<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 4fc5fd17cd8ee605 -->
<mujoco model="openarm_v20">
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                  <joint name="openarm_right_joint5" type="hinge" axis="0.0 0.0 -1.0" range="-1.5708 1.5708" />
                  <inertial pos="-0.000737188580130584 -0.000412406544351845 -0.047093829077211" mass="0.6156588026168502" fullinertia="0.000279653368752989 0.000334599623120095 0.000176662464388138 3.31745289972445e-06 7.68097311403736e-07 -1.49934409279756e-07" />
                  <geom name="openarm_right_link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" material="openarm_right_link5_material" />
                  <geom name="openarm_right_link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                  <body name="openarm_right_link6" pos="0.0 0.0 -0.120499999999998">
                    <joint name="openarm_right_joint6" type="hinge" axis="0.0 1.0 0.0" range="-0.7854 0.7854" />
                    <inertial pos="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05" mass="0.475202773187987" fullinertia="0.000179275941446964 0.000136247512758587 0.000135340695937386 6.58439346712228e-08 -3.37101167120887e-08 3.32253600295544e-08" />
                    <geom name="openarm_right_link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" material="openarm_right_link6_material" />
                    <geom name="openarm_right_link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                    <body name="openarm_right_ee_base_link">
                      <joint name="openarm_right_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
                      <inertial pos="0.0137902 0.0084073 -0.05938" mass="0.52832" fullinertia="0.00021911 0.00015627 0.0001659 4.1683e-06 1.4043e-06 -1.5124e-06" />
                      <geom name="openarm_right_ee_base_link_vis_0" type="mesh" mesh="visual_ee_base_link" pos="0.0205 0.0 0.0" contype="0" conaffinity="0" group="2" material="openarm_right_ee_base_link_material" />
                      <geom name="openarm_right_ee_base_link_col_0" type="mesh" mesh="collision_ee_base_link" pos="0.0205 0.0 0.0" group="3" />
                      <body name="openarm_right_ee_link1" pos="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174">
                        <joint name="openarm_right_finger_joint1" type="hinge" axis="-1.0 0.0 0.0" range="-0.7854 0.0" />
                        <inertial pos="-0.0124990911725494 0.00176592789915655 -0.0241663193888537" mass="0.125979047366671" fullinertia="3.61105363396623e-05 3.62137424319396e-05 1.74958961632907e-05 1.35880208293387e-06 7.13916341634141e-06 -3.60343788693423e-06" />
                        <geom name="openarm_right_ee_link1_vis_0" type="mesh" mesh="visual_finger_inner" contype="0" conaffinity="0" group="2" material="openarm_right_ee_link1_material" />
                        <geom name="openarm_right_ee_link1_col_0" type="mesh" mesh="collision_finger_inner" group="3" />
                      </body>
                      <body name="openarm_right_ee_link2" pos="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215">
                        <joint name="openarm_right_finger_joint2" type="hinge" axis="1.0 0.0 0.0" range="-0.7854 0.0" />
                        <inertial pos="-0.012796 -0.0020183 -0.026792" mass="0.11372" fullinertia="3.4565e-05 3.5306e-05 1.6571e-05 -1.3392e-06 7.1576e-06 3.7172e-06" />
                        <geom name="openarm_right_ee_link2_vis_0" type="mesh" mesh="visual_finger_outer" contype="0" conaffinity="0" group="2" material="openarm_right_ee_link2_material" />
                        <geom name="openarm_right_ee_link2_col_0" type="mesh" mesh="collision_finger_outer" group="3" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="openarm_body_link0" body2="openarm_left_base_link" />
    <exclude body1="openarm_left_base_link" 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_ee_base_link" />
    <exclude body1="openarm_left_ee_base_link" body2="openarm_left_ee_link1" />
    <exclude body1="openarm_left_ee_base_link" body2="openarm_left_ee_link2" />
    <exclude body1="openarm_body_link0" body2="openarm_right_base_link" />
    <exclude body1="openarm_right_base_link" 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_ee_base_link" />
    <exclude body1="openarm_right_ee_base_link" body2="openarm_right_ee_link1" />
    <exclude body1="openarm_right_ee_base_link" body2="openarm_right_ee_link2" />
  </contact>
</mujoco>
