<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 49ba67daaabe2851 -->
<mujoco model="r1_pro_with_gripper">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="meshes/base_link.obj" />
    <mesh name="base_link_collision" file="meshes/base_link_collision.STL" />
    <mesh name="steer_motor_link1" file="meshes/steer_motor_link1.obj" />
    <mesh name="steer_motor_link1_collision" file="meshes/steer_motor_link1_collision.STL" />
    <mesh name="wheel_motor_link1" file="meshes/wheel_motor_link1.obj" />
    <mesh name="wheel_motor_link1_collision" file="meshes/wheel_motor_link1_collision.STL" />
    <mesh name="steer_motor_link2" file="meshes/steer_motor_link2.obj" />
    <mesh name="steer_motor_link2_collision" file="meshes/steer_motor_link2_collision.STL" />
    <mesh name="wheel_motor_link2" file="meshes/wheel_motor_link2.obj" />
    <mesh name="wheel_motor_link2_collision" file="meshes/wheel_motor_link2_collision.STL" />
    <mesh name="steer_motor_link3" file="meshes/steer_motor_link3.obj" />
    <mesh name="steer_motor_link3_collision" file="meshes/steer_motor_link3_collision.STL" />
    <mesh name="wheel_motor_link3" file="meshes/wheel_motor_link3.obj" />
    <mesh name="wheel_motor_link3_collision" file="meshes/wheel_motor_link3_collision.STL" />
    <mesh name="torso_link1" file="meshes/torso_link1.obj" />
    <mesh name="torso_link1_collision" file="meshes/torso_link1_collision.STL" />
    <mesh name="torso_link2" file="meshes/torso_link2.obj" />
    <mesh name="torso_link2_collision" file="meshes/torso_link2_collision.STL" />
    <mesh name="torso_link3" file="meshes/torso_link3.obj" />
    <mesh name="torso_link3_collision" file="meshes/torso_link3_collision.STL" />
    <mesh name="torso_link4" file="meshes/torso_link4.obj" />
    <mesh name="torso_link4_collision" file="meshes/torso_link4_collision.STL" />
    <mesh name="zed_link" file="meshes/zed_link.obj" />
    <mesh name="zed_link_collision" file="meshes/zed_link_collision.STL" />
    <mesh name="left_arm_base_link" file="meshes/left_arm_base_link.obj" />
    <mesh name="left_arm_base_link_collision" file="meshes/left_arm_base_link_collision.STL" />
    <mesh name="left_arm_link1" file="meshes/left_arm_link1.obj" />
    <mesh name="left_arm_link1_collision" file="meshes/left_arm_link1_collision.STL" />
    <mesh name="left_arm_link2" file="meshes/left_arm_link2.obj" />
    <mesh name="left_arm_link2_collision" file="meshes/left_arm_link2_collision.STL" />
    <mesh name="left_arm_link3" file="meshes/left_arm_link3.obj" />
    <mesh name="left_arm_link3_collision" file="meshes/left_arm_link3_collision.STL" />
    <mesh name="left_arm_link4" file="meshes/left_arm_link4.obj" />
    <mesh name="left_arm_link4_collision" file="meshes/left_arm_link4_collision.STL" />
    <mesh name="left_arm_link5" file="meshes/left_arm_link5.obj" />
    <mesh name="left_arm_link5_collision" file="meshes/left_arm_link5_collision.STL" />
    <mesh name="left_arm_link6" file="meshes/left_arm_link6.obj" />
    <mesh name="left_arm_link6_collision" file="meshes/left_arm_link6_collision.STL" />
    <mesh name="left_arm_link7" file="meshes/left_arm_link7.obj" />
    <mesh name="left_arm_link7_collision" file="meshes/left_arm_link7_collision.STL" />
    <mesh name="left_gripper_link" file="meshes/left_gripper_link.obj" />
    <mesh name="left_gripper_link_collision" file="meshes/left_gripper_link_collision.STL" />
    <mesh name="left_realsense_link" file="meshes/left_realsense_link.obj" />
    <mesh name="left_realsense_link_collision" file="meshes/left_realsense_link_collision.STL" />
    <mesh name="left_gripper_finger_link1" file="meshes/left_gripper_finger_link1.obj" />
    <mesh name="left_gripper_finger_link2" file="meshes/left_gripper_finger_link2.obj" />
    <mesh name="right_arm_base_link" file="meshes/right_arm_base_link.obj" />
    <mesh name="right_arm_base_link_collision" file="meshes/right_arm_base_link_collision.STL" />
    <mesh name="right_arm_link1" file="meshes/right_arm_link1.obj" />
    <mesh name="right_arm_link1_collision" file="meshes/right_arm_link1_collision.STL" />
    <mesh name="right_arm_link2" file="meshes/right_arm_link2.obj" />
    <mesh name="right_arm_link2_collision" file="meshes/right_arm_link2_collision.STL" />
    <mesh name="right_arm_link3" file="meshes/right_arm_link3.obj" />
    <mesh name="right_arm_link3_collision" file="meshes/right_arm_link3_collision.STL" />
    <mesh name="right_arm_link4" file="meshes/right_arm_link4.obj" />
    <mesh name="right_arm_link4_collision" file="meshes/right_arm_link4_collision.STL" />
    <mesh name="right_arm_link5" file="meshes/right_arm_link5.obj" />
    <mesh name="right_arm_link5_collision" file="meshes/right_arm_link5_collision.STL" />
    <mesh name="right_arm_link6" file="meshes/right_arm_link6.obj" />
    <mesh name="right_arm_link6_collision" file="meshes/right_arm_link6_collision.STL" />
    <mesh name="right_arm_link7" file="meshes/right_arm_link7.obj" />
    <mesh name="right_arm_link7_collision" file="meshes/right_arm_link7_collision.STL" />
    <mesh name="right_gripper_link" file="meshes/right_gripper_link.obj" />
    <mesh name="right_gripper_link_collision" file="meshes/right_gripper_link_collision.STL" />
    <mesh name="right_realsense_link" file="meshes/right_realsense_link.obj" />
    <mesh name="right_realsense_link_collision" file="meshes/right_realsense_link_collision.STL" />
    <mesh name="right_gripper_finger_link1" file="meshes/right_gripper_finger_link1.obj" />
    <mesh name="right_gripper_finger_link2" file="meshes/right_gripper_finger_link2.obj" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.049262 -8.8054e-05 0.18255" mass="47.63" fullinertia="1.5812 1.4648 2.835 -1.0625e-05 0.053601 5.7054e-06" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="base_link_collision" group="3" />
      <body name="steer_motor_link1" pos="0.16897 0.28 0.15765">
        <inertial pos="7.7174e-06 -0.004623 -0.049428" mass="1.5" fullinertia="0.00022164 0.00032908 0.00015872 -3.529e-09 3.4267e-09 -7.5872e-08" />
        <geom name="steer_motor_link1_vis_0" type="mesh" mesh="steer_motor_link1" contype="0" conaffinity="0" group="2" />
        <geom name="steer_motor_link1_col_0" type="mesh" mesh="steer_motor_link1_collision" group="3" />
        <body name="wheel_motor_link1" pos="0.0 0.0 -0.08765">
          <inertial pos="1.6481e-10 -1.6203e-10 -9.455e-10" mass="1.5" fullinertia="0.0012628 0.0020893 0.0012628 1.0701e-10 5.7971e-09 1.2406e-09" />
          <geom name="wheel_motor_link1_vis_0" type="mesh" mesh="wheel_motor_link1" contype="0" conaffinity="0" group="2" />
          <geom name="wheel_motor_link1_col_0" type="mesh" mesh="wheel_motor_link1_collision" group="3" />
        </body>
      </body>
      <body name="steer_motor_link2" pos="0.16897 -0.28 0.15765">
        <inertial pos="6.044e-06 0.00010023 -0.052223" mass="1.5" fullinertia="0.0002535 0.00037037 0.000163 -4.9113e-09 5.8918e-09 -2.9177e-07" />
        <geom name="steer_motor_link2_vis_0" type="mesh" mesh="steer_motor_link2" contype="0" conaffinity="0" group="2" />
        <geom name="steer_motor_link2_col_0" type="mesh" mesh="steer_motor_link2_collision" group="3" />
        <body name="wheel_motor_link2" pos="0.0 0.0 -0.08765">
          <inertial pos="1.6448e-10 -1.616e-10 -9.4549e-10" mass="1.5" fullinertia="0.0012628 0.0020893 0.0012628 1.0701e-10 5.7971e-09 1.2406e-09" />
          <geom name="wheel_motor_link2_vis_0" type="mesh" mesh="wheel_motor_link2" contype="0" conaffinity="0" group="2" />
          <geom name="wheel_motor_link2_col_0" type="mesh" mesh="wheel_motor_link2_collision" group="3" />
        </body>
      </body>
      <body name="steer_motor_link3" pos="-0.32703 0.0 0.15765">
        <inertial pos="-6.029e-06 -0.00010167 -0.052221" mass="1.5" fullinertia="0.0002535 0.00037036 0.000163 -4.6767e-09 -3.5903e-09 2.9246e-07" />
        <geom name="steer_motor_link3_vis_0" type="mesh" mesh="steer_motor_link3" contype="0" conaffinity="0" group="2" />
        <geom name="steer_motor_link3_col_0" type="mesh" mesh="steer_motor_link3_collision" group="3" />
        <body name="wheel_motor_link3" pos="0.0 0.0 -0.08765">
          <inertial pos="-2.443e-09 1.4779e-12 5.1754e-12" mass="1.5" fullinertia="0.0012628 0.0020893 0.0012628 1.1439e-10 5.7894e-09 1.2052e-09" />
          <geom name="wheel_motor_link3_vis_0" type="mesh" mesh="wheel_motor_link3" contype="0" conaffinity="0" group="2" />
          <geom name="wheel_motor_link3_col_0" type="mesh" mesh="wheel_motor_link3_collision" group="3" />
        </body>
      </body>
      <body name="torso_link1" pos="-0.079032 0.0 0.34265">
        <joint name="torso_joint1" type="hinge" axis="0.0 1.0 0.0" range="-1.1345 1.8326" />
        <inertial pos="0.00065636 0.0032244 0.23142" mass="5.72" fullinertia="0.10931 0.10736 0.0081222 7.7894e-06 -0.00017473 0.00013778" />
        <geom name="torso_link1_vis_0" type="mesh" mesh="torso_link1" contype="0" conaffinity="0" group="2" />
        <geom name="torso_link1_col_0" type="mesh" mesh="torso_link1_collision" group="3" />
        <body name="torso_link2" pos="0.0 0.0 0.4">
          <joint name="torso_joint2" type="hinge" axis="0.0 1.0 0.0" range="-2.7925 2.5307" />
          <inertial pos="0.0052517 0.014411 0.15711" mass="3.5" fullinertia="0.026081 0.027574 0.0018515 -3.3436e-07 0.00024541 4.2283e-07" />
          <geom name="torso_link2_vis_0" type="mesh" mesh="torso_link2" contype="0" conaffinity="0" group="2" />
          <geom name="torso_link2_col_0" type="mesh" mesh="torso_link2_collision" group="3" />
          <body name="torso_link3" pos="0.0 0.0001005 0.3">
            <joint name="torso_joint3" type="hinge" axis="0.0 -1.0 0.0" range="-1.8326 1.5708" />
            <inertial pos="-9.8337e-07 -0.0055146 0.020182" mass="3.4" fullinertia="0.0016099 0.0023011 0.0017027 3.5899e-07 2.5497e-07 1.367e-05" />
            <geom name="torso_link3_vis_0" type="mesh" mesh="torso_link3" contype="0" conaffinity="0" group="2" />
            <geom name="torso_link3_col_0" type="mesh" mesh="torso_link3_collision" group="3" />
            <body name="torso_link4" pos="0.0 -0.00010015 0.09962">
              <joint name="torso_joint4" type="hinge" axis="0.0 0.0 1.0" range="-3.0543 3.0543" />
              <inertial pos="0.0049601 -1.2497e-05 0.21237" mass="5.0" fullinertia="0.026836 0.013023 0.021541 1.3048e-05 -0.00014074 4.6641e-07" />
              <geom name="torso_link4_vis_0" type="mesh" mesh="torso_link4" contype="0" conaffinity="0" group="2" />
              <geom name="torso_link4_col_0" type="mesh" mesh="torso_link4_collision" group="3" />
              <body name="zed_link" pos="0.065511 0.060003 0.47598" quat="0.4055680887171247 -0.5792345714922296 0.5792366991435213 -0.405569578454634">
                <inertial pos="0.060004 0.015906 -0.068413" mass="2.05" fullinertia="0.010375 0.014618 0.012229 1.8965e-07 1.3342e-08 0.00028961" />
                <geom name="zed_link_vis_0" type="mesh" mesh="zed_link" contype="0" conaffinity="0" group="2" />
                <geom name="zed_link_col_0" type="mesh" mesh="zed_link_collision" group="3" />
              </body>
              <body name="left_arm_base_link" pos="-0.00048618 0.097234 0.30302">
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                <geom name="left_arm_base_link_vis_0" type="mesh" mesh="left_arm_base_link" contype="0" conaffinity="0" group="2" />
                <geom name="left_arm_base_link_col_0" type="mesh" mesh="left_arm_base_link_collision" group="3" />
                <body name="left_arm_link1" pos="0.0 0.0735 0.0">
                  <joint name="left_arm_joint1" type="hinge" axis="0.0 1.0 0.0" range="-4.4506 1.309" />
                  <inertial pos="0.00042258 0.074131 7.9156e-05" mass="1.135" fullinertia="0.00061603 0.00030259 0.00047136 -1.1635e-06 -6.9725e-07 -6.2894e-07" />
                  <geom name="left_arm_link1_vis_0" type="mesh" mesh="left_arm_link1" contype="0" conaffinity="0" group="2" />
                  <geom name="left_arm_link1_col_0" type="mesh" mesh="left_arm_link1_collision" group="3" />
                  <body name="left_arm_link2" pos="0.025012 0.081265 0.0">
                    <joint name="left_arm_joint2" type="hinge" axis="1.0 0.0 0.0" range="-0.1745 3.1416" />
                    <inertial pos="-0.026826 -0.0040392 -0.031835" mass="0.92" fullinertia="0.00037378 0.00033872 0.00032361 -7.5909e-07 2.9042e-06 1.2166e-05" />
                    <geom name="left_arm_link2_vis_0" type="mesh" mesh="left_arm_link2" contype="0" conaffinity="0" group="2" />
                    <geom name="left_arm_link2_col_0" type="mesh" mesh="left_arm_link2_collision" group="3" />
                    <body name="left_arm_link3" pos="-0.025012 0.0 -0.1155">
                      <joint name="left_arm_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.356196 2.356196" />
                      <inertial pos="0.0053849 -0.00086892 -0.1126" mass="1.245" fullinertia="0.00072339 0.00073856 0.00037352 -3.3477e-06 -0.00012824 -8.3574e-06" />
                      <geom name="left_arm_link3_vis_0" type="mesh" mesh="left_arm_link3" contype="0" conaffinity="0" group="2" />
                      <geom name="left_arm_link3_col_0" type="mesh" mesh="left_arm_link3_collision" group="3" />
                      <body name="left_arm_link4" pos="0.0 0.035065 -0.1945">
                        <joint name="left_arm_joint4" type="hinge" axis="0.0 1.0 0.0" range="-1.7453 0.3491" />
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                        <geom name="left_arm_link4_vis_0" type="mesh" mesh="left_arm_link4" contype="0" conaffinity="0" group="2" />
                        <geom name="left_arm_link4_col_0" type="mesh" mesh="left_arm_link4_collision" group="3" />
                        <body name="left_arm_link5" pos="0.0 -0.035065 -0.095">
                          <joint name="left_arm_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.356196 2.356196" />
                          <inertial pos="3.7881e-07 -0.0028035 -0.062981" mass="0.939" fullinertia="0.00070496 0.00067006 0.00032998 1.4329e-08 -2.9036e-09 -5.1951e-05" />
                          <geom name="left_arm_link5_vis_0" type="mesh" mesh="left_arm_link5" contype="0" conaffinity="0" group="2" />
                          <geom name="left_arm_link5_col_0" type="mesh" mesh="left_arm_link5_collision" group="3" />
                          <body name="left_arm_link6" pos="0.0 -0.028 -0.16305">
                            <joint name="left_arm_joint6" type="hinge" axis="0.0 1.0 0.0" range="-1.047198 1.047198" />
                            <inertial pos="0.0017919 0.027487 0.00025471" mass="0.527" fullinertia="8.5442e-05 8.1186e-05 8.2736e-05 -1.5351e-07 8.3797e-07 -2.1972e-08" />
                            <geom name="left_arm_link6_vis_0" type="mesh" mesh="left_arm_link6" contype="0" conaffinity="0" group="2" />
                            <geom name="left_arm_link6_col_0" type="mesh" mesh="left_arm_link6_collision" group="3" />
                            <body name="left_arm_link7" pos="0.0295 0.028 0.0">
                              <joint name="left_arm_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
                              <inertial pos="-0.022945 8.4007e-07 -0.056525" mass="0.185" fullinertia="4.2564e-05 4.5515e-05 4.7946e-05 -2.1577e-09 -6.9368e-06 -1.9389e-09" />
                              <geom name="left_arm_link7_vis_0" type="mesh" mesh="left_arm_link7" contype="0" conaffinity="0" group="2" />
                              <geom name="left_arm_link7_col_0" type="mesh" mesh="left_arm_link7_collision" group="3" />
                              <body name="left_gripper_link" pos="-0.0295 0.0 -0.16065">
                                <inertial pos="-2.2589e-07 -5.2175e-08 0.031107" mass="0.24625" fullinertia="0.00016511 9.8651e-05 0.00017588 9.5318e-07 5.0942e-10 -1.8604e-10" />
                                <geom name="left_gripper_link_vis_0" type="mesh" mesh="left_gripper_link" contype="0" conaffinity="0" group="2" />
                                <geom name="left_gripper_link_col_0" type="mesh" mesh="left_gripper_link_collision" group="3" />
                                <body name="left_realsense_link" pos="0.05051 0.0028934 0.0051317" quat="0.21642986259838334 -0.00039420375409791837 -0.9762964923573758 0.0017658396669599078">
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                                  <geom name="left_realsense_link_vis_0" type="mesh" mesh="left_realsense_link" contype="0" conaffinity="0" group="2" />
                                  <geom name="left_realsense_link_col_0" type="mesh" mesh="left_realsense_link_collision" group="3" />
                                </body>
                                <body name="left_gripper_finger_link1" pos="-8.8709e-05 0.013453 -0.03689">
                                  <joint name="left_gripper_finger_joint1" type="slide" axis="-0.0077873 0.99997 0.0" range="0.0 0.05" />
                                  <inertial pos="0.0056571 -0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3969e-08 -4.4977e-08 -3.9973e-07" />
                                  <geom name="left_gripper_finger_link1_vis_0" type="mesh" mesh="left_gripper_finger_link1" contype="0" conaffinity="0" group="2" />
                                  <geom name="left_gripper_finger_link1_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 -0.009999999999999998 0.0" group="3" />
                                </body>
                                <body name="left_gripper_finger_link2" pos="8.9046e-05 -0.013453 -0.03689">
                                  <joint name="left_gripper_finger_joint2" type="slide" axis="0.0077873 -0.99997 0.0" range="0.0 0.05" />
                                  <inertial pos="-0.0056573 0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3965e-08 4.5014e-08 3.9974e-07" />
                                  <geom name="left_gripper_finger_link2_vis_0" type="mesh" mesh="left_gripper_finger_link2" contype="0" conaffinity="0" group="2" />
                                  <geom name="left_gripper_finger_link2_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 0.009999999999999998 0.0" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
              <body name="right_arm_base_link" pos="-0.00048706 -0.097236 0.30302">
                <inertial pos="-0.00026981 -0.034587 -3.669e-08" mass="1.48" fullinertia="0.0010298 0.0014076 0.0010201 5.2194e-06 1.2188e-07 5.1015e-09" />
                <geom name="right_arm_base_link_vis_0" type="mesh" mesh="right_arm_base_link" contype="0" conaffinity="0" group="2" />
                <geom name="right_arm_base_link_col_0" type="mesh" mesh="right_arm_base_link_collision" group="3" />
                <body name="right_arm_link1" pos="0.0 -0.0735 0.0">
                  <joint name="right_arm_joint1" type="hinge" axis="0.0 1.0 0.0" range="-4.4506 1.309" />
                  <inertial pos="-0.00042261 -0.074132 7.8365e-05" mass="1.135" fullinertia="0.00061603 0.00030259 0.00047135 -1.1635e-06 6.9785e-07 6.2359e-07" />
                  <geom name="right_arm_link1_vis_0" type="mesh" mesh="right_arm_link1" contype="0" conaffinity="0" group="2" />
                  <geom name="right_arm_link1_col_0" type="mesh" mesh="right_arm_link1_collision" group="3" />
                  <body name="right_arm_link2" pos="0.023988 -0.081265 0.0">
                    <joint name="right_arm_joint2" type="hinge" axis="1.0 0.0 0.0" range="-3.1416 0.1745" />
                    <inertial pos="-0.022361 0.0049527 -0.032732" mass="0.92" fullinertia="0.00038179 0.00034188 0.00032895 2.6532e-07 -3.6367e-06 -8.4407e-06" />
                    <geom name="right_arm_link2_vis_0" type="mesh" mesh="right_arm_link2" contype="0" conaffinity="0" group="2" />
                    <geom name="right_arm_link2_col_0" type="mesh" mesh="right_arm_link2_collision" group="3" />
                    <body name="right_arm_link3" pos="-0.023988 0.0 -0.1155">
                      <joint name="right_arm_joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.356196 2.356196" />
                      <inertial pos="0.0053839 -0.00087109 -0.11261" mass="1.245" fullinertia="0.00072336 0.00073854 0.00037348 -3.3628e-06 -0.00012821 -8.3749e-06" />
                      <geom name="right_arm_link3_vis_0" type="mesh" mesh="right_arm_link3" contype="0" conaffinity="0" group="2" />
                      <geom name="right_arm_link3_col_0" type="mesh" mesh="right_arm_link3_collision" group="3" />
                      <body name="right_arm_link4" pos="0.0 0.035058 -0.1945">
                        <joint name="right_arm_joint4" type="hinge" axis="0.0 1.0 0.0" range="-1.7453 0.3491" />
                        <inertial pos="-0.00058877 -0.035687 -0.057422" mass="0.827" fullinertia="0.00016157 0.00022024 0.00012683 7.8184e-08 3.5925e-06 1.4211e-06" />
                        <geom name="right_arm_link4_vis_0" type="mesh" mesh="right_arm_link4" contype="0" conaffinity="0" group="2" />
                        <geom name="right_arm_link4_col_0" type="mesh" mesh="right_arm_link4_collision" group="3" />
                        <body name="right_arm_link5" pos="0.0 -0.035058 -0.095">
                          <joint name="right_arm_joint5" type="hinge" axis="0.0 0.0 1.0" range="-2.356196 2.356196" />
                          <inertial pos="-2.2815e-07 0.0031762 -0.07334" mass="0.63" fullinertia="0.00069134 0.00065644 0.00031157 1.4191e-08 3.837e-09 5.1952e-05" />
                          <geom name="right_arm_link5_vis_0" type="mesh" mesh="right_arm_link5" contype="0" conaffinity="0" group="2" />
                          <geom name="right_arm_link5_col_0" type="mesh" mesh="right_arm_link5_collision" group="3" />
                          <body name="right_arm_link6" pos="0.0 0.028001 -0.16305">
                            <joint name="right_arm_joint6" type="hinge" axis="0.0 1.0 0.0" range="-1.047198 1.047198" />
                            <inertial pos="0.0017914 -0.027486 0.00025485" mass="0.527" fullinertia="8.5442e-05 8.1185e-05 8.2736e-05 1.5357e-07 8.3693e-07 2.2221e-08" />
                            <geom name="right_arm_link6_vis_0" type="mesh" mesh="right_arm_link6" contype="0" conaffinity="0" group="2" />
                            <geom name="right_arm_link6_col_0" type="mesh" mesh="right_arm_link6_collision" group="3" />
                            <body name="right_arm_link7" pos="0.0295 -0.028001 0.0">
                              <joint name="right_arm_joint7" type="hinge" axis="1.0 0.0 0.0" range="-1.5708 1.5708" />
                              <inertial pos="-0.022945 2.2938e-07 -0.056523" mass="0.185" fullinertia="7.8535e-05 9.467e-05 6.1128e-05 -9.5509e-10 -2.8712e-05 9.104e-11" />
                              <geom name="right_arm_link7_vis_0" type="mesh" mesh="right_arm_link7" contype="0" conaffinity="0" group="2" />
                              <geom name="right_arm_link7_col_0" type="mesh" mesh="right_arm_link7_collision" group="3" />
                              <body name="right_gripper_link" pos="-0.0295 0.0 -0.16065">
                                <inertial pos="-2.2589e-07 -5.2175e-08 0.031107" mass="0.24625" fullinertia="0.00016511 9.8651e-05 0.00017588 9.5318e-07 5.0942e-10 -1.8604e-10" />
                                <geom name="right_gripper_link_vis_0" type="mesh" mesh="right_gripper_link" contype="0" conaffinity="0" group="2" />
                                <geom name="right_gripper_link_col_0" type="mesh" mesh="right_gripper_link_collision" group="3" />
                                <body name="right_realsense_link" pos="0.05051 0.0028934 0.0051317" quat="0.21642986259838334 -0.00039420375409791837 -0.9762964923573758 0.0017658396669599078">
                                  <inertial pos="0.0058264 -0.02222 -0.017353" mass="0.042603" fullinertia="2.3234e-05 7.0119e-06 2.5513e-05 -2.801e-06 -1.4377e-06 -1.2674e-06" />
                                  <geom name="right_realsense_link_vis_0" type="mesh" mesh="right_realsense_link" contype="0" conaffinity="0" group="2" />
                                  <geom name="right_realsense_link_col_0" type="mesh" mesh="right_realsense_link_collision" group="3" />
                                </body>
                                <body name="right_gripper_finger_link1" pos="-8.8709e-05 0.013453 -0.03689">
                                  <joint name="right_gripper_finger_joint1" type="slide" axis="-0.0077873 0.99997 0.0" range="0.0 0.05" />
                                  <inertial pos="0.0056571 -0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3969e-08 -4.4977e-08 -3.9973e-07" />
                                  <geom name="right_gripper_finger_link1_vis_0" type="mesh" mesh="right_gripper_finger_link1" contype="0" conaffinity="0" group="2" />
                                  <geom name="right_gripper_finger_link1_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 -0.009999999999999998 0.0" group="3" />
                                </body>
                                <body name="right_gripper_finger_link2" pos="8.9046e-05 -0.013453 -0.03689">
                                  <joint name="right_gripper_finger_joint2" type="slide" axis="0.0077873 -0.99997 0.0" range="0.0 0.05" />
                                  <inertial pos="-0.0056573 0.015027 0.01959" mass="0.020196" fullinertia="6.4827e-06 5.7129e-06 2.4057e-06 7.3965e-08 4.5014e-08 3.9974e-07" />
                                  <geom name="right_gripper_finger_link2_vis_0" type="mesh" mesh="right_gripper_finger_link2" contype="0" conaffinity="0" group="2" />
                                  <geom name="right_gripper_finger_link2_col_0" type="box" size="0.03 0.005 0.02" pos="0.0 0.009999999999999998 0.0" group="3" />
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="steer_motor_link1" />
    <exclude body1="steer_motor_link1" body2="wheel_motor_link1" />
    <exclude body1="base_link" body2="steer_motor_link2" />
    <exclude body1="steer_motor_link2" body2="wheel_motor_link2" />
    <exclude body1="base_link" body2="steer_motor_link3" />
    <exclude body1="steer_motor_link3" body2="wheel_motor_link3" />
    <exclude body1="base_link" body2="torso_link1" />
    <exclude body1="torso_link1" body2="torso_link2" />
    <exclude body1="torso_link2" body2="torso_link3" />
    <exclude body1="torso_link3" body2="torso_link4" />
    <exclude body1="torso_link4" body2="zed_link" />
    <exclude body1="torso_link4" body2="left_arm_base_link" />
    <exclude body1="left_arm_base_link" body2="left_arm_link1" />
    <exclude body1="left_arm_link1" body2="left_arm_link2" />
    <exclude body1="left_arm_link2" body2="left_arm_link3" />
    <exclude body1="left_arm_link3" body2="left_arm_link4" />
    <exclude body1="left_arm_link4" body2="left_arm_link5" />
    <exclude body1="left_arm_link5" body2="left_arm_link6" />
    <exclude body1="left_arm_link6" body2="left_arm_link7" />
    <exclude body1="left_arm_link7" body2="left_gripper_link" />
    <exclude body1="left_gripper_link" body2="left_realsense_link" />
    <exclude body1="left_gripper_link" body2="left_gripper_finger_link1" />
    <exclude body1="left_gripper_link" body2="left_gripper_finger_link2" />
    <exclude body1="torso_link4" body2="right_arm_base_link" />
    <exclude body1="right_arm_base_link" body2="right_arm_link1" />
    <exclude body1="right_arm_link1" body2="right_arm_link2" />
    <exclude body1="right_arm_link2" body2="right_arm_link3" />
    <exclude body1="right_arm_link3" body2="right_arm_link4" />
    <exclude body1="right_arm_link4" body2="right_arm_link5" />
    <exclude body1="right_arm_link5" body2="right_arm_link6" />
    <exclude body1="right_arm_link6" body2="right_arm_link7" />
    <exclude body1="right_arm_link7" body2="right_gripper_link" />
    <exclude body1="right_gripper_link" body2="right_realsense_link" />
    <exclude body1="right_gripper_link" body2="right_gripper_finger_link1" />
    <exclude body1="right_gripper_link" body2="right_gripper_finger_link2" />
  </contact>
</mujoco>
