ls
<mujoco model="koko_full">
    <compiler angle="radian" />
    <default>
        <geom condim="4"/>
        <default class="arm">
            <joint damping="0.1" />
            <motor ctrllimited="true" />
        </default>
        <default class="gripper">
            <motor ctrllimited="true" />
        </default>
    </default>
    <asset> 
        <mesh name="base_link" file="../robot/STL/base_link.STL" />
        <mesh name="shoulder_link" file="../robot/STL/shoulder_link.STL"/>
        <mesh name="shoulder_lift_link" file="../robot/STL/shoulder_lift_link.STL"/>
        <mesh name="upper_arm_link" file="../robot/STL/upper_arm_link.STL"/>
        <mesh name="upper_arm_lift_link" file="../robot/STL/upper_arm_lift_link.STL" />
        <mesh name="forearm_link" file="../robot/STL/forearm_link.STL" />
        <mesh name="wrist_lift_link" file="../robot/STL/wrist_lift_link.STL" />
        <mesh name="wrist_roll_link" file="../robot/STL/hand_base_link.STL" />
        <mesh name="finger_0" file="../robot/STL/finger_0.STL" scale="0.001 0.001 0.001"/>
        <mesh name="finger_1" file="../robot/STL/finger_1.STL" scale="0.001 0.001 0.001"/>
        <mesh name="finger_2" file="../robot/STL/finger_2.STL" scale="0.001 0.001 0.001"/>
        <texture builtin="flat" height="32" name="plastic" type="2d" width="32"/>
        <material name="Plastic" shininess="0.30" specular="0.30" texture="plastic"/>
    </asset>
    <worldbody>
        <!-- position for reaching out -->
        <!-- <body name="robotworld" pos="0.975 -0.3 1.17" euler="0 0 0"> -->
        <!-- grasping position -->
        <body name="robotworld" pos="0.945 -0.225 1.0" euler="0 0 0">
            <inertial pos="0 0 0" quat="0.0 0.0 0.0 0.0" mass="50" diaginertia="1.0 1.0 1.0" />
            <camera name="head_cam" mode="fixed" fovy="45" pos="0.18839 0 0.47468" euler="0 1.14 1.57"> </camera>
            <camera name="left_cam" mode="fixed" fovy="45" pos="0.18839 -0.3 0.47468" euler="0.57 1.0 1.0"> </camera>
            <camera name="right_cam" mode="fixed" fovy="45" pos="0.18839 0.3 0.47468" euler="-0.57 1.0 2.14"> </camera>
            <body name="robotbase_link" pos="0 0 0" euler="0 -1.57 3.14">
                <!-- <camera name="left_cam" mode="fixed" fovy="45" pos="-0.3 0.03 -0.2" euler="3.14 -0.2 1.57"> </camera>
                <camera name="right_cam" mode="fixed" fovy="45" pos="-0.3 -0.03 -0.2" euler="3.14 -0.2 1.57"> </camera> -->
                <inertial pos="0.0560024 0.000189446 0.0201836" quat="-0.000530006 0.707989 0.00204572 0.70622" mass="0.284612" diaginertia="0.00239707 0.00197713 0.000716923" />
                <geom name="link1" type="mesh" material="Plastic" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" contype="1" conaffinity="28" />
                <body name="robotshoulder_link" pos="0 0 0.054356" quat="1.34924e-11 -3.67321e-06 1 -3.67321e-06">
                    <inertial pos="0.00434775 2.01235e-05 -0.0764683" quat="0.999953 0.000336513 -0.00963902 8.26702e-05" mass="1.80901" diaginertia="0.00919572 0.00871918 0.00387865" />
                    <joint name="base_roll_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.3412 3.3999" />
                    <geom name="link2" type="mesh" material="Plastic" rgba="0.843137 0.815686 0.752941 1" mesh="shoulder_link" contype="2" conaffinity="24" />
                    <body name="robotshoulder_liftlink" pos="-0.01143 0 -0.21082" quat="-2.59734e-06 2.59735e-06 -0.707108 0.707105">
                        <inertial pos="-5.00836e-06 0.000232928 -1.77451e-05" quat="0.708323 -0.00293225 -0.00290296 0.705876" mass="0.388307" diaginertia="0.000818261 0.00080429 0.000550823" />
                        <joint name="shoulder_lift_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.2944 0" />
                        <geom name="lift1" type="mesh" material="Plastic" rgba="0.792157 0.819608 0.933333 1" mesh="shoulder_lift_link" contype="0" />
                        <body name="robotupperarm_link" pos="0 0.070147 -6.25e-05" quat="0.499124 0.499126 0.500872 -0.500874">
                            <inertial pos="0.00526565 5.32997e-05 -0.0641726" quat="0.999909 0.000376484 0.0133407 0.0019152" mass="1.52396" diaginertia="0.00578958 0.00530315 0.00342333" />
                            <joint name="shoulder_roll_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                            <geom name="link3" type="mesh" material="Plastic" rgba="1 1 1 1" mesh="upper_arm_link" contype="4" conaffinity="17" />
                            <body name="robotupperarm_liftlink" pos="-0.01143 -4.0407e-05 -0.18056" quat="0.00123484 -0.00123484 0.707107 -0.707104">
                                <inertial pos="9.06308e-09 -0.0023333 -1.637e-05" quat="0.707099 -0.00297056 -0.00288794 0.707102" mass="0.336088" diaginertia="0.000805057 0.000748407 0.000495706" />
                                <joint name="elbow_lift_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.2944 0" />
                                <geom name="lift2" type="mesh" material="Plastic" rgba="1 0.501961 0.501961 1" mesh="upper_arm_lift_link" contype="0" />
                                <body name="robotforearm_link" pos="0 0.070147 -6.25e-05" quat="0.499998 0.5 -0.5 0.500002">
                                    <inertial pos="0.00526386 2.70692e-05 -0.0641638" quat="0.99991 0.000246685 0.0133803 0.00035395" mass="1.52368" diaginertia="0.00578835 0.00530224 0.0034223" />
                                    <joint name="elbow_roll_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                                    <geom name="link4" type="mesh" material="Plastic" rgba="1 1 1 1" mesh="forearm_link" contype="8" conaffinity="3" />
                                    <body name="robotwrist_liftlink" pos="-0.01143 0 -0.18056" quat="-2.59734e-06 2.59735e-06 0.707108 -0.707105">
                                        <inertial pos="-5.00413e-06 0.000232915 -1.77452e-05" quat="0.708323 -0.00293266 -0.00290346 0.705877" mass="0.388307" diaginertia="0.000818232 0.000804261 0.000550823" />
                                        <joint name="wrist_lift_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.2944 0" />
                                        <geom name="lift3" type="mesh" material="Plastic" rgba="0.792157 0.819608 0.933333 1" mesh="wrist_lift_link" contype="0" />
                                        <body name="robotwrist_rolllink" pos="0 0.070147 -6.25e-05" quat="-2.59734e-06 2.59735e-06 0.707108 -0.707105">
                                            <camera name="hand_cam" mode="fixed" fovy="45" pos="0.05 0 -0.05" euler="0 0.2 -1.57"> </camera>
                                            <inertial pos="0.00526385736219506 2.70691865020822e-05 -0.0641638075944594" quat="0.999999 0.000484212 -0.00134643 -0.000743041" mass="0.657109755986862" fullinertia="0.0057866591250737 0.00530223654324281 0.00342399181200673 3.71515699629511e-07 -6.32890111626103e-05 8.9999884666805e-07" />
                                            <joint name="wrist_roll_joint" class="arm" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                                            <geom name="link" type="mesh" material="Plastic" rgba="0.792157 0.819608 0.933333 1" mesh="wrist_roll_link" contype="16" conaffinity="7" />
                                            <body name="robotfinger_leftlink" pos="0.0091 0.05 -0.075" euler="3.14 0 1.57">
                                                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.015563" diaginertia="3.916e-5 4.278e-5 4.8095e-6"/>
                                                <joint name="left_finger_joint" type="slide" stiffness="1" damping="0.5" class="gripper" pos="0 0 0" axis="1 0 0" limited="true" range="0.01 0.025"/>
                                                <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_0" name="leftfinger_0" euler="0 0 0" condim="4"/>
                                                <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_1" name="leftfinger_1" euler="0 0 0" condim="4"/>
                                                <body name="robotfinger_tipleftlink" pos="0 0 0" euler="0 0 0">
                                                    <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_2" name="leftfinger_2" euler="0 0 0" condim="4"/>
                                                </body>
                                            </body>
                                            <body name="robotfinger_rightlink" pos="-0.0091 -0.05 -0.075" euler="3.14 0 -1.57">
                                                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.015563" diaginertia="3.916e-5 4.278e-5 4.8095e-6"/>
                                                <joint name="right_finger_joint" type="slide" stiffness="1" damping="0.5"  class="gripper" pos="0 0 0" axis="1 0 0" limited="true" range="0.01 0.025"/>
                                                <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_0" name="rightfinger_0" euler="0 0 0" condim="4"/>
                                                <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_1" name="rightfinger_1" euler="0 0 0" condim="4"/>
                                                <body name="robotfinger_tiprightlink" pos="0 0 0" euler="0 0 0">
                                                    <geom friction="1 1 1" type="mesh" material="Plastic" mesh="finger_2" name="rightfinger_2" euler="0 0 0" condim="4"/>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
    <actuator>
        <motor ctrlrange="-3.0 3.0" gear="7.0" joint="base_roll_joint" />
        <motor ctrlrange="-3.0 3.0" gear="7.0" joint="shoulder_lift_joint" />
        <motor ctrlrange="-3.0 3.0" gear="7.0" joint="shoulder_roll_joint" />
        <motor ctrlrange="-3.0 3.0" gear="7.0" joint="elbow_lift_joint" />
        <motor ctrlrange="-3.0 3.0" gear="7.0" joint="elbow_roll_joint" />
        <motor ctrlrange="-2.0 2.0" gear="7.0" joint="wrist_lift_joint" />
        <motor ctrlrange="-2.0 2.0" gear="7.0" joint="wrist_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="7.0" joint="left_finger_joint" />
        <motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="7.0" joint="right_finger_joint" />
  </actuator>
</mujoco>