<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 850da28e07e8560d -->
<mujoco model="gen3_lite_gen3_lite_2f">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL" />
    <mesh name="shoulder_link" file="kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL" />
    <mesh name="arm_link" file="kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL" />
    <mesh name="forearm_link" file="kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL" />
    <mesh name="lower_wrist_link" file="kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL" />
    <mesh name="upper_wrist_link" file="kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL" />
    <mesh name="gripper_base_link" file="kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
    <mesh name="right_finger_prox_link" file="kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
    <mesh name="right_finger_dist_link" file="kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
    <mesh name="left_finger_prox_link" file="kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
    <mesh name="left_finger_dist_link" file="kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.00244324 0.00015573 0.08616742" mass="1.14608471" fullinertia="0.00335854 0.003311 0.00077158 3.9e-07 0.00010989 1.91e-06" />
      <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="shoulder_link" pos="0.0 0.0 0.12825">
        <joint name="joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.68 2.68" />
        <inertial pos="2.477e-05 0.02213531 0.09937686" mass="0.95974404" fullinertia="0.00165947 0.00140355 0.00089493 2e-08 3.6e-07 0.00034927" />
        <geom name="shoulder_link_vis_0" type="mesh" mesh="shoulder_link" contype="0" conaffinity="0" group="2" />
        <geom name="shoulder_link_col_0" type="mesh" mesh="shoulder_link" group="3" />
        <body name="arm_link" pos="0.0 -0.03 0.115" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
          <joint name="joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.61 2.61" />
          <inertial pos="0.02998299 0.21154808 0.0453031" mass="1.17756164" fullinertia="0.01149277 0.00102851 0.01133492 1e-06 1.6e-07 0.00140765" />
          <geom name="arm_link_vis_0" type="mesh" mesh="arm_link" contype="0" conaffinity="0" group="2" />
          <geom name="arm_link_col_0" type="mesh" mesh="arm_link" group="3" />
          <body name="forearm_link" pos="0.0 0.28 0.0" quat="-3.673205103346574e-06 -0.9999999999932537 -0.0 0.0">
            <joint name="joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.61 2.61" />
            <inertial pos="0.0301559 0.09502206 0.0073555" mass="0.59767669" fullinertia="0.00163256 0.00029798 0.00169091 7.11e-06 1.54e-06 9.587e-05" />
            <geom name="forearm_link_vis_0" type="mesh" mesh="forearm_link" contype="0" conaffinity="0" group="2" />
            <geom name="forearm_link_col_0" type="mesh" mesh="forearm_link" group="3" />
            <body name="lower_wrist_link" pos="0.0 -0.14 0.02" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
              <joint name="joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" />
              <inertial pos="0.00575149 0.01000443 0.08719207" mass="0.52693412" fullinertia="0.00069098 0.00078519 0.00034115 2.4e-07 0.00016483 7.4e-07" />
              <geom name="lower_wrist_link_vis_0" type="mesh" mesh="lower_wrist_link" contype="0" conaffinity="0" group="2" />
              <geom name="lower_wrist_link_col_0" type="mesh" mesh="lower_wrist_link" group="3" />
              <body name="upper_wrist_link" pos="0.0285 0.0 0.105" quat="0.7071054825112363 0.0 0.7071080798594735 0.0">
                <joint name="joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.53 2.53" />
                <inertial pos="0.08056517 0.00980409 0.01872799" mass="0.58097325" fullinertia="0.00021268 0.00106371 0.00108465 5.21e-06 2.91e-06 1.1e-07" />
                <geom name="upper_wrist_link_vis_0" type="mesh" mesh="upper_wrist_link" contype="0" conaffinity="0" group="2" />
                <geom name="upper_wrist_link_col_0" type="mesh" mesh="upper_wrist_link" group="3" />
                <body name="end_effector_link" pos="-0.105 0.0 0.0285" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0">
                  <joint name="joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" />
                  <body name="dummy_link">
                    <body name="tool_frame" pos="0.0 0.0 0.13" quat="0.7071067811882787 0.0 0.0 0.7071067811848163" />
                    <body name="gripper_base_link">
                      <inertial pos="4.03e-06 1.08e-05 0.041397" mass="0.1395" fullinertia="0.00011614 0.00010327 9.707e-05 1e-08 4e-08 0.0" />
                      <geom name="gripper_base_link_vis_0" type="mesh" mesh="gripper_base_link" contype="0" conaffinity="0" group="2" />
                      <geom name="gripper_base_link_col_0" type="mesh" mesh="gripper_base_link" group="3" />
                      <body name="right_finger_prox_link" pos="0.0 -0.030501 0.070003" quat="0.6271668821134601 0.32646330604194035 0.6272998657710793 0.3264633060419403">
                        <joint name="right_finger_bottom_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.85" />
                        <inertial pos="0.020257 0.0063483 6.991e-05" mass="0.018385" fullinertia="2.29e-06 4.56e-06 4.77e-06 1.43e-06 0.0 0.0" />
                        <geom name="right_finger_prox_link_vis_0" type="mesh" mesh="right_finger_prox_link" contype="0" conaffinity="0" group="2" />
                        <geom name="right_finger_prox_link_col_0" type="mesh" mesh="right_finger_prox_link" group="3" />
                        <body name="right_finger_dist_link" pos="-0.045636 0.020423 0.0">
                          <joint name="right_finger_tip_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.5 0.21" />
                          <inertial pos="0.018488 0.0011091 0.0" mass="0.010748" fullinertia="6.3e-07 1.83e-06 1.61e-06 3.2e-07 0.0 0.0" />
                          <geom name="right_finger_dist_link_vis_0" type="mesh" mesh="right_finger_dist_link" contype="0" conaffinity="0" group="2" />
                          <geom name="right_finger_dist_link_col_0" type="mesh" mesh="right_finger_dist_link" group="3" />
                        </body>
                      </body>
                      <body name="left_finger_prox_link" pos="0.0 0.0305 0.070003" quat="0.6271668821134601 -0.32646330604194035 0.6272998657710793 -0.3264633060419403">
                        <joint name="left_finger_bottom_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.85" />
                        <inertial pos="0.020257 0.0063483 6.99e-05" mass="0.018385" fullinertia="2.29e-06 4.56e-06 4.77e-06 1.43e-06 0.0 0.0" />
                        <geom name="left_finger_prox_link_vis_0" type="mesh" mesh="left_finger_prox_link" contype="0" conaffinity="0" group="2" />
                        <geom name="left_finger_prox_link_col_0" type="mesh" mesh="left_finger_prox_link" group="3" />
                        <body name="left_finger_dist_link" pos="-0.045636 -0.020423 6.9901e-05">
                          <joint name="left_finger_tip_joint" type="hinge" axis="0.0 0.0 -1.0" range="-0.5 0.21" />
                          <inertial pos="-0.018488 0.0011091 0.0" mass="0.010748" fullinertia="6.3e-07 1.83e-06 1.61e-06 3.2e-07 0.0 0.0" />
                          <geom name="left_finger_dist_link_vis_0" type="mesh" mesh="left_finger_dist_link" contype="0" conaffinity="0" group="2" />
                          <geom name="left_finger_dist_link_col_0" type="mesh" mesh="left_finger_dist_link" group="3" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="shoulder_link" />
    <exclude body1="shoulder_link" body2="arm_link" />
    <exclude body1="arm_link" body2="forearm_link" />
    <exclude body1="forearm_link" body2="lower_wrist_link" />
    <exclude body1="lower_wrist_link" body2="upper_wrist_link" />
    <exclude body1="upper_wrist_link" body2="end_effector_link" />
    <exclude body1="end_effector_link" body2="dummy_link" />
    <exclude body1="dummy_link" body2="tool_frame" />
    <exclude body1="dummy_link" body2="gripper_base_link" />
    <exclude body1="gripper_base_link" body2="right_finger_prox_link" />
    <exclude body1="right_finger_prox_link" body2="right_finger_dist_link" />
    <exclude body1="gripper_base_link" body2="left_finger_prox_link" />
    <exclude body1="left_finger_prox_link" body2="left_finger_dist_link" />
  </contact>
</mujoco>
