<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content f5b477b09e1511e0 -->
<mujoco model="2dof_planar">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
    <mesh name="link1" file="example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
    <mesh name="link2" file="example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0030299 2.6279e-13 0.02912" mass="0.10159" fullinertia="2.636e-05 1.8042e-05 1.8795e-05 -1.007e-16 -2.3835e-06 -4.6617e-09" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
      <body name="link1" pos="0.0060872 0.0 0.035">
        <joint name="joint1" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" damping="0.05" />
        <inertial pos="0.0086107 2.1727e-06 0.036012" mass="0.26703" fullinertia="0.00040827 0.00038791 3.6421e-05 1.2675e-09 1.8738e-05 3.5443e-08" />
        <geom name="link1_vis_0" type="mesh" mesh="link1" contype="0" conaffinity="0" group="2" />
        <geom name="link1_col_0" type="mesh" mesh="link1" group="3" />
        <body name="link2" pos="0.023 0.0 0.1">
          <joint name="joint2" type="hinge" axis="1.0 0.0 0.0" range="0.0 0.0" damping="0.05" />
          <inertial pos="-0.0050107 1.9371e-10 0.10088" mass="0.33238" fullinertia="0.0011753 0.0011666 1.4553e-05 -3.854e-13 -2.9304e-08 -5.2365e-12" />
          <geom name="link2_vis_0" type="mesh" mesh="link2" contype="0" conaffinity="0" group="2" />
          <geom name="link2_col_0" type="mesh" mesh="link2" group="3" />
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link1" />
    <exclude body1="link1" body2="link2" />
  </contact>
</mujoco>
