<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content aefb72f032262e76 -->
<mujoco model="trifingeredu">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="fingeredu_0_material" rgba="0.6 0.0 0.0 1.0" />
    <material name="fingeredu_120_material" rgba="0.0 0.6 0.0 1.0" />
    <material name="fingeredu_240_material" rgba="0.0 0.0 0.6 1.0" />
    <mesh name="base_back" file="trifinger_edu_description/meshes/stl/edu/base_back.stl" />
    <mesh name="base_front" file="trifinger_edu_description/meshes/stl/edu/base_front.stl" />
    <mesh name="base_side_left" file="trifinger_edu_description/meshes/stl/edu/base_side_left.stl" />
    <mesh name="base_top" file="trifinger_edu_description/meshes/stl/edu/base_top.stl" />
    <mesh name="upper_link" file="trifinger_edu_description/meshes/stl/edu/upper_link.stl" />
    <mesh name="middle_link" file="trifinger_edu_description/meshes/stl/edu/middle_link.stl" />
    <mesh name="lower_link" file="trifinger_edu_description/meshes/stl/edu/lower_link.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="1.0" fullinertia="4.16666666667e-06 4.16666666667e-06 4.16666666667e-06 0.0 0.0 0.0" />
      <body name="trifinger_base_link" pos="0.0 0.0 0.34" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
        <body name="finger_base_link_0" pos="-0.0455 0.0 0.0">
          <inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
          <geom name="finger_base_link_0_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
          <geom name="finger_base_link_0_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
          <geom name="finger_base_link_0_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
          <geom name="finger_base_link_0_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
          <body name="finger_upper_link_0">
            <joint name="finger_base_to_upper_joint_0" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
            <inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
            <geom name="finger_upper_link_0_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
            <geom name="finger_upper_link_0_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
            <body name="finger_middle_link_0" pos="0.0 -0.014 0.0">
              <joint name="finger_upper_to_middle_joint_0" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
              <inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
              <geom name="finger_middle_link_0_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
              <geom name="finger_middle_link_0_col_0" type="mesh" mesh="middle_link" group="3" />
              <body name="finger_lower_link_0" pos="0.0 -0.03745 -0.16">
                <joint name="finger_middle_to_lower_joint_0" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
                <inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
                <geom name="finger_lower_link_0_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_0_material" />
                <geom name="finger_lower_link_0_col_0" type="mesh" mesh="lower_link" group="3" />
                <body name="finger_tip_link_0" pos="0.0 -0.008 -0.16">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="finger_base_link_120" pos="0.02275 0.0394041558722 0.0" quat="0.5000000000013837 0.0 0.0 -0.8660254037836398">
          <inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
          <geom name="finger_base_link_120_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
          <geom name="finger_base_link_120_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
          <geom name="finger_base_link_120_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
          <geom name="finger_base_link_120_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
          <body name="finger_upper_link_120">
            <joint name="finger_base_to_upper_joint_120" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
            <inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
            <geom name="finger_upper_link_120_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
            <geom name="finger_upper_link_120_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
            <body name="finger_middle_link_120" pos="0.0 -0.014 0.0">
              <joint name="finger_upper_to_middle_joint_120" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
              <inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
              <geom name="finger_middle_link_120_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
              <geom name="finger_middle_link_120_col_0" type="mesh" mesh="middle_link" group="3" />
              <body name="finger_lower_link_120" pos="0.0 -0.03745 -0.16">
                <joint name="finger_middle_to_lower_joint_120" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
                <inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
                <geom name="finger_lower_link_120_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_120_material" />
                <geom name="finger_lower_link_120_col_0" type="mesh" mesh="lower_link" group="3" />
                <body name="finger_tip_link_120" pos="0.0 -0.008 -0.16">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="finger_base_link_240" pos="0.02275 -0.0394041558722 0.0" quat="-0.5000000000015627 0.0 -0.0 -0.8660254037835363">
          <inertial pos="-0.1 0.0 0.4" mass="1.0" fullinertia="0.0608333333333 0.0566666666667 0.0108333333333 0.0 0.0 0.0" />
          <geom name="finger_base_link_240_vis_0" type="mesh" mesh="base_back" pos="-0.17995 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
          <geom name="finger_base_link_240_vis_1" type="mesh" mesh="base_front" pos="0.0255 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
          <geom name="finger_base_link_240_vis_2" type="mesh" mesh="base_side_left" pos="0.0255 0.02 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
          <geom name="finger_base_link_240_vis_3" type="mesh" mesh="base_top" pos="0.0255 0.0 0.08" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
          <body name="finger_upper_link_240">
            <joint name="finger_base_to_upper_joint_240" type="hinge" axis="-1.0 0.0 0.0" range="-1.57079632679 1.57079632679" />
            <inertial pos="-0.079 0.0 0.0" mass="0.14854" fullinertia="3e-05 0.00041 0.00041 5e-05 0.0 0.0" />
            <geom name="finger_upper_link_240_vis_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
            <geom name="finger_upper_link_240_col_0" type="mesh" mesh="upper_link" pos="0.0195 0.0 0.0" group="3" />
            <body name="finger_middle_link_240" pos="0.0 -0.014 0.0">
              <joint name="finger_upper_to_middle_joint_240" type="hinge" axis="0.0 1.0 0.0" range="-1.57079632679 1.57079632679" />
              <inertial pos="0.0 -0.019 -0.079" mass="0.14854" fullinertia="0.00041 0.00041 3e-05 0.0 0.0 5e-05" />
              <geom name="finger_middle_link_240_vis_0" type="mesh" mesh="middle_link" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
              <geom name="finger_middle_link_240_col_0" type="mesh" mesh="middle_link" group="3" />
              <body name="finger_lower_link_240" pos="0.0 -0.03745 -0.16">
                <joint name="finger_middle_to_lower_joint_240" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
                <inertial pos="0.0 -0.009 -0.089" mass="0.0307" fullinertia="0.00012 0.00012 0.0 0.0 0.0 0.0" />
                <geom name="finger_lower_link_240_vis_0" type="mesh" mesh="lower_link" contype="0" conaffinity="0" group="2" material="fingeredu_240_material" />
                <geom name="finger_lower_link_240_col_0" type="mesh" mesh="lower_link" group="3" />
                <body name="finger_tip_link_240" pos="0.0 -0.008 -0.16">
                  <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1.66666666667e-07 1.66666666667e-07 1.66666666667e-07 0.0 0.0 0.0" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="trifinger_base_link" />
    <exclude body1="finger_lower_link_0" body2="finger_tip_link_0" />
    <exclude body1="finger_base_link_0" body2="finger_upper_link_0" />
    <exclude body1="finger_upper_link_0" body2="finger_middle_link_0" />
    <exclude body1="finger_middle_link_0" body2="finger_lower_link_0" />
    <exclude body1="finger_lower_link_120" body2="finger_tip_link_120" />
    <exclude body1="finger_base_link_120" body2="finger_upper_link_120" />
    <exclude body1="finger_upper_link_120" body2="finger_middle_link_120" />
    <exclude body1="finger_middle_link_120" body2="finger_lower_link_120" />
    <exclude body1="finger_lower_link_240" body2="finger_tip_link_240" />
    <exclude body1="finger_base_link_240" body2="finger_upper_link_240" />
    <exclude body1="finger_upper_link_240" body2="finger_middle_link_240" />
    <exclude body1="finger_middle_link_240" body2="finger_lower_link_240" />
    <exclude body1="trifinger_base_link" body2="finger_base_link_0" />
    <exclude body1="trifinger_base_link" body2="finger_base_link_120" />
    <exclude body1="trifinger_base_link" body2="finger_base_link_240" />
  </contact>
</mujoco>
