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<!-- generated by bam_robot_descriptions (mjcf backend), content f169a14cb061b116 -->
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                      <inertial pos="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" mass="0.4659771327380578" fullinertia="0.000639 0.000497 0.000342 1e-06 1e-06 8.9e-05" />
                      <geom name="openarm_right_link7_vis_0" type="mesh" mesh="link7_0p001_0p001_0p001" pos="0.0 -0.0 -0.5585" contype="0" conaffinity="0" group="2" />
                      <geom name="openarm_right_link7_col_0" type="mesh" mesh="link7_symp_0p001_0p001_0p001" pos="0.0 -0.0 -0.5585" group="3" />
                      <body name="openarm_right_hand" pos="0.0 0.0 0.1025">
                        <inertial pos="1e-06 0.0 -0.000549" mass="0.127" fullinertia="0.000165558 1.7466e-05 0.000173524 0.0 0.0 0.0" />
                        <geom name="openarm_right_hand_vis_0" type="mesh" mesh="visual_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" contype="0" conaffinity="0" group="2" />
                        <geom name="openarm_right_hand_col_0" type="mesh" mesh="collision_hand_0p001_0p001_0p001" pos="0.0 0.0 -0.661001" group="3" />
                        <body name="openarm_right_hand_tcp" pos="0.0 0.0 0.0835" />
                      </body>
                      <body name="openarm_right_right_finger" pos="0.0 -0.005 0.1025">
                        <joint name="openarm_right_finger_joint1" type="slide" axis="0.0 -1.0 0.0" range="0.0 0.044" />
                        <inertial pos="0.0064528 -0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
                        <geom name="openarm_right_right_finger_vis_0" type="mesh" mesh="visual_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" contype="0" conaffinity="0" group="2" />
                        <geom name="openarm_right_right_finger_col_0" type="mesh" mesh="collision_finger_0p001_n0p001_0p001" pos="0.0 0.05 -0.661001" group="3" />
                      </body>
                      <body name="openarm_right_left_finger" pos="0.0 0.005 0.1025">
                        <joint name="openarm_right_finger_joint2" type="slide" axis="0.0 1.0 0.0" range="0.0 0.044" />
                        <inertial pos="0.0064528 0.01702 0.0219685" mass="0.03602545343277134" fullinertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07 1e-06 1e-06 1e-06" />
                        <geom name="openarm_right_left_finger_vis_0" type="mesh" mesh="visual_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" contype="0" conaffinity="0" group="2" />
                        <geom name="openarm_right_left_finger_col_0" type="mesh" mesh="collision_finger_0p001_0p001_0p001" pos="0.0 -0.05 -0.661001" group="3" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
    <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
    <exclude body1="openarm_left_link1" body2="openarm_left_link2" />
    <exclude body1="openarm_left_link2" body2="openarm_left_link3" />
    <exclude body1="openarm_left_link3" body2="openarm_left_link4" />
    <exclude body1="openarm_left_link4" body2="openarm_left_link5" />
    <exclude body1="openarm_left_link5" body2="openarm_left_link6" />
    <exclude body1="openarm_left_link6" body2="openarm_left_link7" />
    <exclude body1="openarm_body_link0" body2="openarm_right_link0" />
    <exclude body1="openarm_right_link0" body2="openarm_right_link1" />
    <exclude body1="openarm_right_link1" body2="openarm_right_link2" />
    <exclude body1="openarm_right_link2" body2="openarm_right_link3" />
    <exclude body1="openarm_right_link3" body2="openarm_right_link4" />
    <exclude body1="openarm_right_link4" body2="openarm_right_link5" />
    <exclude body1="openarm_right_link5" body2="openarm_right_link6" />
    <exclude body1="openarm_right_link6" body2="openarm_right_link7" />
    <exclude body1="openarm_left_link7" body2="openarm_left_hand" />
    <exclude body1="openarm_left_hand" body2="openarm_left_hand_tcp" />
    <exclude body1="openarm_left_link7" body2="openarm_left_right_finger" />
    <exclude body1="openarm_left_link7" body2="openarm_left_left_finger" />
    <exclude body1="openarm_right_link7" body2="openarm_right_hand" />
    <exclude body1="openarm_right_hand" body2="openarm_right_hand_tcp" />
    <exclude body1="openarm_right_link7" body2="openarm_right_right_finger" />
    <exclude body1="openarm_right_link7" body2="openarm_right_left_finger" />
  </contact>
</mujoco>
