[QUESTION] There is a small difference between generated URDF and provided Mujoco XML of OpenArm v1.0

[celestialdr4g0n]

I generated a URDF file from these ROS packages
https://github.com/enactic/openarm_ros2.git
https://github.com/enactic/openarm_description.git

Using this command

xacro ./openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > openarm_bimanual.urdf

Bellow is the generated URDF

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ./openarm_description/urdf/robot/v10.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="openarm">
  <!-- Is the robot being simulated in gazebo? -->
  <!-- <xacro:arg name="gazebo" default="false" /> -->
  <link name="world"/>
  <joint name="openarm_body_world_joint" type="fixed">
    <parent link="world"/>
    <child link="openarm_body_link0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="openarm_body_link0">
    <visual name="openarm_body_link0_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/body/v10/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_body_link0_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/body/v10/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <mass value="13.89"/>
      <inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051"/>
    </inertial>
  </link>
  <joint name="openarm_left_openarm_body_link0_joint" type="fixed">
    <parent link="openarm_body_link0"/>
    <child link="openarm_left_link0"/>
    <origin rpy="-1.5708 0 0" xyz="0.0 0.031 0.698"/>
  </joint>
  <link name="openarm_left_link0">
    <visual name="openarm_left_link0_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link0.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link0_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link0_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 -0.0001580207020448382 0.03076860287587199"/>
      <mass value="1.1432284943239561"/>
      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147"/>
    </inertial>
  </link>
  <link name="openarm_left_link1">
    <visual name="openarm_left_link1_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link1.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link1_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link1_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 -3.319987657026362e-05 0.05395284380736254"/>
      <mass value="1.1416684646202298"/>
      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625"/>
    <parent link="openarm_left_link0"/>
    <child link="openarm_left_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="40" lower="-3.490659" upper="1.3962629999999998" velocity="16.754666"/>
  </joint>
  <link name="openarm_left_link2">
    <visual name="openarm_left_link2_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link2.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link2_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link2_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 2.0145102027597523e-08 0.03256649300522363"/>
      <mass value="0.2775092746011571"/>
      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint2" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="-0.0301 0.0 0.06"/>
    <parent link="openarm_left_link1"/>
    <child link="openarm_left_link2"/>
    <axis xyz="-1 0 0"/>
    <limit effort="40" lower="-3.3161253267948965" upper="0.17453267320510335" velocity="16.754666"/>
  </joint>
  <link name="openarm_left_link3">
    <visual name="openarm_left_link3_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link3.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link3_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link3_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 -0.0005549085042607548 0.09047470545721961"/>
      <mass value="1.073863338202347"/>
      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625"/>
    <parent link="openarm_left_link2"/>
    <child link="openarm_left_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426"/>
  </joint>
  <link name="openarm_left_link4">
    <visual name="openarm_left_link4_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link4_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"/>
      <mass value="0.6348534566833373"/>
      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375"/>
    <parent link="openarm_left_link3"/>
    <child link="openarm_left_link4"/>
    <axis xyz="0 1 0"/>
    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426"/>
  </joint>
  <link name="openarm_left_link5">
    <visual name="openarm_left_link5_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link5.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link5_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link5_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 -0.0008866902457326625 0.043079803024980934"/>
      <mass value="0.6156588026168502"/>
      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint5" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955"/>
    <parent link="openarm_left_link4"/>
    <child link="openarm_left_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
  </joint>
  <link name="openarm_left_link6">
    <visual name="openarm_left_link6_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link6.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link6_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link6_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 -0.00033230528343419053 -9.498374522309838e-05"/>
      <mass value="0.475202773187987"/>
      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint6" type="revolute">
    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205"/>
    <parent link="openarm_left_link5"/>
    <child link="openarm_left_link6"/>
    <axis xyz="1 0 0"/>
    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
  </joint>
  <link name="openarm_left_link7">
    <visual name="openarm_left_link7_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link7.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_link7_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link7_symp.stl" scale="0.001 -0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 -0.01266175250761268 0.06951945409987448"/>
      <mass value="0.4659771327380578"/>
      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342"/>
    </inertial>
  </link>
  <joint name="openarm_left_joint7" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
    <parent link="openarm_left_link6"/>
    <child link="openarm_left_link7"/>
    <axis xyz="0 -1 0"/>
    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
  </joint>
  <!-- <link name="${prefix}link8"/>

    <joint name="${prefix}joint8" type="fixed">
      <xacro:openarm-kinematics name="joint8" config="${kinematics}" />
      <parent link="${prefix}link7" />
      <child link="${prefix}link8" />
    </joint> -->
  <joint name="openarm_right_openarm_body_link0_joint" type="fixed">
    <parent link="openarm_body_link0"/>
    <child link="openarm_right_link0"/>
    <origin rpy="1.5708 0 0" xyz="0.0 -0.031 0.698"/>
  </joint>
  <link name="openarm_right_link0">
    <visual name="openarm_right_link0_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link0.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link0_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link0_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"/>
      <mass value="1.1432284943239561"/>
      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147"/>
    </inertial>
  </link>
  <link name="openarm_right_link1">
    <visual name="openarm_right_link1_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link1.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link1_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link1_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"/>
      <mass value="1.1416684646202298"/>
      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625"/>
    <parent link="openarm_right_link0"/>
    <child link="openarm_right_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666"/>
  </joint>
  <link name="openarm_right_link2">
    <visual name="openarm_right_link2_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link2_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link2_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"/>
      <mass value="0.2775092746011571"/>
      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint2" type="revolute">
    <origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06"/>
    <parent link="openarm_right_link1"/>
    <child link="openarm_right_link2"/>
    <axis xyz="-1 0 0"/>
    <limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666"/>
  </joint>
  <link name="openarm_right_link3">
    <visual name="openarm_right_link3_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link3_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link3_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961"/>
      <mass value="1.073863338202347"/>
      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625"/>
    <parent link="openarm_right_link2"/>
    <child link="openarm_right_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426"/>
  </joint>
  <link name="openarm_right_link4">
    <visual name="openarm_right_link4_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link4_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"/>
      <mass value="0.6348534566833373"/>
      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375"/>
    <parent link="openarm_right_link3"/>
    <child link="openarm_right_link4"/>
    <axis xyz="0 1 0"/>
    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426"/>
  </joint>
  <link name="openarm_right_link5">
    <visual name="openarm_right_link5_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link5_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link5_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"/>
      <mass value="0.6156588026168502"/>
      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint5" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955"/>
    <parent link="openarm_right_link4"/>
    <child link="openarm_right_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
  </joint>
  <link name="openarm_right_link6">
    <visual name="openarm_right_link6_visual">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link6.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link6_collision">
      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link6_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"/>
      <mass value="0.475202773187987"/>
      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint6" type="revolute">
    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205"/>
    <parent link="openarm_right_link5"/>
    <child link="openarm_right_link6"/>
    <axis xyz="1 0 0"/>
    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946"/>
  </joint>
  <link name="openarm_right_link7">
    <visual name="openarm_right_link7_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/visual/link7.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_link7_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/arm/v10/collision/link7_symp.stl" scale="0.001 0.001 0.001"/>
        <!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448"/>
      <mass value="0.4659771327380578"/>
      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342"/>
    </inertial>
  </link>
  <joint name="openarm_right_joint7" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0"/>
    <parent link="openarm_right_link6"/>
    <child link="openarm_right_link7"/>
    <axis xyz="0 1 0"/>
    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946"/>
  </joint>
  <!-- <link name="${prefix}link8"/>

    <joint name="${prefix}joint8" type="fixed">
      <xacro:openarm-kinematics name="joint8" config="${kinematics}" />
      <parent link="${prefix}link7" />
      <child link="${prefix}link8" />
    </joint> -->
  <link name="openarm_left_hand">
    <visual name="openarm_left_hand_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_hand_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.002 0.03"/>
      <mass value="0.35"/>
      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521"/>
    </inertial>
  </link>
  <!-- <link name="${ee_prefix}hand"/> -->
  <!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
  <joint name="left_openarm_hand_joint" type="fixed">
    <parent link="openarm_left_link7"/>
    <child link="openarm_left_hand"/>
    <origin rpy="0 0 0" xyz="0 -0.0 0.1001"/>
  </joint>
  <!-- Define the hand_tcp frame -->
  <link name="openarm_left_hand_tcp"/>
  <joint name="openarm_left_hand_tcp_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0 0.08"/>
    <parent link="openarm_left_hand"/>
    <child link="openarm_left_hand_tcp"/>
  </joint>
  <link name="openarm_left_left_finger">
    <visual name="openarm_left_left_finger_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_left_finger_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685"/>
      <mass value="0.03602545343277134"/>
      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
    </inertial>
  </link>
  <link name="openarm_left_right_finger">
    <visual name="openarm_left_right_finger_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_left_right_finger_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
      <mass value="0.03602545343277134"/>
      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
    </inertial>
  </link>
  <joint name="openarm_left_finger_joint1" type="prismatic">
    <parent link="openarm_left_hand"/>
    <child link="openarm_left_right_finger"/>
    <origin rpy="0 0 0" xyz="0 -0.006 0.015"/>
    <axis xyz="0 -1 0"/>
    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
  </joint>
  <joint name="openarm_left_finger_joint2" type="prismatic">
    <parent link="openarm_left_hand"/>
    <child link="openarm_left_left_finger"/>
    <origin rpy="0 0 0" xyz="0 0.006 0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
    <mimic joint="openarm_left_finger_joint1"/>
  </joint>
  <link name="openarm_right_hand">
    <visual name="openarm_right_hand_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/hand.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_hand_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.6585"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/hand.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.002 0.03"/>
      <mass value="0.35"/>
      <inertia ixx="0.0002473" ixy="1e-06" ixz="1e-06" iyy="1.763e-05" iyz="1e-06" izz="0.0002521"/>
    </inertial>
  </link>
  <!-- <link name="${ee_prefix}hand"/> -->
  <!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
  <joint name="right_openarm_hand_joint" type="fixed">
    <parent link="openarm_right_link7"/>
    <child link="openarm_right_hand"/>
    <origin rpy="0 0 0" xyz="0 -0.0 0.1001"/>
  </joint>
  <!-- Define the hand_tcp frame -->
  <link name="openarm_right_hand_tcp"/>
  <joint name="openarm_right_hand_tcp_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0 0.08"/>
    <parent link="openarm_right_hand"/>
    <child link="openarm_right_hand_tcp"/>
  </joint>
  <link name="openarm_right_left_finger">
    <visual name="openarm_right_left_finger_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_left_finger_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0064528 0.01702 0.0219685"/>
      <mass value="0.03602545343277134"/>
      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
    </inertial>
  </link>
  <link name="openarm_right_right_finger">
    <visual name="openarm_right_right_finger_visual">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/visual/finger.dae" scale="0.001 -0.001 0.001"/>
      </geometry>
    </visual>
    <collision name="openarm_right_right_finger_collision">
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.05 -0.673001"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/ee/openarm_hand/collision/finger.stl" scale="0.001 -0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0064528 -0.01702 0.0219685"/>
      <mass value="0.03602545343277134"/>
      <inertia ixx="2.3749999999999997e-06" ixy="1e-06" ixz="1e-06" iyy="2.3749999999999997e-06" iyz="1e-06" izz="7.5e-07"/>
    </inertial>
  </link>
  <joint name="openarm_right_finger_joint1" type="prismatic">
    <parent link="openarm_right_hand"/>
    <child link="openarm_right_right_finger"/>
    <origin rpy="0 0 0" xyz="0 -0.006 0.015"/>
    <axis xyz="0 -1 0"/>
    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
  </joint>
  <joint name="openarm_right_finger_joint2" type="prismatic">
    <parent link="openarm_right_hand"/>
    <child link="openarm_right_left_finger"/>
    <origin rpy="0 0 0" xyz="0 0.006 0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="333" lower="0.0" upper="0.044" velocity="10.0"/>
    <mimic joint="openarm_right_finger_joint1"/>
  </joint>
</robot>

Compared to this mujoco XML file for v1 at https://github.com/enactic/openarm_mujoco, openarm_left_link8 is commented out in the generated URDF. I am using https://github.com/stack-of-tasks/pinocchio as an IK solver and it requires a URDF of the OpenArm.

Will the difference have any impact on the result of the IK solver?