<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content c6f90062464c1015 -->
<mujoco model="fr3">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_link0" file="franka_description/meshes/robots/fr3/visual/link0.dae" />
    <mesh name="collision_link0" file="franka_description/meshes/robots/fr3/collision/link0.stl" />
    <mesh name="visual_link1" file="franka_description/meshes/robots/fr3/visual/link1.dae" />
    <mesh name="collision_link1" file="franka_description/meshes/robots/fr3/collision/link1.stl" />
    <mesh name="visual_link2" file="franka_description/meshes/robots/fr3/visual/link2.dae" />
    <mesh name="collision_link2" file="franka_description/meshes/robots/fr3/collision/link2.stl" />
    <mesh name="visual_link3" file="franka_description/meshes/robots/fr3/visual/link3.dae" />
    <mesh name="collision_link3" file="franka_description/meshes/robots/fr3/collision/link3.stl" />
    <mesh name="visual_link4" file="franka_description/meshes/robots/fr3/visual/link4.dae" />
    <mesh name="collision_link4" file="franka_description/meshes/robots/fr3/collision/link4.stl" />
    <mesh name="visual_link5" file="franka_description/meshes/robots/fr3/visual/link5.dae" />
    <mesh name="collision_link5" file="franka_description/meshes/robots/fr3/collision/link5.stl" />
    <mesh name="visual_link6" file="franka_description/meshes/robots/fr3/visual/link6.dae" />
    <mesh name="collision_link6" file="franka_description/meshes/robots/fr3/collision/link6.stl" />
    <mesh name="visual_link7" file="franka_description/meshes/robots/fr3/visual/link7.dae" />
    <mesh name="collision_link7" file="franka_description/meshes/robots/fr3/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="fr3_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="fr3_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
        <geom name="fr3_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
        <body name="fr3_link0_accelerometer_top" pos="-0.017402 -0.007872 0.04715" quat="-3.673205103346574e-06 0.9999999999932537 0.0 -0.0" />
        <body name="fr3_link0_accelerometer_bottom" pos="-0.019739 0.0015506 0.05075" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" />
        <body name="fr3_link1" pos="0.0 0.0 0.333">
          <joint name="fr3_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.9007 2.9007" damping="0.003" frictionloss="0.2" />
          <inertial pos="4.128e-07 -0.0181251324 -0.038603597" mass="2.9274653454" fullinertia="0.023927316485107913 0.0224821613275756 0.006350098258530016 1.3317903455714081e-05 -0.00011404774918616684 -0.0019950320628240115" />
          <geom name="fr3_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
          <geom name="fr3_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
          <body name="fr3_link1_accelerometer_top" pos="0.017402 -0.093352 -0.00787" quat="-2.5973434669646147e-06 2.597353007557415e-06 -0.7071080798547033 0.707105482506466" />
          <body name="fr3_link1_accelerometer_bottom" pos="0.01974 -0.08975 0.00155" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516" />
          <body name="fr3_link2" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
            <joint name="fr3_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.8361 1.8361" damping="0.003" frictionloss="0.2" />
            <inertial pos="0.0031828864 -0.0743221644 0.0088146084" mass="2.9355370338" fullinertia="0.041938946257609425 0.02514514885014724 0.06170214472888839 0.00020257331521090626 0.004077784227179924 -0.0042252158006570156" />
            <geom name="fr3_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
            <geom name="fr3_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
            <body name="fr3_link2_accelerometer_top" pos="0.017403 -0.11715 0.00787" quat="-2.5973434669646147e-06 -2.597353007557415e-06 0.7071080798547033 0.707105482506466" />
            <body name="fr3_link2_accelerometer_bottom" pos="0.019737 -0.11875 -0.00155" quat="0.4999981633974483 0.49999999999662686 -0.49999999999662686 0.5000018366025516" />
            <body name="fr3_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
              <joint name="fr3_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.9007 2.9007" damping="0.003" frictionloss="0.2" />
              <inertial pos="0.0407015686 -0.0048200565 -0.0289730823" mass="2.2449013699" fullinertia="0.02410142547240885 0.01974053266708178 0.019044494482244823 0.002404694559042109 -0.002856269270114313 -0.002104212683891874" />
              <geom name="fr3_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
              <geom name="fr3_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
              <body name="fr3_link3_accelerometer_top" pos="0.065099 0.077352 -0.00787" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0" />
              <body name="fr3_link3_accelerometer_bottom" pos="0.062769 0.073756 0.00155" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" />
              <body name="fr3_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                <joint name="fr3_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.077 -0.1169" damping="0.003" frictionloss="0.2" />
                <inertial pos="-0.0459100965 0.063049296 -0.0085187868" mass="2.6155955791" fullinertia="0.03452998321913202 0.028881621933049058 0.04125471171146641 0.01322552265982813 0.01015142998484113 -0.0009762833870704552" />
                <geom name="fr3_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
                <geom name="fr3_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
                <body name="fr3_link4_accelerometer_top" pos="-0.0651 0.046252 -0.00787" quat="-2.5973434669646147e-06 2.597353007557415e-06 0.7071080798547033 -0.707105482506466" />
                <body name="fr3_link4_accelerometer_bottom" pos="-0.062775 0.049753 0.00155" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516" />
                <body name="fr3_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865474 -0.7071067811865477 0.0 0.0">
                  <joint name="fr3_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.8763 2.8763" damping="0.003" frictionloss="0.2" />
                  <inertial pos="-0.0016039605 0.0292536262 -0.097296599" mass="2.3271207594" fullinertia="0.051610278463662895 0.04787729713371481 0.016423625579357254 -0.005715173387783472 -0.0035673167625872135 0.010673985108535986" />
                  <geom name="fr3_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                  <geom name="fr3_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                  <body name="fr3_link5_accelerometer_top" pos="-0.017363 0.085872 -0.00795" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0" />
                  <body name="fr3_link5_accelerometer_bottom" pos="-0.019742 0.082275 0.00146" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516" />
                  <body name="fr3_link6" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                    <joint name="fr3_joint6" type="hinge" axis="0.0 0.0 1.0" range="0.4398 4.6216" damping="0.003" frictionloss="0.2" />
                    <inertial pos="0.0597131221 -0.0410294666 -0.0101692726" mass="1.8170376524" fullinertia="0.005412333594383447 0.014058329545509979 0.016080817924212554 0.006193456360285834 0.0014219289306117652 -0.0013140753741120031" />
                    <geom name="fr3_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                    <geom name="fr3_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                    <body name="fr3_link7" pos="0.088 0.0 0.0" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                      <joint name="fr3_joint7" type="hinge" axis="0.0 0.0 1.0" range="-3.0508 3.0508" damping="0.003" frictionloss="0.2" />
                      <inertial pos="0.0045225817 0.0086261921 -0.0161633251" mass="0.6271432862" fullinertia="0.00021092389150104718 0.00017718568002411474 5.993190599659971e-05 -2.433299114461931e-05 4.564480393778983e-05 8.744070223226438e-05" />
                      <geom name="fr3_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                      <geom name="fr3_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                      <body name="fr3_link8" pos="0.0 0.0 0.107">
                        <body name="fr3_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="fr3_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
                          <geom name="fr3_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
                          <body name="fr3_hand_tcp" pos="0.0 0.0 0.1034" />
                          <body name="fr3_leftfinger" pos="0.0 0.0 0.0584">
                            <joint name="fr3_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="fr3_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
                            <geom name="fr3_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
                            <geom name="fr3_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
                            <geom name="fr3_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="fr3_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
                          </body>
                          <body name="fr3_rightfinger" pos="0.0 0.0 0.0584" quat="6.123233995736766e-17 0.0 0.0 1.0">
                            <joint name="fr3_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="fr3_rightfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
                            <geom name="fr3_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
                            <geom name="fr3_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
                            <geom name="fr3_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="fr3_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="fr3_link0" />
    <exclude body1="fr3_link0" body2="fr3_link0_accelerometer_top" />
    <exclude body1="fr3_link0" body2="fr3_link0_accelerometer_bottom" />
    <exclude body1="fr3_link1" body2="fr3_link1_accelerometer_top" />
    <exclude body1="fr3_link1" body2="fr3_link1_accelerometer_bottom" />
    <exclude body1="fr3_link0" body2="fr3_link1" />
    <exclude body1="fr3_link2" body2="fr3_link2_accelerometer_top" />
    <exclude body1="fr3_link2" body2="fr3_link2_accelerometer_bottom" />
    <exclude body1="fr3_link1" body2="fr3_link2" />
    <exclude body1="fr3_link3" body2="fr3_link3_accelerometer_top" />
    <exclude body1="fr3_link3" body2="fr3_link3_accelerometer_bottom" />
    <exclude body1="fr3_link2" body2="fr3_link3" />
    <exclude body1="fr3_link4" body2="fr3_link4_accelerometer_top" />
    <exclude body1="fr3_link4" body2="fr3_link4_accelerometer_bottom" />
    <exclude body1="fr3_link3" body2="fr3_link4" />
    <exclude body1="fr3_link5" body2="fr3_link5_accelerometer_top" />
    <exclude body1="fr3_link5" body2="fr3_link5_accelerometer_bottom" />
    <exclude body1="fr3_link4" body2="fr3_link5" />
    <exclude body1="fr3_link5" body2="fr3_link6" />
    <exclude body1="fr3_link6" body2="fr3_link7" />
    <exclude body1="fr3_link7" body2="fr3_link8" />
    <exclude body1="fr3_link8" body2="fr3_hand" />
    <exclude body1="fr3_hand" body2="fr3_hand_tcp" />
    <exclude body1="fr3_hand" body2="fr3_leftfinger" />
    <exclude body1="fr3_hand" body2="fr3_rightfinger" />
  </contact>
</mujoco>
