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<!-- generated by bam_robot_descriptions (mjcf backend), content 102bac19df8e46be -->
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                                      <body name="aruco_fingertip_right_link" pos="0.00675413 0.0335357 3.80817e-05" quat="0.23844718123781491 0.19655954888531854 0.6049461071187557 0.7338579515026077">
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                                  <body name="grasp_center_link" pos="0.0 -0.234538 0.0" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735">
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          <geom name="wheel_1_link_vis_0" type="mesh" mesh="wheel_1_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" contype="0" conaffinity="0" group="2" />
          <geom name="wheel_1_link_col_0" type="mesh" mesh="wheel_1_collision_link" quat="1.760384697849545e-12 1.326794896676365e-06 0.9999999999982396 1.326794896676365e-06" group="3" />
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    <exclude body1="line_sensor_4_link" body2="line_sensor_4_optical_link" />
    <exclude body1="base_link" body2="line_sensor_3_link" />
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    <exclude body1="base_link" body2="line_sensor_2_link" />
    <exclude body1="line_sensor_2_link" body2="line_sensor_2_optical_link" />
    <exclude body1="base_link" body2="line_sensor_1_link" />
    <exclude body1="line_sensor_1_link" body2="line_sensor_1_optical_link" />
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    <exclude body1="line_sensor_0_link" body2="line_sensor_0_optical_link" />
    <exclude body1="base_link" body2="head_link" />
    <exclude body1="head_link" body2="lidar_right_link" />
    <exclude body1="head_link" body2="lidar_left_link" />
    <exclude body1="head_link" body2="camera_right_link" />
    <exclude body1="camera_right_link" body2="camera_right_optical_link" />
    <exclude body1="head_link" body2="camera_left_link" />
    <exclude body1="camera_left_link" body2="camera_left_optical_link" />
    <exclude body1="head_link" body2="camera_center_link" />
    <exclude body1="camera_center_link" body2="camera_center_optical_link" />
    <exclude body1="base_link" body2="mast_link" />
    <exclude body1="mast_link" body2="lift_link" />
    <exclude body1="lift_link" body2="arm_l0_link" />
    <exclude body1="arm_l0_link" body2="arm_l1_link" />
    <exclude body1="arm_l1_link" body2="arm_l2_link" />
    <exclude body1="arm_l2_link" body2="arm_l3_link" />
    <exclude body1="arm_l3_link" body2="arm_l4_link" />
    <exclude body1="arm_l4_link" body2="wrist_link" />
    <exclude body1="wrist_link" body2="wrist_yaw_link" />
    <exclude body1="wrist_yaw_link" body2="wrist_pitch_link" />
    <exclude body1="wrist_pitch_link" body2="wrist_roll_link" />
    <exclude body1="wrist_roll_link" body2="gripper_camera_link" />
    <exclude body1="gripper_camera_link" body2="gripper_stereo_camera_color_optical_frame" />
    <exclude body1="gripper_camera_link" body2="gripper_right_camera_color_optical_frame" />
    <exclude body1="gripper_camera_link" body2="gripper_left_camera_color_optical_frame" />
    <exclude body1="wrist_roll_link" body2="tool_attachment_site_link" />
    <exclude body1="wrist_link" body2="wrist_aruco_link" />
    <exclude body1="wrist_link" body2="wrist_reflector_link" />
    <exclude body1="base_link" body2="wheel_2_link" />
    <exclude body1="base_link" body2="wheel_1_link" />
    <exclude body1="base_link" body2="wheel_0_link" />
    <exclude body1="quick_connect_interface_link" body2="gripper_finger_right_link" />
    <exclude body1="gripper_finger_right_link" body2="gripper_fingertip_right_link" />
    <exclude body1="gripper_fingertip_right_link" body2="aruco_fingertip_right_link" />
    <exclude body1="quick_connect_interface_link" body2="gripper_finger_left_link" />
    <exclude body1="gripper_finger_left_link" body2="gripper_fingertip_left_link" />
    <exclude body1="gripper_fingertip_left_link" body2="aruco_fingertip_left_link" />
    <exclude body1="quick_connect_interface_link" body2="grasp_center_link" />
    <exclude body1="tool_attachment_site_link" body2="quick_connect_interface_link" />
    <exclude body1="base_link" body2="laser" />
  </contact>
</mujoco>
