<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 6549193343924259 -->
<mujoco model="kinova">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.0 0.0 0.0 1.0" />
    <material name="blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="green" rgba="0.0 0.8 0.0 1.0" />
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <material name="light_grey" rgba="0.4 0.4 0.4 1.0" />
    <material name="orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
    <material name="brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
    <material name="red" rgba="0.8 0.0 0.0 1.0" />
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <material name="carbon_fiber" rgba="0.3 0.3 0.3 1.0" />
    <mesh name="base" file="example-robot-data/robots/kinova_description/meshes/base.dae" />
    <mesh name="shoulder" file="example-robot-data/robots/kinova_description/meshes/shoulder.dae" />
    <mesh name="ring_big" file="example-robot-data/robots/kinova_description/meshes/ring_big.dae" />
    <mesh name="arm" file="example-robot-data/robots/kinova_description/meshes/arm.dae" />
    <mesh name="forearm" file="example-robot-data/robots/kinova_description/meshes/forearm.dae" />
    <mesh name="wrist_spherical_1" file="example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae" />
    <mesh name="ring_small" file="example-robot-data/robots/kinova_description/meshes/ring_small.dae" />
    <mesh name="wrist_spherical_2" file="example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae" />
    <mesh name="hand_2finger" file="example-robot-data/robots/kinova_description/meshes/hand_2finger.dae" />
    <mesh name="finger_proximal" file="example-robot-data/robots/kinova_description/meshes/finger_proximal.dae" />
    <mesh name="finger_distal" file="example-robot-data/robots/kinova_description/meshes/finger_distal.dae" />
  </asset>
  <worldbody>
    <body name="base">
      <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
      <body name="j2s6s200_link_base" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
        <inertial pos="0.0 0.0 0.1255" mass="0.46784" fullinertia="0.000951270861568 0.000951270861568 0.000374272 0.0 0.0 0.0" />
        <geom name="j2s6s200_link_base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
        <geom name="j2s6s200_link_base_col_0" type="mesh" mesh="base" group="3" />
        <body name="j2s6s200_link_1" pos="0.0 0.0 0.15675" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
          <joint name="j2s6s200_joint_1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 -0.002 -0.0605" mass="0.7477" fullinertia="0.00152031725204 0.00152031725204 0.00059816 0.0 0.0 0.0" />
          <geom name="j2s6s200_link_1_vis_0" type="mesh" mesh="shoulder" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
          <geom name="j2s6s200_link_1_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
          <geom name="j2s6s200_link_1_col_0" type="mesh" mesh="shoulder" group="3" />
          <body name="j2s6s200_link_2" pos="0.0 0.0016 -0.11875" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
            <joint name="j2s6s200_joint_2" type="hinge" axis="0.0 0.0 1.0" range="0.820304748437 5.46288055874" />
            <inertial pos="0.0 -0.2065 -0.01" mass="0.99" fullinertia="0.010502207991 0.000792 0.010502207991 0.0 0.0 0.0" />
            <geom name="j2s6s200_link_2_vis_0" type="mesh" mesh="arm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
            <geom name="j2s6s200_link_2_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
            <geom name="j2s6s200_link_2_col_0" type="mesh" mesh="arm" group="3" />
            <body name="j2s6s200_link_3" pos="0.0 -0.41 0.0" quat="-1.0341155355510722e-13 -0.0 1.0 -0.0">
              <joint name="j2s6s200_joint_3" type="hinge" axis="0.0 0.0 1.0" range="0.331612557879 5.9515727493" />
              <inertial pos="0.0 0.081 -0.0086" mass="0.6763" fullinertia="0.00142022431908 0.000304335 0.00142022431908 0.0 0.0 0.0" />
              <geom name="j2s6s200_link_3_vis_0" type="mesh" mesh="forearm" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
              <geom name="j2s6s200_link_3_vis_1" type="mesh" mesh="ring_big" contype="0" conaffinity="0" group="2" />
              <geom name="j2s6s200_link_3_col_0" type="mesh" mesh="forearm" group="3" />
              <body name="j2s6s200_link_4" pos="0.0 0.2073 -0.0114" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
                <joint name="j2s6s200_joint_4" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                <inertial pos="0.0 0.0028848942 -0.0541932613" mass="0.463" fullinertia="0.0004321316048 0.0004321316048 9.26e-05 0.0 0.0 0.0" />
                <geom name="j2s6s200_link_4_vis_0" type="mesh" mesh="wrist_spherical_1" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                <geom name="j2s6s200_link_4_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
                <geom name="j2s6s200_link_4_col_0" type="mesh" mesh="wrist_spherical_1" group="3" />
                <body name="j2s6s200_link_5" pos="0.0 0.0 -0.10375" quat="-7.312301077203117e-14 -7.312301077167311e-14 0.7071067811848163 0.7071067811882787">
                  <joint name="j2s6s200_joint_5" type="hinge" axis="0.0 0.0 1.0" range="0.523598775598 5.75958653158" />
                  <inertial pos="0.0 0.0497208855 -0.0028562765" mass="0.463" fullinertia="0.0004321316048 9.26e-05 0.0004321316048 0.0 0.0 0.0" />
                  <geom name="j2s6s200_link_5_vis_0" type="mesh" mesh="wrist_spherical_2" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                  <geom name="j2s6s200_link_5_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
                  <geom name="j2s6s200_link_5_col_0" type="mesh" mesh="wrist_spherical_2" group="3" />
                  <body name="j2s6s200_link_6" pos="0.0 0.10375 0.0" quat="-7.312301077203117e-14 7.312301077167311e-14 -0.7071067811848163 0.7071067811882787">
                    <joint name="j2s6s200_joint_6" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                    <inertial pos="0.0 0.0 -0.06" mass="0.99" fullinertia="0.0003453236187 0.0003453236187 0.0005816 0.0 0.0 0.0" />
                    <geom name="j2s6s200_link_6_vis_0" type="mesh" mesh="hand_2finger" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                    <geom name="j2s6s200_link_6_vis_1" type="mesh" mesh="ring_small" contype="0" conaffinity="0" group="2" />
                    <geom name="j2s6s200_link_6_col_0" type="mesh" mesh="hand_2finger" group="3" />
                    <body name="j2s6s200_end_effector" pos="0.0 0.0 -0.16" quat="-7.312301077203117e-14 0.7071067811882787 -7.312301077167311e-14 -0.7071067811848163">
                      <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
                    </body>
                    <body name="j2s6s200_link_finger_1" pos="-0.0025 0.03095 -0.11482" quat="0.3144045503156031 -0.6333638596737597 -0.3144045504455105 0.6333638596092754">
                      <inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
                      <geom name="j2s6s200_link_finger_1_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                      <geom name="j2s6s200_link_finger_1_col_0" type="mesh" mesh="finger_proximal" group="3" />
                      <body name="j2s6s200_link_finger_tip_1" pos="0.044 -0.003 0.0">
                        <inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
                        <geom name="j2s6s200_link_finger_tip_1_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                        <geom name="j2s6s200_link_finger_tip_1_col_0" type="mesh" mesh="finger_distal" group="3" />
                      </body>
                    </body>
                    <body name="j2s6s200_link_finger_2" pos="-0.0025 -0.03095 -0.11482" quat="0.6333638596092742 -0.3144045504455082 0.6333638596737609 -0.3144045503156053">
                      <inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
                      <geom name="j2s6s200_link_finger_2_vis_0" type="mesh" mesh="finger_proximal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                      <geom name="j2s6s200_link_finger_2_col_0" type="mesh" mesh="finger_proximal" group="3" />
                      <body name="j2s6s200_link_finger_tip_2" pos="0.044 -0.003 0.0">
                        <inertial pos="0.022 0.0 0.0" mass="0.01" fullinertia="7.8999684e-07 7.8999684e-07 8e-08 0.0 0.0 0.0" />
                        <geom name="j2s6s200_link_finger_tip_2_vis_0" type="mesh" mesh="finger_distal" contype="0" conaffinity="0" group="2" material="carbon_fiber" />
                        <geom name="j2s6s200_link_finger_tip_2_col_0" type="mesh" mesh="finger_distal" group="3" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="j2s6s200_link_base" />
    <exclude body1="j2s6s200_link_base" body2="j2s6s200_link_1" />
    <exclude body1="j2s6s200_link_1" body2="j2s6s200_link_2" />
    <exclude body1="j2s6s200_link_2" body2="j2s6s200_link_3" />
    <exclude body1="j2s6s200_link_3" body2="j2s6s200_link_4" />
    <exclude body1="j2s6s200_link_4" body2="j2s6s200_link_5" />
    <exclude body1="j2s6s200_link_5" body2="j2s6s200_link_6" />
    <exclude body1="j2s6s200_link_6" body2="j2s6s200_end_effector" />
    <exclude body1="j2s6s200_link_6" body2="j2s6s200_link_finger_1" />
    <exclude body1="j2s6s200_link_finger_1" body2="j2s6s200_link_finger_tip_1" />
    <exclude body1="j2s6s200_link_6" body2="j2s6s200_link_finger_2" />
    <exclude body1="j2s6s200_link_finger_2" body2="j2s6s200_link_finger_tip_2" />
  </contact>
</mujoco>
