<?xml version="1.0" ?>

<mujoco>
  <body name="kuka_link_0">
    <!-- <geom class="collision" type="mesh" mesh="kuka_link_0_mesh"/> -->
    <geom class="visual" type="mesh" mesh="kuka_link_0_mesh" material="kuka_grey"/>
    <body name="kuka_link_1" pos="0 0 0">
      <joint name="kuka_joint_1" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839" armature="1" damping="50" frictionloss="0" stiffness="10" />
      <inertial euler="0 0 0" pos="0 -0.035 0.271" mass="3.4821" diaginertia="0.02076 0.02179 0.00779"/>
      <geom class="visual" type="mesh" mesh="kuka_link_1_mesh" material="kuka_grey"/>
      <geom class="collision" type="mesh" mesh="kuka_link_1_mesh" />
      <body name="kuka_link_2"  pos="0 0 0">
        <joint name="kuka_joint_2" axis="0 1 0" limited="true" range="-2.09439510239 2.09439510239" pos="0 0 0.34" armature="1" damping="50" frictionloss="0" stiffness="10"/>
        <inertial euler="0 0 0" pos="0 0.34 0.407" mass="4.05623" diaginertia="0.03204 0.00972 0.03042"/>
        <geom class="collision" type="mesh" mesh="kuka_link_2_mesh"/>
        <geom class="visual" type="mesh" mesh="kuka_link_2_mesh" material="kuka_orange"/>
        <body name="kuka_link_3"  pos="0 0 0">
          <joint name="kuka_joint_3" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839" armature="1" damping="50" frictionloss="0" stiffness="10"/>
          <inertial euler="0 0 0" pos="0 0.03 0.651" mass="3.4822" diaginertia="0.02178 0.02075 0.007785"/>
          <geom class="collision" type="mesh" mesh="kuka_link_3_mesh"/>
          <geom class="visual" type="mesh" mesh="kuka_link_3_mesh" material="kuka_grey"/>
          <body name="kuka_link_4"  pos="0 0 0">
            <joint name="kuka_joint_4" axis="0 -1 0" limited="true" range="-2.09439510239 2.09439510239" pos="0 0 0.74" armature="1" damping="50" frictionloss="0" stiffness="10"/>
            <inertial euler="0 0 0" pos="0 -0.034 0.807" mass="2.1633" diaginertia="0.01287  0.005708  0.01112"/>
            <geom class="collision" type="mesh" mesh="kuka_link_4_mesh"/>
            <geom class="visual" type="mesh" mesh="kuka_link_4_mesh" material="kuka_orange"/>
            <body name="kuka_link_5"  pos="0 0 0">
              <joint name="kuka_joint_5" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839" armature="1" damping="50" frictionloss="0" stiffness="10"/>
              <inertial euler="0 0 0" pos="0.0 -0.021 1" mass="2.3466" diaginertia="0.006509 0.006259 0.004527"/>
              <geom class="collision" type="mesh" mesh="kuka_link_5_mesh"/>
              <geom class="visual" type="mesh" mesh="kuka_link_5_mesh" material="kuka_grey"/>
              <body name="kuka_link_6"  pos="0 0 0">
                <joint name="kuka_joint_6" axis="0 1 0" limited="true" range="-2.09439510239 2.09439510239" pos="0 0 1.14" armature="1" damping="50" frictionloss="0" stiffness="10"/>
                <inertial euler="0 0 0" pos="0 0.0004 1.142" mass="2" diaginertia="0.01464 0.01465 0.002872"/>
                <geom class="collision" type="mesh" mesh="kuka_link_6_mesh"/>
                <geom class="visual" type="mesh" mesh="kuka_link_6_mesh" material="kuka_orange"/>
                <body name="kuka_link_7"  pos="0 0 0" >
                  <joint name="kuka_joint_7" axis="0 0 1" limited="true" range="-3.05432619099 3.05432619099" armature="1" damping="50" frictionloss="0" stiffness="10"/>
                  <inertial euler="0 0 0" pos="0 0 1.241" mass="1.129" diaginertia="0.001 0.001 0.001"/>
                  <geom class="collision" type="mesh" mesh="kuka_link_7_mesh"/>
                  <geom class="visual" type="mesh" mesh="kuka_link_7_mesh" material="kuka_grey"/>
                  <body name="gripper_entity" pos="0 0 1.22">
                     <site name="ee_site" pos="0 0 0.05" euler="0 0 0" size="0.005, 0.005, 0.005"/>
                     <include file="gripper/gripper_collision_model2.xml"/>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</mujoco>
