<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 7048fc696298256e -->
<mujoco model="ur5">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base" file="ur_description/meshes/ur5/visual/base.dae" />
    <mesh name="collision_base" file="ur_description/meshes/ur5/collision/base.stl" />
    <mesh name="visual_shoulder" file="ur_description/meshes/ur5/visual/shoulder.dae" />
    <mesh name="collision_shoulder" file="ur_description/meshes/ur5/collision/shoulder.stl" />
    <mesh name="visual_upperarm" file="ur_description/meshes/ur5/visual/upperarm.dae" />
    <mesh name="collision_upperarm" file="ur_description/meshes/ur5/collision/upperarm.stl" />
    <mesh name="visual_forearm" file="ur_description/meshes/ur5/visual/forearm.dae" />
    <mesh name="collision_forearm" file="ur_description/meshes/ur5/collision/forearm.stl" />
    <mesh name="visual_wrist1" file="ur_description/meshes/ur5/visual/wrist1.dae" />
    <mesh name="collision_wrist1" file="ur_description/meshes/ur5/collision/wrist1.stl" />
    <mesh name="visual_wrist2" file="ur_description/meshes/ur5/visual/wrist2.dae" />
    <mesh name="collision_wrist2" file="ur_description/meshes/ur5/collision/wrist2.stl" />
    <mesh name="visual_wrist3" file="ur_description/meshes/ur5/visual/wrist3.dae" />
    <mesh name="collision_wrist3" file="ur_description/meshes/ur5/collision/wrist3.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <body name="base_link_inertia" quat="6.123233995736766e-17 0.0 0.0 1.0">
        <inertial pos="0.0 0.0 0.0" mass="4.0" fullinertia="0.00443333156 0.00443333156 0.0072 0.0 0.0 0.0" />
        <geom name="base_link_inertia_vis_0" type="mesh" mesh="visual_base" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
        <geom name="base_link_inertia_col_0" type="mesh" mesh="collision_base" quat="6.123233995736766e-17 0.0 0.0 1.0" group="3" />
        <body name="shoulder_link" pos="0.0 0.0 0.089159">
          <joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
          <inertial pos="0.0 -0.00193 -0.02561" mass="3.7" fullinertia="0.014972358333333331 0.014972358333333331 0.01040625 0.0 0.0 0.0" />
          <geom name="shoulder_link_vis_0" type="mesh" mesh="visual_shoulder" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
          <geom name="shoulder_link_col_0" type="mesh" mesh="collision_shoulder" quat="6.123233995736766e-17 0.0 0.0 1.0" group="3" />
          <body name="upper_arm_link" quat="0.7071067811140325 0.7071067812590626 0.0 0.0">
            <joint name="shoulder_lift_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
            <inertial pos="-0.2125 0.0 0.11336" mass="8.393" fullinertia="0.0151074 0.13388583541666665 0.13388583541666665 0.0 4.547513999437662e-17 0.0" />
            <geom name="upper_arm_link_vis_0" type="mesh" mesh="visual_upperarm" pos="0.0 0.0 0.13585" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" contype="0" conaffinity="0" group="2" />
            <geom name="upper_arm_link_col_0" type="mesh" mesh="collision_upperarm" pos="0.0 0.0 0.13585" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
            <body name="forearm_link" pos="-0.425 0.0 0.0">
              <joint name="elbow_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" />
              <inertial pos="-0.24225 0.0 0.0265" mass="2.33" fullinertia="0.004095 0.031216803515624995 0.031216803515624995 0.0 1.0383768799836874e-17 0.0" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="visual_forearm" pos="0.0 0.0 0.0165" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" contype="0" conaffinity="0" group="2" />
              <geom name="forearm_link_col_0" type="mesh" mesh="collision_forearm" pos="0.0 0.0 0.0165" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
              <body name="wrist_1_link" pos="-0.39225 0.0 0.10915">
                <joint name="wrist_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                <inertial pos="0.0 -0.01634 -0.0018" mass="1.219" fullinertia="0.002013889583333333 0.002013889583333333 0.0021942 0.0 0.0 0.0" />
                <geom name="wrist_1_link_vis_0" type="mesh" mesh="visual_wrist1" pos="0.0 0.0 -0.093" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="wrist_1_link_col_0" type="mesh" mesh="collision_wrist1" pos="0.0 0.0 -0.093" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                <body name="wrist_2_link" pos="0.0 -0.09465 -1.941303950897609e-11" quat="0.7071067811140325 0.7071067812590626 0.0 0.0">
                  <joint name="wrist_2_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                  <inertial pos="0.0 0.01634 -0.0018" mass="1.219" fullinertia="0.0018310395833333333 0.0018310395833333333 0.0021942 0.0 0.0 0.0" />
                  <geom name="wrist_2_link_vis_0" type="mesh" mesh="visual_wrist2" pos="0.0 0.0 -0.095" contype="0" conaffinity="0" group="2" />
                  <geom name="wrist_2_link_col_0" type="mesh" mesh="collision_wrist2" pos="0.0 0.0 -0.095" group="3" />
                  <body name="wrist_3_link" pos="0.0 0.0823 -1.688001216681175e-11" quat="0.7071067811140325 -0.7071067812590626 8.659560562354933e-17 8.880527684815676e-27">
                    <joint name="wrist_3_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                    <inertial pos="0.0 0.0 -0.001159" mass="0.1879" fullinertia="8.062475833333332e-05 8.062475833333332e-05 0.0001321171875 0.0 0.0 0.0" />
                    <geom name="wrist_3_link_vis_0" type="mesh" mesh="visual_wrist3" pos="0.0 0.0 -0.0818" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" />
                    <geom name="wrist_3_link_col_0" type="mesh" mesh="collision_wrist3" pos="0.0 0.0 -0.0818" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="ft_frame" quat="6.123233995736766e-17 1.0 0.0 0.0" />
                    <body name="flange" quat="0.5000000000000001 -0.4999999999999999 -0.5 -0.5">
                      <body name="tool0" quat="0.5000000000000001 0.5 0.4999999999999999 0.5" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="base" quat="6.123233995736766e-17 0.0 0.0 1.0" />
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="base_link_inertia" />
    <exclude body1="base_link_inertia" body2="shoulder_link" />
    <exclude body1="shoulder_link" body2="upper_arm_link" />
    <exclude body1="upper_arm_link" body2="forearm_link" />
    <exclude body1="forearm_link" body2="wrist_1_link" />
    <exclude body1="wrist_1_link" body2="wrist_2_link" />
    <exclude body1="wrist_2_link" body2="wrist_3_link" />
    <exclude body1="wrist_3_link" body2="ft_frame" />
    <exclude body1="base_link" body2="base" />
    <exclude body1="wrist_3_link" body2="flange" />
    <exclude body1="flange" body2="tool0" />
  </contact>
</mujoco>
