<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c0df934fd4080e63 -->
<mujoco model="yam_v0">
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  <asset>
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    <material name="link_1_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_2_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_3_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_4_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_5_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <material name="link_6_parts_material" rgba="1.0 0.6 0.0 1.0" />
    <mesh name="base_link_visual" file="assets/base_link_visual.stl" />
    <mesh name="base_link_collision" file="assets/base_link_collision.stl" />
    <mesh name="link_1_visual" file="assets/link_1_visual.stl" />
    <mesh name="link_1_collision" file="assets/link_1_collision.stl" />
    <mesh name="link_2_visual" file="assets/link_2_visual.stl" />
    <mesh name="link_2_collision" file="assets/link_2_collision.stl" />
    <mesh name="link_3_visual" file="assets/link_3_visual.stl" />
    <mesh name="link_3_collision" file="assets/link_3_collision.stl" />
    <mesh name="link_4_visual" file="assets/link_4_visual.stl" />
    <mesh name="link_4_collision" file="assets/link_4_collision.stl" />
    <mesh name="link_5_visual" file="assets/link_5_visual.stl" />
    <mesh name="link_5_collision" file="assets/link_5_collision.stl" />
    <mesh name="link_6_visual" file="assets/link_6_visual.stl" />
    <mesh name="link_6_collision" file="assets/link_6_collision.stl" />
  </asset>
  <worldbody>
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              </body>
            </body>
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        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link_5" body2="link_6" />
    <exclude body1="link_4" body2="link_5" />
    <exclude body1="link_3" body2="link_4" />
    <exclude body1="link_2" body2="link_3" />
    <exclude body1="link_1" body2="link_2" />
    <exclude body1="base_link" body2="link_1" />
  </contact>
</mujoco>
