<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 4da42662407e3052 -->
<mujoco model="UF_ROBOT">
  <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="Red" rgba="0.8 0.0 0.0 1.0" />
    <material name="White" rgba="1.0 1.0 1.0 1.0" />
    <material name="Silver" rgba="0.753 0.753 0.753 1.0" />
    <mesh name="link_base" file="xarm_description/meshes/xarm6/visual/link_base.stl" />
    <mesh name="link1" file="xarm_description/meshes/xarm6/visual/link1.stl" />
    <mesh name="link2" file="xarm_description/meshes/xarm6/visual/link2.stl" />
    <mesh name="link3" file="xarm_description/meshes/xarm6/visual/link3.stl" />
    <mesh name="link4" file="xarm_description/meshes/xarm6/visual/link4.stl" />
    <mesh name="link5" file="xarm_description/meshes/xarm6/visual/link5.stl" />
    <mesh name="link6" file="xarm_description/meshes/xarm6/visual/link6.stl" />
    <mesh name="end_tool" file="xarm_description/meshes/end_tool/collision/end_tool.stl" />
  </asset>
  <worldbody>
    <body name="link_base">
      <inertial pos="0.0 0.0 0.09103" mass="2.7" fullinertia="0.00494875 0.00494174 0.002219 -3.5e-06 1.25e-05 1.67e-06" />
      <geom name="link_base_vis_0" type="mesh" mesh="link_base" contype="0" conaffinity="0" group="2" material="White" />
      <geom name="link_base_col_0" type="mesh" mesh="link_base" group="3" />
      <body name="link1" pos="0.0 0.0 0.267">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="1.0" frictionloss="1.0" />
        <inertial pos="0.00022 0.02951 -0.0124" mass="2.3814" fullinertia="0.0058562 0.0050316 0.003536652 -1.79e-05 3.55e-06 -0.000888336" />
        <geom name="link1_vis_0" type="mesh" mesh="link1" contype="0" conaffinity="0" group="2" material="White" />
        <geom name="link1_col_0" type="mesh" mesh="link1" group="3" />
        <body name="link2" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
          <joint name="joint2" type="hinge" axis="0.0 0.0 1.0" range="-2.059 2.0944" damping="1.0" frictionloss="1.0" />
          <inertial pos="0.03881 -0.22783 0.03496" mass="2.2675" fullinertia="0.028315776 0.0058 0.0273447 0.005 0.00066546 -0.0045741" />
          <geom name="link2_vis_0" type="mesh" mesh="link2" contype="0" conaffinity="0" group="2" material="White" />
          <geom name="link2_col_0" type="mesh" mesh="link2" group="3" />
          <body name="link3" pos="0.0535 -0.2845 0.0">
            <joint name="joint3" type="hinge" axis="0.0 0.0 1.0" range="-3.927 0.19198" damping="1.0" frictionloss="1.0" />
            <inertial pos="0.07041 0.11631 0.0107" mass="1.875" fullinertia="0.0063483 0.00379758 0.00595768 -0.0015397 0.00096858 0.00186567" />
            <geom name="link3_vis_0" type="mesh" mesh="link3" contype="0" conaffinity="0" group="2" material="White" />
            <geom name="link3_col_0" type="mesh" mesh="link3" group="3" />
            <body name="link4" pos="0.0775 0.3425 0.0" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
              <joint name="joint4" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="1.0" frictionloss="1.0" />
              <inertial pos="-0.00018 0.01798 -0.02291" mass="1.3192" fullinertia="0.004896 0.00445694 0.00134332 -6.925e-06 -1.418e-05 -0.00023186" />
              <geom name="link4_vis_0" type="mesh" mesh="link4" contype="0" conaffinity="0" group="2" material="White" />
              <geom name="link4_col_0" type="mesh" mesh="link4" group="3" />
              <body name="link5" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-1.69297 3.141592653589793" damping="1.0" frictionloss="1.0" />
                <inertial pos="0.0651 0.03096 0.00315" mass="1.33854" fullinertia="0.00146378 0.00184192 0.002333524 -0.000450624 0.000284306 0.000130866" />
                <geom name="link5_vis_0" type="mesh" mesh="link5" contype="0" conaffinity="0" group="2" material="White" />
                <geom name="link5_col_0" type="mesh" mesh="link5" group="3" />
                <body name="link6" pos="0.076 0.097 0.0" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
                  <joint name="joint6" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="1.0" frictionloss="1.0" />
                  <inertial pos="0.0 -0.00677 -0.01098" mass="0.17" fullinertia="9.3e-05 5.87e-05 0.000132 -0.0 -0.0 -3.6e-06" />
                  <geom name="link6_vis_0" type="mesh" mesh="link6" contype="0" conaffinity="0" group="2" material="Silver" />
                  <geom name="link6_col_0" type="mesh" mesh="end_tool" group="3" />
                  <body name="link_eef" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link_base" 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="link_eef" />
  </contact>
</mujoco>
