 <mujoco model="JACO3_URDF_V10">    
    <body mocap="true" name="robot0:mocap" pos="0 0 0">
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box"></geom>
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box"></geom>
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
    </body>

    <!--Robot UR5-->
    <body name="box_link" pos="0 0 0.435">
        <!--<geom size=".3 .2 .435" type="box" material="bench_mat"/>-->
        <geom size=".29 .19 .03" pos ="0 0 0.4" type="box" material="bench_mat"/>
        <geom size=".29 .19 .03" pos ="0 0 -0.2" type="box" material="bench_mat"/>
        <geom size=".04 .04 .435" pos =".26 .16 0" type="box" material="bench_mat"/>
        <geom size=".04 .04 .435" pos ="-.26 .16 0" type="box" material="bench_mat"/>
        <geom size=".04 .04 .435" pos =".26 -.16 0" type="box" material="bench_mat"/>
        <geom size=".04 .04 .435" pos ="-.26 -.16 0" type="box" material="bench_mat"/>
        <inertial pos="0 0 0" mass="1000" diaginertia="0 0 0" />
        <body name="base_link" pos="0 0 0.435">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="4" diaginertia="0.0072 0.00443333 0.00443333" />
            <geom type="mesh"  mesh="base" material="ur5_mat"/>
            <body name="shoulder_link" pos="0 0 0.089159">
                <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
                <joint name="shoulder_pan_joint" class="UR5" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
                <geom type="mesh"  mesh="shoulder" material="ur5_mat"/>
                <body name="upper_arm_link" pos="0 0.13585 0" quat="0.707107 0 0.707107 0">
                    <inertial pos="0 0 0.28" mass="8.393" diaginertia="0.226891 0.226891 0.0151074" />
                    <joint name="shoulder_lift_joint" class="UR5" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 0" /> <!--Range= -3.14159 3.14159-->
                    <geom type="mesh"  mesh="upperarm" material="ur5_mat"/>
                    <body name="forearm_link" pos="0 -0.1197 0.425">
                        <inertial pos="0 0 0.25" mass="2.275" diaginertia="0.0494433 0.0494433 0.004095" />
                        <joint name="elbow_joint" class="UR5" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                        <geom type="mesh"  mesh="forearm" material="ur5_mat"/>
                        <body name="wrist_1_link" pos="0 0 0.39225" quat="0.707107 0 0.707107 0">
                            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
                            <joint name="wrist_1_joint" class="UR5e" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                            <geom type="mesh"  mesh="wrist1" material="ur5_mat"/>
                            <body name="wrist_2_link" pos="0 0.093 0">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
                                <joint name="wrist_2_joint" class="UR5e" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
                                <geom type="mesh"  mesh="wrist2" material="ur5_mat"/>
                                <body name="wrist_3_link" pos="0 0 0.09465">
                                    <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.1879" diaginertia="0.033822 0.0171365 0.0171365" />
                                    <joint name="wrist_3_joint" class="UR5e" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                                    <geom type="mesh"  mesh="wrist3" material="ur5_mat"/>
                                    <body name="ee_link" pos="0 0.0823 0" quat="0.707107 0 0 0.707107">
                                        <inertial pos="-0.01 0 0" mass="0.001" diaginertia="1.66667e-08 1.66667e-08 1.66667e-08" />
                                        <geom size="0.005 0.005 0.005" pos="-0.01 0 0" type="box" />
                                    </body>
                                    <!--GRIPPER-->
                                    <body name="tool0" pos="0 0.0823 0" quat="0.707107 -0.707107 0 0">
                                        <inertial pos="0 0.0823 0" quat="0.707107 -0.707107 0 0" mass="0" diaginertia="0 0 0" />
                                        <body name="gripperpalm" pos="0 0 0.0423" quat="0.707107 0.707107 0 0">
                                            <site name="gripperpalm" pos="0 0.05 0" size="0.035 0.0055 0.035"/>
                                            <inertial pos="0 0 0" mass="1.3" diaginertia="0.0035 0.0035 0.0035" />
                                            <geom type="mesh"  mesh="gripperpalm" material="gripper_mat"/>
                                            <!--FINGERS-->
                                            <body name="gripperfinger_1_link_0" pos="-0.0455 0.0214 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                                                <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
                                                <joint name="gripperpalm_finger_1_joint" class="GRIPPER" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
                                                <geom type="mesh" material="gripper_mat" mesh="link_0" />
                                                <body name="gripperfinger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                                    <site name="gripperfinger_1_polp_1" pos="-0.005 0.035 0" size=".006 .014 .014"/>
                                                    <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
                                                    <joint name="gripperfinger_1_joint_1" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
                                                    <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_1" />
                                                    <body name="gripperfinger_1_link_2" pos="0 0.05715 0">
                                                        <site name="gripperfinger_1_polp_2" pos="-0.006 0.02 0" size=".006 .014 .014"/>
                                                        <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
                                                        <joint name="gripperfinger_1_joint_2" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                        <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_2" />
                                                        <body name="gripperfinger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                            <site name="gripperfinger_1_polp_3" pos="0.025 0.006 0" size=".014 .006 .014"/>
                                                            <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
                                                            <joint name="gripperfinger_1_joint_3" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
                                                            <geom type="mesh" material="gripper_mat" mesh="link_3" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                            <body name="gripperfinger_2_link_0" pos="-0.0455 0.0214 -0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                                                <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
                                                <joint name="gripperpalm_finger_2_joint" class="GRIPPER" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
                                                <geom type="mesh" material="gripper_mat" mesh="link_0" />
                                                <body name="gripperfinger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                                    <site name="gripperfinger_2_polp_1" pos="-0.005 0.035 0" size=".006 .014 .014"/>
                                                    <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
                                                    <joint name="gripperfinger_2_joint_1" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
                                                    <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_1" />
                                                    <body name="gripperfinger_2_link_2" pos="0 0.05715 0">
                                                        <site name="gripperfinger_2_polp_2" pos="-0.006 0.02 0" size=".006 .014 .014"/>
                                                        <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
                                                        <joint name="gripperfinger_2_joint_2" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                        <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_2" />
                                                        <body name="gripperfinger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                            <site name="gripperfinger_2_polp_3" pos="0.025 0.006 0" size=".014 .006 .014"/>
                                                            <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
                                                            <joint name="gripperfinger_2_joint_3" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
                                                            <geom type="mesh" material="gripper_mat" mesh="link_3" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                            <body name="gripperfinger_middle_link_0" pos="0.0455 0.0214 0" quat="0.707388 0 0 0.706825">
                                                <inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
                                                <joint name="gripperpalm_finger_middle_joint" class="GRIPPER" pos="0 0 0" axis="0 1 0"  limited="true" range="-1e-3 1e-3"/> <!--RANGE CAMBIATO (In realtà aggiunto, non c'era ??) A MANO DA ME PER LA STABILITA DEL POLLICE-->
                                                <geom type="mesh" material="gripper_mat" mesh="link_0" />
                                                <body name="gripperfinger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                                    <site name="gripperfinger_middle_polp_1" pos="-0.005 0.035 0" size=".006 .014 .014"/>
                                                    <inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
                                                    <joint name="gripperfinger_middle_joint_1" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
                                                    <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_1" />
                                                    <body name="gripperfinger_middle_link_2" pos="0 0.05715 0">
                                                        <site name="gripperfinger_middle_polp_2" pos="-0.006 0.02 0" size=".006 .014 .014"/>
                                                        <inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
                                                        <joint name="gripperfinger_middle_joint_2" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                        <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" material="gripper_mat" mesh="link_2" />
                                                        <body name="gripperfinger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                            <site name="gripperfinger_middle_polp_3" pos="0.025 0.006 0" size=".014 .006 .014"/>
                                                            <inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
                                                            <joint name="gripperfinger_middle_joint_3" class="GRIPPER" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
                                                            <geom type="mesh" material="gripper_mat" mesh="link_3" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                        <site name="robot0:grip" pos="0. 0. 0.15" rgba="0.0 0.5 0.0 0.5" size="0.02 0.02 0.02"></site>  
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="base" pos="0 0 0" quat="1.7949e-09 0 0 -1">
                <inertial pos="0 0 0" quat="1.7949e-09 0 0 -1" mass="0" diaginertia="0 0 0" />
            </body>
        </body>
    </body>
</mujoco>