<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content a8260bee0819c7d6 -->
<robot name="Rizon4">
  <material name="flexiv_black">
    <color rgba="0.22 0.22 0.22 1.0" />
  </material>
  <joint name="base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.155" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="123.0" velocity="2.0944" lower="-2.8798" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.03 0.21" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="123.0" velocity="2.0944" lower="-2.3562" upper="2.3562" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0 0.035 0.205" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="64.0" velocity="2.4435" lower="-3.0543" upper="3.0543" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint4" type="revolute">
    <origin xyz="-0.02 -0.03 0.19" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="64.0" velocity="2.4435" lower="-1.9548" upper="2.7751" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint5" type="revolute">
    <origin xyz="-0.02 0.025 0.195" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="39.0" velocity="4.8869" lower="-3.0543" upper="3.0543" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0 0.03 0.19" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="39.0" velocity="4.8869" lower="-1.4835" upper="4.6251" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint7" type="revolute">
    <origin xyz="-0.015 0.073 0.11" rpy="0.0 -1.5707963267948966 0.0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="39.0" velocity="4.8869" lower="-3.0543" upper="3.0543" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link7_to_flange" type="fixed">
    <origin xyz="0.0 0.0 0.081" rpy="0.0 0.0 3.141592653589793" />
    <parent link="link7" />
    <child link="flange" />
  </joint>
  <link name="world" />
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link0.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link0.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link1.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.062 0.062 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link1.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link2.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.062 0.062 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link2.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link3.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link3.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link4.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link4.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link5.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link5.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link6.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 -0.0025 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link6.stl" />
      </geometry>
    </collision>
  </link>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/link7.obj" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 -0.0025" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/visual/ring.obj" scale="0.051 0.051 0.002" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://flexiv_description/meshes/Rizon4/collision/link7.stl" />
      </geometry>
    </collision>
  </link>
  <link name="flange" />
</robot>
