<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3294c4ddf353866c -->
<mujoco model="so101_new_calib">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
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    <material name="sts3215" rgba="0.1 0.1 0.1 1.0" />
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    <mesh name="base_so101_v2" file="assets/base_so101_v2.stl" />
    <mesh name="sts3215_03a_v1" file="assets/sts3215_03a_v1.stl" />
    <mesh name="waveshare_mounting_plate_so101_v2" file="assets/waveshare_mounting_plate_so101_v2.stl" />
    <mesh name="motor_holder_so101_base_v1" file="assets/motor_holder_so101_base_v1.stl" />
    <mesh name="rotation_pitch_so101_v1" file="assets/rotation_pitch_so101_v1.stl" />
    <mesh name="upper_arm_so101_v1" file="assets/upper_arm_so101_v1.stl" />
    <mesh name="under_arm_so101_v1" file="assets/under_arm_so101_v1.stl" />
    <mesh name="motor_holder_so101_wrist_v1" file="assets/motor_holder_so101_wrist_v1.stl" />
    <mesh name="sts3215_03a_no_horn_v1" file="assets/sts3215_03a_no_horn_v1.stl" />
    <mesh name="wrist_roll_pitch_so101_v2" file="assets/wrist_roll_pitch_so101_v2.stl" />
    <mesh name="wrist_roll_follower_so101_v1" file="assets/wrist_roll_follower_so101_v1.stl" />
    <mesh name="moving_jaw_so101_v1" file="assets/moving_jaw_so101_v1.stl" />
  </asset>
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  <contact>
    <exclude body1="gripper" body2="jaw" />
    <exclude body1="wrist" body2="gripper" />
    <exclude body1="lower_arm" body2="wrist" />
    <exclude body1="upper_arm" body2="lower_arm" />
    <exclude body1="shoulder" body2="upper_arm" />
    <exclude body1="base" body2="shoulder" />
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</mujoco>
