<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 66b2508974629042 -->
<mujoco model="omy_f3m">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
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    <mesh name="link2_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001" />
    <mesh name="link3_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001" />
    <mesh name="link4_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001" />
    <mesh name="link5_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001" />
    <mesh name="link6_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001" />
    <mesh name="flange_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001" />
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    <mesh name="r1_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001" />
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    <mesh name="l1_0p001_0p001_0p001" file="open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001" />
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                      <body name="rh_p12_rn_r1" pos="0.0 0.008 0.048">
                        <joint name="rh_r1_joint" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
                        <inertial pos="0.0 0.034 0.004" mass="0.068" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                        <geom name="rh_p12_rn_r1_vis_0" type="mesh" mesh="r1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                        <geom name="rh_p12_rn_r1_col_0" type="mesh" mesh="r1_0p001_0p001_0p001" group="3" />
                        <body name="rh_p12_rn_r2" pos="0.0 0.0493634 0.0285">
                          <joint name="rh_r2" type="hinge" axis="-1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
                          <inertial pos="0.0 0.006 0.011" mass="0.022" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="rh_p12_rn_r2_vis_0" type="mesh" mesh="r2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                          <geom name="rh_p12_rn_r2_col_0" type="mesh" mesh="r2_0p001_0p001_0p001" group="3" />
                        </body>
                      </body>
                      <body name="rh_p12_rn_l1" pos="0.0 -0.008 0.048">
                        <joint name="rh_l1" type="hinge" axis="-1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
                        <inertial pos="0.0 -0.034 0.004" mass="0.068" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
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                        <geom name="rh_p12_rn_l1_col_0" type="mesh" mesh="l1_0p001_0p001_0p001" group="3" />
                        <body name="rh_p12_rn_l2" pos="0.0 -0.0493634 0.0285">
                          <joint name="rh_l2" type="hinge" axis="1.0 0.0 0.0" range="0.0 1.13514578304" damping="0.7" />
                          <inertial pos="0.0 -0.006 0.011" mass="0.022" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="rh_p12_rn_l2_vis_0" type="mesh" mesh="l2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                          <geom name="rh_p12_rn_l2_col_0" type="mesh" mesh="l2_0p001_0p001_0p001" group="3" />
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                    </body>
                    <body name="end_effector_link" pos="0.0 -0.141 0.0">
                      <geom name="end_effector_link_vis_0" type="box" size="0.005 0.005 0.005" contype="0" conaffinity="0" group="2" material="red" />
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                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="end_effector_flange_link" body2="rh_p12_rn_base" />
    <exclude body1="end_effector_flange_link" body2="end_effector_link" />
    <exclude body1="link0" body2="link1" />
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="link6" />
    <exclude body1="link6" body2="end_effector_flange_link" />
    <exclude body1="rh_p12_rn_base" body2="rh_p12_rn_r1" />
    <exclude body1="rh_p12_rn_r1" body2="rh_p12_rn_r2" />
    <exclude body1="rh_p12_rn_base" body2="rh_p12_rn_l1" />
    <exclude body1="rh_p12_rn_l1" body2="rh_p12_rn_l2" />
  </contact>
</mujoco>
