<mujoco model="jaco_l">
    <inertial pos="-3.14012e-008 0.000451919 0.0770704" quat="1 -0.000920048 6.51183e-006 5.62643e-005" mass="0.787504" diaginertia="0.00187445 0.00186316 0.000676952" />
    <geom mesh="jaco_link_base" name="jaco_l_link_base"/>
    <geom name="jaco_l_link_base2" type="capsule" pos="0 0 -0.125" size=".045 0.125"/>


    <body name="jaco_l_link_1" childclass="vizNcollL" pos="0 0 0.1535" quat="0 0 1 0">
        <inertial pos="-1.14317e-006 0.0102141 -0.0637045" quat="0.702792 0.0778988 -0.0778994 0.702813" mass="0.613151" diaginertia="0.00149348 0.00144012 0.000401632" />
        <joint name="jaco_l_joint_1" axis="0 0 -1" limited="true" range="-.5 .5"/>
        <geom mesh="jaco_link_1" name="jaco_l_link_1"/>


        <body name="jaco_l_link_2" pos="0 0 -0.1185" quat="0 0 0.707107 0.707107">
            <inertial pos="0.206657 -1.55187e-007 -0.030675" quat="8.97411e-006 0.707331 5.06696e-006 0.706883" mass="1.85031" diaginertia="0.0402753 0.0398125 0.00121953" />
            <joint name="jaco_l_joint_2" axis="0 0 1"  limited="true" range="-1.5 .7"/>
            <geom mesh="jaco_link_2" name="jaco_l_link_2"/>


            <body name="jaco_l_link_3" pos="0.41 0 0" quat="0 0.707107 0.707107 0">
                <inertial pos="0.0847979 -1.18469e-007 -0.020283" quat="2.33799e-005 0.694869 1.96996e-005 0.719136" mass="0.70372" diaginertia="0.00386732 0.00373181 0.000358773" />
                <joint name="jaco_l_joint_3" axis="0 0 -1" limited="true" range="-0.698132 .698132" />
                <geom mesh="jaco_link_3" name="jaco_l_link_3"/>


                <body name="jaco_l_link_4" pos="0.207 0 -0.01125" quat="0 0.707107 0 -0.707107">
                    <inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
                    <joint name="jaco_l_joint_4" axis="0 0 -1" limited="true" range="-0.698132 .698132" />
                    <geom mesh="jaco_link_4" name="jaco_l_link_4"/>


                    <body name="jaco_l_link_5" pos="0.0343 0 -0.06588" quat="0.887011 0 -0.461749 0">
                        <inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
                        <joint name="jaco_l_joint_5" axis="0 0 -1" limited="true" range="-0.698132 .698132" ref="-2.8"/>
                        <geom mesh="jaco_link_5" name="jaco_l_link_5"/>


                        <body name="jaco_l_link_hand" pos="0.0343 0 -0.06588" quat="0.627211 -0.326506 -0.326506 0.627211">
                            <inertial pos="0.0036132 -6.2241e-005 -0.0583749" quat="0.669114 -0.237618 -0.23799 0.66271" mass="0.58074" diaginertia="0.000817146 0.000671192 0.000606807" />
                            <joint name="jaco_l_joint_6" axis="0 0 -1" limited="true" range="-0.698132 .698132" />
                            <geom mesh="jaco_link_hand"  name="jaco_l_link_hand"/>


                            <body name="jaco_l_link_finger_1" pos="-0.03978 0 -0.10071" quat="-0.414818 -0.329751 -0.663854 0.52772">
                                <inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
                                <joint name="jaco_l_joint_finger_1" limited="true" axis="0 0 1" range="0 0.698132"/>
                                <geom mesh="jaco_link_finger_1" name="jaco_l_link_finger_1" contype="1" conaffinity="1"/>
                            </body>


                            <body name="jaco_l_link_finger_2" pos="0.03569 -0.0216 -0.10071" quat="0.625248 -0.567602 0.434845 0.312735">
                                <inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
                                <joint name="jaco_l_joint_finger_2" limited="true" axis="0 0 1" range="0 0.698132"/>
                                <geom mesh="jaco_link_finger_2" name="jaco_l_link_finger_2" contype="1" conaffinity="1"/>
                            </body>


                            <body name="jaco_l_link_finger_3" pos="0.03569 0.0216 -0.10071" quat="0.561254 -0.620653 0.321748 0.443014">
                                <inertial pos="0.0485761 -0.000715511 2.09499e-008" quat="0.507589 0.507348 0.492543 0.492294" mass="0.0379077" diaginertia="4.00709e-005 4.00528e-005 2.156e-006" />
                                <joint name="jaco_l_joint_finger_3" limited="true" axis="0 0 1" range="0 0.698132"/>
                                <geom mesh="jaco_link_finger_3" name="jaco_l_link_finger_3" contype="1" conaffinity="1"/>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujoco>
