<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a43ef96da0222e33 -->
<mujoco model="robotiq_arg2f_85_model">
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    <mesh name="collision_base_link" file="robotiq_2f_85_gripper_visualization/meshes/collision/base_link.stl" />
    <mesh name="visual_outer_knuckle" file="robotiq_2f_85_gripper_visualization/meshes/visual/outer_knuckle.stl" />
    <mesh name="collision_outer_knuckle" file="robotiq_2f_85_gripper_visualization/meshes/collision/outer_knuckle.stl" />
    <mesh name="visual_bar" file="robotiq_2f_85_gripper_visualization/meshes/visual/bar.stl" />
    <mesh name="collision_bar" file="robotiq_2f_85_gripper_visualization/meshes/collision/bar.stl" />
    <mesh name="visual_distal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/visual/distal_phalanx.stl" />
    <mesh name="collision_distal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/collision/distal_phalanx.stl" />
    <mesh name="visual_proximal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/visual/proximal_phalanx.stl" />
    <mesh name="collision_proximal_phalanx" file="robotiq_2f_85_gripper_visualization/meshes/collision/proximal_phalanx.stl" />
  </asset>
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        <geom name="robotiq_arg2f_base_link_col_0" type="mesh" mesh="collision_base_link" group="3" />
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        <body name="right_outer_knuckle" pos="0.0 0.0306011 0.054904">
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  </worldbody>
  <contact>
    <exclude body1="base_link" body2="robotiq_arg2f_base_link" />
    <exclude body1="robotiq_arg2f_base_link" body2="robotiq_arg2f_tcp" />
    <exclude body1="left_outer_knuckle" body2="left_bar" />
    <exclude body1="robotiq_arg2f_base_link" body2="left_proximal_phalanx" />
    <exclude body1="left_bar" body2="left_distal_phalanx" />
    <exclude body1="robotiq_arg2f_base_link" body2="left_outer_knuckle" />
    <exclude body1="right_outer_knuckle" body2="right_bar" />
    <exclude body1="robotiq_arg2f_base_link" body2="right_proximal_phalanx" />
    <exclude body1="right_bar" body2="right_distal_phalanx" />
    <exclude body1="robotiq_arg2f_base_link" body2="right_outer_knuckle" />
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</mujoco>
