<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 7dc267132c2f830c -->
<mujoco model="yumi">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="Black" rgba="0.0 0.0 0.0 1.0" />
    <material name="Blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="Green" rgba="0.0 0.8 0.0 1.0" />
    <material name="Grey" rgba="0.5 0.5 0.5 1.0" />
    <material name="Light_Grey" rgba="0.8 0.8 0.8 1.0" />
    <material name="Ivory" rgba="1.0 1.0 0.94 1.0" />
    <material name="Orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
    <material name="Brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
    <material name="Red" rgba="0.8 0.0 0.0 1.0" />
    <material name="White" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="meshes_body" file="yumi/meshes/body.stl" />
    <mesh name="coarse_body" file="yumi/meshes/coarse/body.stl" />
    <mesh name="meshes_link_1" file="yumi/meshes/link_1.stl" />
    <mesh name="coarse_link_1" file="yumi/meshes/coarse/link_1.stl" />
    <mesh name="meshes_link_2" file="yumi/meshes/link_2.stl" />
    <mesh name="coarse_link_2" file="yumi/meshes/coarse/link_2.stl" />
    <mesh name="meshes_link_3" file="yumi/meshes/link_3.stl" />
    <mesh name="coarse_link_3" file="yumi/meshes/coarse/link_3.stl" />
    <mesh name="meshes_link_4" file="yumi/meshes/link_4.stl" />
    <mesh name="coarse_link_4" file="yumi/meshes/coarse/link_4.stl" />
    <mesh name="meshes_link_5" file="yumi/meshes/link_5.stl" />
    <mesh name="coarse_link_5" file="yumi/meshes/coarse/link_5.stl" />
    <mesh name="meshes_link_6" file="yumi/meshes/link_6.stl" />
    <mesh name="coarse_link_6" file="yumi/meshes/coarse/link_6.stl" />
    <mesh name="meshes_link_7" file="yumi/meshes/link_7.stl" />
    <mesh name="coarse_link_7" file="yumi/meshes/coarse/link_7.stl" />
    <mesh name="gripper_base" file="yumi/meshes/gripper/base.stl" />
    <mesh name="coarse_base" file="yumi/meshes/gripper/coarse/base.stl" />
    <mesh name="gripper_finger" file="yumi/meshes/gripper/finger.stl" />
    <mesh name="coarse_finger" file="yumi/meshes/gripper/coarse/finger.stl" />
  </asset>
  <worldbody>
    <body name="yumi_base_link" pos="0.0 0.0 0.1">
      <body name="yumi_body">
        <inertial pos="0.0 0.0 0.0" mass="15.0" fullinertia="0.5 0.6 0.3 0.0 0.0 0.0" />
        <geom name="yumi_body_vis_0" type="mesh" mesh="meshes_body" contype="0" conaffinity="0" group="2" material="Light_Grey" />
        <geom name="yumi_body_col_0" type="mesh" mesh="coarse_body" group="3" />
        <body name="yumi_link_1_r" pos="0.05355 -0.0725 0.41492" quat="0.21925457634717457 -0.4077963603936713 0.31428982822327584 -0.8287650228357129">
          <joint name="yumi_joint_1_r" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
          <inertial pos="0.0 -0.03 0.12" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
          <geom name="yumi_link_1_r_vis_0" type="mesh" mesh="meshes_link_1" contype="0" conaffinity="0" group="2" material="Grey" />
          <geom name="yumi_link_1_r_col_0" type="mesh" mesh="coarse_link_1" group="3" />
          <body name="yumi_link_2_r" pos="0.03 0.0 0.1" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
            <joint name="yumi_joint_2_r" type="hinge" axis="0.0 0.0 1.0" range="-2.50454747661 0.759218224618" damping="0.5" />
            <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
            <geom name="yumi_link_2_r_vis_0" type="mesh" mesh="meshes_link_2" contype="0" conaffinity="0" group="2" material="Grey" />
            <geom name="yumi_link_2_r_col_0" type="mesh" mesh="coarse_link_2" group="3" />
            <body name="yumi_link_3_r" pos="-0.03 0.17283 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
              <joint name="yumi_joint_7_r" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
              <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
              <geom name="yumi_link_3_r_vis_0" type="mesh" mesh="meshes_link_3" contype="0" conaffinity="0" group="2" material="Grey" />
              <geom name="yumi_link_3_r_col_0" type="mesh" mesh="coarse_link_3" group="3" />
              <body name="yumi_link_4_r" pos="-0.04188 0.0 0.07873" quat="0.5000000000024483 0.5 -0.5 0.4999999999975517">
                <joint name="yumi_joint_3_r" type="hinge" axis="0.0 0.0 1.0" range="-2.15548162621 1.3962634016" damping="0.5" />
                <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                <geom name="yumi_link_4_r_vis_0" type="mesh" mesh="meshes_link_4" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="yumi_link_4_r_col_0" type="mesh" mesh="coarse_link_4" group="3" />
                <body name="yumi_link_5_r" pos="0.0405 0.16461 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
                  <joint name="yumi_joint_4_r" type="hinge" axis="0.0 0.0 1.0" range="-5.06145483078 5.06145483078" damping="0.5" />
                  <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                  <geom name="yumi_link_5_r_vis_0" type="mesh" mesh="meshes_link_5" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="yumi_link_5_r_col_0" type="mesh" mesh="coarse_link_5" group="3" />
                  <body name="yumi_link_6_r" pos="-0.027 0.0 0.10039" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
                    <joint name="yumi_joint_5_r" type="hinge" axis="0.0 0.0 1.0" range="-1.53588974176 2.40855436775" damping="0.5" />
                    <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                    <geom name="yumi_link_6_r_vis_0" type="mesh" mesh="meshes_link_6" contype="0" conaffinity="0" group="2" material="Grey" />
                    <geom name="yumi_link_6_r_col_0" type="mesh" mesh="coarse_link_6" group="3" />
                    <body name="yumi_link_7_r" pos="0.027 0.029 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
                      <joint name="yumi_joint_6_r" type="hinge" axis="0.0 0.0 1.0" range="-3.99680398707 3.99680398707" damping="0.5" />
                      <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                      <geom name="yumi_link_7_r_vis_0" type="mesh" mesh="meshes_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
                      <geom name="yumi_link_7_r_col_0" type="mesh" mesh="coarse_link_7" group="3" />
                      <body name="gripper_r_base" pos="0.0 0.0 0.007" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
                        <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                        <geom name="gripper_r_base_vis_0" type="mesh" mesh="gripper_base" contype="0" conaffinity="0" group="2" material="Light_Grey" />
                        <geom name="gripper_r_base_col_0" type="mesh" mesh="coarse_base" group="3" />
                        <body name="gripper_r_finger_r" pos="0.0 -0.0065 0.0837">
                          <joint name="gripper_r_joint" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="gripper_r_finger_r_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
                          <geom name="gripper_r_finger_r_col_0" type="mesh" mesh="coarse_finger" group="3" />
                        </body>
                        <body name="gripper_r_finger_l" pos="0.0 0.0065 0.0837" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
                          <joint name="gripper_r_joint_m" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="gripper_r_finger_l_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
                          <geom name="gripper_r_finger_l_col_0" type="mesh" mesh="coarse_finger" group="3" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="yumi_link_1_l" pos="0.05355 0.0725 0.41492" quat="0.21763235981918536 0.40848028010665555 0.3134367343687632 0.8291787685847762">
          <joint name="yumi_joint_1_l" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
          <inertial pos="0.0 -0.03 0.12" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
          <geom name="yumi_link_1_l_vis_0" type="mesh" mesh="meshes_link_1" contype="0" conaffinity="0" group="2" material="Grey" />
          <geom name="yumi_link_1_l_col_0" type="mesh" mesh="coarse_link_1" group="3" />
          <body name="yumi_link_2_l" pos="0.03 0.0 0.1" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
            <joint name="yumi_joint_2_l" type="hinge" axis="0.0 0.0 1.0" range="-2.50454747661 0.759218224618" damping="0.5" />
            <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
            <geom name="yumi_link_2_l_vis_0" type="mesh" mesh="meshes_link_2" contype="0" conaffinity="0" group="2" material="Grey" />
            <geom name="yumi_link_2_l_col_0" type="mesh" mesh="coarse_link_2" group="3" />
            <body name="yumi_link_3_l" pos="-0.03 0.17283 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
              <joint name="yumi_joint_7_l" type="hinge" axis="0.0 0.0 1.0" range="-2.94087978961 2.94087978961" damping="0.5" />
              <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
              <geom name="yumi_link_3_l_vis_0" type="mesh" mesh="meshes_link_3" contype="0" conaffinity="0" group="2" material="Grey" />
              <geom name="yumi_link_3_l_col_0" type="mesh" mesh="coarse_link_3" group="3" />
              <body name="yumi_link_4_l" pos="-0.04188 0.0 0.07873" quat="0.5000000000024483 0.5 -0.5 0.4999999999975517">
                <joint name="yumi_joint_3_l" type="hinge" axis="0.0 0.0 1.0" range="-2.15548162621 1.3962634016" damping="0.5" />
                <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                <geom name="yumi_link_4_l_vis_0" type="mesh" mesh="meshes_link_4" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="yumi_link_4_l_col_0" type="mesh" mesh="coarse_link_4" group="3" />
                <body name="yumi_link_5_l" pos="0.0405 0.16461 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
                  <joint name="yumi_joint_4_l" type="hinge" axis="0.0 0.0 1.0" range="-5.06145483078 5.06145483078" damping="0.5" />
                  <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                  <geom name="yumi_link_5_l_vis_0" type="mesh" mesh="meshes_link_5" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="yumi_link_5_l_col_0" type="mesh" mesh="coarse_link_5" group="3" />
                  <body name="yumi_link_6_l" pos="-0.027 0.0 0.10039" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
                    <joint name="yumi_joint_5_l" type="hinge" axis="0.0 0.0 1.0" range="-1.53588974176 2.40855436775" damping="0.5" />
                    <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                    <geom name="yumi_link_6_l_vis_0" type="mesh" mesh="meshes_link_6" contype="0" conaffinity="0" group="2" material="Grey" />
                    <geom name="yumi_link_6_l_col_0" type="mesh" mesh="coarse_link_6" group="3" />
                    <body name="yumi_link_7_l" pos="0.027 0.029 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
                      <joint name="yumi_joint_6_l" type="hinge" axis="0.0 0.0 1.0" range="-3.99680398707 3.99680398707" damping="0.5" />
                      <inertial pos="0.0 0.0 0.0" mass="2.0" fullinertia="0.1 0.1 0.1 0.0 0.0 0.0" />
                      <geom name="yumi_link_7_l_vis_0" type="mesh" mesh="meshes_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
                      <geom name="yumi_link_7_l_col_0" type="mesh" mesh="coarse_link_7" group="3" />
                      <body name="gripper_l_base" pos="0.0 0.0 0.007" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
                        <inertial pos="0.0 0.0 0.0" mass="0.2" fullinertia="0.0001 0.0001 0.0001 0.0 0.0 0.0" />
                        <geom name="gripper_l_base_vis_0" type="mesh" mesh="gripper_base" contype="0" conaffinity="0" group="2" material="Light_Grey" />
                        <geom name="gripper_l_base_col_0" type="mesh" mesh="coarse_base" group="3" />
                        <body name="gripper_l_finger_r" pos="0.0 -0.0065 0.0837">
                          <joint name="gripper_l_joint" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="gripper_l_finger_r_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
                          <geom name="gripper_l_finger_r_col_0" type="mesh" mesh="coarse_finger" group="3" />
                        </body>
                        <body name="gripper_l_finger_l" pos="0.0 0.0065 0.0837" quat="-1.0341155355510722e-13 -0.0 0.0 1.0">
                          <joint name="gripper_l_joint_m" type="slide" axis="-1.0 0.0 0.0" range="0.0 0.025" damping="1.0" />
                          <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                          <geom name="gripper_l_finger_l_vis_0" type="mesh" mesh="gripper_finger" contype="0" conaffinity="0" group="2" material="Blue" />
                          <geom name="gripper_l_finger_l_col_0" type="mesh" mesh="coarse_finger" group="3" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="yumi_base_link" body2="yumi_body" />
    <exclude body1="yumi_body" body2="yumi_link_1_r" />
    <exclude body1="yumi_link_1_r" body2="yumi_link_2_r" />
    <exclude body1="yumi_link_2_r" body2="yumi_link_3_r" />
    <exclude body1="yumi_link_3_r" body2="yumi_link_4_r" />
    <exclude body1="yumi_link_4_r" body2="yumi_link_5_r" />
    <exclude body1="yumi_link_5_r" body2="yumi_link_6_r" />
    <exclude body1="yumi_link_6_r" body2="yumi_link_7_r" />
    <exclude body1="yumi_body" body2="yumi_link_1_l" />
    <exclude body1="yumi_link_1_l" body2="yumi_link_2_l" />
    <exclude body1="yumi_link_2_l" body2="yumi_link_3_l" />
    <exclude body1="yumi_link_3_l" body2="yumi_link_4_l" />
    <exclude body1="yumi_link_4_l" body2="yumi_link_5_l" />
    <exclude body1="yumi_link_5_l" body2="yumi_link_6_l" />
    <exclude body1="yumi_link_6_l" body2="yumi_link_7_l" />
    <exclude body1="yumi_link_7_r" body2="gripper_r_base" />
    <exclude body1="gripper_r_base" body2="gripper_r_finger_r" />
    <exclude body1="gripper_r_base" body2="gripper_r_finger_l" />
    <exclude body1="yumi_link_7_l" body2="gripper_l_base" />
    <exclude body1="gripper_l_base" body2="gripper_l_finger_r" />
    <exclude body1="gripper_l_base" body2="gripper_l_finger_l" />
  </contact>
</mujoco>
