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grippers/gloria_m/urdf/Gloria_M.urdf

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+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+  name="Gloria_M">
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+     <compiler meshdir="../meshes/" balanceinertia="true" discardvisual="false" />
+    <contact>
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+      <exclude body1="Link1" body2="Link2"/>
+      <exclude body1="Link2" body2="Link3"/>
+      <exclude body1="Link3" body2="Link4"/>
+      <exclude body1="Link4" body2="Link5"/>
+      <exclude body1="Link5" body2="Link6"/>
+      <exclude body1="Link6" body2="left_gripper"/>
+      <exclude body1="left_gripper" body2="right_gripper"/>
+    </contact>
+  </mujoco>
+  <link
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