<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 18b1ed754b6d3d4c -->
<robot name="iiwa14">
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="Grey">
    <color rgba="0.4 0.4 0.4 1.0" />
  </material>
  <material name="Silver">
    <color rgba="0.6 0.6 0.6 1.0" />
  </material>
  <material name="Orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
  </material>
  <material name="Brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <link name="base" />
  <joint name="iiwa_base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="iiwa_link_0" />
  </joint>
  <link name="iiwa_link_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_0.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="-0.015 0.0 0.07" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.17" radius="0.139" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.1 0.0 0.07" rpy="0.0 0.0 0.0" />
      <mass value="5.0" />
      <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.06" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="iiwa_joint_1" type="revolute">
    <origin xyz="0.0 0.0 0.1575" rpy="0.0 0.0 0.0" />
    <parent link="iiwa_link_0" />
    <child link="iiwa_link_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="320.0" velocity="1.4835298641951802" lower="-2.96705972839" upper="2.96705972839" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_1.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.014 0.14" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.29" radius="0.101" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
      <mass value="5.76" />
      <inertia ixx="0.033" ixy="0.0" ixz="0.0" iyy="0.0333" iyz="0.0" izz="0.0123" />
    </inertial>
  </link>
  <joint name="iiwa_joint_2" type="revolute">
    <origin xyz="0.0 0.0 0.2025" rpy="1.570796326794897 0.0 3.141592653589793" />
    <parent link="iiwa_link_1" />
    <child link="iiwa_link_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="320.0" velocity="1.4835298641951802" lower="-2.09439510239" upper="2.09439510239" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_2_orange.obj" />
      </geometry>
      <material name="Orange" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_2_grey.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.056 0.035" rpy="1.570796326794897 0.0 0.0" />
      <geometry>
        <cylinder length="0.29" radius="0.101" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0003 0.059 0.042" rpy="0.0 0.0 0.0" />
      <mass value="6.35" />
      <inertia ixx="0.0305" ixy="0.0" ixz="0.0" iyy="0.0304" iyz="0.0" izz="0.011" />
    </inertial>
  </link>
  <joint name="iiwa_joint_3" type="revolute">
    <origin xyz="0.0 0.2045 0.0" rpy="1.570796326794897 0.0 3.141592653589793" />
    <parent link="iiwa_link_2" />
    <child link="iiwa_link_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="176.0" velocity="1.7453292519943295" lower="-2.96705972839" upper="2.96705972839" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_3.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
      </geometry>
      <material name="Silver" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
      </geometry>
      <material name="Black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.025 0.137" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.29" radius="0.092" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.03 0.13" rpy="0.0 0.0 0.0" />
      <mass value="3.5" />
      <inertia ixx="0.025" ixy="0.0" ixz="0.0" iyy="0.0238" iyz="0.0" izz="0.0076" />
    </inertial>
  </link>
  <joint name="iiwa_joint_4" type="revolute">
    <origin xyz="0.0 0.0 0.2155" rpy="1.570796326794897 0.0 0.0" />
    <parent link="iiwa_link_3" />
    <child link="iiwa_link_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="176.0" velocity="1.3089969389957472" lower="-2.09439510239" upper="2.09439510239" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_4_orange.obj" />
      </geometry>
      <material name="Orange" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_4_grey.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.056 0.025" rpy="1.570796326794897 0.0 0.0" />
      <geometry>
        <cylinder length="0.25" radius="0.092" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.067 0.034" rpy="0.0 0.0 0.0" />
      <mass value="3.5" />
      <inertia ixx="0.017" ixy="0.0" ixz="0.0" iyy="0.0164" iyz="0.0" izz="0.006" />
    </inertial>
  </link>
  <joint name="iiwa_joint_5" type="revolute">
    <origin xyz="0.0 0.1845 0.0" rpy="-1.570796326794897 3.141592653589793 0.0" />
    <parent link="iiwa_link_4" />
    <child link="iiwa_link_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="110.0" velocity="2.2689280275926285" lower="-2.96705972839" upper="2.96705972839" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_5.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
      </geometry>
      <material name="Silver" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
      </geometry>
      <material name="Black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.03 0.13" rpy="-0.3 0.0 0.0" />
      <geometry>
        <cylinder length="0.29" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0001 0.021 0.076" rpy="0.0 0.0 0.0" />
      <mass value="3.5" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.0087" iyz="0.0" izz="0.00449" />
    </inertial>
  </link>
  <joint name="iiwa_joint_6" type="revolute">
    <origin xyz="0.0 0.0 0.2155" rpy="1.570796326794897 0.0 0.0" />
    <parent link="iiwa_link_5" />
    <child link="iiwa_link_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="2.356194490192345" lower="-2.09439510239" upper="2.09439510239" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_6_orange.obj" />
      </geometry>
      <material name="Orange" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_6_grey.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/collision/link_6.obj" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0006 0.0004" rpy="0.0 0.0 0.0" />
      <mass value="1.8" />
      <inertia ixx="0.0049" ixy="0.0" ixz="0.0" iyy="0.0047" iyz="0.0" izz="0.0036" />
    </inertial>
  </link>
  <joint name="iiwa_joint_7" type="revolute">
    <origin xyz="0.0 0.081 0.0" rpy="-1.570796326794897 3.141592653589793 0.0" />
    <parent link="iiwa_link_6" />
    <child link="iiwa_link_7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="2.356194490192345" lower="-3.05432619099" upper="3.05432619099" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_7.obj" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://drake/manipulation/models/iiwa_description/meshes/collision/link_7.obj" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
      <mass value="1.2" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="iiwa_joint_ee" type="fixed">
    <origin xyz="0.0 0.0 0.045" rpy="3.141592653589793 3.141592653589793 3.141592653589793" />
    <parent link="iiwa_link_7" />
    <child link="iiwa_link_ee_kuka" />
  </joint>
  <link name="iiwa_link_ee_kuka" />
  <joint name="tool0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.045" rpy="0.0 -1.570796326794897 0.0" />
    <parent link="iiwa_link_7" />
    <child link="iiwa_link_ee" />
  </joint>
  <link name="iiwa_link_ee" />
</robot>
