<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3ef329e4a3080953 -->
<mujoco model="Rizon10">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="flexiv_black" rgba="0.22 0.22 0.22 1.0" />
    <mesh name="visual_link0" file="flexiv_description/meshes/Rizon10/visual/link0.obj" />
    <mesh name="collision_link0" file="flexiv_description/meshes/Rizon10/collision/link0.stl" />
    <mesh name="visual_link1" file="flexiv_description/meshes/Rizon10/visual/link1.obj" />
    <mesh name="ring_0p079_0p079_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
    <mesh name="collision_link1" file="flexiv_description/meshes/Rizon10/collision/link1.stl" />
    <mesh name="visual_link2" file="flexiv_description/meshes/Rizon10/visual/link2.obj" />
    <mesh name="collision_link2" file="flexiv_description/meshes/Rizon10/collision/link2.stl" />
    <mesh name="visual_link3" file="flexiv_description/meshes/Rizon10/visual/link3.obj" />
    <mesh name="ring_0p062_0p062_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
    <mesh name="collision_link3" file="flexiv_description/meshes/Rizon10/collision/link3.stl" />
    <mesh name="visual_link4" file="flexiv_description/meshes/Rizon10/visual/link4.obj" />
    <mesh name="collision_link4" file="flexiv_description/meshes/Rizon10/collision/link4.stl" />
    <mesh name="visual_link5" file="flexiv_description/meshes/Rizon10/visual/link5.obj" />
    <mesh name="ring_0p051_0p051_0p002" file="flexiv_description/meshes/Rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
    <mesh name="collision_link5" file="flexiv_description/meshes/Rizon10/collision/link5.stl" />
    <mesh name="visual_link6" file="flexiv_description/meshes/Rizon10/visual/link6.obj" />
    <mesh name="collision_link6" file="flexiv_description/meshes/Rizon10/collision/link6.stl" />
    <mesh name="visual_link7" file="flexiv_description/meshes/Rizon10/visual/link7.obj" />
    <mesh name="collision_link7" file="flexiv_description/meshes/Rizon10/collision/link7.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <geom name="base_link_vis_0" type="mesh" mesh="visual_link0" contype="0" conaffinity="0" group="2" />
      <geom name="base_link_col_0" type="mesh" mesh="collision_link0" group="3" />
      <body name="link1" pos="0.0 0.0 0.21" quat="6.123233995736766e-17 0.0 0.0 1.0">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-2.8798 2.8798" />
        <geom name="link1_vis_0" type="mesh" mesh="visual_link1" contype="0" conaffinity="0" group="2" />
        <geom name="link1_vis_1" type="mesh" mesh="ring_0p079_0p079_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
        <geom name="link1_col_0" type="mesh" mesh="collision_link1" group="3" />
        <body name="link2" pos="0.0 0.0675 0.24">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-2.7576 2.7576" />
          <geom name="link2_vis_0" type="mesh" mesh="visual_link2" contype="0" conaffinity="0" group="2" />
          <geom name="link2_vis_1" type="mesh" mesh="ring_0p079_0p079_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="link2_col_0" type="mesh" mesh="collision_link2" group="3" />
          <body name="link3" pos="0.0 0.0625 0.2275">
            <joint name="joint3" type="hinge" axis="0.0 0.0 1.0" range="-2.8798 2.8798" />
            <geom name="link3_vis_0" type="mesh" mesh="visual_link3" contype="0" conaffinity="0" group="2" />
            <geom name="link3_vis_1" type="mesh" mesh="ring_0p062_0p062_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
            <geom name="link3_col_0" type="mesh" mesh="collision_link3" group="3" />
            <body name="link4" pos="0.0 -0.0625 0.2225" quat="6.123233995736766e-17 0.0 0.0 1.0">
              <joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-2.7925 2.7925" />
              <geom name="link4_vis_0" type="mesh" mesh="visual_link4" contype="0" conaffinity="0" group="2" />
              <geom name="link4_vis_1" type="mesh" mesh="ring_0p062_0p062_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
              <geom name="link4_col_0" type="mesh" mesh="collision_link4" group="3" />
              <body name="link5" pos="0.0 0.0575 0.205" quat="6.123233995736766e-17 0.0 0.0 1.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-3.0543 3.0543" />
                <geom name="link5_vis_0" type="mesh" mesh="visual_link5" contype="0" conaffinity="0" group="2" />
                <geom name="link5_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
                <geom name="link5_col_0" type="mesh" mesh="collision_link5" group="3" />
                <body name="link6" pos="0.0 0.03 0.19">
                  <joint name="joint6" type="hinge" axis="0.0 1.0 0.0" range="-1.4835 4.6251" />
                  <geom name="link6_vis_0" type="mesh" mesh="visual_link6" contype="0" conaffinity="0" group="2" />
                  <geom name="link6_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 -0.0025 0.0" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
                  <geom name="link6_col_0" type="mesh" mesh="collision_link6" group="3" />
                  <body name="link7" pos="-0.015 0.073 0.11" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
                    <joint name="joint7" type="hinge" axis="0.0 0.0 1.0" range="-3.0543 3.0543" />
                    <geom name="link7_vis_0" type="mesh" mesh="visual_link7" contype="0" conaffinity="0" group="2" />
                    <geom name="link7_vis_1" type="mesh" mesh="ring_0p051_0p051_0p002" pos="0.0 0.0 -0.0025" contype="0" conaffinity="0" group="2" />
                    <geom name="link7_col_0" type="mesh" mesh="collision_link7" group="3" />
                    <body name="flange" pos="0.0 0.0 0.081" quat="6.123233995736766e-17 0.0 0.0 1.0" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link1" />
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="link6" />
    <exclude body1="link6" body2="link7" />
    <exclude body1="link7" body2="flange" />
  </contact>
</mujoco>
