<mujoco model="xarm7">
    <compiler angle="radian" meshdir="meshes" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="link_base" file="link_base.STL" />
        <mesh name="link1" file="link1.STL" />
        <mesh name="link2" file="link2.STL" />
        <mesh name="link3" file="link3.STL" />
        <mesh name="link4" file="link4.STL" />
        <mesh name="link5" file="link5.STL" />
        <mesh name="link6" file="link6.STL" />
        <mesh name="link7" file="link7.STL" />
    </asset>
    <worldbody>
        <geom type="mesh" rgba="1 1 1 1" mesh="link_base" />
        <body name="link1" pos="0 0 0.267">
            <inertial pos="-0.0042142 0.02821 -0.0087788" quat="0.917781 -0.277115 0.0606681 0.277858" mass="0.42603" diaginertia="0.00144551 0.00137757 0.000823511" />
            <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="10" frictionloss="1" />
            <geom type="mesh" rgba="1 1 1 1" mesh="link1" />
            <body name="link2" pos="0 0 0" quat="0.707105 -0.707108 0 0">
                <inertial pos="-3.3178e-05 -0.12849 0.026337" quat="0.447793 0.894132 -0.00224061 0.00218314" mass="0.56095" diaginertia="0.00319151 0.00311598 0.000980804" />
                <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-2.059 2.0944" damping="10" frictionloss="1" />
                <geom type="mesh" rgba="1 1 1 1" mesh="link2" />
                <body name="link3" pos="0 -0.293 0" quat="0.707105 0.707108 0 0">
                    <inertial pos="0.04223 -0.023258 -0.0096674" quat="0.883205 0.339803 0.323238 0.000542237" mass="0.44463" diaginertia="0.00133227 0.00119126 0.000780475" />
                    <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="5" frictionloss="1" />
                    <geom type="mesh" rgba="1 1 1 1" mesh="link3" />
                    <body name="link4" pos="0.0525 0 0" quat="0.707105 0.707108 0 0">
                        <inertial pos="0.067148 -0.10732 0.024479" quat="0.0654142 0.483317 -0.738663 0.465298" mass="0.52387" diaginertia="0.00288984 0.00282705 0.000894409" />
                        <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-0.19198 3.927" damping="5" frictionloss="1" />
                        <geom type="mesh" rgba="1 1 1 1" mesh="link4" />
                        <body name="link5" pos="0.0775 -0.3425 0" quat="0.707105 0.707108 0 0">
                            <inertial pos="-0.00023397 0.036705 -0.080064" quat="0.981064 -0.19003 0.00637998 0.0369004" mass="0.18554" diaginertia="0.00099553 0.000988613 0.000247126" />
                            <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="5" frictionloss="1" />
                            <geom type="mesh" rgba="1 1 1 1" mesh="link5" />
                            <body name="link6" pos="0 0 0" quat="0.707105 0.707108 0 0">
                                <inertial pos="0.058911 0.028469 0.0068428" quat="-0.188705 0.793535 0.166088 0.554173" mass="0.31344" diaginertia="0.000827892 0.000768871 0.000386708" />
                                <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-1.69297 3.14159" damping="2" frictionloss="1" />
                                <geom type="mesh" rgba="1 1 1 1" mesh="link6" />
                                <body name="link7" pos="0.076 0.097 0" quat="0.707105 -0.707108 0 0">
                                    <inertial pos="-1.5846e-05 -0.0046377 -0.012705" quat="0.495801 0.504435 -0.503065 0.496642" mass="0.31468" diaginertia="0.000260352 0.00016985 0.000119208" />
                                    <joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="2" frictionloss="1" />
                                    <geom type="mesh" rgba="0.753 0.753 0.753 1" mesh="link7" />
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
