<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1e9f4b2870b08811 -->
<mujoco model="open_manipulator_x">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <material name="red" rgba="1.0 0.0 0.0 1.0" />
    <mesh name="link1_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/link1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link2_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/link2.stl" scale="0.001 0.001 0.001" />
    <mesh name="link3_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/link3.stl" scale="0.001 0.001 0.001" />
    <mesh name="link4_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/link4.stl" scale="0.001 0.001 0.001" />
    <mesh name="link5_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/link5.stl" scale="0.001 0.001 0.001" />
    <mesh name="gripper_left_palm_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/gripper_left_palm.stl" scale="0.001 0.001 0.001" />
    <mesh name="gripper_right_palm_0p001_0p001_0p001" file="open_manipulator_description/meshes/open_manipulator_x/gripper_right_palm.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="link1">
      <inertial pos="0.00030876154 0.0 -0.00012176461" mass="0.079119962" fullinertia="1.2505234e-05 2.1898364e-05 1.9267361e-05 0.0 -1.7855208e-07 0.0" />
      <geom name="link1_vis_0" type="mesh" mesh="link1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="link1_col_0" type="mesh" mesh="link1_0p001_0p001_0p001" group="3" />
      <body name="link2" pos="0.012 0.0 0.0">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" damping="0.1" />
        <inertial pos="-0.0003018487 0.00054043684 0.047433463999999995" mass="0.098406837" fullinertia="3.4543422e-05 3.2689329e-05 1.885032e-05 -1.6031095e-08 -3.8375155e-07 2.8511935e-08" />
        <geom name="link2_vis_0" type="mesh" mesh="link2_0p001_0p001_0p001" pos="0.0 0.0 0.019" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="link2_col_0" type="mesh" mesh="link2_0p001_0p001_0p001" pos="0.0 0.0 0.019" group="3" />
        <body name="link3" pos="0.0 0.0 0.0595">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.5" damping="0.1" />
          <inertial pos="0.010308393 0.00037743363 0.10170197" mass="0.13850917" fullinertia="0.00033055381 0.00034290447 6.0346498e-05 -9.7940978e-08 -3.8505711e-05 -1.5717516e-06" />
          <geom name="link3_vis_0" type="mesh" mesh="link3_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="link3_col_0" type="mesh" mesh="link3_0p001_0p001_0p001" group="3" />
          <body name="link4" pos="0.024 0.0 0.128">
            <joint name="joint3" type="hinge" axis="0.0 1.0 0.0" range="-1.5 1.4" damping="0.1" />
            <inertial pos="0.09090959 0.00038929816 0.00022413279" mass="0.13274562" fullinertia="3.0654178e-05 0.00024230292 0.00025155057 -1.2764155e-06 -2.6874417e-07 1.155955e-08" />
            <geom name="link4_vis_0" type="mesh" mesh="link4_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="link4_col_0" type="mesh" mesh="link4_0p001_0p001_0p001" group="3" />
            <body name="link5" pos="0.124 0.0 0.0">
              <joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-1.7 1.97" damping="0.1" />
              <inertial pos="0.044206755 3.6839985e-07 0.0089142216" mass="0.14327573" fullinertia="8.0870749e-05 7.5980465e-05 9.3127351e-05 0.0 -1.0157896e-06 0.0" />
              <geom name="link5_vis_0" type="mesh" mesh="link5_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="link5_col_0" type="mesh" mesh="link5_0p001_0p001_0p001" group="3" />
              <body name="gripper_left_link" pos="0.0817 0.021 0.0">
                <joint name="gripper_left_joint" type="slide" axis="0.0 1.0 0.0" range="-0.011 0.02" damping="0.1" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <geom name="gripper_left_link_vis_0" type="mesh" mesh="gripper_left_palm_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                <geom name="gripper_left_link_col_0" type="mesh" mesh="gripper_left_palm_0p001_0p001_0p001" group="3" />
              </body>
              <body name="gripper_right_link" pos="0.0817 -0.021 0.0">
                <joint name="gripper_right_joint" type="slide" axis="0.0 -1.0 0.0" range="-0.011 0.02" damping="0.7" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <geom name="gripper_right_link_vis_0" type="mesh" mesh="gripper_right_palm_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                <geom name="gripper_right_link_col_0" type="mesh" mesh="gripper_right_palm_0p001_0p001_0p001" group="3" />
              </body>
              <body name="end_effector_link" pos="0.126 0.0 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" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="gripper_left_link" />
    <exclude body1="link5" body2="gripper_right_link" />
    <exclude body1="link5" body2="end_effector_link" />
  </contact>
</mujoco>
