<mujoco model="robot_ur10_model">
    <body name="ra_base_link" pos="0 0 0">
        <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="4" diaginertia="0.01125 0.00610633 0.00610633" />
        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" /> 
        <body name="ra_shoulder_link" pos="0 0 0.1273">
            <inertial pos="0 0 0" mass="7.778" diaginertia="0.0314743 0.0314743 0.0218756" />
            <joint name="ra_shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="false" range="-6.28319 6.28319" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <body name="ra_upper_arm_link" pos="0 0.220941 0" quat="0.707107 0 0.707107 0">
                <inertial pos="0 0 0.306" mass="12.93" diaginertia="0.421754 0.421754 0.0363656" />
                <joint name="ra_shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="false" range="-6.28319 6.28319" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm_bottom_link" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm_body_link" pos="0 0 0" quat="1 0 0 0"/>
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm_top_link" pos="0 0 0" quat="1 0 0 0"/>
                <body name="ra_forearm_link" pos="0 -0.1719 0.612">
                    <inertial pos="0 0 0.28615" mass="3.87" diaginertia="0.11107 0.11107 0.0108844" />
                    <joint name="ra_elbow_joint" pos="0 0 0" axis="0 1 0" limited="false" range="-3.14159 3.14159" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm_bottom_link" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm_body_link" pos="0 0 0" quat="1 0 0 0"/>
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm_top_link" pos="0 0 0" quat="1 0 0 0"/>
                    <body name="ra_wrist_1_link" pos="0 0 0.5723" quat="0.707107 0 0.707107 0">
                        <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.96" diaginertia="0.0055125 0.00510825 0.00510825" />
                        <joint name="ra_wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="false" range="-6.28319 6.28319" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1_base" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1_link" pos="0 0 0" quat="1 0 0 0" />
                        <body name="ra_wrist_2_link" pos="0 0.1149 0">
                            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.96" diaginertia="0.0055125 0.00510825 0.00510825" />
                            <joint name="ra_wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="false" range="-6.28319 6.28319" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2_base" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2_link" pos="0 0 0"/>
                            <body name="ra_wrist_3_link" pos="0 0 0.1157">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.202" diaginertia="0.000568125 0.000526462 0.000526462" />
                                <joint name="ra_wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="false" range="-6.28319 6.28319" />
                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <body name="ra_ee_link" pos="0 0.0922 0" quat="0.707107 0 0 0.707107">
                                    <inertial pos="-0.01 0 0" mass="0.001" diaginertia="1.66667e-08 1.66667e-08 1.66667e-08" />
                                    <geom size="0.005 0.005 0.005" pos="-0.01 0 0" type="box" />
                                </body>
                                <body name="ra_tool0" pos="0 0.0922 0" quat="0.707107 -0.707107 0 0">
                                    <inertial pos="0 0.0922 0" quat="0.707107 -0.707107 0 0" mass="0" diaginertia="0 0 0" />
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="ra_base" pos="0 0 0" quat="1.7949e-09 0 0 -1">
            <inertial pos="0 0 0" quat="1.7949e-09 0 0 -1" mass="0" diaginertia="0 0 0" />
        </body>
    </body>
</mujoco>
