos="0.0 0.0 -0.04" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="BODY" body2="CHEST_LINK0" />
    <exclude body1="CHEST_LINK0" body2="CHEST_LINK1" />
    <exclude body1="CHEST_LINK1" body2="CHEST_LINK2" />
    <exclude body1="CHEST_LINK2" body2="HEAD_LINK0" />
    <exclude body1="HEAD_LINK0" body2="HEAD_LINK1" />
    <exclude body1="HEAD_LINK1" body2="RANGE_LINK" />
    <exclude body1="CHEST_LINK2" body2="LARM_LINK0" />
    <exclude body1="LARM_LINK0" body2="LARM_LINK1" />
    <exclude body1="LARM_LINK1" body2="LARM_LINK2" />
    <exclude body1="LARM_LINK2" body2="LARM_LINK3" />
    <exclude body1="LARM_LINK3" body2="LARM_LINK4" />
    <exclude body1="LARM_LINK4" body2="LARM_LINK5" />
    <exclude body1="LARM_LINK5" body2="LARM_LINK6" />
    <exclude body1="LARM_LINK6" body2="LARM_LINK7" />
    <exclude body1="LARM_LINK7" body2="LARM_FINGER0" />
    <exclude body1="LARM_LINK7" body2="LARM_FINGER1" />
    <exclude body1="CHEST_LINK2" body2="RARM_LINK0" />
    <exclude body1="RARM_LINK0" body2="RARM_LINK1" />
    <exclude body1="RARM_LINK1" body2="RARM_LINK2" />
    <exclude body1="RARM_LINK2" body2="RARM_LINK3" />
    <exclude body1="RARM_LINK3" body2="RARM_LINK4" />
    <exclude body1="RARM_LINK4" body2="RARM_LINK5" />
    <exclude body1="RARM_LINK5" body2="RARM_LINK6" />
    <exclude body1="RARM_LINK6" body2="RARM_LINK7" />
    <exclude body1="RARM_LINK7" body2="RARM_FINGER0" />
    <exclude body1="RARM_LINK7" body2="RARM_FINGER1" />
    <exclude body1="BODY" body2="LLEG_LINK0" />
    <exclude body1="LLEG_LINK0" body2="LLEG_LINK1" />
    <exclude body1="LLEG_LINK1" body2="LLEG_LINK2" />
    <exclude body1="LLEG_LINK2" body2="LLEG_LINK3" />
    <exclude body1="LLEG_LINK3" body2="LLEG_LINK4" />
    <exclude body1="LLEG_LINK4" body2="LLEG_LINK5" />
    <exclude body1="BODY" body2="RLEG_LINK0" />
    <exclude body1="RLEG_LINK0" body2="RLEG_LINK1" />
    <exclude body1="RLEG_LINK1" body2="RLEG_LINK2" />
    <exclude body1="RLEG_LINK2" body2="RLEG_LINK3" />
    <exclude body1="RLEG_LINK3" body2="RLEG_LINK4" />
    <exclude body1="RLEG_LINK4" body2="RLEG_LINK5" />
  </contact>
</mujoco>
