diff --git a/kinova_gen3/README.md b/kinova_gen3/README.md
index 590b56c8..85b312ab 100644
--- a/kinova_gen3/README.md
+++ b/kinova_gen3/README.md
@@ -26,7 +26,7 @@ available URDF description](https://github.com/Kinovarobotics/ros_kortex/blob/no
Note `fusestatic="false"` is needed so that base_link is preserved.
-3. Convert to MJCF:
+3. Converted to MJCF:
```python
import mujoco
@@ -36,16 +36,16 @@ mujoco.mj_saveLastXML('gen3.xml', model)
4. Cleaned up the MJCF file as follows:
- Added option: ``.
- - Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and add the class to defaults.
- - Replaced `type="mesh" rgba="0.75294 0.75294 0.75294 1"` with `class="collision"` and add the class to defaults.
- - Deleted `` entirely and replace with ``.
+ - Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and added the class to defaults.
+ - Replaced `type="mesh" rgba="0.75294 0.75294 0.75294 1"` with `class="collision"` and added the class to defaults.
+ - Deleted `` entirely and replaced with ``.
5. Added the following to the MJCF:
- Added wrist camera: ``.
- Added position actuators with joint limits on joints 2, 4, and 6.
- Added keyframes for "home" and "retract".
6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
-## Robotiq 2F85
+## Robotiq 2F-85
Do not include the Robotiq mechanical coupling used in arms such as the UR and Franka since for the Kinova Gen3, it is built into the end effector interface. Specifically, if using Menagerie's `robotiq_2f85`, the "base_mount" link (mechanical coupling) should be excluded. Instead, the "base" link should be directly mounted at pose `pos="0 0 -0.06149039" quat="0 -1 1 0"` like so:
@@ -64,3 +64,7 @@ The end effector site should also be shifted by an additional `0.12` to match th
## License
This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Jimmy Wu](https://jimmyyhwu.github.io/).
diff --git a/kinova_gen3/gen3.xml b/kinova_gen3/gen3.xml
index 7c6462c2..ea3b5dfa 100644
--- a/kinova_gen3/gen3.xml
+++ b/kinova_gen3/gen3.xml
@@ -36,7 +36,7 @@
diaginertia="0.00462407 0.00449437 0.00207755"/>
-
+
@@ -48,7 +48,7 @@
-
+
@@ -60,7 +60,7 @@
-
+
@@ -72,7 +72,7 @@
-
+