<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 5d8874dc7e036f7d -->
<mujoco model="iiwa7">
  <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="Light_blue" rgba="0.2 0.4 0.8 1.0" />
    <material name="Green" rgba="0.0 0.8 0.0 1.0" />
    <material name="Grey" rgba="0.7 0.7 0.7 1.0" />
    <material name="Orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
    <material name="Brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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="visual_link_0" file="meshes/iiwa7/visual/link_0.stl" />
    <mesh name="collision_link_0" file="meshes/iiwa7/collision/link_0.stl" />
    <mesh name="visual_link_1" file="meshes/iiwa7/visual/link_1.stl" />
    <mesh name="collision_link_1" file="meshes/iiwa7/collision/link_1.stl" />
    <mesh name="visual_link_2" file="meshes/iiwa7/visual/link_2.stl" />
    <mesh name="collision_link_2" file="meshes/iiwa7/collision/link_2.stl" />
    <mesh name="visual_link_3" file="meshes/iiwa7/visual/link_3.stl" />
    <mesh name="collision_link_3" file="meshes/iiwa7/collision/link_3.stl" />
    <mesh name="visual_link_4" file="meshes/iiwa7/visual/link_4.stl" />
    <mesh name="collision_link_4" file="meshes/iiwa7/collision/link_4.stl" />
    <mesh name="visual_link_5" file="meshes/iiwa7/visual/link_5.stl" />
    <mesh name="collision_link_5" file="meshes/iiwa7/collision/link_5.stl" />
    <mesh name="visual_link_6" file="meshes/iiwa7/visual/link_6.stl" />
    <mesh name="collision_link_6" file="meshes/iiwa7/collision/link_6.stl" />
    <mesh name="visual_link_7" file="meshes/iiwa7/visual/link_7.stl" />
    <mesh name="collision_link_7" file="meshes/iiwa7/collision/link_7.stl" />
  </asset>
  <worldbody>
    <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="visual_link_0" contype="0" conaffinity="0" group="2" material="Grey" />
      <geom name="iiwa_link_0_col_0" type="mesh" mesh="collision_link_0" group="3" />
      <body name="iiwa_link_1" pos="0.0 0.0 0.15">
        <joint name="iiwa_joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
        <inertial pos="0.0 -0.03 0.12" mass="3.4525" fullinertia="0.02183 0.007703 0.02083 0.0 0.0 -0.003887" />
        <geom name="iiwa_link_1_vis_0" type="mesh" mesh="visual_link_1" pos="0.0 0.0 0.0075" contype="0" conaffinity="0" group="2" material="Grey" />
        <geom name="iiwa_link_1_col_0" type="mesh" mesh="collision_link_1" pos="0.0 0.0 0.0075" group="3" />
        <body name="iiwa_link_2" pos="0.0 0.0 0.19" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476">
          <joint name="iiwa_joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
          <inertial pos="0.0003 0.059 0.042" mass="3.4821" fullinertia="0.02076 0.02179 0.00779 0.0 -0.003626 0.0" />
          <geom name="iiwa_link_2_vis_0" type="mesh" mesh="visual_link_2" contype="0" conaffinity="0" group="2" material="Orange" />
          <geom name="iiwa_link_2_col_0" type="mesh" mesh="collision_link_2" group="3" />
          <body name="iiwa_link_3" pos="0.0 0.21 0.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476">
            <joint name="iiwa_joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
            <inertial pos="0.0 0.03 0.13" mass="4.05623" fullinertia="0.03204 0.00972 0.03042 0.0 0.0 0.006227" />
            <geom name="iiwa_link_3_vis_0" type="mesh" mesh="visual_link_3" pos="0.0 0.0 -0.026" contype="0" conaffinity="0" group="2" material="Grey" />
            <geom name="iiwa_link_3_col_0" type="mesh" mesh="collision_link_3" pos="0.0 0.0 -0.026" group="3" />
            <body name="iiwa_link_4" pos="0.0 0.0 0.19" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
              <joint name="iiwa_joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
              <inertial pos="0.0 0.067 0.034" mass="3.4822" fullinertia="0.02178 0.02075 0.007785 0.0 0.0 -0.003625" />
              <geom name="iiwa_link_4_vis_0" type="mesh" mesh="visual_link_4" contype="0" conaffinity="0" group="2" material="Orange" />
              <geom name="iiwa_link_4_col_0" type="mesh" mesh="collision_link_4" group="3" />
              <body name="iiwa_link_5" pos="0.0 0.21 0.0" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
                <joint name="iiwa_joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
                <inertial pos="0.0001 0.021 0.076" mass="2.1633" fullinertia="0.01287 0.005708 0.01112 0.0 0.0 -0.003946" />
                <geom name="iiwa_link_5_vis_0" type="mesh" mesh="visual_link_5" pos="0.0 0.0 -0.026" contype="0" conaffinity="0" group="2" material="Grey" />
                <geom name="iiwa_link_5_col_0" type="mesh" mesh="collision_link_5" pos="0.0 0.0 -0.026" group="3" />
                <body name="iiwa_link_6" pos="0.0 0.0607 0.19" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                  <joint name="iiwa_joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
                  <inertial pos="0.0 0.0006 0.0004" mass="2.3466" fullinertia="0.006509 0.006259 0.004527 0.0 0.0 0.00031891" />
                  <geom name="iiwa_link_6_vis_0" type="mesh" mesh="visual_link_6" contype="0" conaffinity="0" group="2" material="Orange" />
                  <geom name="iiwa_link_6_col_0" type="mesh" mesh="collision_link_6" group="3" />
                  <body name="iiwa_link_7" pos="0.0 0.081 0.0607" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
                    <joint name="iiwa_joint_7" type="hinge" axis="0.0 0.0 1.0" range="-3.0543261909900763 3.0543261909900763" damping="0.5" />
                    <inertial pos="0.0 0.0 0.02" mass="3.129" fullinertia="0.01464 0.01465 0.002872 0.0005912 0.0 0.0" />
                    <geom name="iiwa_link_7_vis_0" type="mesh" mesh="visual_link_7" pos="0.0 0.0 -0.0005" contype="0" conaffinity="0" group="2" material="Grey" />
                    <geom name="iiwa_link_7_col_0" type="mesh" mesh="collision_link_7" pos="0.0 0.0 -0.0005" group="3" />
                    <body name="iiwa_link_ee" pos="0.0 0.0 0.045">
                      <inertial pos="0.0 0.0 0.0" mass="0.0" diaginertia="0 0 0" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <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" />
  </contact>
</mujoco>
