<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 18b1ed754b6d3d4c -->
<mujoco model="iiwa14">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="Black" rgba="0.0 0.0 0.0 1.0" />
    <material name="Blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="Green" rgba="0.0 0.8 0.0 1.0" />
    <material name="Grey" rgba="0.4 0.4 0.4 1.0" />
    <material name="Silver" rgba="0.6 0.6 0.6 1.0" />
    <material name="Orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
    <material name="Brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
    <material name="Red" rgba="0.8 0.0 0.0 1.0" />
    <material name="White" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="link_0" file="drake/manipulation/models/iiwa_description/meshes/visual/link_0.obj" />
    <mesh name="link_1" file="drake/manipulation/models/iiwa_description/meshes/visual/link_1.obj" />
    <mesh name="link_2_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_2_orange.obj" />
    <mesh name="link_2_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_2_grey.obj" />
    <mesh name="link_3" file="drake/manipulation/models/iiwa_description/meshes/visual/link_3.obj" />
    <mesh name="band" file="drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
    <mesh name="kuka" file="drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
    <mesh name="link_4_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_4_orange.obj" />
    <mesh name="link_4_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_4_grey.obj" />
    <mesh name="link_5" file="drake/manipulation/models/iiwa_description/meshes/visual/link_5.obj" />
    <mesh name="link_6_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_6_orange.obj" />
    <mesh name="link_6_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_6_grey.obj" />
    <mesh name="link_6" file="drake/manipulation/models/iiwa_description/meshes/collision/link_6.obj" />
    <mesh name="visual_link_7" file="drake/manipulation/models/iiwa_description/meshes/visual/link_7.obj" />
    <mesh name="collision_link_7" file="drake/manipulation/models/iiwa_description/meshes/collision/link_7.obj" />
  </asset>
  <worldbody>
    <body name="base">
      <body name="iiwa_link_0">
        <inertial pos="-0.1 0.0 0.07" mass="5.0" fullinertia="0.05 0.06 0.03 0.0 0.0 0.0" />
        <geom name="iiwa_link_0_vis_0" type="mesh" mesh="link_0" contype="0" conaffinity="0" group="2" material="Grey" />
        <geom name="iiwa_link_0_col_0" type="cylinder" size="0.139 0.085" pos="-0.015 0.0 0.07" group="3" />
        <body name="iiwa_link_1" pos="0.0 0.0 0.1575">
          <joint name="iiwa_joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
          <inertial pos="0.0 -0.03 0.12" mass="5.76" fullinertia="0.033 0.0333 0.0123 0.0 0.0 0.0" />
          <geom name="iiwa_link_1_vis_0" type="mesh" mesh="link_1" contype="0" conaffinity="0" group="2" material="Grey" />
          <geom name="iiwa_link_1_col_0" type="cylinder" size="0.101 0.145" pos="0.0 -0.014 0.14" group="3" />
          <body name="iiwa_link_2" pos="0.0 0.0 0.2025" quat="4.329780281177465e-17 4.3297802811774677e-17 0.7071067811865477 0.7071067811865474">
            <joint name="iiwa_joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
            <inertial pos="0.0003 0.059 0.042" mass="6.35" fullinertia="0.0305 0.0304 0.011 0.0 0.0 0.0" />
            <geom name="iiwa_link_2_vis_0" type="mesh" mesh="link_2_orange" contype="0" conaffinity="0" group="2" material="Orange" />
            <geom name="iiwa_link_2_vis_1" type="mesh" mesh="link_2_grey" contype="0" conaffinity="0" group="2" material="Grey" />
            <geom name="iiwa_link_2_col_0" type="cylinder" size="0.101 0.145" pos="0.0 0.056 0.035" quat="0.7071067811865474 0.7071067811865477 0.0 0.0" group="3" />
            <body name="iiwa_link_3" pos="0.0 0.2045 0.0" quat="4.329780281177465e-17 4.3297802811774677e-17 0.7071067811865477 0.7071067811865474">
              <joint name="iiwa_joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
              <inertial pos="0.0 0.03 0.13" mass="3.5" fullinertia="0.025 0.0238 0.0076 0.0 0.0 0.0" />
              <geom name="iiwa_link_3_vis_0" type="mesh" mesh="link_3" contype="0" conaffinity="0" group="2" material="Grey" />
              <geom name="iiwa_link_3_vis_1" type="mesh" mesh="band" contype="0" conaffinity="0" group="2" material="Silver" />
              <geom name="iiwa_link_3_vis_2" type="mesh" mesh="kuka" contype="0" conaffinity="0" group="2" material="Black" />
              <geom name="iiwa_link_3_col_0" type="cylinder" size="0.092 0.145" pos="0.0 0.025 0.137" group="3" />
              <body name="iiwa_link_4" pos="0.0 0.0 0.2155" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                <joint name="iiwa_joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
                <inertial pos="0.0 0.067 0.034" mass="3.5" fullinertia="0.017 0.0164 0.006 0.0 0.0 0.0" />
                <geom name="iiwa_link_4_vis_0" type="mesh" mesh="link_4_orange" contype="0" conaffinity="0" group="2" material="Orange" />
                <geom name="iiwa_link_4_vis_1" type="mesh" mesh="link_4_grey" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="iiwa_link_4_col_0" type="cylinder" size="0.092 0.125" pos="0.0 0.056 0.025" quat="0.7071067811865474 0.7071067811865477 0.0 0.0" group="3" />
                <body name="iiwa_link_5" pos="0.0 0.1845 0.0" quat="4.329780281177465e-17 -4.3297802811774677e-17 0.7071067811865474 0.7071067811865477">
                  <joint name="iiwa_joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
                  <inertial pos="0.0001 0.021 0.076" mass="3.5" fullinertia="0.01 0.0087 0.00449 0.0 0.0 0.0" />
                  <geom name="iiwa_link_5_vis_0" type="mesh" mesh="link_5" contype="0" conaffinity="0" group="2" material="Grey" />
                  <geom name="iiwa_link_5_vis_1" type="mesh" mesh="band" contype="0" conaffinity="0" group="2" material="Silver" />
                  <geom name="iiwa_link_5_vis_2" type="mesh" mesh="kuka" contype="0" conaffinity="0" group="2" material="Black" />
                  <geom name="iiwa_link_5_col_0" type="cylinder" size="0.07 0.145" pos="0.0 0.03 0.13" quat="0.9887710779360422 -0.14943813247359922 0.0 0.0" group="3" />
                  <body name="iiwa_link_6" pos="0.0 0.0 0.2155" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
                    <joint name="iiwa_joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
                    <inertial pos="0.0 0.0006 0.0004" mass="1.8" fullinertia="0.0049 0.0047 0.0036 0.0 0.0 0.0" />
                    <geom name="iiwa_link_6_vis_0" type="mesh" mesh="link_6_orange" contype="0" conaffinity="0" group="2" material="Orange" />
                    <geom name="iiwa_link_6_vis_1" type="mesh" mesh="link_6_grey" contype="0" conaffinity="0" group="2" material="Grey" />
                    <geom name="iiwa_link_6_col_0" type="mesh" mesh="link_6" group="3" />
                    <body name="iiwa_link_7" pos="0.0 0.081 0.0" quat="4.329780281177465e-17 -4.3297802811774677e-17 0.7071067811865474 0.7071067811865477">
                      <joint name="iiwa_joint_7" type="hinge" axis="0.0 0.0 1.0" range="-3.05432619099 3.05432619099" damping="0.5" />
                      <inertial pos="0.0 0.0 0.02" mass="1.2" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
                      <geom name="iiwa_link_7_vis_0" type="mesh" mesh="visual_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
                      <geom name="iiwa_link_7_col_0" type="mesh" mesh="collision_link_7" group="3" />
                      <body name="iiwa_link_ee_kuka" pos="0.0 0.0 0.045" quat="1.0 -6.123233995736766e-17 6.123233995736766e-17 -6.123233995736766e-17" />
                      <body name="iiwa_link_ee" pos="0.0 0.0 0.045" quat="0.7071067811865474 0.0 -0.7071067811865477 0.0" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="iiwa_link_0" />
    <exclude body1="iiwa_link_0" body2="iiwa_link_1" />
    <exclude body1="iiwa_link_1" body2="iiwa_link_2" />
    <exclude body1="iiwa_link_2" body2="iiwa_link_3" />
    <exclude body1="iiwa_link_3" body2="iiwa_link_4" />
    <exclude body1="iiwa_link_4" body2="iiwa_link_5" />
    <exclude body1="iiwa_link_5" body2="iiwa_link_6" />
    <exclude body1="iiwa_link_6" body2="iiwa_link_7" />
    <exclude body1="iiwa_link_7" body2="iiwa_link_ee_kuka" />
    <exclude body1="iiwa_link_7" body2="iiwa_link_ee" />
  </contact>
</mujoco>
