<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content f205ad9c5746bb09 -->
<robot name="z1_description">
  <link name="world" />
  <joint name="base_static_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link00" />
  </joint>
  <link name="link00">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0255" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.051" radius="0.0325" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00334984 -0.00013615 0.02495843" rpy="0.0 0.0 0.0" />
      <mass value="0.47247481" />
      <inertia ixx="0.00037937" ixy="-3.5e-07" ixz="-1.037e-05" iyy="0.00041521" iyz="-9.9e-07" izz="0.00053066" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.0585" rpy="0.0 0.0 0.0" />
    <parent link="link00" />
    <child link="link01" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="3.1415" lower="-2.6179938779914944" upper="2.6179938779914944" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link01">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="2.47e-06 -0.00025198 0.02317169" rpy="0.0 0.0 0.0" />
      <mass value="0.67332551" />
      <inertia ixx="0.00128328" ixy="-6e-08" ixz="-4e-07" iyy="0.00071931" iyz="5e-07" izz="0.00083936" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0" />
    <parent link="link01" />
    <child link="link02" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="3.1415" lower="0.0" upper="2.9670597283903604" />
    <dynamics damping="2.0" friction="2.0" />
  </joint>
  <link name="link02">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.102" radius="0.0325" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.16249999999999998 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.235" radius="0.0225" />
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    </collision>
    <collision>
      <origin xyz="-0.35 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.051" radius="0.0325" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.11012601 0.00240029 0.00158266" rpy="0.0 0.0 0.0" />
      <mass value="1.19132258" />
      <inertia ixx="0.00102138" ixy="0.00062358" ixz="5.13e-06" iyy="0.02429457" iyz="-2.1e-06" izz="0.02466114" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="-0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link02" />
    <child link="link03" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="3.1415" lower="-2.8797932657906435" upper="0.0" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link03">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.128 0.0 0.055" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.116" radius="0.02" />
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    </collision>
    <collision>
      <origin xyz="0.2205 0.0 0.055" rpy="0.0 1.5707963267948966 1.5707963267948966" />
      <geometry>
        <cylinder length="0.059" radius="0.0325" />
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    </collision>
    <inertial>
      <origin xyz="0.10609208 -0.00541815 0.03476383" rpy="0.0 0.0 0.0" />
      <mass value="0.83940874" />
      <inertia ixx="0.00108061" ixy="-8.669e-05" ixz="-0.00208102" iyy="0.00954238" iyz="-1.332e-05" izz="0.00886621" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.218 0.0 0.057" rpy="0.0 0.0 0.0" />
    <parent link="link03" />
    <child link="link04" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="3.1415" lower="-1.5184364492350666" upper="1.5184364492350666" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link04">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.072 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.067" radius="0.0325" />
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    </collision>
    <inertial>
      <origin xyz="0.04366681 0.00364738 -0.00170192" rpy="0.0 0.0 0.0" />
      <mass value="0.56404563" />
      <inertia ixx="0.00031576" ixy="8.13e-05" ixz="4.091e-05" iyy="0.00092996" iyz="-5.96e-06" izz="0.00097912" />
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  </link>
  <joint name="joint5" type="revolute">
    <origin xyz="0.07 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link04" />
    <child link="link05" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="3.1415" lower="-1.3439035240356338" upper="1.3439035240356338" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link05">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.03121533 0.0 0.00646316" rpy="0.0 0.0 0.0" />
      <mass value="0.38938492" />
      <inertia ixx="0.00017605" ixy="4e-07" ixz="5.689e-05" iyy="0.00055896" iyz="-1.3e-07" izz="0.0005386" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0492 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link05" />
    <child link="link06" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="30.0" velocity="3.1415" lower="-2.792526803190927" upper="2.792526803190927" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link06">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0255 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.051" radius="0.0325" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0241569 -0.00017355 -0.00143876" rpy="0.0 0.0 0.0" />
      <mass value="0.28875807" />
      <inertia ixx="0.00018328" ixy="1.22e-06" ixz="5.4e-07" iyy="0.0001475" iyz="8e-08" izz="0.0001468" />
    </inertial>
  </link>
</robot>
