<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 763e8dddb5b7d42d -->
<robot name="cell">
  <link name="world" />
  <link name="left_base" />
  <link name="left_upper">
    <visual>
      <origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.3" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.15" />
      <mass value="0.5" />
      <inertia ixx="0.0038166666666666666" ixy="0.0" ixz="0.0" iyy="0.0038166666666666666" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <link name="left_fore">
    <visual>
      <origin xyz="0.0 0.0 0.125" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.25" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.125" />
      <mass value="0.5" />
      <inertia ixx="0.0026708333333333332" ixy="0.0" ixz="0.0" iyy="0.0026708333333333332" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <joint name="left_shoulder" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="left_base" />
    <child link="left_upper" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5" upper="1.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="left_elbow" type="revolute">
    <origin xyz="0.0 0.0 0.3" rpy="0.0 0.0 0.0" />
    <parent link="left_upper" />
    <child link="left_fore" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="2.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="left_mount" type="fixed">
    <origin xyz="-0.2 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="left_base" />
  </joint>
  <link name="right_base" />
  <link name="right_upper">
    <visual>
      <origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.3" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.15" />
      <mass value="0.5" />
      <inertia ixx="0.0038166666666666666" ixy="0.0" ixz="0.0" iyy="0.0038166666666666666" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <link name="right_fore">
    <visual>
      <origin xyz="0.0 0.0 0.125" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.04 0.25" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.125" />
      <mass value="0.5" />
      <inertia ixx="0.0026708333333333332" ixy="0.0" ixz="0.0" iyy="0.0026708333333333332" iyz="0.0" izz="0.00013333333333333334" />
    </inertial>
  </link>
  <joint name="right_shoulder" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="right_base" />
    <child link="right_upper" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="-1.5" upper="1.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="right_elbow" type="revolute">
    <origin xyz="0.0 0.0 0.3" rpy="0.0 0.0 0.0" />
    <parent link="right_upper" />
    <child link="right_fore" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="10.0" lower="0.0" upper="2.5" />
    <dynamics damping="0.001" friction="0.01" />
  </joint>
  <joint name="right_mount" type="fixed">
    <origin xyz="0.2 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="right_base" />
  </joint>
</robot>
