<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 629537e6383eb5e9 -->
<mujoco model="MICO-Core">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="flexiv_black" rgba="0.22 0.22 0.22 1.0" />
    <mesh name="visual_Core-link" file="flexiv_description/meshes/MICO-Core/visual/Core-link.obj" />
    <mesh name="collision_Core-link" file="flexiv_description/meshes/MICO-Core/collision/Core-link.stl" />
    <mesh name="visual_link0" file="flexiv_description/meshes/Enlight-L/visual/link0.obj" />
    <mesh name="collision_link0" file="flexiv_description/meshes/Enlight-L/collision/link0.stl" />
    <mesh name="visual_link1" file="flexiv_description/meshes/Enlight-L/visual/link1.obj" />
    <mesh name="collision_link1" file="flexiv_description/meshes/Enlight-L/collision/link1.stl" />
    <mesh name="visual_link2" file="flexiv_description/meshes/Enlight-L/visual/link2.obj" />
    <mesh name="collision_link2" file="flexiv_description/meshes/Enlight-L/collision/link2.stl" />
    <mesh name="visual_link3" file="flexiv_description/meshes/Enlight-L/visual/link3.obj" />
    <mesh name="collision_link3" file="flexiv_description/meshes/Enlight-L/collision/link3.stl" />
    <mesh name="visual_link4" file="flexiv_description/meshes/Enlight-L/visual/link4.obj" />
    <mesh name="collision_link4" file="flexiv_description/meshes/Enlight-L/collision/link4.stl" />
    <mesh name="visual_link5" file="flexiv_description/meshes/Enlight-L/visual/link5.obj" />
    <mesh name="collision_link5" file="flexiv_description/meshes/Enlight-L/collision/link5.stl" />
    <mesh name="visual_link6" file="flexiv_description/meshes/Enlight-L/visual/link6.obj" />
    <mesh name="collision_link6" file="flexiv_description/meshes/Enlight-L/collision/link6.stl" />
    <mesh name="visual_link7" file="flexiv_description/meshes/Enlight-L/visual/link7.obj" />
    <mesh name="collision_link7" file="flexiv_description/meshes/Enlight-L/collision/link7.stl" />
  </asset>
  <worldbody>
    <body name="torso_base_link">
      <inertial pos="0.0027794 -0.00019221 0.22614" mass="23.116" fullinertia="0.27032 0.13627 0.22713 -0.00021807 0.00091154 -0.00034551" />
      <geom name="torso_base_link_vis_0" type="mesh" mesh="visual_Core-link" contype="0" conaffinity="0" group="2" />
      <geom name="torso_base_link_col_0" type="mesh" mesh="collision_Core-link" group="3" />
      <body name="torso_left_flange" pos="0.0 0.015 0.38" quat="0.7072822374323136 -0.7069312813935599 0.0 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
        <body name="left_base_link">
          <geom name="left_base_link_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
          <geom name="left_base_link_col_0" type="mesh" mesh="collision_link0" group="3" />
          <body name="left_link1" pos="0.0 0.0 0.146">
            <joint name="left_joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
            <geom name="left_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
            <geom name="left_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
            <body name="left_link2" pos="0.0 -0.037 0.114" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
              <joint name="left_joint2" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
              <geom name="left_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
              <geom name="left_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
              <body name="left_link3" pos="0.0 0.181 -0.037" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                <joint name="left_joint3" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                <geom name="left_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
                <geom name="left_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
                <body name="left_link4" pos="0.0 0.037 0.109" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                  <joint name="left_joint4" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
                  <geom name="left_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
                  <geom name="left_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
                  <body name="left_link5" pos="0.0 -0.156 -0.037" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                    <joint name="left_joint5" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                    <geom name="left_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                    <geom name="left_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                    <body name="left_link6" pos="0.0 -0.0261 0.124" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                      <joint name="left_joint6" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
                      <geom name="left_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                      <geom name="left_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                      <body name="left_link7" pos="0.0 0.134 -0.0261" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                        <joint name="left_joint7" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                        <geom name="left_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                        <geom name="left_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                        <body name="left_flange" pos="0.0 0.0 0.048" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="torso_right_flange" pos="0.0 -0.015 0.38" quat="9.384184631358607e-07 9.379528164546841e-07 0.707282237431691 -0.7069312813929376">
        <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
        <body name="right_base_link">
          <geom name="right_base_link_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
          <geom name="right_base_link_col_0" type="mesh" mesh="collision_link0" group="3" />
          <body name="right_link1" pos="0.0 0.0 0.146">
            <joint name="right_joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
            <geom name="right_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
            <geom name="right_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
            <body name="right_link2" pos="0.0 -0.037 0.114" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
              <joint name="right_joint2" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
              <geom name="right_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
              <geom name="right_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
              <body name="right_link3" pos="0.0 0.181 -0.037" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                <joint name="right_joint3" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                <geom name="right_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
                <geom name="right_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
                <body name="right_link4" pos="0.0 0.037 0.109" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                  <joint name="right_joint4" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
                  <geom name="right_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
                  <geom name="right_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
                  <body name="right_link5" pos="0.0 -0.156 -0.037" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                    <joint name="right_joint5" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                    <geom name="right_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                    <geom name="right_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                    <body name="right_link6" pos="0.0 -0.0261 0.124" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                      <joint name="right_joint6" type="hinge" axis="0.0 0.0 1.0" range="-2.1817 2.1817" />
                      <geom name="right_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                      <geom name="right_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                      <body name="right_link7" pos="0.0 0.134 -0.0261" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                        <joint name="right_joint7" type="hinge" axis="0.0 0.0 1.0" range="-6.3705 6.3705" />
                        <geom name="right_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                        <geom name="right_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                        <body name="right_flange" pos="0.0 0.0 0.048" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="torso_base_link" body2="torso_left_flange" />
    <exclude body1="torso_base_link" body2="torso_right_flange" />
    <exclude body1="left_base_link" body2="left_link1" />
    <exclude body1="left_link1" body2="left_link2" />
    <exclude body1="left_link2" body2="left_link3" />
    <exclude body1="left_link3" body2="left_link4" />
    <exclude body1="left_link4" body2="left_link5" />
    <exclude body1="left_link5" body2="left_link6" />
    <exclude body1="left_link6" body2="left_link7" />
    <exclude body1="left_link7" body2="left_flange" />
    <exclude body1="right_base_link" body2="right_link1" />
    <exclude body1="right_link1" body2="right_link2" />
    <exclude body1="right_link2" body2="right_link3" />
    <exclude body1="right_link3" body2="right_link4" />
    <exclude body1="right_link4" body2="right_link5" />
    <exclude body1="right_link5" body2="right_link6" />
    <exclude body1="right_link6" body2="right_link7" />
    <exclude body1="right_link7" body2="right_flange" />
    <exclude body1="torso_left_flange" body2="left_base_link" />
    <exclude body1="torso_right_flange" body2="right_base_link" />
  </contact>
</mujoco>
