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                                <joint name="r_upper_arm_roll_joint" type="hinge" islimited="true" pos="0 0 0" axis="1 0 0" range="-3.9 0.8" maxvel="3.27" />
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                                <body name="r_upper_arm_link" pos="0 0 0">
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                                                    <joint name="r_wrist_flex_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 1 0" range="-2.094 0" maxvel="3.078" />
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                                                    <body name="r_wrist_roll_link" pos="0 0 0">
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                                                        <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" maxvel="3.6" />
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                                                        <body name="r_gripper_palm_link" pos="0 0 0">
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                                                            <body name="r_gripper_led_frame" pos="0.0513 0 0.0244">
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                                                            <body name="r_gripper_motor_accelerometer_link" pos="0 0 0">
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                                                            <body name="r_gripper_tool_frame" pos="0.18 0 0">
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                                                            <body name="r_gripper_l_finger_link" pos="0.07691 0.01 0">
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                                                                <joint name="r_gripper_l_finger_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 1" range="0 0.548" maxvel="0.5" />
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                                                                <body name="r_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
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                                                                    <joint name="r_gripper_l_finger_tip_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 -1" range="0 0.548" maxvel="0.5" />
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                                                            <body name="r_gripper_r_finger_link" pos="0.07691 -0.01 0">
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                                                                <joint name="r_gripper_r_finger_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 -1" range="0 0.548" maxvel="0.5" />
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                                                                    <body name="r_gripper_l_finger_tip_frame" pos="0 0 0">
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                                                                        <joint name="r_gripper_joint" type="slide" islimited="true" pos="0 0 0" axis="0 1 0" range="0 0.09" maxvel="0.2" />
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                                                            <body name="r_gripper_l_parallel_link" pos="0.05891 0.031 0">
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                                                                <joint name="r_gripper_l_parallel_root_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 1" range="0 0.548" maxvel="0.5" />
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                                                            <body name="r_gripper_r_parallel_link" pos="0.05891 -0.031 0">
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                                <joint name="l_upper_arm_roll_joint" type="hinge" islimited="true" pos="0 0 0" axis="1 0 0" range="-0.8 3.9" maxvel="3.27" />
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                                <body name="l_upper_arm_link" pos="0 0 0">
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                                                        <joint name="l_wrist_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" maxvel="3.6" />
                                                        <mesh contype="0" conaffinity="0" group="1" pos="0.0317615 2.35852e-007 8.42538e-006" quat="0.704477 0.709727 6.14587e-005 -9.8782e-005" file="wrist_roll.stl" align="true" center="true" />
                                                        <mesh pos="0.0317904 -1.28112e-005 6.34869e-009" quat="0.675317 0.737527 -0.000192462 4.82646e-006" file="wrist_roll_L.stl" align="true" center="true" />
                                                        <body name="l_gripper_palm_link" pos="0 0 0">
                                                            <inertial pos="0.06623 0.00053 -0.00119" quat="-0.0181842 0.706274 0.0160771 0.707523" mass="0.58007" diaginertia="0.000865637 0.000678178 0.000351471" />
                                                            <mesh contype="0" conaffinity="0" group="1" rgba="0.8 0 0 1" pos="0.080029 -1.33057e-006 2.11805e-006" quat="0.499818 0.500153 -0.499913 0.500117" file="gripper_palm.stl" align="true" center="true" />
                                                            <mesh rgba="0.8 0 0 1" pos="0.080029 -1.33057e-006 2.11805e-006" quat="0.499818 0.500153 -0.499913 0.500117" file="gripper_palm.stl" align="true" center="true" />
                                                            <body name="l_gripper_led_frame" pos="0.0513 0 0.0244">
                                                                <inertial pos="0.0513 0 0.0244" mass="0" diaginertia="0 0 0" />
                                                            </body>
                                                            <body name="l_gripper_motor_accelerometer_link" pos="0 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.001 0.001 0.001" />
                                                                <geom type="box" contype="0" conaffinity="0" group="1" size="0.0005 0.0005 0.0005" pos="0 0 0" />
                                                                <geom type="box" size="0.0005 0.0005 0.0005" pos="0 0 0" />
                                                            </body>
                                                            <body name="l_gripper_tool_frame" pos="0.18 0 0">
                                                                <inertial pos="0.18 0 0" mass="0" diaginertia="0 0 0" />
                                                            </body>
                                                            <body name="l_gripper_l_finger_link" pos="0.07691 0.01 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.57444 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.00019774 0.000181336 7.66239e-005" />
                                                                <joint name="l_gripper_l_finger_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 1" range="0 0.548" maxvel="0.5" />
                                                                <mesh contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" pos="0.0316962 0.0175359 2.35653e-006" quat="0.49235 0.492407 0.507462 0.507551" file="l_finger.stl" align="true" center="true" />
                                                                <mesh rgba="0.7 0.7 0.7 1" pos="0.0316962 0.0175359 2.35653e-006" quat="0.49235 0.492407 0.507462 0.507551" file="l_finger.stl" align="true" center="true" />
                                                                <body name="l_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
                                                                    <inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="1.54177e-005 1.50049e-005 3.23624e-006" />
                                                                    <joint name="l_gripper_l_finger_tip_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 -1" range="0 0.548" maxvel="0.5" />
                                                                    <mesh contype="0" conaffinity="0" group="1" rgba="0 0.8 0 1" pos="0.00357238 0.00201403 9.97072e-006" quat="0.258504 0.659589 -0.254405 0.658329" file="l_finger_tip.stl" align="true" center="true" />
                                                                    <mesh rgba="0 0.8 0 1" pos="0.00357238 0.00201403 9.97072e-006" quat="0.258504 0.659589 -0.254405 0.658329" file="l_finger_tip.stl" align="true" center="true" />
                                                                </body>
                                                            </body>
                                                            <body name="l_gripper_r_finger_link" pos="0.07691 -0.01 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000198903 0.00018134 7.66847e-005" />
                                                                <joint name="l_gripper_r_finger_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 -1" range="0 0.548" maxvel="0.5" />
                                                                <mesh contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" pos="0.0316962 -0.0175359 -2.35653e-006" quat="-0.492407 0.49235 -0.507551 0.507462" file="l_finger.stl" align="true" center="true" />
                                                                <mesh rgba="0.7 0.7 0.7 1" pos="0.0316962 -0.0175359 -2.35653e-006" quat="-0.492407 0.49235 -0.507551 0.507462" file="l_finger.stl" align="true" center="true" />
                                                                <body name="l_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
                                                                    <inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="1.54177e-005 1.50049e-005 3.23624e-006" />
                                                                    <joint name="l_gripper_r_finger_tip_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 1" range="0 0.548" maxvel="0.5" />
                                                                    <mesh contype="0" conaffinity="0" group="1" rgba="0 0.8 0 1" pos="0.00357238 -0.00201403 -9.97072e-006" quat="-0.659589 0.258504 -0.658329 -0.254405" file="l_finger_tip.stl" align="true" center="true" />
                                                                    <mesh rgba="0 0.8 0 1" pos="0.00357238 -0.00201403 -9.97072e-006" quat="-0.659589 0.258504 -0.658329 -0.254405" file="l_finger_tip.stl" align="true" center="true" />
                                                                    <body name="l_gripper_l_finger_tip_frame" pos="0 0 0">
                                                                        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                                                        <joint name="l_gripper_joint" type="slide" islimited="true" pos="0 0 0" axis="0 1 0" range="0 0.09" maxvel="0.2" />
                                                                    </body>
                                                                </body>
                                                            </body>
                                                            <body name="l_gripper_l_parallel_link" pos="0.05891 0.031 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.57444 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.00019774 0.000181336 7.66239e-005" />
                                                                <joint name="l_gripper_l_parallel_root_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 1" range="0 0.548" maxvel="0.5" />
                                                                <geom type="box" size="0.0457471 0.0025 0.0025" pos="0.0457471 0 0" quat="0.999634 0 0 0.0270579" />
                                                            </body>
                                                            <body name="l_gripper_r_parallel_link" pos="0.05891 -0.031 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000198903 0.00018134 7.66847e-005" />
                                                                <joint name="l_gripper_r_parallel_root_joint" type="hinge" islimited="true" pos="0 0 0" axis="0 0 -1" range="0 0.548" maxvel="0.5" />
                                                                <geom type="box" size="0.0457471 0.0025 0.0025" pos="0.0457471 0 0" quat="0.999634 0 0 -0.0270579" />
                                                            </body>
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                            <body name="l_forearm_cam_frame" pos="0.135 0 0.044" quat="0.679288 -0.679288 -0.196387 -0.196387">
                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                <geom type="box" contype="0" conaffinity="0" group="1" size="0.005 0.005 0.005" pos="0 0 0" />
                                                <geom type="box" size="0.005 0.005 0.005" pos="0 0 0" />
                                                <body name="l_forearm_cam_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
                                                    <inertial pos="0 0 0" quat="0.5 -0.5 0.5 -0.5" mass="0" diaginertia="0 0 0" />
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujoco>
