<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 5d8874dc7e036f7d -->
<robot name="iiwa7">
  <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="Light_blue">
    <color rgba="0.2 0.4 0.8 1.0" />
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0" />
  </material>
  <material name="Orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
  </material>
  <material name="Brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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="iiwa_link_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/visual/link_0.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_0.stl" />
      </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 0.15" 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="300.0" velocity="10.0" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_1">
    <visual>
      <origin xyz="0.0 0.0 0.0075" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/visual/link_1.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0075" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
      <mass value="3.4525" />
      <inertia ixx="0.02183" ixy="0.0" ixz="0.0" iyy="0.007703" iyz="-0.003887" izz="0.02083" />
    </inertial>
  </link>
  <joint name="iiwa_joint_2" type="revolute">
    <origin xyz="0.0 0.0 0.19" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="iiwa_link_1" />
    <child link="iiwa_link_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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="meshes/iiwa7/visual/link_2.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0003 0.059 0.042" rpy="0.0 0.0 0.0" />
      <mass value="3.4821" />
      <inertia ixx="0.02076" ixy="0.0" ixz="-0.003626" iyy="0.02179" iyz="0.0" izz="0.00779" />
    </inertial>
  </link>
  <joint name="iiwa_joint_3" type="revolute">
    <origin xyz="0.0 0.21 0.0" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="iiwa_link_2" />
    <child link="iiwa_link_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_3">
    <visual>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/visual/link_3.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.03 0.13" rpy="0.0 0.0 0.0" />
      <mass value="4.05623" />
      <inertia ixx="0.03204" ixy="0.0" ixz="0.0" iyy="0.00972" iyz="0.006227" izz="0.03042" />
    </inertial>
  </link>
  <joint name="iiwa_joint_4" type="revolute">
    <origin xyz="0.0 0.0 0.19" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="iiwa_link_3" />
    <child link="iiwa_link_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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="meshes/iiwa7/visual/link_4.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.067 0.034" rpy="0.0 0.0 0.0" />
      <mass value="3.4822" />
      <inertia ixx="0.02178" ixy="0.0" ixz="0.0" iyy="0.02075" iyz="-0.003625" izz="0.007785" />
    </inertial>
  </link>
  <joint name="iiwa_joint_5" type="revolute">
    <origin xyz="0.0 0.21 0.0" rpy="-1.5707963267948966 3.141592653589793 0.0" />
    <parent link="iiwa_link_4" />
    <child link="iiwa_link_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_5">
    <visual>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/visual/link_5.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0001 0.021 0.076" rpy="0.0 0.0 0.0" />
      <mass value="2.1633" />
      <inertia ixx="0.01287" ixy="0.0" ixz="0.0" iyy="0.005708" iyz="-0.003946" izz="0.01112" />
    </inertial>
  </link>
  <joint name="iiwa_joint_6" type="revolute">
    <origin xyz="0.0 0.0607 0.19" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="iiwa_link_5" />
    <child link="iiwa_link_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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="meshes/iiwa7/visual/link_6.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0006 0.0004" rpy="0.0 0.0 0.0" />
      <mass value="2.3466" />
      <inertia ixx="0.006509" ixy="0.0" ixz="0.0" iyy="0.006259" iyz="0.00031891" izz="0.004527" />
    </inertial>
  </link>
  <joint name="iiwa_joint_7" type="revolute">
    <origin xyz="0.0 0.081 0.0607" rpy="-1.5707963267948966 3.141592653589793 0.0" />
    <parent link="iiwa_link_6" />
    <child link="iiwa_link_7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="10.0" lower="-3.0543261909900763" upper="3.0543261909900763" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_7">
    <visual>
      <origin xyz="0.0 0.0 -0.0005" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/visual/link_7.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0005" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/iiwa7/collision/link_7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
      <mass value="3.129" />
      <inertia ixx="0.01464" ixy="0.0005912" ixz="0.0" iyy="0.01465" iyz="0.0" izz="0.002872" />
    </inertial>
  </link>
  <joint name="iiwa_joint_ee" type="fixed">
    <origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0" />
    <parent link="iiwa_link_7" />
    <child link="iiwa_link_ee" />
  </joint>
  <link name="iiwa_link_ee">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
</robot>
