<mujoco>
    <body childclass="yumi_arm_class" name="yumi_link_1_l" pos="0.05355 0.0725 0.41492" quat="0.217632 0.40848 0.313437 0.829179">
        <inertial pos="0 -0.03 0.12" mass="2" diaginertia="0.1 0.1 0.1" />
        <joint type="hinge" name="yumi_joint_1_l" pos="0 0 0" axis="0 0 1" limited="true" range="-2.94088 2.94088" />
        <geom type="mesh" mesh="coarse_link_1" />
        <body name="yumi_link_2_l" pos="0.03 0 0.1" quat="0.707107 0.707107 0 0">
            <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
            <joint type="hinge" name="yumi_joint_2_l" pos="0 0 0" axis="0 0 1" limited="true" range="-2.50455 0.759218" />
            <geom type="mesh" mesh="coarse_link_2" />
            <body name="yumi_link_3_l" pos="-0.03 0.17283 0" quat="0.707107 -0.707107 0 0">
                <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
                <joint type="hinge" name="yumi_joint_7_l" pos="0 0 0" axis="0 0 1" limited="true" range="-2.94088 2.94088" />
                <geom type="mesh" mesh="coarse_link_3" />
                <body name="yumi_link_4_l" pos="-0.04188 0 0.07873" quat="0.5 0.5 -0.5 0.5">
                    <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
                    <joint type="hinge" name="yumi_joint_3_l" pos="0 0 0" axis="0 0 1" limited="true" range="-2.15548 1.39626" />
                    <geom type="mesh" mesh="coarse_link_4" />
                    <body name="yumi_link_5_l" pos="0.0405 0.16461 0" quat="0.707107 -0.707107 0 0">
                        <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
                        <joint type="hinge" name="yumi_joint_4_l" pos="0 0 0" axis="0 0 1" limited="true" range="-5.06145 5.06145" />
                        <geom type="mesh" mesh="coarse_link_5" />
                        <body name="yumi_link_6_l" pos="-0.027 0 0.10039" quat="0.707107 0.707107 0 0">
                            <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
                            <joint type="hinge" name="yumi_joint_5_l" pos="0 0 0" axis="0 0 1" limited="true" range="-1.53589 2.40855" />
                            <geom type="mesh" mesh="coarse_link_6" />
                            <body name="yumi_link_7_l" pos="0.027 0.029 0" quat="0.707107 -0.707107 0 0">
                                <inertial pos="0 0 0" mass="2" diaginertia="0.1 0.1 0.1" />
                                <joint type="hinge" name="yumi_joint_6_l" pos="0 0 0" axis="0 0 1" limited="true" range="-3.9968 3.9968" />
                                <geom type="mesh" mesh="coarse_link_7" />
                                <body name="gripper_l_base" pos="0 0 0.007" quat="0 0 0 1">
                                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.0001 0.0001 0.0001" />
                                    <geom type="mesh" rgba="0.8 0.8 0.8 1" mesh="base" />

                                    <body name="gripper_l_center" pos="0 0 0.13"/>
                                    <site name="gripper_l_center" pos="0 0 0.13" rgba="0 1 0 1" size="0.02 0.02 0.02"/>

                                    <body childclass="yumi_gripper_class" name="gripper_l_finger_r" pos="-0.02 -0.0065 0.0837">
                                        <inertial pos="0 0 0" mass="0.2" diaginertia="0.1 0.1 0.1"/>
                                        <joint name="gripper_l_joint" axis="1 0 0" range="0 0.02"/>
                                        <geom type="mesh" rgba="0.9 0.1 0.1 1" mesh="finger" contype="0" conaffinity="0"/>
                                        <geom pos="-0.005 0.006 0.028" size="0.005 0.0135 0.025" type="box" rgba="0.9 0.1 0.1 0.2"/>
                                    </body>

                                    <body childclass="yumi_gripper_class" name="gripper_l_finger_l" pos="0.02 0.0065 0.0837" quat="0 0 0 1">
                                        <inertial pos="0 0 0" mass="0.2" diaginertia="0.1 0.1 0.1"/>
                                        <joint name="gripper_l_joint_m" axis="1 0 0" range="0 0.02"/>
                                        <geom type="mesh" rgba="0.1 0.9 0.1 1" mesh="finger" contype="0" conaffinity="0"/>
                                        <geom pos="-0.005 0.006 0.028" size="0.005 0.0135 0.025" type="box" rgba="0.1 0.9 0.1 0.2"/>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujoco>
