<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 6edd0813060ea1a4 -->
<mujoco model="gen3">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base_link" file="kortex_description/arms/gen3/7dof/meshes/base_link.dae" />
    <mesh name="shoulder_link" file="kortex_description/arms/gen3/7dof/meshes/shoulder_link.dae" />
    <mesh name="half_arm_1_link" file="kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.dae" />
    <mesh name="half_arm_2_link" file="kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.dae" />
    <mesh name="forearm_link" file="kortex_description/arms/gen3/7dof/meshes/forearm_link.dae" />
    <mesh name="spherical_wrist_1_link" file="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.dae" />
    <mesh name="spherical_wrist_2_link" file="kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.dae" />
    <mesh name="bracelet_no_vision_link" file="kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.000648 -0.000166 0.084487" mass="1.697" fullinertia="0.004622 0.004495 0.002079 9e-06 6e-05 9e-06" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="base_link" group="3" />
      <body name="shoulder_link" pos="0.0 0.0 0.15643" quat="-3.673205103346574e-06 0.9999999999932537 -5.0743491900205906e-24 -1.3814499999906805e-18">
        <joint name="joint_1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
        <inertial pos="-2.3e-05 -0.010364 -0.07336" mass="1.3773" fullinertia="0.00457 0.004831 0.001409 1e-06 2e-06 0.000448" />
        <geom name="shoulder_link_vis_0" type="mesh" mesh="shoulder_link" contype="0" conaffinity="0" group="2" />
        <geom name="shoulder_link_col_0" type="mesh" mesh="shoulder_link" group="3" />
        <body name="half_arm_1_link" pos="0.0 0.005375 -0.12838" quat="0.7071054825112363 0.7071080798594735 -3.170569335638072e-17 -4.67973292084191e-17">
          <joint name="joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.24 2.24" />
          <inertial pos="-4.4e-05 -0.09958 -0.013278" mass="1.1636" fullinertia="0.011088 0.001072 0.011255 5e-06 0.0 -0.000691" />
          <geom name="half_arm_1_link_vis_0" type="mesh" mesh="half_arm_1_link" contype="0" conaffinity="0" group="2" />
          <geom name="half_arm_1_link_col_0" type="mesh" mesh="half_arm_1_link" group="3" />
          <body name="half_arm_2_link" pos="0.0 -0.21038 -0.006375" quat="0.7071054825112363 -0.7071080798594735 1.0296200750833794e-16 -1.029616293084611e-16">
            <joint name="joint_3" type="hinge" axis="0.0 0.0 1.0" limited="false" />
            <inertial pos="-4.4e-05 -0.006641 -0.117892" mass="1.1636" fullinertia="0.010932 0.011127 0.001043 0.0 -7e-06 0.000606" />
            <geom name="half_arm_2_link_vis_0" type="mesh" mesh="half_arm_2_link" contype="0" conaffinity="0" group="2" />
            <geom name="half_arm_2_link_col_0" type="mesh" mesh="half_arm_2_link" group="3" />
            <body name="forearm_link" pos="0.0 0.006375 -0.21038" quat="0.7071054825112363 0.7071080798594735 -8.254912450752772e-17 -3.520528081184249e-17">
              <joint name="joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.57 2.57" />
              <inertial pos="-1.8e-05 -0.075478 -0.015006" mass="0.9302" fullinertia="0.008147 0.000631 0.008316 -1e-06 0.0 -0.0005" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="forearm_link" contype="0" conaffinity="0" group="2" />
              <geom name="forearm_link_col_0" type="mesh" mesh="forearm_link" group="3" />
              <body name="spherical_wrist_1_link" pos="0.0 -0.20843 -0.006375" quat="0.7071054825112363 -0.7071080798594735 1.0103484963311958e-16 5.597122282577822e-17">
                <joint name="joint_5" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                <inertial pos="1e-06 -0.009432 -0.063883" mass="0.6781" fullinertia="0.001596 0.001607 0.000399 0.0 0.0 0.000256" />
                <geom name="spherical_wrist_1_link_vis_0" type="mesh" mesh="spherical_wrist_1_link" contype="0" conaffinity="0" group="2" />
                <geom name="spherical_wrist_1_link_col_0" type="mesh" mesh="spherical_wrist_1_link" group="3" />
                <body name="spherical_wrist_2_link" pos="0.0 0.00017505 -0.10593" quat="0.7071054825112363 0.7071080798594735 -2.904693925850413e-15 -2.9046832563341073e-15">
                  <joint name="joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.09 2.09" />
                  <inertial pos="1e-06 -0.045483 -0.00965" mass="0.6781" fullinertia="0.001641 0.00041 0.001641 0.0 0.0 -0.000278" />
                  <geom name="spherical_wrist_2_link_vis_0" type="mesh" mesh="spherical_wrist_2_link" contype="0" conaffinity="0" group="2" />
                  <geom name="spherical_wrist_2_link_col_0" type="mesh" mesh="spherical_wrist_2_link" group="3" />
                  <body name="bracelet_link" pos="0.0 -0.10593 -0.00017505" quat="0.7071054825112363 -0.7071080798594735 -5.3707261452907525e-17 1.4454931735536947e-17">
                    <joint name="joint_7" type="hinge" axis="0.0 0.0 1.0" limited="false" />
                    <inertial pos="-9.3e-05 0.000132 -0.022905" mass="0.364" fullinertia="0.000214 0.000223 0.00024 0.0 1e-06 -2e-06" />
                    <geom name="bracelet_link_vis_0" type="mesh" mesh="bracelet_no_vision_link" contype="0" conaffinity="0" group="2" />
                    <geom name="bracelet_link_col_0" type="mesh" mesh="bracelet_no_vision_link" group="3" />
                    <body name="end_effector_link" pos="0.0 0.0 -0.0615250000000001" quat="1.6155445744325867e-15 1.0 8.880412265862542e-48 -5.4968537584186e-33">
                      <body name="tool_frame" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="shoulder_link" />
    <exclude body1="shoulder_link" body2="half_arm_1_link" />
    <exclude body1="half_arm_1_link" body2="half_arm_2_link" />
    <exclude body1="half_arm_2_link" body2="forearm_link" />
    <exclude body1="forearm_link" body2="spherical_wrist_1_link" />
    <exclude body1="spherical_wrist_1_link" body2="spherical_wrist_2_link" />
    <exclude body1="spherical_wrist_2_link" body2="bracelet_link" />
    <exclude body1="bracelet_link" body2="end_effector_link" />
    <exclude body1="end_effector_link" body2="tool_frame" />
  </contact>
</mujoco>
