<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content b5d599526726015a -->
<robot name="UF_ROBOT">
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <material name="Silver">
    <color rgba="0.753 0.753 0.753 1.0" />
  </material>
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link_base" />
  </joint>
  <link name="link_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link_base.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link_base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.021131 -0.0016302 0.056488" rpy="0.0 0.0 0.0" />
      <mass value="0.88556" />
      <inertia ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705" iyy="0.0037783" iyz="0.00027023" izz="0.0020125" />
    </inertial>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link1.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0002 0.02905 -0.01233" rpy="0.0 0.0 0.0" />
      <mass value="2.382" />
      <inertia ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06" iyy="0.0049566" iyz="-0.000873378" izz="0.003316654" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.267" rpy="0.0 0.0 0.0" />
    <parent link="link_base" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="50.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="10.0" friction="1.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link2.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00022 -0.12856 0.01735" rpy="0.0 0.0 0.0" />
      <mass value="1.869" />
      <inertia ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06" iyy="0.00382472" iyz="-0.00317156" izz="0.007565669" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="50.0" velocity="3.14" lower="-2.059" upper="2.0944" />
    <dynamics damping="10.0" friction="1.0" />
  </joint>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link3.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0466 -0.02463 -0.00768" rpy="0.0 0.0 0.0" />
      <mass value="1.6383" />
      <inertia ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453" iyy="0.00264483" iyz="0.000338893" izz="0.0026624" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0 -0.293 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="5.0" friction="1.0" />
  </joint>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link4.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.07047 -0.11575 0.012" rpy="0.0 0.0 0.0" />
      <mass value="1.7269" />
      <inertia ixx="0.005889" ixy="0.00137112" ixz="0.00088143" iyy="0.00359703" iyz="-0.001762155" izz="0.00543244" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.0525 0.0 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="3.14" lower="-0.19198" upper="3.927" />
    <dynamics damping="5.0" friction="1.0" />
  </joint>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link5.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00032 0.01604 -0.026" rpy="0.0 0.0 0.0" />
      <mass value="1.3203" />
      <inertia ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07" iyy="0.0049779" iyz="-0.00022132" izz="0.0013624" />
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0775 -0.3425 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="5.0" friction="1.0" />
  </joint>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link6.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.06469 0.03278 0.02141" rpy="0.0 0.0 0.0" />
      <mass value="1.325" />
      <inertia ixx="0.0014745" ixy="-0.000488" ixz="0.0002953" iyy="0.0019037" iyz="0.00014749" izz="0.0023652" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="3.14" lower="-1.69297" upper="3.141592653589793" />
    <dynamics damping="2.0" friction="1.0" />
  </joint>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm7/visual/link7.stl" />
      </geometry>
      <material name="Silver" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/end_tool/collision/end_tool.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.00677 -0.01098" rpy="0.0 0.0 0.0" />
      <mass value="0.17" />
      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132" />
    </inertial>
  </link>
  <joint name="joint7" type="revolute">
    <origin xyz="0.076 0.097 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="2.0" friction="1.0" />
  </joint>
  <link name="link_eef" />
  <joint name="joint_eef" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link7" />
    <child link="link_eef" />
  </joint>
</robot>
