<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1ac076c5b9bab3bd -->
<mujoco model="panda">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_link0" file="example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
    <mesh name="collision_link0" file="example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
    <mesh name="visual_link1" file="example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
    <mesh name="collision_link1" file="example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
    <mesh name="visual_link2" file="example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
    <mesh name="collision_link2" file="example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
    <mesh name="visual_link3" file="example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
    <mesh name="collision_link3" file="example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
    <mesh name="visual_link4" file="example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
    <mesh name="collision_link4" file="example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
    <mesh name="visual_link5" file="example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
    <mesh name="collision_link5" file="example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
    <mesh name="visual_link6" file="example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
    <mesh name="collision_link6" file="example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
    <mesh name="visual_link7" file="example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
    <mesh name="collision_link7" file="example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
    <mesh name="visual_hand" file="example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
    <mesh name="collision_hand" file="example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
    <mesh name="finger" file="example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
  </asset>
  <worldbody>
    <body name="panda_link0">
      <inertial pos="-0.041018 -0.00014 0.049974" mass="0.629769" fullinertia="0.00315 0.00388 0.004285 8.2904e-07 0.00015 8.2299e-06" />
      <geom name="panda_link0_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
      <geom name="panda_link0_col_0" type="mesh" mesh="collision_link0" group="3" />
      <body name="panda_link1" pos="0.0 0.0 0.333">
        <joint name="panda_joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
        <inertial pos="0.003875 0.002081 -0.04762" mass="4.970684" fullinertia="0.70337 0.70661 0.009117 -0.000139 0.006772 0.019169" />
        <geom name="panda_link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
        <geom name="panda_link1_col_0" type="mesh" mesh="collision_link1" group="3" />
        <body name="panda_link2" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
          <joint name="panda_joint2" type="hinge" axis="0.0 0.0 1.0" range="-1.7628 1.7628" damping="0.003" />
          <inertial pos="-0.003141 -0.02872 0.003495" mass="0.646926" fullinertia="0.007962 0.02811 0.025995 -0.003925 0.010254 0.000704" />
          <geom name="panda_link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
          <geom name="panda_link2_col_0" type="mesh" mesh="collision_link2" group="3" />
          <body name="panda_link3" pos="0.0 -0.316 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
            <joint name="panda_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
            <inertial pos="0.027518 0.039252 -0.066502" mass="3.228604" fullinertia="0.037242 0.036155 0.01083 -0.004761 -0.011396 -0.012805" />
            <geom name="panda_link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
            <geom name="panda_link3_col_0" type="mesh" mesh="collision_link3" group="3" />
            <body name="panda_link4" pos="0.0825 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
              <joint name="panda_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.0718 -0.0698" damping="0.003" />
              <inertial pos="-0.05317 0.104419 0.027454" mass="3.587895" fullinertia="0.025853 0.019552 0.028323 0.007796 -0.001332 0.008641" />
              <geom name="panda_link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
              <geom name="panda_link4_col_0" type="mesh" mesh="collision_link4" group="3" />
              <body name="panda_link5" pos="-0.0825 0.384 0.0" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                <joint name="panda_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
                <inertial pos="-0.011953 0.041065 -0.038437" mass="1.225946" fullinertia="0.035549 0.029474 0.008627 -0.002117 -0.004037 0.000229" />
                <geom name="panda_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                <geom name="panda_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                <body name="panda_link6" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                  <joint name="panda_joint6" type="hinge" axis="0.0 0.0 1.0" range="-0.0175 3.7525" damping="0.003" />
                  <inertial pos="0.060149 -0.014117 -0.010517" mass="1.666555" fullinertia="0.001964 0.004354 0.005433 0.000109 -0.001158 0.000341" />
                  <geom name="panda_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                  <geom name="panda_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                  <body name="panda_link7" pos="0.088 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                    <joint name="panda_joint7" type="hinge" axis="0.0 0.0 1.0" range="-2.8973 2.8973" damping="0.003" />
                    <inertial pos="0.010517 -0.004252 0.061597" mass="0.735522" fullinertia="0.012516 0.010027 0.004815 -0.000428 -0.001196 -0.000741" />
                    <geom name="panda_link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                    <geom name="panda_link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                    <body name="panda_link8" pos="0.0 0.0 0.107">
                      <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
                      <body name="panda_hand" quat="0.9238795325112867 0.0 0.0 -0.3826834323650898">
                        <inertial pos="-0.01 0.0 0.03" mass="0.73" fullinertia="0.001 0.0025 0.0017 0.0 0.0 0.0" />
                        <geom name="panda_hand_vis_0" type="mesh" mesh="visual_hand" contype="0" conaffinity="0" group="2" />
                        <geom name="panda_hand_col_0" type="mesh" mesh="collision_hand" group="3" />
                        <body name="panda_hand_tcp" pos="0.0 0.0 0.1034">
                          <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
                        </body>
                        <body name="panda_leftfinger" pos="0.0 0.0 0.0584">
                          <joint name="panda_finger_joint1" type="slide" axis="0.0 1.0 0.0" range="0.0 0.04" damping="0.3" />
                          <inertial pos="0.0 0.0 0.0" mass="0.015" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 0.0 0.0 0.0" />
                          <geom name="panda_leftfinger_vis_0" type="mesh" mesh="finger" contype="0" conaffinity="0" group="2" />
                          <geom name="panda_leftfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 0.0185 0.011" group="3" />
                          <geom name="panda_leftfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 0.0068 0.0022" group="3" />
                          <geom name="panda_leftfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 0.0159 0.02835" quat="0.9659258262890683 0.25881904510252074 0.0 0.0" group="3" />
                          <geom name="panda_leftfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 0.00758 0.04525" group="3" />
                        </body>
                        <body name="panda_rightfinger" pos="0.0 0.0 0.0584">
                          <joint name="panda_finger_joint2" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.04" damping="0.3" />
                          <inertial pos="0.0 0.0 0.0" mass="0.015" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 0.0 0.0 0.0" />
                          <geom name="panda_rightfinger_vis_0" type="mesh" mesh="finger" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
                          <geom name="panda_rightfinger_col_0" type="box" size="0.011 0.0075 0.01" pos="0.0 -0.0185 0.011" group="3" />
                          <geom name="panda_rightfinger_col_1" type="box" size="0.011 0.0044 0.0019" pos="0.0 -0.0068 0.0022" group="3" />
                          <geom name="panda_rightfinger_col_2" type="box" size="0.00875 0.0035 0.01175" pos="0.0 -0.0159 0.02835" quat="0.9659258262890683 -0.25881904510252074 0.0 0.0" group="3" />
                          <geom name="panda_rightfinger_col_3" type="box" size="0.00875 0.0076 0.00925" pos="0.0 -0.00758 0.04525" group="3" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="panda_link0" body2="panda_link1" />
    <exclude body1="panda_link1" body2="panda_link2" />
    <exclude body1="panda_link2" body2="panda_link3" />
    <exclude body1="panda_link3" body2="panda_link4" />
    <exclude body1="panda_link4" body2="panda_link5" />
    <exclude body1="panda_link5" body2="panda_link6" />
    <exclude body1="panda_link6" body2="panda_link7" />
    <exclude body1="panda_link7" body2="panda_link8" />
    <exclude body1="panda_link8" body2="panda_hand" />
    <exclude body1="panda_hand" body2="panda_hand_tcp" />
    <exclude body1="panda_hand" body2="panda_leftfinger" />
    <exclude body1="panda_hand" body2="panda_rightfinger" />
  </contact>
</mujoco>
