<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 99e5057d08aee419 -->
<mujoco model="aero_hand_open_left">
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    <mesh name="left_thumb_distal_link" file="aero_hand_open_description/meshes/left_thumb_distal_link.STL" />
    <mesh name="left_thumb_tip_link" file="aero_hand_open_description/meshes/left_thumb_tip_link.STL" />
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    <mesh name="left_index_tip_link" file="aero_hand_open_description/meshes/left_index_tip_link.STL" />
    <mesh name="left_middle_proximal_link" file="aero_hand_open_description/meshes/left_middle_proximal_link.STL" />
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    <mesh name="left_ring_distal_link" file="aero_hand_open_description/meshes/left_ring_distal_link.STL" />
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          <joint name="left_pinky_pip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
          <inertial pos="7.303305183e-09 -0.0003632684908 0.008760785402" mass="0.00276150617991104" fullinertia="1.8041714659999975e-07 1.9897259220000025e-07 8.933530525e-08 -2.773632762289796e-13 -2.37466004536799e-13 -7.655983182999902e-09" />
          <geom name="left_pinky_middle_link_vis_0" type="mesh" mesh="left_pinky_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
          <geom name="left_pinky_middle_link_col_0" type="mesh" mesh="left_pinky_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
          <body name="left_pinky_distal_link" pos="0.0 0.0 0.022" quat="1.0 0.0 -0.0 -2.0510348975e-10">
            <joint name="left_pinky_dip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
            <inertial pos="-4.31454935e-07 -0.001202023464 0.007772634994" mass="0.00183662951045839" fullinertia="1.0824179329999751e-07 1.0024569470000249e-07 3.572061851e-08 -3.0266797120544752e-12 -1.2655469561837354e-13 1.8588625460000054e-08" />
            <geom name="left_pinky_distal_link_vis_0" type="mesh" mesh="left_pinky_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
            <geom name="left_pinky_distal_link_col_0" type="mesh" mesh="left_pinky_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
            <body name="left_pinky_tip_link" pos="-4.300959559e-19 0.003512 0.026776" quat="1.0 0.0 -0.0 -2.0510348975e-10">
              <inertial pos="-2.460970051e-08 -0.007053360457 -0.01244365032" mass="0.000390294871676775" fullinertia="1.2526964209999463e-08 1.4482165610000538e-08 8.29712913e-09 -6.555261803629788e-13 1.6300557515933824e-13 2.010837517999933e-09" />
              <geom name="left_pinky_tip_link_vis_0" type="mesh" mesh="left_pinky_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
              <geom name="left_pinky_tip_link_col_0" type="mesh" mesh="left_pinky_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="left_base_link" body2="left_t_link" />
    <exclude body1="left_t_link" body2="left_thumb_mcp_link" />
    <exclude body1="left_thumb_mcp_link" body2="left_thumb_proximal_link" />
    <exclude body1="left_thumb_proximal_link" body2="left_thumb_distal_link" />
    <exclude body1="left_thumb_distal_link" body2="left_thumb_tip_link" />
    <exclude body1="left_base_link" body2="left_index_proximal_link" />
    <exclude body1="left_index_proximal_link" body2="left_index_middle_link" />
    <exclude body1="left_index_middle_link" body2="left_index_distal_link" />
    <exclude body1="left_index_distal_link" body2="left_index_tip_link" />
    <exclude body1="left_base_link" body2="left_middle_proximal_link" />
    <exclude body1="left_middle_proximal_link" body2="left_middle_middle_link" />
    <exclude body1="left_middle_middle_link" body2="left_middle_distal_link" />
    <exclude body1="left_middle_distal_link" body2="left_middle_tip_link" />
    <exclude body1="left_base_link" body2="left_ring_proximal_link" />
    <exclude body1="left_ring_proximal_link" body2="left_ring_middle_link" />
    <exclude body1="left_ring_middle_link" body2="left_ring_distal_link" />
    <exclude body1="left_ring_distal_link" body2="left_ring_tip_link" />
    <exclude body1="left_base_link" body2="left_pinky_proximal_link" />
    <exclude body1="left_pinky_proximal_link" body2="left_pinky_middle_link" />
    <exclude body1="left_pinky_middle_link" body2="left_pinky_distal_link" />
    <exclude body1="left_pinky_distal_link" body2="left_pinky_tip_link" />
  </contact>
</mujoco>
