<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content eed3119bdaa8c22c -->
<mujoco model="fer">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_link0" file="franka_description/meshes/robots/fer/visual/link0.dae" />
    <mesh name="collision_link0" file="franka_description/meshes/robots/fer/collision/link0.stl" />
    <mesh name="visual_link1" file="franka_description/meshes/robots/fer/visual/link1.dae" />
    <mesh name="collision_link1" file="franka_description/meshes/robots/fer/collision/link1.stl" />
    <mesh name="visual_link2" file="franka_description/meshes/robots/fer/visual/link2.dae" />
    <mesh name="collision_link2" file="franka_description/meshes/robots/fer/collision/link2.stl" />
    <mesh name="visual_link3" file="franka_description/meshes/robots/fer/visual/link3.dae" />
    <mesh name="collision_link3" file="franka_description/meshes/robots/fer/collision/link3.stl" />
    <mesh name="visual_link4" file="franka_description/meshes/robots/fer/visual/link4.dae" />
    <mesh name="collision_link4" file="franka_description/meshes/robots/fer/collision/link4.stl" />
    <mesh name="visual_link5" file="franka_description/meshes/robots/fer/visual/link5.dae" />
    <mesh name="collision_link5" file="franka_description/meshes/robots/fer/collision/link5.stl" />
    <mesh name="visual_link6" file="franka_description/meshes/robots/fer/visual/link6.dae" />
    <mesh name="collision_link6" file="franka_description/meshes/robots/fer/collision/link6.stl" />
    <mesh name="visual_link7" file="franka_description/meshes/robots/fer/visual/link7.dae" />
    <mesh name="collision_link7" file="franka_description/meshes/robots/fer/collision/link7.stl" />
    <mesh name="visual_hand" file="franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae" />
    <mesh name="collision_hand" file="franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl" />
    <mesh name="finger" file="franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
  </asset>
  <worldbody>
    <body name="base">
      <body name="fer_link0">
        <inertial pos="-0.0172 0.0004 0.0745" mass="2.3966" fullinertia="0.009 0.0115 0.0085 0.0 0.002 0.0" />
        <geom name="fer_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
        <geom name="fer_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
        <body name="fer_link1" pos="0.0 0.0 0.333">
          <joint name="fer_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
          <inertial pos="0.00033 -0.02204 -0.04762" mass="2.7907" fullinertia="0.01564782655 0.01439883526 0.00500443991 5.31236e-06 -3.676721e-05 -0.00248480843" />
          <geom name="fer_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
          <geom name="fer_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
          <body name="fer_link2" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
            <joint name="fer_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.7628 1.7628" damping="0.003" frictionloss="0.2" />
            <inertial pos="0.00038 -0.09211 0.01908" mass="2.542" fullinertia="0.01662427728 0.00462501261 0.01545124526 3.086077e-05 8.3594e-06 0.0035589983" />
            <geom name="fer_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
            <geom name="fer_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
            <body name="fer_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
              <joint name="fer_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
              <inertial pos="0.05152 0.01696 -0.02971" mass="2.2513" fullinertia="0.00631741992 0.00866285493 0.00657804051 0.00097309955 0.00292525834 0.00093469224" />
              <geom name="fer_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
              <geom name="fer_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
              <body name="fer_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                <joint name="fer_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.0718 -0.0698" damping="0.003" frictionloss="0.2" />
                <inertial pos="-0.05113 0.05825 0.01698" mass="2.2037" fullinertia="0.00784585566 0.00649543136 0.01003079917 -0.00339591957 0.00158704074 -0.00181477884" />
                <geom name="fer_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
                <geom name="fer_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
                <body name="fer_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
                  <joint name="fer_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
                  <inertial pos="-5e-05 0.0373 -0.0928" mass="2.2855" fullinertia="0.02297014781 0.02095060919 0.00430606551 -9.49345e-06 -2.063156e-05 0.00382345782" />
                  <geom name="fer_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                  <geom name="fer_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                  <body name="fer_link6" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                    <joint name="fer_joint6" type="hinge" axis="0.0 0.0 1.0" range="-0.0175 3.7525" damping="0.003" frictionloss="0.2" />
                    <inertial pos="0.06572 -0.00371 0.00153" mass="1.353" fullinertia="0.00087964522 0.00277796968 0.00286701969 -0.00021487814 -0.00011911662 1.274322e-05" />
                    <geom name="fer_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                    <geom name="fer_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                    <body name="fer_link7" pos="0.088 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                      <joint name="fer_joint7" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" frictionloss="0.2" />
                      <inertial pos="0.00089 -0.00044 0.05491" mass="0.35973" fullinertia="0.00019541063 0.00019210361 0.00017936256 1.65231e-06 1.48826e-06 -1.31132e-06" />
                      <geom name="fer_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                      <geom name="fer_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                      <body name="fer_link8" pos="0.0 0.0 0.107">
                        <body name="fer_hand" quat="0.9238795325112867 0.0 0.0 -0.3826834323650898">
                          <inertial pos="-3.76e-05 0.0119128 0.020726" mass="0.6544" fullinertia="0.00186 0.0003 0.00174 0.0 0.0 -2e-05" />
                          <geom name="fer_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
                          <geom name="fer_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
                          <body name="fer_hand_tcp" pos="0.0 0.0 0.1034" />
                          <body name="fer_leftfinger" pos="0.0 0.0 0.0584">
                            <joint name="fer_finger_joint1" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
                            <inertial pos="0.0 0.015285 0.0219675" mass="0.0291" fullinertia="8.49e-06 8.53e-06 1.77e-06 0.0 0.0 -1.06e-06" />
                            <geom name="fer_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
                            <geom name="fer_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
                            <geom name="fer_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
                            <geom name="fer_leftfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="0.9659258262890683 0.25881904510252074 0.0 0.0" group="3" />
                            <geom name="fer_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
                          </body>
                          <body name="fer_rightfinger" pos="0.0 0.0 0.0584" quat="6.123233995736766e-17 0.0 0.0 1.0">
                            <joint name="fer_finger_joint2" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
                            <inertial pos="0.0 0.015285 0.0219675" mass="0.0291" fullinertia="8.49e-06 8.53e-06 1.77e-06 0.0 0.0 -1.06e-06" />
                            <geom name="fer_rightfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
                            <geom name="fer_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
                            <geom name="fer_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
                            <geom name="fer_rightfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="5.914589856893349e-17 -1.5848095757158825e-17 -0.25881904510252074 0.9659258262890683" group="3" />
                            <geom name="fer_rightfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="fer_link0" />
    <exclude body1="fer_link0" body2="fer_link1" />
    <exclude body1="fer_link1" body2="fer_link2" />
    <exclude body1="fer_link2" body2="fer_link3" />
    <exclude body1="fer_link3" body2="fer_link4" />
    <exclude body1="fer_link4" body2="fer_link5" />
    <exclude body1="fer_link5" body2="fer_link6" />
    <exclude body1="fer_link6" body2="fer_link7" />
    <exclude body1="fer_link7" body2="fer_link8" />
    <exclude body1="fer_link8" body2="fer_hand" />
    <exclude body1="fer_hand" body2="fer_hand_tcp" />
    <exclude body1="fer_hand" body2="fer_leftfinger" />
    <exclude body1="fer_hand" body2="fer_rightfinger" />
  </contact>
</mujoco>
