From 57819f5e2d4922122380ae95560368a7dae14f95 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Sun, 8 Oct 2023 22:43:03 +0200
Subject: [PATCH] Add default classes to reduce worldbody definitions (TIAGo++)

---
 pal_tiago_dual/tiago_dual.xml | 203 +++++++++++++++-------------------
 1 file changed, 90 insertions(+), 113 deletions(-)
diff --git a/pal_tiago_dual/tiago_dual.xml b/pal_tiago_dual/tiago_dual.xml
index 66049bad..09bdd3f6 100644
--- a/pal_tiago_dual/tiago_dual.xml
+++ b/pal_tiago_dual/tiago_dual.xml
@@ -54,9 +54,14 @@
   </asset>
 
   <default class="main">
-    <geom contype="0" conaffinity="1" group="1"/>
+    <geom contype="0" conaffinity="1" group="1" type="mesh" mass="0"/>
+    <joint axis="0 0 1"/>
     <default class="arm">
       <geom contype="1" conaffinity="1"/>
+      <joint frictionloss="1"/>
+    </default>
+    <default class="wheel">
+      <geom condim="6"/>
     </default>
   </default>
 
@@ -68,131 +73,114 @@
       <!-- <inertia ixx="0.22777" ixy="0.00035979" ixz="0.00015269" iyy="0.29991" iyz="1.7872E-05" izz="0.46036"/> -->
       <inertial pos="0.0026742 0.00027459 0.086363" mass="34.047"
         fullinertia="0.22777 0.29991 0.46036 0.00035979 0.00015269 1.7872E-05"/>
-      <geom pos="0 0 0.0762" type="mesh" density="0" material="gray75" mesh="base_link"/>
-      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" type="mesh" density="0" material="gray10"
-        mesh="sick_tim5511"/>
-      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" type="mesh" density="0" material="gray10"
-        mesh="sick_tim5512"/>
-      <geom pos="0.3535 0 0.1358" type="mesh" density="0" material="gray25" mesh="base_dock_link"/>
-      <geom pos="-0.2015 -0.13 0.2927" type="mesh" density="0" material="gray75" mesh="base_antena_link1"/>
-      <geom pos="-0.2015 0.13 0.2927" type="mesh" density="0" material="gray75" mesh="base_antena_link2"/>
-      <geom pos="0.244 -0.1725 0.0762" quat="1 0 0 -1" type="mesh" density="0"
-        material="light_blue" mesh="suspension_front_link1"/>
-      <geom pos="0.244 0.1725 0.0762" quat="1 0 0 1" type="mesh" density="0"
-        material="light_blue" mesh="suspension_front_link2"/>
-      <geom pos="-0.244 -0.1725 0.0762" quat="1 0 0 -1" type="mesh" density="0"
-        material="light_blue" mesh="suspension_rear_link1"/>
-      <geom pos="-0.244 0.1725 0.0762" quat="1 0 0 1" type="mesh" density="0"
-        material="light_blue" mesh="suspension_rear_link2"/>
-      <geom pos="-0.062 0 0.2692" type="mesh" density="0" material="mercury" mesh="torso_fix"/>
-      <geom size="0.09 0.1 0.275" pos="-0.062 0 0.5462" type="box" density="0" material="gray10"/>
-      <body name="wheel_front_right_link" pos="0.244 -0.223175 0.0762" quat="1 -1 0 0">
+      <geom pos="0 0 0.0762" material="gray75" mesh="base_link"/>
+      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" material="gray10" mesh="sick_tim5511"/>
+      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" material="gray10" mesh="sick_tim5512"/>
+      <geom pos="0.3535 0 0.1358" material="gray25" mesh="base_dock_link"/>
+      <geom pos="-0.2015 -0.13 0.2927" material="gray75" mesh="base_antena_link1"/>
+      <geom pos="-0.2015 0.13 0.2927" material="gray75" mesh="base_antena_link2"/>
+      <geom pos="0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_front_link1"/>
+      <geom pos="0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_front_link2"/>
+      <geom pos="-0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_rear_link1"/>
+      <geom pos="-0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_rear_link2"/>
+      <geom pos="-0.062 0 0.2692" material="mercury" mesh="torso_fix"/>
+      <geom size="0.09 0.1 0.275" pos="-0.062 0 0.5462" type="box" material="gray10"/>
+      <body name="wheel_front_right_link" pos="0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="5.4922e-09 6.9775e-05 0.011144" quat="0 1 0 1" mass="0.70767"
           diaginertia="0.000401311 0.000355289 0.00035492"/>
-        <joint name="wheel_front_right_joint" axis="0 0 1"/>
-        <geom type="mesh" density="0" material="gray10" mesh="wheel_link1" conaffinity="0"/>
-        <geom type="cylinder" size="0.0762 0.025" condim="6" group="3"/>
+        <joint name="wheel_front_right_joint"/>
+        <geom material="gray10" mesh="wheel_link1" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
-      <body name="wheel_front_left_link" pos="0.244 0.223175 0.0762" quat="1 -1 0 0">
+      <body name="wheel_front_left_link" pos="0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="5.4922e-09 -6.9775e-05 -0.011144" quat="0 1 0 1" mass="0.70767"
           diaginertia="0.000401311 0.000355289 0.00035492"/>
-        <joint name="wheel_front_left_joint" axis="0 0 1"/>
-        <geom type="mesh" density="0" material="gray10" mesh="wheel_link2" conaffinity="0"/>
-        <geom type="cylinder" size="0.0762 0.025" condim="6" group="3"/>
+        <joint name="wheel_front_left_joint"/>
+        <geom material="gray10" mesh="wheel_link2" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
-      <body name="wheel_rear_right_link" pos="-0.244 -0.223175 0.0762" quat="1 -1 0 0">
+      <body name="wheel_rear_right_link" pos="-0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="-5.4922e-09 -6.9775e-05 0.011144" quat="0 1 0 1" mass="0.70767"
           diaginertia="0.000401311 0.000355289 0.00035492"/>
-        <joint name="wheel_rear_right_joint" axis="0 0 1"/>
-        <geom type="mesh" density="0" material="gray10" mesh="wheel_link3" conaffinity="0"/>
-        <geom type="cylinder" size="0.0762 0.025" condim="6" group="3"/>
+        <joint name="wheel_rear_right_joint"/>
+        <geom material="gray10" mesh="wheel_link3" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
-      <body name="wheel_rear_left_link" pos="-0.244 0.223175 0.0762" quat="1 -1 0 0">
+      <body name="wheel_rear_left_link" pos="-0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="-5.4922e-09 6.9775e-05 -0.011144" quat="0 1 0 1" mass="0.70767"
           diaginertia="0.000401311 0.000355289 0.00035492"/>
-        <joint name="wheel_rear_left_joint" axis="0 0 1"/>
-        <geom type="mesh" density="0" material="gray10" mesh="wheel_link4" conaffinity="0"/>
-        <geom type="cylinder" size="0.0762 0.025" condim="6" group="3"/>
+        <joint name="wheel_rear_left_joint"/>
+        <geom material="gray10" mesh="wheel_link4" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
       <body name="torso_lift_link" pos="-0.062 0 0.8662">
         <inertial pos="0.04361 -0.00116 -0.17334" quat="0.995594 0.0693915 0.06131 -0.0148054" mass="9.59421"
           diaginertia="0.328778 0.236545 0.172571"/>
-        <joint name="torso_lift_joint" axis="0 0 1" type="slide" range="0 0.35" damping="1000"/>
-        <geom type="mesh" density="0" material="white" mesh="torso_lift_dual_arm"/>
+        <joint name="torso_lift_joint" type="slide" range="0 0.35" damping="1000"/>
+        <geom material="white" mesh="torso_lift_dual_arm"/>
         <body name="head_1_link" pos="0.182 0 0">
           <inertial pos="-0.00508 0.00237 0.07229" quat="0.688669 -0.0973979 -0.101834 0.711251" mass="0.6222"
             diaginertia="0.00140223 0.00121968 0.000861083"/>
-          <joint name="head_1_joint" axis="0 0 1" range="-1.309 1.309" damping="0.5" frictionloss="1"/>
-          <geom type="mesh" density="0" material="white" mesh="head_1"/>
+          <joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
+          <geom material="white" mesh="head_1"/>
           <body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
             <inertial pos="0.0558274 0.0609987 1.58542e-05" quat="0.89114 -0.000495756 -0.00420876 0.453708"
               mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
-            <joint name="head_2_joint" axis="0 0 1" range="-1.0472 0.785398" damping="0.5" frictionloss="1"/>
-            <geom type="mesh" density="0" material="white" mesh="head_2"/>
+            <joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
+            <geom material="white" mesh="head_2"/>
           </body>
         </body>
         <body name="arm_left_1_link" pos="0.02556 0.19 -0.171" quat="0 1 1 0" childclass="arm">
           <inertial pos="0.061191 -0.022397 0.012835" quat="0.751513 0.345223 0.538347 0.161963" mass="1.56343"
             diaginertia="0.00510233 0.00510233 0.00510233"/>
-          <joint name="arm_left_1_joint" axis="0 0 1" range="-1.1781 1.5708" damping="10" frictionloss="1"/>
-          <geom type="mesh" density="0" material="white" mesh="arm_11"/>
+          <joint name="arm_left_1_joint" range="-1.1781 1.5708" damping="10"/>
+          <geom material="white" mesh="arm_11"/>
           <body name="arm_left_2_link" pos="0.125 -0.0195 0.031" quat="1 1 0 0">
             <inertial pos="0.030432 0.000229 0.005942" quat="-0.121042 0.662923 -0.105352 0.731289" mass="1.8004"
               diaginertia="0.00437039 0.00432895 0.00178367"/>
-            <joint name="arm_left_2_joint" axis="0 0 1" range="-1.1781 1.5708" damping="10" frictionloss="1"/>
-            <geom type="mesh" density="0" material="gray10" mesh="arm_21"/>
+            <joint name="arm_left_2_joint" range="-1.1781 1.5708" damping="10"/>
+            <geom material="gray10" mesh="arm_21"/>
             <body name="arm_left_3_link" pos="0.0895 0 -0.0015" quat="0.5 0.5 0.5 0.5">
               <inertial pos="0.007418 -0.004361 0.134194" quat="0.68051 0.0201941 0.052743 0.730559" mass="1.8"
                 diaginertia="0.0199798 0.0197147 0.00264646"/>
-              <joint name="arm_left_3_joint" axis="0 0 1" range="-0.785398 3.92699" damping="10"
-                frictionloss="1"/>
-              <geom type="mesh" density="0" material="gray10" mesh="arm_31"/>
+              <joint name="arm_left_3_joint" range="-0.785398 3.92699" damping="10"/>
+              <geom material="gray10" mesh="arm_31"/>
               <body name="arm_left_4_link" pos="-0.02 -0.027 0.222" quat="0.5 0.5 -0.5 0.5">
                 <inertial pos="0.095658 -0.014666 -0.018133" quat="-0.202229 0.744371 -0.161572 0.615556" mass="1.4327"
                   diaginertia="0.00906004 0.00831328 0.00177669"/>
-                <joint name="arm_left_4_joint" axis="0 0 1" range="-0.392699 2.35619" damping="10"
-                  frictionloss="1"/>
-                <geom type="mesh" density="0" material="gray10" mesh="arm_41"/>
+                <joint name="arm_left_4_joint" range="-0.392699 2.35619" damping="10"/>
+                <geom material="gray10" mesh="arm_41"/>
                 <body name="arm_left_5_link" pos="0.162 -0.02 -0.027" quat="1 0 -1 0">
                   <inertial pos="0.001078 -0.000151 0.077173" quat="0.99983 0.00293151 -0.0179292 -0.00313391"
                     mass="1.65582" diaginertia="0.00614362 0.00564011 0.00179127"/>
-                  <joint name="arm_left_5_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1"
-                    frictionloss="1"/>
-                  <geom type="mesh" density="0" material="mercury" mesh="arm_5-wrist-20101"/>
+                  <joint name="arm_left_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <geom material="mercury" mesh="arm_5-wrist-20101"/>
                   <body name="arm_left_6_link" pos="0 0 -0.15" quat="0.5 -0.5 -0.5 -0.5">
                     <inertial pos="-0.000153 -0.003122 0.000183" quat="0.83147 0.55557 0 0" mass="0.370063"
                       diaginertia="0.000215 0.000174828 0.000169172"/>
-                    <joint name="arm_left_6_joint" axis="0 0 1" range="-1.41372 1.41372" damping="1"
-                      frictionloss="1"/>
-                    <geom type="mesh" density="0" material="mercury" mesh="arm_6-wrist-20101"/>
+                    <joint name="arm_left_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <geom material="mercury" mesh="arm_6-wrist-20101"/>
                     <body name="arm_left_7_link" quat="0.5 0.5 0.5 0.5">
                       <inertial pos="0.000156301 0.000155213 -0.07437" quat="0.99813 0.00167688 -0.00121321 -0.0610901"
                         mass="1.13701" diaginertia="0.00313273 0.00277743 0.000778245"/>
-                      <joint name="arm_left_7_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1"
-                        frictionloss="1"/>
-                      <geom size="0.005 0.0025" pos="0 0 -0.047" quat="0 -1 1 0" type="cylinder"
-                        density="0" material="mercury"/>
-                      <geom size="0.0225 0.00785" pos="0 0 -0.05385" quat="0 0 1 0" type="cylinder" density="0"
-                        material="mercury"/>
-                      <geom size="0.025 0.004875" pos="0 0 -0.066575" quat="0 -1 1 0" type="cylinder"
-                        density="0" material="gray10"/>
-                      <geom pos="0 0 -0.076575" quat="1 0 0 -1" type="mesh" density="0" material="white"
-                        mesh="gripper_link1"/>
+                      <joint name="arm_left_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <geom size="0.005 0.0025" pos="0 0 -0.047" quat="0 -1 1 0" type="cylinder" material="mercury"/>
+                      <geom size="0.0225 0.00785" pos="0 0 -0.05385" quat="0 0 1 0" type="cylinder" material="mercury"/>
+                      <geom size="0.025 0.004875" pos="0 0 -0.066575" quat="0 -1 1 0" type="cylinder" material="gray10"/>
+                      <geom pos="0 0 -0.076575" quat="1 0 0 -1" material="white" mesh="gripper_link1"/>
                       <body name="gripper_left_right_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
                         <inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
                           mass="0.10998" diaginertia="0.00161667 0.00161667 0.00161667"/>
-                        <joint name="gripper_left_right_finger_joint" axis="1 0 0" type="slide"
-                          range="0 0.045" damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black"
-                          mesh="gripper_finger_link1"/>
+                        <joint name="gripper_left_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
                       </body>
                       <body name="gripper_left_left_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
                         <inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
                           mass="0.10998" diaginertia="0.00161667 0.00161667 0.00161667"/>
-                        <joint name="gripper_left_left_finger_joint" axis="-1 0 0" type="slide"
-                          range="0 0.045" damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black"
-                          mesh="gripper_finger_link2"/>
+                        <joint name="gripper_left_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link2"/>
                       </body>
                     </body>
                   </body>
@@ -204,66 +192,55 @@
         <body name="arm_right_1_link" pos="0.02556 -0.19 -0.171" quat="1 0 0 -1" childclass="arm">
           <inertial pos="0.061191 -0.022397 -0.012835" quat="0.161963 0.538347 0.345223 0.751513" mass="1.56343"
             diaginertia="0.00510233 0.00510233 0.00510233"/>
-          <joint name="arm_right_1_joint" axis="0 0 1" range="-1.1781 1.5708" damping="10" frictionloss="1"/>
-          <geom type="mesh" density="0" material="white" mesh="arm_12"/>
+          <joint name="arm_right_1_joint" range="-1.1781 1.5708" damping="10"/>
+          <geom material="white" mesh="arm_12"/>
           <body name="arm_right_2_link" pos="0.125 -0.0195 -0.031" quat="1 -1 0 0">
             <inertial pos="0.030432 0.000229 -0.005942" quat="0.126897 0.72859 0.136233 0.659161" mass="1.8004"
               diaginertia="0.00437229 0.00432701 0.0017837"/>
-            <joint name="arm_right_2_joint" axis="0 0 1" range="-1.1781 1.5708" damping="10" frictionloss="1"/>
-            <geom type="mesh" density="0" material="gray10" mesh="arm_22"/>
+            <joint name="arm_right_2_joint" range="-1.1781 1.5708" damping="10"/>
+            <geom material="gray10" mesh="arm_22"/>
             <body name="arm_right_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
               <inertial pos="0.007418 -0.004361 -0.134194" quat="0.516615 0.0556881 0.00536911 0.854388" mass="1.8"
                 diaginertia="0.0200771 0.0196154 0.00264853"/>
-              <joint name="arm_right_3_joint" axis="0 0 1" range="-0.785398 3.92699" damping="10"
-                frictionloss="1"/>
-              <geom type="mesh" density="0" material="gray10" mesh="arm_32"/>
+              <joint name="arm_right_3_joint" range="-0.785398 3.92699" damping="10"/>
+              <geom material="gray10" mesh="arm_32"/>
               <body name="arm_right_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
                 <inertial pos="-0.095658 0.014666 0.018133" quat="-0.161572 0.615556 -0.202229 0.744371" mass="1.4327"
                   diaginertia="0.00906004 0.00831328 0.00177669"/>
-                <joint name="arm_right_4_joint" axis="0 0 1" range="-0.392699 2.35619" damping="10"
-                  frictionloss="1"/>
-                <geom type="mesh" density="0" material="gray10" mesh="arm_42"/>
+                <joint name="arm_right_4_joint" range="-0.392699 2.35619" damping="10"/>
+                <geom material="gray10" mesh="arm_42"/>
                 <body name="arm_right_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
                   <inertial pos="0.001078 -0.000151 -0.077173" quat="0.99983 0.00293151 -0.0179292 -0.00313391"
                     mass="1.65582" diaginertia="0.00614362 0.00564011 0.00179127"/>
-                  <joint name="arm_right_5_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1"
-                    frictionloss="1"/>
-                  <geom type="mesh" density="0" material="mercury" mesh="arm_5-wrist-20102"/>
+                  <joint name="arm_right_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <geom material="mercury" mesh="arm_5-wrist-20102"/>
                   <body name="arm_right_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
                     <inertial pos="-0.000153 -0.003122 0.000183" quat="0.83147 0.55557 0 0" mass="0.370063"
                       diaginertia="0.000215 0.000174828 0.000169172"/>
-                    <joint name="arm_right_6_joint" axis="0 0 1" range="-1.41372 1.41372" damping="1"
-                      frictionloss="1"/>
-                    <geom type="mesh" density="0" material="mercury" mesh="arm_6-wrist-20102"/>
+                    <joint name="arm_right_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <geom material="mercury" mesh="arm_6-wrist-20102"/>
                     <body name="arm_right_7_link" quat="0.5 0.5 0.5 0.5">
                       <inertial pos="-0.000152181 0.000155213 0.0711667"
                         quat="0.998131 -0.00144953 -0.0011386 0.0610909" mass="1.13701"
                         diaginertia="0.00366279 0.00330749 0.000778246"/>
-                      <joint name="arm_right_7_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1"
-                        frictionloss="1"/>
-                      <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder"
-                        density="0" material="mercury"/>
-                      <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" density="0"
-                        material="mercury"/>
-                      <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder"
-                        density="0" material="gray10"/>
-                      <geom pos="0 0 0.076575" quat="0 -1 1 0" type="mesh" density="0" material="white"
-                        mesh="gripper_link2"/>
+                      <joint name="arm_right_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
+                      <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
+                      <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
+                      <geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link2"/>
                       <body name="gripper_right_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
                           mass="0.10998" diaginertia="0.000161667 0.000161667 0.000161667"/>
-                        <joint name="gripper_right_right_finger_joint" axis="1 0 0" type="slide"
-                          range="0 0.045" damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black"
-                          mesh="gripper_finger_link3"/>
+                        <joint name="gripper_right_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link3"/>
                       </body>
                       <body name="gripper_right_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
                           mass="0.10998" diaginertia="0.000161667 0.000161667 0.000161667"/>
-                        <joint name="gripper_right_left_finger_joint" axis="-1 0 0" type="slide"
-                          range="0 0.045" damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black"
-                          mesh="gripper_finger_link4"/>
+                        <joint name="gripper_right_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link4"/>
                       </body>
                     </body>
                   </body>
@@ -277,10 +254,10 @@
   </worldbody>
 
   <contact>
-    <exclude body1="arm_left_2_link" body2="torso_lift_link" />
-    <exclude body1="arm_right_2_link" body2="torso_lift_link" />
-    <exclude body1="gripper_left_right_finger_link" body2="gripper_left_left_finger_link" />
-    <exclude body1="gripper_right_right_finger_link" body2="gripper_right_left_finger_link" />
+    <exclude body1="arm_left_2_link" body2="torso_lift_link"/>
+    <exclude body1="arm_right_2_link" body2="torso_lift_link"/>
+    <exclude body1="gripper_left_right_finger_link" body2="gripper_left_left_finger_link"/>
+    <exclude body1="gripper_right_right_finger_link" body2="gripper_right_left_finger_link"/>
   </contact>
 
 </mujoco>
