<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 506aa8bec1151ed5 -->
<mujoco model="pr2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
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    <mesh name="caster" file="meshes/base_v0/caster.stl" />
    <mesh name="caster_L" file="meshes/base_v0/caster_L.stl" />
    <mesh name="torso_lift_L" file="meshes/torso_v0/torso_lift_L.stl" />
    <mesh name="head_pan_L" file="meshes/head_v0/head_pan_L.stl" />
    <mesh name="head_tilt_L" file="meshes/head_v0/head_tilt_L.stl" />
    <mesh name="tilting_hokuyo_L" file="meshes/tilting_laser_v0/tilting_hokuyo_L.stl" />
    <mesh name="meshes_shoulder_v0_shoulder_pan_dae" file="meshes/shoulder_v0/shoulder_pan.dae" />
    <mesh name="meshes_shoulder_v0_shoulder_pan_stl" file="meshes/shoulder_v0/shoulder_pan.stl" />
    <mesh name="meshes_shoulder_v0_shoulder_lift_dae" file="meshes/shoulder_v0/shoulder_lift.dae" />
    <mesh name="meshes_shoulder_v0_shoulder_lift_stl" file="meshes/shoulder_v0/shoulder_lift.stl" />
    <mesh name="upper_arm_roll" file="meshes/shoulder_v0/upper_arm_roll.stl" />
    <mesh name="upper_arm_roll_L" file="meshes/shoulder_v0/upper_arm_roll_L.stl" />
    <mesh name="meshes_upper_arm_v0_upper_arm_dae" file="meshes/upper_arm_v0/upper_arm.dae" />
    <mesh name="meshes_upper_arm_v0_upper_arm_stl" file="meshes/upper_arm_v0/upper_arm.stl" />
    <mesh name="forearm_roll" file="meshes/upper_arm_v0/forearm_roll.stl" />
    <mesh name="forearm_roll_L" file="meshes/upper_arm_v0/forearm_roll_L.stl" />
    <mesh name="meshes_upper_arm_v0_elbow_flex_dae" file="meshes/upper_arm_v0/elbow_flex.dae" />
    <mesh name="meshes_upper_arm_v0_elbow_flex_stl" file="meshes/upper_arm_v0/elbow_flex.stl" />
    <mesh name="meshes_forearm_v0_forearm_dae" file="meshes/forearm_v0/forearm.dae" />
    <mesh name="meshes_forearm_v0_forearm_stl" file="meshes/forearm_v0/forearm.stl" />
    <mesh name="meshes_forearm_v0_wrist_flex_dae" file="meshes/forearm_v0/wrist_flex.dae" />
    <mesh name="meshes_forearm_v0_wrist_flex_stl" file="meshes/forearm_v0/wrist_flex.stl" />
    <mesh name="wrist_roll" file="meshes/forearm_v0/wrist_roll.stl" />
    <mesh name="wrist_roll_L" file="meshes/forearm_v0/wrist_roll_L.stl" />
    <mesh name="meshes_gripper_v0_gripper_palm_dae" file="meshes/gripper_v0/gripper_palm.dae" />
    <mesh name="meshes_gripper_v0_gripper_palm_stl" file="meshes/gripper_v0/gripper_palm.stl" />
    <mesh name="meshes_gripper_v0_l_finger_dae" file="meshes/gripper_v0/l_finger.dae" />
    <mesh name="meshes_gripper_v0_l_finger_stl" file="meshes/gripper_v0/l_finger.stl" />
    <mesh name="meshes_gripper_v0_l_finger_tip_dae" file="meshes/gripper_v0/l_finger_tip.dae" />
    <mesh name="meshes_gripper_v0_l_finger_tip_stl" file="meshes/gripper_v0/l_finger_tip.stl" />
  </asset>
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          <body name="fr_caster_r_wheel_link" pos="0.0 -0.049 0.0">
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        </body>
        <body name="bl_caster_rotation_link" pos="-0.2246 0.2246 0.0282">
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          <geom name="bl_caster_rotation_link_col_0" type="mesh" mesh="caster_L" group="3" />
          <body name="bl_caster_l_wheel_link" pos="0.0 0.049 0.0">
            <joint name="bl_caster_l_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
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          <body name="bl_caster_r_wheel_link" pos="0.0 -0.049 0.0">
            <joint name="bl_caster_r_wheel_joint" type="hinge" axis="0.0 1.0 0.0" limited="false" damping="1.0" />
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        <body name="br_caster_rotation_link" pos="-0.2246 -0.2246 0.0282">
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                <body name="r_upper_arm_link">
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                        <body name="r_wrist_flex_link" pos="0.321 0.0 0.0">
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                            <joint name="r_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="0.1" />
                            <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
                            <geom name="r_wrist_roll_link_vis_0" type="mesh" mesh="wrist_roll" contype="0" conaffinity="0" group="2" />
                            <geom name="r_wrist_roll_link_col_0" type="mesh" mesh="wrist_roll_L" group="3" />
                            <body name="r_gripper_palm_link">
                              <inertial pos="0.06623 0.00053 -0.00119" mass="0.58007" fullinertia="0.00035223921 0.00067741312 0.00086563316 -1.580476e-05 -9.175e-07 -5.9554e-07" />
                              <geom name="r_gripper_palm_link_vis_0" type="mesh" mesh="meshes_gripper_v0_gripper_palm_dae" contype="0" conaffinity="0" group="2" />
                              <geom name="r_gripper_palm_link_col_0" type="mesh" mesh="meshes_gripper_v0_gripper_palm_stl" group="3" />
                              <body name="r_gripper_motor_accelerometer_link">
                                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                <geom name="r_gripper_motor_accelerometer_link_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" />
                                <geom name="r_gripper_motor_accelerometer_link_col_0" type="box" size="0.0005 0.0005 0.0005" group="3" />
                              </body>
                              <body name="r_gripper_l_finger_link" pos="0.07691 0.01 0.0">
                                <joint name="r_gripper_l_finger_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.548" damping="0.02" />
                                <inertial pos="0.03598 0.0173 -0.00164" mass="0.17126" fullinertia="7.756198e-05 0.00019708305 0.00018105446 1.49095e-06 -9.83385e-06 -3.06125e-06" />
                                <geom name="r_gripper_l_finger_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_dae" contype="0" conaffinity="0" group="2" />
                                <geom name="r_gripper_l_finger_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_stl" group="3" />
                                <body name="r_gripper_l_finger_tip_link" pos="0.09137 0.00495 0.0">
                                  <joint name="r_gripper_l_finger_tip_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.548" damping="0.001" />
                                  <inertial pos="0.00423 0.00284 0.0" mass="0.04419" fullinertia="8.37047e-06 9.87067e-06 1.541768e-05 5.83632e-06 0.0 0.0" />
                                  <geom name="r_gripper_l_finger_tip_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_dae" contype="0" conaffinity="0" group="2" />
                                  <geom name="r_gripper_l_finger_tip_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_stl" group="3" />
                                </body>
                              </body>
                              <body name="r_gripper_r_finger_link" pos="0.07691 -0.01 0.0">
                                <joint name="r_gripper_r_finger_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.548" damping="0.02" />
                                <inertial pos="0.03576 -0.01736 -0.00095" mass="0.17389" fullinertia="7.73841e-05 0.00019847383 0.00018106988 -2.09309e-06 -8.36228e-06 2.4611e-06" />
                                <geom name="r_gripper_r_finger_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_dae" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
                                <geom name="r_gripper_r_finger_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_stl" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
                                <body name="r_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0.0">
                                  <joint name="r_gripper_r_finger_tip_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.548" damping="0.001" />
                                  <inertial pos="0.00423 -0.00284 0.0" mass="0.04419" fullinertia="8.37047e-06 9.87067e-06 1.541768e-05 -5.83632e-06 0.0 0.0" />
                                  <geom name="r_gripper_r_finger_tip_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_dae" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
                                  <geom name="r_gripper_r_finger_tip_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_stl" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
          <body name="l_shoulder_pan_link" pos="0.0 0.188 0.0">
            <joint name="l_shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.714601836603 2.2853981634" damping="10.0" />
            <inertial pos="-0.001201 0.024513 -0.098231" mass="25.799322" fullinertia="0.86617914248 0.87421714893 0.27353821674 -0.06086507933 -0.12118061183 -0.05886609911" />
            <geom name="l_shoulder_pan_link_vis_0" type="mesh" mesh="meshes_shoulder_v0_shoulder_pan_dae" contype="0" conaffinity="0" group="2" />
            <geom name="l_shoulder_pan_link_col_0" type="mesh" mesh="meshes_shoulder_v0_shoulder_pan_stl" group="3" />
            <body name="l_shoulder_lift_link" pos="0.1 0.0 0.0">
              <joint name="l_shoulder_lift_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.5236 1.3963" damping="10.0" />
              <inertial pos="0.02195 -0.02664 -0.03127" mass="2.74988" fullinertia="0.02105584615 0.02127223737 0.01975753814 0.00496704022 -0.00194808955 0.0011042549" />
              <geom name="l_shoulder_lift_link_vis_0" type="mesh" mesh="meshes_shoulder_v0_shoulder_lift_dae" contype="0" conaffinity="0" group="2" />
              <geom name="l_shoulder_lift_link_col_0" type="mesh" mesh="meshes_shoulder_v0_shoulder_lift_stl" group="3" />
              <body name="l_upper_arm_roll_link">
                <joint name="l_upper_arm_roll_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.8 3.9" damping="0.1" />
                <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
                <geom name="l_upper_arm_roll_link_vis_0" type="mesh" mesh="upper_arm_roll" contype="0" conaffinity="0" group="2" />
                <geom name="l_upper_arm_roll_link_col_0" type="mesh" mesh="upper_arm_roll_L" group="3" />
                <body name="l_upper_arm_link">
                  <inertial pos="0.21405 0.01658 -0.00057" mass="6.01769" fullinertia="0.01530603856 0.07473694455 0.07601594191 -0.00339324862 0.00060765455 -0.00019953729" />
                  <geom name="l_upper_arm_link_vis_0" type="mesh" mesh="meshes_upper_arm_v0_upper_arm_dae" contype="0" conaffinity="0" group="2" />
                  <geom name="l_upper_arm_link_col_0" type="mesh" mesh="meshes_upper_arm_v0_upper_arm_stl" group="3" />
                  <body name="l_elbow_flex_link" pos="0.4 0.0 0.0">
                    <joint name="l_elbow_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.3213 0.0" damping="1.0" />
                    <inertial pos="0.01014 0.00032 -0.01211" mass="1.90327" fullinertia="0.00346541989 0.00441606455 0.00359156824 4.066825e-05 0.00043171614 -3.968914e-05" />
                    <geom name="l_elbow_flex_link_vis_0" type="mesh" mesh="meshes_upper_arm_v0_elbow_flex_dae" contype="0" conaffinity="0" group="2" />
                    <geom name="l_elbow_flex_link_col_0" type="mesh" mesh="meshes_upper_arm_v0_elbow_flex_stl" group="3" />
                    <body name="l_forearm_roll_link">
                      <joint name="l_forearm_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="0.1" />
                      <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
                      <geom name="l_forearm_roll_link_vis_0" type="mesh" mesh="forearm_roll" contype="0" conaffinity="0" group="2" />
                      <geom name="l_forearm_roll_link_col_0" type="mesh" mesh="forearm_roll_L" group="3" />
                      <body name="l_forearm_link">
                        <inertial pos="0.18791 -0.00017 -0.00912" mass="2.57968" fullinertia="0.00364857222 0.01507736897 0.01659310749 5.215877e-05 0.00071534842 -1.31077e-05" />
                        <geom name="l_forearm_link_vis_0" type="mesh" mesh="meshes_forearm_v0_forearm_dae" contype="0" conaffinity="0" group="2" />
                        <geom name="l_forearm_link_col_0" type="mesh" mesh="meshes_forearm_v0_forearm_stl" group="3" />
                        <body name="l_wrist_flex_link" pos="0.321 0.0 0.0">
                          <joint name="l_wrist_flex_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.18 0.0" damping="0.1" />
                          <inertial pos="-0.00157 0.0 -0.00075" mass="0.61402" fullinertia="0.00065165722 0.00019824443 0.00064450498 2.8864e-07 3.03477e-06 -2.2645e-07" />
                          <geom name="l_wrist_flex_link_vis_0" type="mesh" mesh="meshes_forearm_v0_wrist_flex_dae" contype="0" conaffinity="0" group="2" />
                          <geom name="l_wrist_flex_link_col_0" type="mesh" mesh="meshes_forearm_v0_wrist_flex_stl" group="3" />
                          <body name="l_wrist_roll_link">
                            <joint name="l_wrist_roll_joint" type="hinge" axis="1.0 0.0 0.0" limited="false" damping="0.1" />
                            <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.01 0.01 0.01 0.0 0.0 0.0" />
                            <geom name="l_wrist_roll_link_vis_0" type="mesh" mesh="wrist_roll" contype="0" conaffinity="0" group="2" />
                            <geom name="l_wrist_roll_link_col_0" type="mesh" mesh="wrist_roll_L" group="3" />
                            <body name="l_gripper_palm_link">
                              <inertial pos="0.06623 0.00053 -0.00119" mass="0.58007" fullinertia="0.00035223921 0.00067741312 0.00086563316 -1.580476e-05 -9.175e-07 -5.9554e-07" />
                              <geom name="l_gripper_palm_link_vis_0" type="mesh" mesh="meshes_gripper_v0_gripper_palm_dae" contype="0" conaffinity="0" group="2" />
                              <geom name="l_gripper_palm_link_col_0" type="mesh" mesh="meshes_gripper_v0_gripper_palm_stl" group="3" />
                              <body name="l_gripper_motor_accelerometer_link">
                                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                                <geom name="l_gripper_motor_accelerometer_link_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" />
                                <geom name="l_gripper_motor_accelerometer_link_col_0" type="box" size="0.0005 0.0005 0.0005" group="3" />
                              </body>
                              <body name="l_gripper_l_finger_link" pos="0.07691 0.01 0.0">
                                <joint name="l_gripper_l_finger_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.548" damping="0.02" />
                                <inertial pos="0.03598 0.0173 -0.00164" mass="0.17126" fullinertia="7.756198e-05 0.00019708305 0.00018105446 1.49095e-06 -9.83385e-06 -3.06125e-06" />
                                <geom name="l_gripper_l_finger_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_dae" contype="0" conaffinity="0" group="2" />
                                <geom name="l_gripper_l_finger_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_stl" group="3" />
                                <body name="l_gripper_l_finger_tip_link" pos="0.09137 0.00495 0.0">
                                  <joint name="l_gripper_l_finger_tip_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.548" damping="0.001" />
                                  <inertial pos="0.00423 0.00284 0.0" mass="0.04419" fullinertia="8.37047e-06 9.87067e-06 1.541768e-05 5.83632e-06 0.0 0.0" />
                                  <geom name="l_gripper_l_finger_tip_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_dae" contype="0" conaffinity="0" group="2" />
                                  <geom name="l_gripper_l_finger_tip_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_stl" group="3" />
                                </body>
                              </body>
                              <body name="l_gripper_r_finger_link" pos="0.07691 -0.01 0.0">
                                <joint name="l_gripper_r_finger_joint" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.548" damping="0.02" />
                                <inertial pos="0.03576 -0.01736 -0.00095" mass="0.17389" fullinertia="7.73841e-05 0.00019847383 0.00018106988 -2.09309e-06 -8.36228e-06 2.4611e-06" />
                                <geom name="l_gripper_r_finger_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_dae" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
                                <geom name="l_gripper_r_finger_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_stl" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
                                <body name="l_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0.0">
                                  <joint name="l_gripper_r_finger_tip_joint" type="hinge" axis="0.0 0.0 1.0" range="0.0 0.548" damping="0.001" />
                                  <inertial pos="0.00423 -0.00284 0.0" mass="0.04419" fullinertia="8.37047e-06 9.87067e-06 1.541768e-05 -5.83632e-06 0.0 0.0" />
                                  <geom name="l_gripper_r_finger_tip_link_vis_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_dae" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
                                  <geom name="l_gripper_r_finger_tip_link_col_0" type="mesh" mesh="meshes_gripper_v0_l_finger_tip_stl" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_footprint" body2="base_link" />
    <exclude body1="base_link" body2="base_bellow_link" />
    <exclude body1="base_link" body2="fl_caster_rotation_link" />
    <exclude body1="fl_caster_rotation_link" body2="fl_caster_l_wheel_link" />
    <exclude body1="fl_caster_rotation_link" body2="fl_caster_r_wheel_link" />
    <exclude body1="base_link" body2="fr_caster_rotation_link" />
    <exclude body1="fr_caster_rotation_link" body2="fr_caster_l_wheel_link" />
    <exclude body1="fr_caster_rotation_link" body2="fr_caster_r_wheel_link" />
    <exclude body1="base_link" body2="bl_caster_rotation_link" />
    <exclude body1="bl_caster_rotation_link" body2="bl_caster_l_wheel_link" />
    <exclude body1="bl_caster_rotation_link" body2="bl_caster_r_wheel_link" />
    <exclude body1="base_link" body2="br_caster_rotation_link" />
    <exclude body1="br_caster_rotation_link" body2="br_caster_l_wheel_link" />
    <exclude body1="br_caster_rotation_link" body2="br_caster_r_wheel_link" />
    <exclude body1="base_link" body2="torso_lift_link" />
    <exclude body1="torso_lift_link" body2="head_pan_link" />
    <exclude body1="head_pan_link" body2="head_tilt_link" />
    <exclude body1="head_tilt_link" body2="head_plate_frame" />
    <exclude body1="torso_lift_link" body2="laser_tilt_mount_link" />
    <exclude body1="torso_lift_link" body2="r_shoulder_pan_link" />
    <exclude body1="r_shoulder_pan_link" body2="r_shoulder_lift_link" />
    <exclude body1="r_shoulder_lift_link" body2="r_upper_arm_roll_link" />
    <exclude body1="r_upper_arm_roll_link" body2="r_upper_arm_link" />
    <exclude body1="r_elbow_flex_link" body2="r_forearm_roll_link" />
    <exclude body1="r_upper_arm_link" body2="r_elbow_flex_link" />
    <exclude body1="r_forearm_roll_link" body2="r_forearm_link" />
    <exclude body1="r_forearm_link" body2="r_wrist_flex_link" />
    <exclude body1="r_wrist_flex_link" body2="r_wrist_roll_link" />
    <exclude body1="r_wrist_roll_link" body2="r_gripper_palm_link" />
    <exclude body1="r_gripper_palm_link" body2="r_gripper_motor_accelerometer_link" />
    <exclude body1="r_gripper_palm_link" body2="r_gripper_l_finger_link" />
    <exclude body1="r_gripper_palm_link" body2="r_gripper_r_finger_link" />
    <exclude body1="r_gripper_l_finger_link" body2="r_gripper_l_finger_tip_link" />
    <exclude body1="r_gripper_r_finger_link" body2="r_gripper_r_finger_tip_link" />
    <exclude body1="torso_lift_link" body2="l_shoulder_pan_link" />
    <exclude body1="l_shoulder_pan_link" body2="l_shoulder_lift_link" />
    <exclude body1="l_shoulder_lift_link" body2="l_upper_arm_roll_link" />
    <exclude body1="l_upper_arm_roll_link" body2="l_upper_arm_link" />
    <exclude body1="l_elbow_flex_link" body2="l_forearm_roll_link" />
    <exclude body1="l_upper_arm_link" body2="l_elbow_flex_link" />
    <exclude body1="l_forearm_roll_link" body2="l_forearm_link" />
    <exclude body1="l_forearm_link" body2="l_wrist_flex_link" />
    <exclude body1="l_wrist_flex_link" body2="l_wrist_roll_link" />
    <exclude body1="l_wrist_roll_link" body2="l_gripper_palm_link" />
    <exclude body1="l_gripper_palm_link" body2="l_gripper_motor_accelerometer_link" />
    <exclude body1="l_gripper_palm_link" body2="l_gripper_l_finger_link" />
    <exclude body1="l_gripper_palm_link" body2="l_gripper_r_finger_link" />
    <exclude body1="l_gripper_l_finger_link" body2="l_gripper_l_finger_tip_link" />
    <exclude body1="l_gripper_r_finger_link" body2="l_gripper_r_finger_tip_link" />
  </contact>
</mujoco>
