<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 763e8dddb5b7d42d -->
<mujoco model="cell">
  <compiler angle="radian" autolimits="true" inertiafromgeom="false" balanceinertia="false" />
  <worldbody>
    <body name="left_base" pos="-0.2 0.0 0.0">
      <body name="left_upper">
        <joint name="left_shoulder" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.5" damping="0.001" frictionloss="0.01" />
        <inertial pos="0.0 0.0 0.15" mass="0.5" fullinertia="0.0038166666666666666 0.0038166666666666666 0.00013333333333333334 0.0 0.0 0.0" />
        <geom name="left_upper_vis_0" type="box" size="0.02 0.02 0.15" pos="0.0 0.0 0.15" contype="0" conaffinity="0" group="2" />
        <body name="left_fore" pos="0.0 0.0 0.3">
          <joint name="left_elbow" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.5" damping="0.001" frictionloss="0.01" />
          <inertial pos="0.0 0.0 0.125" mass="0.5" fullinertia="0.0026708333333333332 0.0026708333333333332 0.00013333333333333334 0.0 0.0 0.0" />
          <geom name="left_fore_vis_0" type="box" size="0.02 0.02 0.125" pos="0.0 0.0 0.125" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
    </body>
    <body name="right_base" pos="0.2 0.0 0.0">
      <body name="right_upper">
        <joint name="right_shoulder" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.5" damping="0.001" frictionloss="0.01" />
        <inertial pos="0.0 0.0 0.15" mass="0.5" fullinertia="0.0038166666666666666 0.0038166666666666666 0.00013333333333333334 0.0 0.0 0.0" />
        <geom name="right_upper_vis_0" type="box" size="0.02 0.02 0.15" pos="0.0 0.0 0.15" contype="0" conaffinity="0" group="2" />
        <body name="right_fore" pos="0.0 0.0 0.3">
          <joint name="right_elbow" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.5" damping="0.001" frictionloss="0.01" />
          <inertial pos="0.0 0.0 0.125" mass="0.5" fullinertia="0.0026708333333333332 0.0026708333333333332 0.00013333333333333334 0.0 0.0 0.0" />
          <geom name="right_fore_vis_0" type="box" size="0.02 0.02 0.125" pos="0.0 0.0 0.125" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="left_base" body2="left_upper" />
    <exclude body1="left_upper" body2="left_fore" />
    <exclude body1="right_base" body2="right_upper" />
    <exclude body1="right_upper" body2="right_fore" />
  </contact>
</mujoco>
