<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content f205ad9c5746bb09 -->
<mujoco model="z1_description">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
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    <mesh name="z1_Link01" file="z1_description/meshes/visual/z1_Link01.dae" />
    <mesh name="z1_Link02" file="z1_description/meshes/visual/z1_Link02.dae" />
    <mesh name="z1_Link03" file="z1_description/meshes/visual/z1_Link03.dae" />
    <mesh name="z1_Link04" file="z1_description/meshes/visual/z1_Link04.dae" />
    <mesh name="z1_Link05" file="z1_description/meshes/visual/z1_Link05.dae" />
    <mesh name="z1_Link06" file="z1_description/meshes/visual/z1_Link06.dae" />
  </asset>
  <worldbody>
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      <geom name="link00_col_0" type="cylinder" size="0.0325 0.0255" pos="0.0 0.0 0.0255" group="3" />
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        <inertial pos="2.47e-06 -0.00025198 0.02317169" mass="0.67332551" fullinertia="0.00128328 0.00071931 0.00083936 -6e-08 -4e-07 5e-07" />
        <geom name="link01_vis_0" type="mesh" mesh="z1_Link01" contype="0" conaffinity="0" group="2" />
        <body name="link02" pos="0.0 0.0 0.045">
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              <geom name="link04_col_0" type="cylinder" size="0.0325 0.0335" pos="0.072 0.0 0.0" group="3" />
              <body name="link05" pos="0.07 0.0 0.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-1.3439035240356338 1.3439035240356338" damping="1.0" frictionloss="1.0" />
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                <geom name="link05_vis_0" type="mesh" mesh="z1_Link05" contype="0" conaffinity="0" group="2" />
                <body name="link06" pos="0.0492 0.0 0.0">
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                  <geom name="link06_vis_0" type="mesh" mesh="z1_Link06" contype="0" conaffinity="0" group="2" />
                  <geom name="link06_col_0" type="cylinder" size="0.0325 0.0255" pos="0.0255 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link00" body2="link01" />
    <exclude body1="link01" body2="link02" />
    <exclude body1="link02" body2="link03" />
    <exclude body1="link03" body2="link04" />
    <exclude body1="link04" body2="link05" />
    <exclude body1="link05" body2="link06" />
  </contact>
</mujoco>
