<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 0af7ee7209c839bd -->
<mujoco model="allegro_hand_left">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.2 0.2 0.2 1.0" />
    <material name="white" rgba="0.9 0.9 0.9 1.0" />
    <mesh name="base_link_left" file="drake/manipulation/models/allegro_hand_description/meshes/base_link_left.obj" />
    <mesh name="link_0.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_0.0.obj" />
    <mesh name="link_1.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_1.0.obj" />
    <mesh name="link_2.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_2.0.obj" />
    <mesh name="link_3.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_3.0.obj" />
    <mesh name="link_3.0_tip" file="drake/manipulation/models/allegro_hand_description/meshes/link_3.0_tip.obj" />
    <mesh name="link_12.0_left" file="drake/manipulation/models/allegro_hand_description/meshes/link_12.0_left.obj" />
    <mesh name="link_13.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_13.0.obj" />
    <mesh name="link_14.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_14.0.obj" />
    <mesh name="link_15.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_15.0.obj" />
    <mesh name="link_15.0_tip" file="drake/manipulation/models/allegro_hand_description/meshes/link_15.0_tip.obj" />
  </asset>
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                <inertial pos="0.0 0.0 0.0" mass="0.0096" fullinertia="2.13975e-06 1.52036e-06 1.20271e-06 1.59554e-09 -7.47528e-09 -9.89336e-09" />
                <geom name="link_11_vis_0" type="mesh" mesh="link_3.0" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="link_11_col_0" type="box" size="0.0098 0.01375 0.01335" pos="0.0 0.0 0.01335" group="3" />
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                  <inertial pos="0.0 0.0 0.0" mass="0.0168" fullinertia="1.19599e-05 1.19598e-05 1.10345e-06 0.0 0.0 0.0" />
                  <geom name="link_11_tip_vis_0" type="mesh" mesh="link_3.0_tip" contype="0" conaffinity="0" group="2" material="white" />
                  <geom name="link_11_tip_col_0" type="sphere" size="0.012" group="3" />
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              </body>
            </body>
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        <body name="link_0" pos="0.0 -0.0435 -0.001542" quat="0.999048221582942 0.04361938734050142 0.0 0.0">
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          <inertial pos="0.0 0.0 0.0" mass="0.0119" fullinertia="1.95377e-06 1.17908e-06 1.49673e-06 3.03372e-09 8.92323e-08 -3.7069e-08" />
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  </worldbody>
  <contact>
    <exclude body1="hand_root" body2="palm_link" />
    <exclude body1="palm_link" body2="link_8" />
    <exclude body1="link_8" body2="link_9" />
    <exclude body1="link_9" body2="link_10" />
    <exclude body1="link_10" body2="link_11" />
    <exclude body1="link_11" body2="link_11_tip" />
    <exclude body1="palm_link" body2="link_4" />
    <exclude body1="link_4" body2="link_5" />
    <exclude body1="link_5" body2="link_6" />
    <exclude body1="link_6" body2="link_7" />
    <exclude body1="link_7" body2="link_7_tip" />
    <exclude body1="palm_link" body2="link_0" />
    <exclude body1="link_0" body2="link_1" />
    <exclude body1="link_1" body2="link_2" />
    <exclude body1="link_2" body2="link_3" />
    <exclude body1="link_3" body2="link_3_tip" />
    <exclude body1="palm_link" body2="link_12" />
    <exclude body1="link_12" body2="link_13" />
    <exclude body1="link_13" body2="link_14" />
    <exclude body1="link_14" body2="link_15" />
    <exclude body1="link_15" body2="link_15_tip" />
  </contact>
</mujoco>
