<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 79302b9fa390a4cd -->
<mujoco model="stretch">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="aluminum" rgba="0.5 0.5 0.5 1.0" />
    <material name="plastic" rgba="0.1 0.1 0.1 1.0" />
    <material name="aluminum_d405" rgba="0.5 0.5 0.5 1.0" />
    <material name="plastic_d405" rgba="0.1 0.1 0.1 1.0" />
    <mesh name="base_link" file="./meshes/base_link.STL" />
    <mesh name="base_link_collision" file="./meshes/base_link_collision.STL" />
    <mesh name="link_right_wheel" file="./meshes/link_right_wheel.STL" />
    <mesh name="link_right_wheel_collision" file="./meshes/link_right_wheel_collision.STL" />
    <mesh name="link_left_wheel" file="./meshes/link_left_wheel.STL" />
    <mesh name="link_left_wheel_collision" file="./meshes/link_left_wheel_collision.STL" />
    <mesh name="omni_wheel_m" file="./meshes/omni_wheel_m.STL" />
    <mesh name="link_mast" file="./meshes/link_mast.STL" />
    <mesh name="link_mast_collision" file="./meshes/link_mast_collision.STL" />
    <mesh name="link_lift" file="./meshes/link_lift.STL" />
    <mesh name="link_lift_collision" file="./meshes/link_lift_collision.STL" />
    <mesh name="link_arm_l4" file="./meshes/link_arm_l4.STL" />
    <mesh name="link_arm_l4_collision" file="./meshes/link_arm_l4_collision.STL" />
    <mesh name="link_arm_l3" file="./meshes/link_arm_l3.STL" />
    <mesh name="link_arm_l3_collision" file="./meshes/link_arm_l3_collision.STL" />
    <mesh name="link_arm_l2" file="./meshes/link_arm_l2.STL" />
    <mesh name="link_arm_l2_collision" file="./meshes/link_arm_l2_collision.STL" />
    <mesh name="link_arm_l1" file="./meshes/link_arm_l1.STL" />
    <mesh name="link_arm_l1_collision" file="./meshes/link_arm_l1_collision.STL" />
    <mesh name="link_arm_l0" file="./meshes/link_arm_l0.STL" />
    <mesh name="link_arm_l0_collision" file="./meshes/link_arm_l0_collision.STL" />
    <mesh name="link_wrist_yaw" file="./meshes/link_wrist_yaw.STL" />
    <mesh name="link_wrist_yaw_collision" file="./meshes/link_wrist_yaw_collision.STL" />
    <mesh name="link_head" file="./meshes/link_head.STL" />
    <mesh name="link_head_collision" file="./meshes/link_head_collision.STL" />
    <mesh name="link_head_pan" file="./meshes/link_head_pan.STL" />
    <mesh name="link_head_pan_collision" file="./meshes/link_head_pan_collision.STL" />
    <mesh name="link_head_tilt" file="./meshes/link_head_tilt.STL" />
    <mesh name="link_head_tilt_collision" file="./meshes/link_head_tilt_collision.STL" />
    <mesh name="link_aruco_right_base" file="./meshes/link_aruco_right_base.STL" />
    <mesh name="link_aruco_left_base" file="./meshes/link_aruco_left_base.STL" />
    <mesh name="link_aruco_shoulder" file="./meshes/link_aruco_shoulder.STL" />
    <mesh name="link_aruco_top_wrist" file="./meshes/link_aruco_top_wrist.STL" />
    <mesh name="link_aruco_inner_wrist" file="./meshes/link_aruco_inner_wrist.STL" />
    <mesh name="d435" file="./meshes/d435.dae" />
    <mesh name="d405_0p001_0p001_0p001" file="./meshes/d405.stl" scale="0.001 0.001 0.001" />
    <mesh name="laser" file="./meshes/laser.STL" />
    <mesh name="laser_collision" file="./meshes/laser_collision.STL" />
    <mesh name="base_imu" file="./meshes/base_imu.STL" />
    <mesh name="respeaker_base" file="./meshes/respeaker_base.STL" />
    <mesh name="link_DW3_wrist_yaw_bottom" file="./meshes/link_DW3_wrist_yaw_bottom.STL" />
    <mesh name="link_DW3_wrist_yaw_bottom_collision" file="./meshes/link_DW3_wrist_yaw_bottom_collision.STL" />
    <mesh name="link_DW3_wrist_pitch" file="./meshes/link_DW3_wrist_pitch.STL" />
    <mesh name="link_DW3_wrist_pitch_collision" file="./meshes/link_DW3_wrist_pitch_collision.STL" />
    <mesh name="link_DW3_wrist_roll" file="./meshes/link_DW3_wrist_roll.STL" />
    <mesh name="link_DW3_wrist_roll_collision" file="./meshes/link_DW3_wrist_roll_collision.STL" />
    <mesh name="link_SG3_gripper_body" file="./meshes/link_SG3_gripper_body.STL" />
    <mesh name="link_SG3_gripper_body_collision" file="./meshes/link_SG3_gripper_body_collision.STL" />
    <mesh name="link_SG3_gripper_finger_right" file="./meshes/link_SG3_gripper_finger_right.STL" />
    <mesh name="link_SG3_gripper_finger_right_collision" file="./meshes/link_SG3_gripper_finger_right_collision.STL" />
    <mesh name="link_SG3_gripper_fingertip_right" file="./meshes/link_SG3_gripper_fingertip_right.STL" />
    <mesh name="link_SG3_gripper_fingertip_right_collision" file="./meshes/link_SG3_gripper_fingertip_right_collision.STL" />
    <mesh name="link_SG3_aruco_fingertip_right" file="./meshes/link_SG3_aruco_fingertip_right.STL" />
    <mesh name="link_SG3_gripper_finger_left" file="./meshes/link_SG3_gripper_finger_left.STL" />
    <mesh name="link_SG3_gripper_finger_left_collision" file="./meshes/link_SG3_gripper_finger_left_collision.STL" />
    <mesh name="link_SG3_gripper_fingertip_left" file="./meshes/link_SG3_gripper_fingertip_left.STL" />
    <mesh name="link_SG3_gripper_fingertip_left_collision" file="./meshes/link_SG3_gripper_fingertip_left_collision.STL" />
    <mesh name="link_SG3_aruco_fingertip_left" file="./meshes/link_SG3_aruco_fingertip_left.STL" />
    <mesh name="link_SG3_aruco_d405" file="./meshes/link_SG3_aruco_d405.STL" />
    <mesh name="link_SE3_head_nav_cam" file="./meshes/link_SE3_head_nav_cam.STL" />
    <mesh name="link_SE3_head_nav_cam_collision" file="./meshes/link_SE3_head_nav_cam_collision.STL" />
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  <worldbody>
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        <geom name="link_right_wheel_vis_0" type="mesh" mesh="link_right_wheel" contype="0" conaffinity="0" group="2" />
        <geom name="link_right_wheel_col_0" type="mesh" mesh="link_right_wheel_collision" group="3" />
      </body>
      <body name="link_left_wheel" pos="0.0 0.17035 0.0508" quat="0.7071054825112363 -0.7071080798594735 9.333459075478617e-17 9.27547019154167e-17">
        <joint name="joint_left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" damping="21.75" frictionloss="10.48" />
        <inertial pos="0.0 0.0 -0.02765" mass="0.20773" fullinertia="5.4e-05 5.4e-05 5.1e-05 0.0 0.0 0.0" />
        <geom name="link_left_wheel_vis_0" type="mesh" mesh="link_left_wheel" contype="0" conaffinity="0" group="2" />
        <geom name="link_left_wheel_col_0" type="mesh" mesh="link_left_wheel_collision" group="3" />
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      <body name="caster_link" pos="-0.245 0.0 0.032" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
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        <geom name="caster_link_vis_0" type="mesh" mesh="omni_wheel_m" contype="0" conaffinity="0" group="2" />
        <geom name="caster_link_col_0" type="sphere" size="0.032" group="3" />
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                                  <body name="gripper_camera_depth_frame">
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                                  <body name="gripper_camera_infra1_frame">
                                    <body name="gripper_camera_infra1_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
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                                  <body name="gripper_camera_infra2_frame" pos="0.0 -0.018 0.0">
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                                  <body name="gripper_camera_color_frame">
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                                <body name="link_aruco_fingertip_right" pos="-0.143934974292953 -0.00436381846065068 -8.58640479174944e-05" quat="0.564208272135107 -0.6844393646115395 0.35629658131733205 -0.2937082361222628">
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                                  <geom name="link_aruco_fingertip_right_vis_0" type="mesh" mesh="link_SG3_aruco_fingertip_right" contype="0" conaffinity="0" group="2" />
                                  <geom name="link_aruco_fingertip_right_col_0" type="mesh" mesh="link_SG3_aruco_fingertip_right" group="3" />
                                </body>
                              </body>
                              <body name="link_gripper_finger_left" pos="0.0245029393015013 0.0 0.0371909405167127" quat="-0.47885065325977405 -0.47885065325978776 0.5202903534303593 -0.5202903534303456">
                                <joint name="joint_gripper_finger_left" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
                                <inertial pos="0.107294715994863 -0.00404011929289155 7.86443400617731e-05" mass="0.0483698266031602" fullinertia="3.06035472000871e-06 6.12306675643124e-05 6.24670194741309e-05 8.13968102368407e-07 6.04787443258659e-08 -1.81596824851191e-08" />
                                <geom name="link_gripper_finger_left_vis_0" type="mesh" mesh="link_SG3_gripper_finger_left" contype="0" conaffinity="0" group="2" />
                                <geom name="link_gripper_finger_left_col_0" type="mesh" mesh="link_SG3_gripper_finger_left_collision" group="3" />
                                <body name="link_gripper_fingertip_left" pos="0.177784508377884 -0.0106721811879429 0.0" quat="0.09229595564125799 0.09229595564125924 0.7010573846499825 0.701057384649973">
                                  <inertial pos="-3.08483497635237e-08 -1.26956833934599e-09 0.0081257795407928" mass="0.00382162054362131" fullinertia="4.13411804417319e-07 4.13411805017951e-07 7.08442015318697e-07 2.60118266065524e-16 5.82035131405725e-13 2.22196449834679e-14" />
                                  <geom name="link_gripper_fingertip_left_vis_0" type="mesh" mesh="link_SG3_gripper_fingertip_left" contype="0" conaffinity="0" group="2" />
                                  <geom name="link_gripper_fingertip_left_col_0" type="mesh" mesh="link_SG3_gripper_fingertip_left_collision" group="3" />
                                </body>
                                <body name="link_aruco_fingertip_left" pos="0.143934974292929 -0.00436381846064454 -8.58640479230455e-05" quat="0.5642082721351105 -0.6844393646115298 -0.35629658131733694 0.2937082361222728">
                                  <inertial pos="1.66533453693773e-16 1.66533453693773e-16 -0.000133556861164119" mass="7.44175884388882e-05" fullinertia="1.89627721063294e-09 1.89627721063281e-09 3.79185381384285e-09 -5.82454725440012e-23 6.72490089805544e-24 1.93870456067116e-24" />
                                  <geom name="link_aruco_fingertip_left_vis_0" type="mesh" mesh="link_SG3_aruco_fingertip_left" contype="0" conaffinity="0" group="2" />
                                  <geom name="link_aruco_fingertip_left_col_0" type="mesh" mesh="link_SG3_aruco_fingertip_left" group="3" />
                                </body>
                              </body>
                              <body name="link_aruco_d405" pos="0.0 0.0671264013906604 0.0297716109784749" quat="-7.672237339712878e-05 0.0008769407447016685 0.9961943121103606 0.0871557089786615">
                                <inertial pos="-2.94593661126497e-06 6.87711987940043e-06 0.000123133477759885" mass="0.000393662237156561" fullinertia="5.28754465024473e-08 5.28872681828417e-08 1.05758729446112e-07 3.78334824255939e-13 1.41329092888338e-13 -3.29924653052859e-13" />
                                <geom name="link_aruco_d405_vis_0" type="mesh" mesh="link_SG3_aruco_d405" contype="0" conaffinity="0" group="2" />
                                <geom name="link_aruco_d405_col_0" type="mesh" mesh="link_SG3_aruco_d405" group="3" />
                              </body>
                              <body name="link_grasp_center" pos="0.0 0.0 0.23" quat="0.5000000000000232 -0.500000000000025 -0.49999999999997496 -0.49999999999997674" />
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                    <body name="link_aruco_top_wrist" pos="0.0472500000000019 0.0292850000000015 0.0" quat="-1.699247147759118e-15 3.983972195539942e-15 0.7071067811865488 0.7071067811865462">
                      <inertial pos="-1.3531e-15 -3.4972e-15 -0.000125" mass="0.0" diaginertia="0 0 0" />
                      <geom name="link_aruco_top_wrist_vis_0" type="mesh" mesh="link_aruco_top_wrist" contype="0" conaffinity="0" group="2" />
                      <geom name="link_aruco_top_wrist_col_0" type="mesh" mesh="link_aruco_top_wrist" group="3" />
                    </body>
                    <body name="link_aruco_inner_wrist" pos="0.0472499999999947 -0.0119000000000034 -0.0272499999991938" quat="2.1168872118154404e-14 1.6155445744325526e-15 1.0 1.6155445744325526e-15">
                      <inertial pos="8.32667268468867e-17 1.77635683940025e-15 -0.000125000000000264" mass="0.0" diaginertia="0 0 0" />
                      <geom name="link_aruco_inner_wrist_vis_0" type="mesh" mesh="link_aruco_inner_wrist" contype="0" conaffinity="0" group="2" />
                      <geom name="link_aruco_inner_wrist_col_0" type="mesh" mesh="link_aruco_inner_wrist" group="3" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
          <body name="link_aruco_shoulder" pos="-0.0133768876375287 0.0558540528812078 0.0861368272417975" quat="1.0 -7.6999430058852e-30 1.779812047855825e-15 1.3704451329677671e-44">
            <inertial pos="-2.77555756156289e-17 2.56739074444567e-16 -0.000125000000000042" mass="0.0" diaginertia="0 0 0" />
            <geom name="link_aruco_shoulder_vis_0" type="mesh" mesh="link_aruco_shoulder" contype="0" conaffinity="0" group="2" />
            <geom name="link_aruco_shoulder_col_0" type="mesh" mesh="link_aruco_shoulder" group="3" />
          </body>
        </body>
        <body name="link_head" pos="0.0 1.33 0.0" quat="-0.5000018365991803 0.4999981633940752 0.5000018365991785 0.4999981633940734">
          <inertial pos="0.047462 0.04451 0.016376" mass="0.681871" fullinertia="0.001023 0.002097 0.00281 0.000641 6.6e-05 6.5e-05" />
          <geom name="link_head_vis_0" type="mesh" mesh="link_head" contype="0" conaffinity="0" group="2" />
          <geom name="link_head_col_0" type="mesh" mesh="link_head_collision" group="3" />
          <body name="link_head_pan" pos="0.135 0.0731000000000001 -0.00319621125547975" quat="0.7071067811865462 0.0 0.0 0.7071067811865488">
            <joint name="joint_head_pan" type="hinge" axis="0.0 0.0 1.0" range="-3.9 1.5" />
            <inertial pos="-0.000422 0.013934 -0.0161" mass="0.062462" fullinertia="4.1e-05 3.2e-05 2.2e-05 -1e-06 1e-06 -1.5e-05" />
            <geom name="link_head_pan_vis_0" type="mesh" mesh="link_head_pan" contype="0" conaffinity="0" group="2" />
            <geom name="link_head_pan_col_0" type="mesh" mesh="link_head_pan_collision" group="3" />
            <body name="link_head_tilt" pos="-0.00130000001785262 0.0277624999926072 -0.0533107920897029" quat="0.7071067811865462 0.7071067811865488 1.1597615639855287e-15 -1.2193646477144618e-15">
              <joint name="joint_head_tilt" type="hinge" axis="0.0 0.0 1.0" range="-1.53 0.79" />
              <inertial pos="0.003907 -0.02418 0.030154" mass="0.283548" fullinertia="0.000316 0.000143 0.00031 -6e-06 1e-06 -2e-06" />
              <geom name="link_head_tilt_vis_0" type="mesh" mesh="link_head_tilt" contype="0" conaffinity="0" group="2" />
              <geom name="link_head_tilt_col_0" type="mesh" mesh="link_head_tilt_collision" group="3" />
              <body name="camera_bottom_screw_frame" pos="0.03 -0.0122 0.0182">
                <body name="camera_link" pos="0.010600000000000002 0.0175 0.0125">
                  <inertial pos="0.0 0.0 0.0" mass="0.072" fullinertia="0.003881243 0.00049894 0.003879257 0.0 0.0 0.0" />
                  <geom name="camera_link_vis_0" type="mesh" mesh="d435" pos="0.0043 -0.0175 0.0" quat="0.5000000000000001 0.5 0.4999999999999999 0.5" contype="0" conaffinity="0" group="2" />
                  <geom name="camera_link_col_0" type="box" size="0.012525 0.045 0.0125" pos="0.0 -0.0175 0.0" group="3" />
                  <body name="camera_depth_frame">
                    <body name="camera_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                  <body name="camera_infra1_frame">
                    <body name="camera_infra1_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                  <body name="camera_infra2_frame" pos="0.0 -0.05 0.0">
                    <body name="camera_infra2_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                  <body name="camera_color_frame" pos="0.0 0.015 0.0">
                    <body name="camera_color_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                  <body name="camera_accel_frame" pos="-0.01174 -0.00552 0.0051">
                    <body name="camera_accel_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                  <body name="camera_gyro_frame" pos="-0.01174 -0.00552 0.0051">
                    <body name="camera_gyro_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
                  </body>
                </body>
              </body>
              <body name="link_head_nav_cam" pos="0.0402000000000069 -0.0411729746231231 -0.0245785717313561" quat="0.7071067811865462 0.0 0.7071067811865488 0.0">
                <inertial pos="-0.000242485173502102 -6.9219046065605e-05 -0.0139988115298306" mass="0.028346169831483" fullinertia="4.03820640553667e-06 4.03772087509678e-06 5.37818026653469e-06 -4.29737468694014e-25 -3.42669828325649e-22 -2.25687766186513e-21" />
                <geom name="link_head_nav_cam_vis_0" type="mesh" mesh="link_SE3_head_nav_cam" contype="0" conaffinity="0" group="2" />
                <geom name="link_head_nav_cam_col_0" type="mesh" mesh="link_SE3_head_nav_cam_collision" group="3" />
              </body>
            </body>
          </body>
        </body>
        <body name="respeaker_base" pos="0.0 1.37236408874452 0.00303065898329655" quat="0.6644630243886744 -0.6644630243886765 -0.24184476264797275 -0.24184476264797328">
          <inertial pos="-0.001594 -0.001282 -0.008098" mass="0.025175" fullinertia="1e-05 1.2e-05 1.5e-05 2e-06 1e-06 0.0" />
          <geom name="respeaker_base_vis_0" type="mesh" mesh="respeaker_base" contype="0" conaffinity="0" group="2" />
          <geom name="respeaker_base_col_0" type="mesh" mesh="respeaker_base" group="3" />
        </body>
      </body>
      <body name="link_aruco_right_base" pos="-0.0015028 -0.1304972 0.1597482" quat="0.7071067811865462 0.0 0.0 -0.7071067811865488">
        <inertial pos="1.3878e-17 0.0 -0.000125" mass="3.59999999990368e-06" diaginertia="0 0 0" />
        <geom name="link_aruco_right_base_vis_0" type="mesh" mesh="link_aruco_right_base" contype="0" conaffinity="0" group="2" />
        <geom name="link_aruco_right_base_col_0" type="mesh" mesh="link_aruco_right_base" group="3" />
      </body>
      <body name="link_aruco_left_base" pos="-0.00500000000000014 0.1304972 0.1597482" quat="0.7071067811865462 0.0 0.0 -0.7071067811865488">
        <inertial pos="2.7756e-17 0.0 -0.000125" mass="3.59999999990368e-06" diaginertia="0 0 0" />
        <geom name="link_aruco_left_base_vis_0" type="mesh" mesh="link_aruco_left_base" contype="0" conaffinity="0" group="2" />
        <geom name="link_aruco_left_base_col_0" type="mesh" mesh="link_aruco_left_base" group="3" />
      </body>
      <body name="laser" pos="0.004 0.0 0.1664" quat="-3.673205103346574e-06 -0.0 0.0 0.9999999999932537">
        <inertial pos="0.011979 -0.000523 -0.01998" mass="0.216007" fullinertia="9.5e-05 0.000184 0.000216 2e-06 -1.9e-05 -1e-06" />
        <geom name="laser_vis_0" type="mesh" mesh="laser" contype="0" conaffinity="0" group="2" />
        <geom name="laser_col_0" type="mesh" mesh="laser_collision" group="3" />
      </body>
      <body name="base_imu" pos="-0.12838 0.0031592 0.1474" quat="-2.5973434669646147e-06 -0.707105482506466 0.7071080798547033 2.597353007557415e-06">
        <inertial pos="0.00300349280517617 0.00149777182047641 -0.00193103885249443" mass="0.00092" fullinertia="3e-08 5e-08 8e-08 0.0 0.0 0.0" />
        <geom name="base_imu_vis_0" type="mesh" mesh="base_imu" contype="0" conaffinity="0" group="2" />
        <geom name="base_imu_col_0" type="mesh" mesh="base_imu" group="3" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link_right_wheel" />
    <exclude body1="base_link" body2="link_left_wheel" />
    <exclude body1="base_link" body2="caster_link" />
    <exclude body1="base_link" body2="link_mast" />
    <exclude body1="link_mast" body2="link_lift" />
    <exclude body1="link_lift" body2="link_arm_l4" />
    <exclude body1="link_arm_l4" body2="link_arm_l3" />
    <exclude body1="link_arm_l3" body2="link_arm_l2" />
    <exclude body1="link_arm_l2" body2="link_arm_l1" />
    <exclude body1="link_arm_l1" body2="link_arm_l0" />
    <exclude body1="link_arm_l0" body2="link_wrist_yaw" />
    <exclude body1="link_mast" body2="link_head" />
    <exclude body1="link_head" body2="link_head_pan" />
    <exclude body1="link_head_pan" body2="link_head_tilt" />
    <exclude body1="base_link" body2="link_aruco_right_base" />
    <exclude body1="base_link" body2="link_aruco_left_base" />
    <exclude body1="link_lift" body2="link_aruco_shoulder" />
    <exclude body1="link_arm_l0" body2="link_aruco_top_wrist" />
    <exclude body1="link_arm_l0" body2="link_aruco_inner_wrist" />
    <exclude body1="link_head_tilt" body2="camera_bottom_screw_frame" />
    <exclude body1="camera_bottom_screw_frame" body2="camera_link" />
    <exclude body1="camera_link" body2="camera_depth_frame" />
    <exclude body1="camera_depth_frame" body2="camera_depth_optical_frame" />
    <exclude body1="camera_link" body2="camera_infra1_frame" />
    <exclude body1="camera_infra1_frame" body2="camera_infra1_optical_frame" />
    <exclude body1="camera_link" body2="camera_infra2_frame" />
    <exclude body1="camera_infra2_frame" body2="camera_infra2_optical_frame" />
    <exclude body1="camera_link" body2="camera_color_frame" />
    <exclude body1="camera_color_frame" body2="camera_color_optical_frame" />
    <exclude body1="camera_link" body2="camera_accel_frame" />
    <exclude body1="camera_accel_frame" body2="camera_accel_optical_frame" />
    <exclude body1="camera_link" body2="camera_gyro_frame" />
    <exclude body1="camera_gyro_frame" body2="camera_gyro_optical_frame" />
    <exclude body1="link_gripper_s3_body" body2="gripper_camera_bottom_screw_frame" />
    <exclude body1="gripper_camera_bottom_screw_frame" body2="gripper_camera_link" />
    <exclude body1="gripper_camera_link" body2="gripper_camera_depth_frame" />
    <exclude body1="gripper_camera_depth_frame" body2="gripper_camera_depth_optical_frame" />
    <exclude body1="gripper_camera_link" body2="gripper_camera_infra1_frame" />
    <exclude body1="gripper_camera_infra1_frame" body2="gripper_camera_infra1_optical_frame" />
    <exclude body1="gripper_camera_link" body2="gripper_camera_infra2_frame" />
    <exclude body1="gripper_camera_infra2_frame" body2="gripper_camera_infra2_optical_frame" />
    <exclude body1="gripper_camera_link" body2="gripper_camera_color_frame" />
    <exclude body1="gripper_camera_color_frame" body2="gripper_camera_color_optical_frame" />
    <exclude body1="base_link" body2="laser" />
    <exclude body1="base_link" body2="base_imu" />
    <exclude body1="link_mast" body2="respeaker_base" />
    <exclude body1="link_wrist_yaw" body2="link_wrist_yaw_bottom" />
    <exclude body1="link_wrist_yaw_bottom" body2="link_wrist_pitch" />
    <exclude body1="link_wrist_pitch" body2="link_wrist_roll" />
    <exclude body1="link_wrist_roll" body2="link_wrist_quick_connect" />
    <exclude body1="link_wrist_roll" body2="link_gripper_s3_body" />
    <exclude body1="link_gripper_s3_body" body2="link_gripper_finger_right" />
    <exclude body1="link_gripper_finger_right" body2="link_gripper_fingertip_right" />
    <exclude body1="link_gripper_finger_right" body2="link_aruco_fingertip_right" />
    <exclude body1="link_gripper_s3_body" body2="link_gripper_finger_left" />
    <exclude body1="link_gripper_finger_left" body2="link_gripper_fingertip_left" />
    <exclude body1="link_gripper_finger_left" body2="link_aruco_fingertip_left" />
    <exclude body1="link_gripper_s3_body" body2="link_aruco_d405" />
    <exclude body1="link_gripper_s3_body" body2="link_grasp_center" />
    <exclude body1="link_head_tilt" body2="link_head_nav_cam" />
  </contact>
</mujoco>
