<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 9ee7ef5738ea7676 -->
<mujoco model="poppy_ergo_jr">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base" file="poppy_ergo_jr_description/meshes/base.dae" />
    <mesh name="long_U" file="poppy_ergo_jr_description/meshes/long_U.dae" />
    <mesh name="section_1" file="poppy_ergo_jr_description/meshes/section_1.dae" />
    <mesh name="section_2" file="poppy_ergo_jr_description/meshes/section_2.dae" />
    <mesh name="section_3" file="poppy_ergo_jr_description/meshes/section_3.dae" />
    <mesh name="lamp" file="poppy_ergo_jr_description/meshes/lamp.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="cylinder" size="0.08 0.015" pos="0.0 0.038 0.015" group="3" />
      <body name="long_U" pos="0.0 0.0 0.0327993216120967">
        <joint name="m1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
        <geom name="long_U_vis_0" type="mesh" mesh="long_U" contype="0" conaffinity="0" group="2" />
        <geom name="long_U_col_0" type="cylinder" size="0.02 0.01" pos="0.0 0.0 0.01" group="3" />
        <body name="section_1" pos="0.0 0.0 0.0240006783879033" quat="0.7071067811865462 0.0 -0.7071067811865488 0.0">
          <joint name="m2" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
          <geom name="section_1_vis_0" type="mesh" mesh="section_1" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="section_1_col_0" type="cylinder" size="0.02 0.025" pos="0.025 0.0 0.0" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
          <body name="section_2" pos="0.054 0.0 0.0">
            <joint name="m3" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
            <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
            <geom name="section_2_vis_0" type="mesh" mesh="section_2" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" contype="0" conaffinity="0" group="2" />
            <geom name="section_2_col_0" type="cylinder" size="0.02 0.025" pos="0.025 0.0 0.0" quat="0.7071067811865462 0.0 0.7071067811865488 0.0" group="3" />
            <body name="section_3" pos="0.045 0.0 0.0" quat="0.7071067811865462 0.0 -0.7071067811865488 0.0">
              <joint name="m4" type="hinge" axis="0.0 0.0 -1.0" limited="false" />
              <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
              <geom name="section_3_vis_0" type="mesh" mesh="section_3" quat="-1.3205103393917129e-08 -0.0 0.9999999999999999 -0.0" contype="0" conaffinity="0" group="2" />
              <geom name="section_3_col_0" type="cylinder" size="0.02 0.025" pos="0.0 -0.025 0.0" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
              <body name="section_4" pos="0.0 -0.048 0.0" quat="0.7071067811865462 0.0 -0.7071067811865488 0.0">
                <joint name="m5" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
                <geom name="section_4_vis_0" type="mesh" mesh="section_1" quat="0.49999999999999817 0.5000000000000018 -0.5 0.5" contype="0" conaffinity="0" group="2" />
                <geom name="section_4_col_0" type="cylinder" size="0.02 0.03" pos="0.0 -0.035 0.0" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
                <body name="section_5" pos="0.0 -0.054 0.0">
                  <joint name="m6" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                  <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.03 0.03 0.03 0.0 0.0 0.0" />
                  <geom name="section_5_vis_0" type="mesh" mesh="lamp" quat="0.7071067811865462 0.0 0.0 0.7071067811865488" contype="0" conaffinity="0" group="2" />
                  <geom name="section_5_col_0" type="cylinder" size="0.03 0.03" pos="0.0 -0.045 0.0" quat="0.7071067811865462 0.7071067811865488 0.0 0.0" group="3" />
                  <body name="fixed_tip" pos="0.0 -0.075 0.0" quat="0.7071067811865462 -0.7071067811865488 0.0 0.0" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="long_U" />
    <exclude body1="long_U" body2="section_1" />
    <exclude body1="section_1" body2="section_2" />
    <exclude body1="section_2" body2="section_3" />
    <exclude body1="section_3" body2="section_4" />
    <exclude body1="section_5" body2="fixed_tip" />
    <exclude body1="section_4" body2="section_5" />
  </contact>
</mujoco>
