<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 19ac5c10dfea34d6 -->
<mujoco model="fingeredu">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="fingeredu_material" rgba="0.6 0.6 0.6 1.0" />
    <mesh name="base_back" file="example-robot-data/robots/finger_edu_description/meshes/base_back.stl" />
    <mesh name="base_front" file="example-robot-data/robots/finger_edu_description/meshes/base_front.stl" />
    <mesh name="base_side_left" file="example-robot-data/robots/finger_edu_description/meshes/base_side_left.stl" />
    <mesh name="base_top" file="example-robot-data/robots/finger_edu_description/meshes/base_top.stl" />
    <mesh name="upper_link" file="example-robot-data/robots/finger_edu_description/meshes/upper_link.stl" />
    <mesh name="middle_link" file="example-robot-data/robots/finger_edu_description/meshes/middle_link.stl" />
    <mesh name="lower_link" file="example-robot-data/robots/finger_edu_description/meshes/lower_link.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="4.16666666667e-06 4.16666666667e-06 4.16666666667e-06 0.0 0.0 0.0" />
      <body name="finger_base_link" pos="0.0 0.0 0.283">
        <inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
        <geom name="finger_base_link_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
        <geom name="finger_base_link_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
        <geom name="finger_base_link_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
        <geom name="finger_base_link_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
        <geom name="finger_base_link_col_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" group="3" />
        <geom name="finger_base_link_col_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" group="3" />
        <geom name="finger_base_link_col_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" group="3" />
        <geom name="finger_base_link_col_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" group="3" />
        <body name="finger_upper_link">
          <joint name="finger_base_to_upper_joint" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
          <inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
          <geom name="finger_upper_link_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
          <geom name="finger_upper_link_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
          <body name="finger_middle_link" pos="0.0 -0.014 0.0">
            <joint name="finger_upper_to_middle_joint" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
            <inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
            <geom name="finger_middle_link_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
            <geom name="finger_middle_link_col_0" type="mesh" mesh="middle_link" group="3" />
            <body name="finger_lower_link" pos="0.0 -0.03745 -0.16">
              <joint name="finger_middle_to_lower_joint" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
              <inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
              <geom name="finger_lower_link_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_material" />
              <geom name="finger_lower_link_col_0" type="mesh" mesh="lower_link" group="3" />
              <body name="finger_tip_link" pos="0.0 -0.008 -0.16">
                <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="finger_lower_link" body2="finger_tip_link" />
    <exclude body1="finger_base_link" body2="finger_upper_link" />
    <exclude body1="finger_upper_link" body2="finger_middle_link" />
    <exclude body1="finger_middle_link" body2="finger_lower_link" />
    <exclude body1="base_link" body2="finger_base_link" />
  </contact>
</mujoco>
