<?xml version="1.0" ?><mujocoinclude>

    <body mocap="true" name="robot:mocap" pos="0 0 0">
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box"></geom>
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box"></geom>
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
	</body>
    <body name="robot:UR5" pos="0.0 0.0 0.0">
        <geom mesh="body-collision" pos="0 0 -0.28" rgba="0.15 0.15 0.15 1" type="mesh"/>
        <geom mesh="top" pos="0 0 -0.28" rgba="0.15 0.15 0.15 1" type="mesh"/>
        <geom pos="0.28 0 0.2295" quat="1 0.0 0 0" rgba="0.9 0.9 0.9 1" size="0.1 0.2295" type="cylinder"/>
        <geom mesh="ur5_base" pos="0.28 0 0.456" quat="0.681998 0 0 -0.731354" rgba="0.7 0.7 0.7 1" type="mesh"/>
        <geom pos="-0.2 0 0.3" size="0.2 0.3 0.3" type="box"/>

        <joint axis="1 0 0" damping="1e11" name="robot:claw_free_1" pos="0 0 0" range="-100 100" type="slide"/>
        <joint axis="0 1 0" damping="1e11" name="robot:claw_free_2" pos="0 0 0" range="-100 100" type="slide"/>
        <joint axis="0 0 1" damping="1e11" name="robot:claw_free_3" pos="0 0 0" range="-100 100" type="hinge"/>


        <body name="robot:base" pos="0 0 -0.2918">
            <geom conaffinity="1" contype="1" friction="0.4 0.4 0.4" mass="90" name="base" rgba="0. 0. 0. 1" size="0.2 0.2 0.01425" type="box"/>
        </body>

		<body name="robot:base_link" pos="0.28 0 0.545159" quat="0.9993907834035692 0.0 0.0 -0.03489996229224329">
            <inertial diaginertia="0.0102675 0.0102675 0.00666" mass="3.7" pos="0 0 0"/>
            <joint axis="0 0 1" damping="2" name="robot:base_joint" range="-2.16 2.16"></joint>
            <geom mesh="shoulder" rgba="0.7 0.7 0.7 1" type="mesh"/>
            <body name="robot:shoulder_link" pos="0 0.13585 0" quat="0.707107 0.0 0.707107 0.0">
                <inertial diaginertia="0.226891 0.226891 0.0151074" mass="8.393" pos="0 0 0.28"/>
                <joint axis="0 1 0" damping="2" name="robot:shoulder_joint" range="-2.16 2.16"></joint>
                <geom mesh="upperarm" rgba="0.7 0.7 0.7 1" type="mesh"/>
                <body name="robot:elbow_link" pos="0 -0.1197 0.425" quat="1.0 0.0 0.0 0.0">
                    <inertial diaginertia="0.0494433 0.0494433 0.004095" mass="2.275" pos="0 0 0.25"/>
                    <joint axis="0 1 0" damping="2" name="robot:elbow_joint" range="-2.16 2.16"></joint>
                    <geom mesh="forearm" rgba="0.7 0.7 0.7 1" type="mesh"/>
                    <body name="robot:wrist_1_link" pos="0 0 0.39225" quat="0.707107 0.0 0.707107 0.0">
                        <inertial diaginertia="0.21942 0.111173 0.111173" mass="1.219" pos="0 0 0" quat="0.5 0.5 -0.5 0.5"/>
                        <joint axis="0 1 0" damping="2" name="robot:wrist_1_joint" range="-2.16 2.16"></joint>
                        <geom mesh="wrist1" rgba="0.7 0.7 0.7 1" type="mesh"/>

                        <body name="robot:wrist_2_link" pos="0 0.093 0" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                            <inertial diaginertia="0.21942 0.111173 0.111173" mass="1.219" pos="0 0 0" quat="0.5 0.5 -0.5 0.5"/>
                            <joint axis="0 0 1" damping="2" name="robot:wrist_2_joint" range="-2.16 2.16"></joint>
                            <geom friction="0.4 0.4 0.4" mesh="wrist2" rgba="0.7 0.7 0.7 1" type="mesh"/>

                            <body name="robot:wrist_3_link" pos="0 0 0.09465" quat="0.9961946980917455 0.0 0.08715574274765817 0.0">
                                <inertial diaginertia="0.033822 0.0171365 0.0171365" mass="0.1879" pos="0 0 0" quat="0.5 0.5 -0.5 0.5"/>
                                <joint axis="0 1 0" damping="2" name="robot:wrist_3_joint" range="-2.16 2.16"></joint>
                                <geom friction="0.8 0.8 0.8" mesh="wrist3" rgba="0.7 0.7 0.7 1" type="mesh"/>

                                <body name="robot:ee_link" pos="0 0.0823 0" quat="0.707107 0 0 0.707107">
                                    <inertial diaginertia="1.66667e-08 1.66667e-08 1.66667e-08" mass="0.001" pos="-0.01 0 0"/>
                                    <geom friction="0.8 0.8 0.8" pos="-0.01 0 0" size="0.005 0.005 0.005" type="box"/>

                                    <body name="robot:robotiq_85_base_link" pos="0 0 0" quat="0.5 0.5 0.5 0.5 ">
                                        <inertial diaginertia="0.00030737 0.000289758 0.000199102" mass="0.30915" pos="0.00021987 -2.3546e-10 0.030163" quat="0.707058 0.00723369 0.00723345 0.707081"/>
                                        <geom friction="0.8 0.8 0.8" mesh="robotiq_85_base_link_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>

                                        <body name="robot:left_outer_knuckle" pos="0.0306011 0 0.062792">
                                            <inertial diaginertia="1.38892e-06 1.28691e-06 2.45951e-07" mass="0.00684839" pos="0.0178332 3.68915e-11 0.00214425" quat="0.463241 0.534235 0.534235 0.463241"/>
                                            <joint axis="0 1 0" damping="2" name="robot:left_outer_knuckle_joint" range="-2.16 2.16"></joint>
                                            <geom friction="0.2 0. 0.4" mesh="outer_knuckle_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            <body euler= "0 0 0" name="robot:left_outer_finger" pos="0.031691 0 -0.00193396">
                                                <inertial diaginertia="8.53972e-06 6.91333e-06 2.22664e-06" mass="0.0273094" pos="0.00131452 0 0.0215404" quat="0.999536 0 -0.0304703 0"/>
                                                <joint axis="0 1 0" damping="2" name="robot:left_outer_finger_joint" range="-2.16 2.16"></joint>
                                                <geom friction="0.8 0.8 0.8" mesh="outer_finger_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                                <site name="test_left_outer_finger" pos="0. 0. 0" size="0.02 0.02 0.02" rgba="2 0 0 2" type="sphere"></site>
                                            </body>
                                        </body>

                                        <body name="robot:left_inner_knuckle" pos="0.0127 0 0.0693075">
                                            <inertial diaginertia="5.59353e-06 3.96549e-06 1.88108e-06" mass="0.0110931" pos="0.0170975 -3.93809e-10 0.0224918" quat="0.947655 0 -0.319297 0"/>
                                            <joint axis="0 1 0" damping="2" name="robot:left_inner_knuckle_joint" range="-2.16 2.16"></joint>
                                            <geom friction="0.8 0.8 0.8" mesh="inner_knuckle_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>

                                            <body name="robot:left_inner_finger" pos="0.0345853 0 0.045497">
                                                <inertial diaginertia="1.70064e-06 1.58577e-06 3.69621e-07" mass="0.00724255" pos="0.00602756 0 0.00669926" quat="0.699065 0.106339 0.106339 0.699065"/>
                                                <joint axis="0 1 0" damping="2" name="robot:left_inner_finger_joint" range="-2.16 2.16"></joint>
                                                <geom friction="0.8 0.8 0.8" mesh="inner_finger_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            </body>
                                        </body>

                                        <body name="robot:right_inner_knuckle" pos="-0.0127 0 0.0693075" quat="0 0 0 1">
                                            <inertial diaginertia="5.59353e-06 3.96549e-06 1.88108e-06" mass="0.0110931" pos="0.0168606 3.93808e-10 0.02267" quat="0.949317 0 -0.314322 0"/>
                                            <geom friction="0.8 0.8 0.8" mesh="inner_knuckle_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            <body name="robot:right_inner_finger" pos="0.034106 0 0.0458574">
                                                <inertial diaginertia="1.70064e-06 1.58577e-06 3.69621e-07" mass="0.00724255" pos="0.00602756 0 0.00669926" quat="0.699065 0.106339 0.106339 0.699065"/>
                                                <geom friction="0.8 0.8 0.8" mesh="inner_finger_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            </body>
                                        </body>

                                        <body name="robot:right_outer_knuckle" pos="-0.0306011 0 0.062792" quat="0 0 0 1">
                                            <inertial diaginertia="1.38892e-06 1.28691e-06 2.45951e-07" mass="0.00684839" pos="0.0178097 3.60493e-11 0.00233123" quat="0.460432 0.536658 0.536658 0.460432"/>
                                            <geom friction="0.8 0.8 0.8" mesh="outer_knuckle_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            <body name="robot:right_outer_finger" pos="0.0317096 0 -0.00160136">
                                                <inertial diaginertia="8.53972e-06 6.91333e-06 2.22664e-06" mass="0.0273094" pos="0.00108844 0 0.021553" quat="0.999682 0 -0.0252262 0"/>
                                                <geom friction="0.8 0.8 0.8" mesh="outer_finger_coarse" rgba="0.1 0.1 0.1 1" type="mesh"/>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujocoinclude>