<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content f6fdf4cd2493f4da -->
<robot name="Enlight-L">
  <material name="flexiv_black">
    <color rgba="0.22 0.22 0.22 1.0" />
  </material>
  <joint name="base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.146" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="2.0944" lower="-6.3705" upper="6.3705" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 -0.037 0.114" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="2.0944" lower="-2.1817" upper="2.1817" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0 0.181 -0.037" rpy="-1.5707963267948966 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="2.0944" lower="-6.3705" upper="6.3705" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint4" type="revolute">
    <origin xyz="0.0 0.037 0.109" rpy="-1.5707963267948966 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="2.0944" lower="-2.1817" upper="2.1817" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0 -0.156 -0.037" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="21.0" velocity="6.0214" lower="-6.3705" upper="6.3705" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0 -0.0261 0.124" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="21.0" velocity="6.0214" lower="-2.1817" upper="2.1817" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint7" type="revolute">
    <origin xyz="0.0 0.134 -0.0261" rpy="-1.5707963267948966 0.0 0.0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="21.0" velocity="6.0214" lower="-6.3705" upper="6.3705" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link7_to_flange" type="fixed">
    <origin xyz="0.0 0.0 0.048" rpy="0.0 0.0 0.0" />
    <parent link="link7" />
    <child link="flange" />
  </joint>
  <link name="world" />
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link0.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link0.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link1.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link1.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link2.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link2.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link3.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link3.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link4.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link4.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link5.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link5.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link6.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link6.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/visual/link7.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Enlight-L/collision/link7.stl" />
      </geometry>
    </collision>
  </link>
  <link name="flange" />
</robot>
