<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b5d599526726015a -->
<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/xarm7/visual/link_base.stl" />
    <mesh name="link1" file="xarm_description/meshes/xarm7/visual/link1.stl" />
    <mesh name="link2" file="xarm_description/meshes/xarm7/visual/link2.stl" />
    <mesh name="link3" file="xarm_description/meshes/xarm7/visual/link3.stl" />
    <mesh name="link4" file="xarm_description/meshes/xarm7/visual/link4.stl" />
    <mesh name="link5" file="xarm_description/meshes/xarm7/visual/link5.stl" />
    <mesh name="link6" file="xarm_description/meshes/xarm7/visual/link6.stl" />
    <mesh name="link7" file="xarm_description/meshes/xarm7/visual/link7.stl" />
    <mesh name="end_tool" file="xarm_description/meshes/end_tool/collision/end_tool.stl" />
  </asset>
  <worldbody>
    <body name="link_base">
      <inertial pos="-0.021131 -0.0016302 0.056488" mass="0.88556" fullinertia="0.0030595 0.0037783 0.0020125 0.00012259 -0.00062705 0.00027023" />
      <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="10.0" frictionloss="1.0" />
        <inertial pos="-0.0002 0.02905 -0.01233" mass="2.382" fullinertia="0.0056905 0.0049566 0.003316654 -1.579e-05 5.125e-06 -0.000873378" />
        <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="10.0" frictionloss="1.0" />
          <inertial pos="0.00022 -0.12856 0.01735" mass="1.869" fullinertia="0.0095989 0.00382472 0.007565669 1.541e-06 5.56e-06 -0.00317156" />
          <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="0.0 -0.293 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
            <joint name="joint3" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="5.0" frictionloss="1.0" />
            <inertial pos="0.0466 -0.02463 -0.00768" mass="1.6383" fullinertia="0.00310955 0.00264483 0.0026624 0.00030837 -0.00058453 0.000338893" />
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            <geom name="link3_col_0" type="mesh" mesh="link3" group="3" />
            <body name="link4" pos="0.0525 0.0 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
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              <inertial pos="0.07047 -0.11575 0.012" mass="1.7269" fullinertia="0.005889 0.00359703 0.00543244 0.00137112 0.00088143 -0.001762155" />
              <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" pos="0.0775 -0.3425 0.0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="5.0" frictionloss="1.0" />
                <inertial pos="-0.00032 0.01604 -0.026" mass="1.3203" fullinertia="0.00534665 0.0049779 0.0013624 1.5117e-05 -3.69e-07 -0.00022132" />
                <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" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
                  <joint name="joint6" type="hinge" axis="0.0 0.0 1.0" range="-1.69297 3.141592653589793" damping="2.0" frictionloss="1.0" />
                  <inertial pos="0.06469 0.03278 0.02141" mass="1.325" fullinertia="0.0014745 0.0019037 0.0023652 -0.000488 0.0002953 0.00014749" />
                  <geom name="link6_vis_0" type="mesh" mesh="link6" contype="0" conaffinity="0" group="2" material="White" />
                  <geom name="link6_col_0" type="mesh" mesh="link6" group="3" />
                  <body name="link7" pos="0.076 0.097 0.0" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
                    <joint name="joint7" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" damping="2.0" 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="link7_vis_0" type="mesh" mesh="link7" contype="0" conaffinity="0" group="2" material="Silver" />
                    <geom name="link7_col_0" type="mesh" mesh="end_tool" group="3" />
                    <body name="link_eef" />
                  </body>
                </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="link7" />
    <exclude body1="link7" body2="link_eef" />
  </contact>
</mujoco>
