<mujoco model="husky">
    <compiler angle="radian" meshdir="../meshes_mujoco/" 
              texturedir="../textures" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="base_link" file="base_link.stl" />
        <mesh name="wheel" file="wheel.stl" />
        <mesh name="top_chassis" file="top_chassis.stl" />
        <mesh name="bumper" file="bumper.stl" />
        <mesh name="dual_arm_bulkhead" file="dual_arm_bulkhead.stl" />
        <mesh name="flir-ptu-simple" file="flir-ptu-simple.stl" />
        <mesh name="base" file="base.stl" />
        <mesh name="shoulder" file="shoulder.stl" />
        <mesh name="upperarm" file="upperarm.stl" />
        <mesh name="forearm" file="forearm.stl" />
        <mesh name="wrist1" file="wrist1.stl" />
        <mesh name="wrist2" file="wrist2.stl" />
        <mesh name="wrist3" file="wrist3.stl" />
        <mesh name="sick-lms1xx" file="sick-lms1xx.stl" />
        <mesh name="pointgrey_bumblebee2" file="pointgrey_bumblebee2.stl" />
        <mesh name="robotiq_fts300" file="robotiq_fts300.stl" />
        <mesh name="link_0" file="link_0.STL" />
        <mesh name="link_1" file="link_1.STL" />
        <mesh name="link_2" file="link_2.STL" />
        <mesh name="link_3" file="link_3.STL" />
        <mesh name="palm" file="palm.STL" />

        <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
        <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
        <!-- <texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture> -->

        <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"></material>
        <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>

        <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
        <texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

    </asset>
    <worldbody>

        <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
	
		<geom name="floor0" pos="0.8 0.75 -0.088875" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
		<body name="floor0" pos="0.8 0.75 -0.088875">
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>

		<body pos="1.3 0.75 0.111125" name="table0">
			<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
		</body>
		
		<body name="object0" pos="0.025 0.025 0.025">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>

        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="base_link" />
        <geom size="0.4937 0.28545 0.061875" pos="0 0 0.061875" type="box" />
        <geom size="0.39496 0.28545 0.061875" pos="0 0 0.185625" type="box" />
        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="top_chassis" />
        <geom pos="0.48 0 0.091" type="mesh" contype="0" conaffinity="0" group="1" mesh="bumper" />
        <geom pos="-0.48 0 0.091" quat="1.32679e-06 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="bumper" />
        <geom pos="0 0 0.225" type="mesh" contype="0" conaffinity="0" group="1" mesh="dual_arm_bulkhead" />
        <geom pos="0 0 0.225" type="mesh" mesh="dual_arm_bulkhead" />
        <geom pos="0.3155 0.010414 0.44576" quat="0.000796327 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.3 0.3 0.3 1" mesh="flir-ptu-simple" />
        <geom size="0.0225 0.0325 0.022" pos="0.345 0.010414 0.44576" type="box" rgba="0.3 0.3 0.3 1" />
        <geom size="0.023 0.022 0.022" pos="0.3 0.020914 0.44576" type="box" rgba="0.3 0.3 0.3 1" />
        <geom size="0.005 0.0075" pos="0.271 0.020414 0.44576" quat="0.707388 0 0.706825 0" type="cylinder" rgba="0.3 0.3 0.3 1" />
        <geom pos="0.465 0 0.14" quat="1.32679e-06 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" mesh="sick-lms1xx" />
        <geom size="0.0525 0.05 0.05" pos="0.465 1.32679e-07 0.19" quat="1.32679e-06 1 0 0" type="box" />
        <geom pos="0.125 -0.15 0.36" quat="0.653595 0.27036 0.270576 -0.653075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="base" />
        <geom pos="0.125 -0.15 0.36" quat="0.653595 0.27036 0.270576 -0.653075" type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
        <geom pos="0.125 0.15 0.36" quat="0.653595 -0.27036 -0.270576 -0.653075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="base" />
        <geom pos="0.125 0.15 0.36" quat="0.653595 -0.27036 -0.270576 -0.653075" type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
        <body name="front_left_wheel_link" pos="0.256 0.2854 0.03282">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="2.637" diaginertia="0.04411 0.02467 0.02467" />
            <joint name="front_left_wheel" pos="0 0 0" axis="0 1 0" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="wheel" />
            <geom size="0.17775 0.05715" quat="0.707107 0.707106 0 0" type="cylinder" />
        </body>
        <body name="front_right_wheel_link" pos="0.256 -0.2854 0.03282">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="2.637" diaginertia="0.04411 0.02467 0.02467" />
            <joint name="front_right_wheel" pos="0 0 0" axis="0 1 0" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="wheel" />
            <geom size="0.17775 0.05715" quat="0.707107 0.707106 0 0" type="cylinder" />
        </body>
        <body name="rear_left_wheel_link" pos="-0.256 0.2854 0.03282">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="2.637" diaginertia="0.04411 0.02467 0.02467" />
            <joint name="rear_left_wheel" pos="0 0 0" axis="0 1 0" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="wheel" />
            <geom size="0.17775 0.05715" quat="0.707107 0.707106 0 0" type="cylinder" />
        </body>
        <body name="rear_right_wheel_link" pos="-0.256 -0.2854 0.03282">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="2.637" diaginertia="0.04411 0.02467 0.02467" />
            <joint name="rear_right_wheel" pos="0 0 0" axis="0 1 0" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="wheel" />
            <geom size="0.17775 0.05715" quat="0.707107 0.707106 0 0" type="cylinder" />
        </body>
        <body name="husky_ptu_tilt_link" pos="0.345 -0.000586 0.51176" quat="0.707105 -0.707108 0 0">
            <inertial pos="0 0 0" mass="0.65" diaginertia="0.0001 0.0001 0.0001" />
            <joint name="husky_ptu_pan" pos="0 0 0" axis="0 -1 0" limited="true" range="-2.775 2.775" />
            <geom pos="-0.0295 0.011 0" quat="0.000796327 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.3 0.3 0.3 1" mesh="flir-ptu-simple" />
            <geom size="0.0225 0.0325 0.022" pos="0 0.011 0" type="box" rgba="0.3 0.3 0.3 1" />
            <geom size="0.023 0.022 0.022" pos="-0.045 0.0215 0" type="box" rgba="0.3 0.3 0.3 1" />
            <geom size="0.005 0.0075" pos="-0.074 0.021 0" quat="0.707388 0 0.706825 0" type="cylinder" rgba="0.3 0.3 0.3 1" />
            <body name="husky_ptu_tilted_link" pos="0 0 0" quat="0.707105 -0.707108 0 0">
                <inertial pos="0 1.63383e-07 -0.0613599" quat="0.499998 0.500002 0.499998 0.500002" mass="0.342012" diaginertia="0.000766531 0.000739434 0.000100971" />
                <joint name="husky_ptu_tilt" pos="0 0 0" axis="0 1 0" limited="true" range="-0.82 0.52" />
                <geom pos="0 1.63384e-07 -0.06136" quat="0.499998 0.50005 0.499998 0.499954" type="mesh" contype="0" conaffinity="0" group="1" mesh="pointgrey_bumblebee2" />
                <geom size="0.0237 0.0785 0.018" pos="0 1.63384e-07 -0.06136" quat="-3.67321e-06 1 0 0" type="box" />
            </body>
        </body>
        <body name="r_ur5_arm_shoulder_link" pos="0.12505 -0.21302 0.42307" quat="0.653595 0.27036 0.270576 -0.653075">
            <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
            <joint name="r_ur5_arm_shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <body name="r_ur5_arm_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="r_ur5_arm_shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <body name="r_ur5_arm_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="r_ur5_arm_elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <body name="r_ur5_arm_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="r_ur5_arm_wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <body name="r_ur5_arm_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="r_ur5_arm_wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <body name="r_ur5_arm_wrist_3_link" pos="0 0 0.09465">
                                <inertial pos="1.10016e-10 0.136364 4.88137e-05" quat="0.499969 0.500031 -0.500031 0.499969" mass="2.1389" diaginertia="0.0441119 0.0274263 0.0218065" />
                                <joint name="r_ur5_arm_wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom size="0.005 0.005 0.005" pos="-1.7949e-11 0.0723 0" quat="0.707107 0 0 0.707107" type="box" />
                                <geom pos="0 0.0823 0" quat="0.500199 -0.499801 0.499801 0.500199" type="mesh" contype="0" conaffinity="0" group="1" mesh="robotiq_fts300" />
                                <geom pos="0 0.0823 0" quat="0.500199 -0.499801 0.499801 0.500199" type="mesh" mesh="robotiq_fts300" />
                                <geom pos="1.64197e-10 0.17378 7.2848e-05" quat="-0.382132 8.29339e-10 0.924108 0.000735892" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="palm" />
                                <geom size="0.05 0.05 0.05" pos="1.64197e-10 0.17378 7.2848e-05" quat="-0.382132 8.29339e-10 0.924108 0.000735892" type="box" rgba="0 1 0 1" />
                                <body name="r_finger_1_link_0" pos="0.00679839 0.195255 -0.0575191" quat="-0.653702 -0.270618 -0.269798 -0.653184">
                                    <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="r_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="r_finger_1_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="r_finger_1_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="r_finger_1_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="r_finger_1_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_1_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="r_finger_1_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="r_finger_1_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="r_finger_1_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="r_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="r_finger_1_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="r_finger_1_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_1_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_1_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_1_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="r_finger_1_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_1_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_1_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_1_link_2" pos="0 0.05715 0">
                                            <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="r_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="r_finger_1_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="r_finger_1_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="r_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="r_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                                <body name="r_finger_2_link_0" pos="0.0576492 0.195157 -0.00654675" quat="-0.653702 -0.270618 -0.269798 -0.653184">
                                    <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="r_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="r_finger_2_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="r_finger_2_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="r_finger_2_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="r_finger_2_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_2_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="r_finger_2_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="r_finger_2_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="r_finger_2_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="r_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="r_finger_2_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="r_finger_2_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_2_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_2_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_2_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="r_finger_2_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_2_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_2_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_2_link_2" pos="0 0.05715 0">
                                            <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="r_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="r_finger_2_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="r_finger_2_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="r_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="r_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                                <body name="r_finger_middle_link_0" pos="-0.0321997 0.195154 0.0322368" quat="-0.270836 0.653183 0.653703 -0.26958">
                                    <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="r_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="r_finger_middle_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="r_finger_middle_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="r_finger_middle_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="r_finger_middle_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_middle_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="r_finger_middle_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="r_finger_middle_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="r_finger_middle_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="r_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="r_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="r_finger_middle_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="r_finger_middle_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_middle_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_middle_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_middle_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="r_finger_middle_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="r_finger_middle_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="r_finger_middle_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="r_finger_middle_link_2" pos="0 0.05715 0">
                                            <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="r_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="r_finger_middle_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="r_finger_middle_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="r_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="r_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="l_ur5_arm_shoulder_link" pos="0.12495 0.21302 0.42307" quat="0.653595 -0.27036 -0.270576 -0.653075">
            <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
            <joint name="l_ur5_arm_shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <body name="l_ur5_arm_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="l_ur5_arm_shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <body name="l_ur5_arm_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="l_ur5_arm_elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <body name="l_ur5_arm_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="l_ur5_arm_wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <body name="l_ur5_arm_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="l_ur5_arm_wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <body name="l_ur5_arm_wrist_3_link" pos="0 0 0.09465">
                                <inertial pos="1.10016e-10 0.136364 4.88137e-05" quat="0.499969 0.500031 -0.500031 0.499969" mass="2.1389" diaginertia="0.0441119 0.0274263 0.0218065" />
                                <joint name="l_ur5_arm_wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom size="0.005 0.005 0.005" pos="-1.7949e-11 0.0723 0" quat="0.707107 0 0 0.707107" type="box" />
                                <geom pos="0 0.0823 0" quat="0.500199 -0.499801 0.499801 0.500199" type="mesh" contype="0" conaffinity="0" group="1" mesh="robotiq_fts300" />
                                <geom pos="0 0.0823 0" quat="0.500199 -0.499801 0.499801 0.500199" type="mesh" mesh="robotiq_fts300" />
                                <geom pos="1.64197e-10 0.17378 7.2848e-05" quat="0.28154 8.61146e-10 0.959549 0.000764115" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="palm" />
                                <geom size="0.05 0.05 0.05" pos="1.64197e-10 0.17378 7.2848e-05" quat="0.28154 8.61146e-10 0.959549 0.000764115" type="box" rgba="0 1 0 1" />
                                <body name="l_finger_1_link_0" pos="0.0577286 0.195213 -0.00560494" quat="-0.678775 0.198461 0.199695 -0.678233">
                                    <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="l_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="l_finger_1_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="l_finger_1_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="l_finger_1_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="l_finger_1_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_1_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="l_finger_1_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="l_finger_1_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="l_finger_1_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="l_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="l_finger_1_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="l_finger_1_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_1_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_1_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_1_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="l_finger_1_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_1_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_1_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_1_link_2" pos="0 0.05715 0">
                                            <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="l_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="l_finger_1_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="l_finger_1_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="l_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="l_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                                <body name="l_finger_2_link_0" pos="0.0188268 0.195108 0.0549809" quat="-0.678775 0.198461 0.199695 -0.678233">
                                    <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="l_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="l_finger_2_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="l_finger_2_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="l_finger_2_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="l_finger_2_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_2_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="l_finger_2_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="l_finger_2_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="l_finger_2_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="l_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="l_finger_2_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="l_finger_2_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_2_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_2_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_2_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="l_finger_2_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_2_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_2_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_2_link_2" pos="0 0.05715 0">
                                            <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="l_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="l_finger_2_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="l_finger_2_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="l_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="l_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                                <body name="l_finger_middle_link_0" pos="-0.0382961 0.1952 -0.0244795" quat="0.198618 0.678234 0.678774 0.19954">
                                    <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="l_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" damping="1" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_0" />
                                    <geom type="mesh" rgba="0 1 0 1" mesh="link_0" />
                                    <body name="l_finger_middle_link_proximal_actuating_hinge" pos="0 0 0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0012 -0.00162 -0.00161" quat="0.0435928 0.666697 -0.165138 0.725496" mass="0.02647" diaginertia="3.27095e-06 2.25409e-06 1.48186e-06" />
                                        <joint name="l_finger_middle_joint_proximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01429 0.00375 0.001" pos="0.01429 0 0" type="box" />
                                        <body name="l_finger_middle_link_proximal_actuating_bar" pos="0.02858 0 0" quat="0.597192 0 0 0.802098">
                                            <inertial pos="0.02699 -0.00122 0" quat="0.492947 0.491625 0.50833 0.506862" mass="0.00659" diaginertia="7.19743e-06 7.18272e-06 7.68055e-08" />
                                            <joint name="l_finger_middle_joint_proximal_actuating_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02699 0.00375 0.001" pos="0.026789 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_middle_link_paraproximal_actuating_hinge" pos="0 0 -0.01" quat="0.501642 0 0 -0.865075">
                                        <inertial pos="0.0064 0 0" quat="0 0.707107 0 0.707107" mass="0.00362" diaginertia="6.5322e-07 5.3588e-07 1.2043e-07" />
                                        <joint name="l_finger_middle_joint_paraproximal_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                        <geom size="0.01143 0.00375 0.001" pos="0.01143 0 0" type="box" />
                                        <body name="l_finger_middle_link_paraproximal_bar" pos="0.02286 0 0" quat="0.707388 0 0 0.706825">
                                            <inertial pos="0.02858 -0.00129 0" quat="0.492978 0.491357 0.508576 0.506844" mass="0.00732" diaginertia="8.78875e-06 8.77558e-06 8.22394e-08" />
                                            <joint name="l_finger_middle_joint_paraproximal_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.02885 0.00375 0.001" pos="0.02885 0 0" type="box" />
                                        </body>
                                    </body>
                                    <body name="l_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
                                        <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="l_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" damping="1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_1" />
                                        <geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_1" />
                                        <body name="l_finger_middle_link_median_actuating_hinge" pos="0 0.05715 0.01" quat="0.982936 0 0 -0.183947">
                                            <inertial pos="0.0092 0.00514 0" quat="0.195177 0.679637 -0.195177 0.679637" mass="0.00359" diaginertia="7.1813e-07 6.24661e-07 9.94992e-08" />
                                            <joint name="l_finger_middle_joint_median_actuating_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_middle_link_median_bar" pos="0.01625 0.01516 0" quat="0.398652 0 0 0.917102">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.491476 0.48998 0.509977 0.508226" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_middle_joint_median_actuating_hinge_median_bar" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_middle_link_paramedian_hinge" pos="0 0.05715 -0.01">
                                            <inertial pos="-0.01025 0.00046 0" quat="-0.0114321 0.707014 0.0114321 0.707014" mass="0.00276" diaginertia="5.4007e-07 5.03062e-07 4.16477e-08" />
                                            <joint name="l_finger_middle_joint_paramedian_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                            <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                            <geom size="0.01 0.01 0.001" type="box" />
                                            <body name="l_finger_middle_link_median_bar_underactuated" pos="0.01227 0.00329 0" quat="0.707105 0 0 0.707108">
                                                <inertial pos="0.01905 -0.00107 0" quat="0.48998 0.491476 0.508226 0.509977" mass="0.00538" diaginertia="3.05722e-06 3.04657e-06 6.2347e-08" />
                                                <joint name="l_finger_middle_joint_paramedian_hinge_median_bar_underactuated" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01905 0.00375 0.001" pos="0.01905 0 0" type="box" />
                                            </body>
                                        </body>
                                        <body name="l_finger_middle_link_2" pos="0 0.05715 0">
                                            <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="l_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="1" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_2" />
                                            <geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" rgba="0 1 0 1" mesh="link_2" />
                                            <body name="l_finger_middle_link_paradistal_hinge" pos="0 0.039 -0.01">
                                                <inertial pos="0.00548 0 0" quat="0 0.707107 0 0.707107" mass="0.00158" diaginertia="1.261e-07 1.097e-07 1.907e-08" />
                                                <joint name="l_finger_middle_joint_paradistal_hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 3.1416" />
                                                <geom size="0.01 0.01 0.001" type="box" contype="0" conaffinity="0" group="1" />
                                                <geom size="0.01 0.01 0.001" type="box" />
                                            </body>
                                            <body name="l_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
                                                <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="l_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" damping="1" />
                                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" mesh="link_3" />
                                                <geom type="mesh" rgba="0 1 0 1" mesh="link_3" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
