<mujoco>
        <body name="l_ur5_arm_shoulder_link" pos="0.12495 0.21302 0.42307" quat="0.9238795 -0.3826834 0. 0." childclass="ur5:blue" >
        <!-- <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 class="UR5" 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"  mesh="shoulder" />
            <geom type="mesh"  mesh="shoulder" />
            <!-- <body name="l_ur5_arm_upper_arm_link" pos="0 0.13585 0" > -->
            <body name="l_ur5_arm_upper_arm_link" pos="0 0.13585 0" quat="1.0 0 0 0">
                <inertial pos="0 0 0.28" mass="8.393" diaginertia="0.226891 0.226891 0.0151074" />
                <joint class="UR5" 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"  mesh="upperarm" />
                <geom type="mesh"  mesh="upperarm" />
                <body name="l_ur5_arm_forearm_link" pos="0 -0.1197 0.425" quat="0.707107 0 0.707107 0">
                <!-- <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 class="UR5" 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"  mesh="forearm" />
                    <geom type="mesh"  mesh="forearm" />
                    <body name="l_ur5_arm_wrist_1_link" pos="0 0 0.39225" quat="0.707107 0 0.707107 0">
                    <!-- <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 class="UR5e" 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"  mesh="wrist1" />
                        <geom type="mesh"  mesh="wrist1" />
                        <!-- <body name="l_ur5_arm_wrist_2_link" pos="0 0.093 0"> -->
                        <body name="l_ur5_arm_wrist_2_link" pos="0 0.093 0" quat="0.707107 0 0 0.707107">
                            <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 class="UR5e" 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"  mesh="wrist2" />
                            <geom type="mesh"  mesh="wrist2" />
                            <body name="l_ur5_arm_wrist_3_link" pos="0 0 0.09465" quat="0.707107 0 0.707107 0">
                            <!-- <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 class="UR5e" 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"  mesh="wrist3" />
                                <geom type="mesh"  mesh="wrist3" />

                                <geom size="0.005 0.005 0.005" pos="-1.7949e-11 0.0723 0" quat="0.707107 0 0 0.707107"  rgba="0 0 0 1" type="box" />
                                <geom pos="0 0.0823 0" quat="0.500199 -0.499801 0.499801 0.500199" rgba="0 0 0 1" 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" rgba="0 0 0 1" type="mesh" mesh="robotiq_fts300" />

                                <!-- add gripper here -->
                                <include file="robot_gripper_l.xml"></include>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
</mujoco>