<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b1cec6d6d7ecc6ac -->
<mujoco model="so_101">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="silver" rgba="0.7 0.7 0.7 1.0" />
    <mesh name="visual_base_link_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/base_link.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_base_link_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/base_link.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_link1_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/link1_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_link1_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/link1_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_link2_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/link2_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_link2_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/link2_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_link3_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/link3_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_link3_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/link3_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_link4_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/link4_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_link4_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/link4_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_link5_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/link5_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_link5_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/link5_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_clamp_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/clamp_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_clamp_1_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/clamp_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="visual_clamp_2_0p001_0p001_0p001" file="so_arm_101_description/meshes/visual/clamp_2.stl" scale="0.001 0.001 0.001" />
    <mesh name="collision_clamp_2_0p001_0p001_0p001" file="so_arm_101_description/meshes/collision/clamp_2.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
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      <geom name="base_link_vis_0" type="mesh" mesh="visual_base_link_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="silver" />
      <geom name="base_link_col_0" type="mesh" mesh="collision_base_link_0p001_0p001_0p001" group="3" />
      <body name="link1_1" pos="-9.9e-05 -0.007243 0.027983">
        <joint name="base_link_to_link1" type="hinge" axis="-0.0 -0.008727 0.999962" range="-2.094395 2.094395" damping="0.1" frictionloss="0.05" />
        <inertial pos="-6.74951590711253e-05 -0.030490405697529033 0.053766555610065915" mass="0.24184654503223657" fullinertia="0.000195 0.000199 9.5e-05 1e-06 -2e-06 1.6e-05" />
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          <joint name="link1_to_link2" type="hinge" axis="-0.999962 -0.008726 -7.6e-05" range="-3.228859 0.174533" damping="0.1" frictionloss="0.05" />
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          <geom name="link2_1_col_0" type="mesh" mesh="collision_link2_1_0p001_0p001_0p001" pos="-0.020792 0.038556 -0.11936" group="3" />
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            <body name="link4_1" pos="0.00208 -0.134461 0.00412">
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              <geom name="link4_1_col_0" type="mesh" mesh="collision_link4_1_0p001_0p001_0p001" pos="-0.024382 0.060582 -0.152897" group="3" />
              <body name="link5_1" pos="-0.01732 -0.060045 -0.000831">
                <joint name="link4_to_link5" type="hinge" axis="-1e-06 0.999961 0.008803" range="-4.276057 1.570796" damping="0.1" frictionloss="0.05" />
                <inertial pos="-0.0005839285183169068 -0.04153912948671028 0.01505583353882603" mass="0.5561721109318601" fullinertia="0.000579 0.000983 0.000737 1e-06 -5e-06 -8.4e-05" />
                <geom name="link5_1_vis_0" type="mesh" mesh="visual_link5_1_0p001_0p001_0p001" pos="-0.007062 0.120627 -0.152066" contype="0" conaffinity="0" group="2" material="silver" />
                <geom name="link5_1_col_0" type="mesh" mesh="collision_link5_1_0p001_0p001_0p001" pos="-0.007062 0.120627 -0.152066" group="3" />
                <body name="clamp_1" pos="-0.052134 -0.220077 -0.186037">
                  <joint name="right_clamp" type="slide" axis="0.999848 -0.000154 0.017451" range="0.0 0.037" damping="0.5" frictionloss="0.1" />
                  <inertial pos="0.0601695113719365 0.14480677890200364 0.1844826866723634" mass="0.15381179772652928" fullinertia="8.6e-05 4.1e-05 7.3e-05 -1e-06 -2e-06 4e-06" />
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                  <geom name="clamp_1_col_0" type="mesh" mesh="collision_clamp_1_0p001_0p001_0p001" pos="0.045072 0.340704 0.033971" group="3" />
                </body>
                <body name="clamp_2" pos="0.072828 -0.222278 -0.183875">
                  <joint name="left_clamp" type="slide" axis="0.999848 -0.000154 0.017451" range="-0.038 0.0" damping="0.5" frictionloss="0.1" />
                  <inertial pos="-0.0800042161303889 0.1470101120878245 0.18506826370370444" mass="0.15381179772652928" fullinertia="8.6e-05 4.1e-05 7.3e-05 1e-06 -2e-06 -4e-06" />
                  <geom name="clamp_2_vis_0" type="mesh" mesh="visual_clamp_2_0p001_0p001_0p001" pos="-0.07989 0.342905 0.031809" contype="0" conaffinity="0" group="2" material="silver" />
                  <geom name="clamp_2_col_0" type="mesh" mesh="collision_clamp_2_0p001_0p001_0p001" pos="-0.07989 0.342905 0.031809" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link1_1" />
    <exclude body1="link1_1" body2="link2_1" />
    <exclude body1="link2_1" body2="link3_1" />
    <exclude body1="link3_1" body2="link4_1" />
    <exclude body1="link4_1" body2="link5_1" />
    <exclude body1="link5_1" body2="clamp_1" />
    <exclude body1="link5_1" body2="clamp_2" />
  </contact>
</mujoco>
