<?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 0.1575">
      <!-- <joint name="kuka_joint_1" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839"/> -->
      <inertial euler="0 0 0" pos="0 -0.03 0.12" mass="5.76" diaginertia="0.033 0.0333 0.0123"/>
      <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" euler="1.570796326794897 3.141592653589793 0" pos="0 0 0.2025">
        <!-- <joint name="kuka_joint_2" axis="0 0 1" limited="true" range="-2.09439510239 2.09439510239"/> -->
        <inertial euler="0 0 0" pos="0.0003 0.059 0.042" mass="6.35" diaginertia="0.0305 0.0304 0.011"/>
        <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" euler="1.570796326794897 3.141592653589793 0" pos="0 0.2045 0">
          <joint name="kuka_joint_3" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839"/>
          <inertial euler="0 0 0" pos="0 0.03 0.13" mass="3.5" diaginertia="0.025 0.0238 0.0076"/>
          <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" euler="1.570796326794897 0 -1.570796326794897" pos="0 0 0.2155">
            <!-- <joint name="kuka_joint_4" axis="0 0 1" limited="true" range="-2.09439510239 2.09439510239"/> -->
            <inertial euler="0 0 0" pos="0 0.067 0.034" mass="3.5" diaginertia="0.017 0.0164 0.006"/>
            <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" euler="-1.570796326794897 0 1.570796326794897" pos="0 0.1845 0">
              <!-- <joint name="kuka_joint_5" axis="0 0 1" limited="true" range="-2.96705972839 2.96705972839"/> -->
              <inertial euler="0 0 0" pos="0.0001 0.021 0.076" mass="3.5" diaginertia="0.01 0.0087 0.00449"/>
              <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" euler="1.570796326794897 0 0" pos="0 0 0.2155">
                <joint name="kuka_joint_6" axis="0 0 1" limited="true" range="-2.09439510239 2.09439510239"/>
                <inertial euler="0 0 0" pos="0 0.0006 0.0004" mass="1.8" diaginertia="0.0049 0.0047 0.0036"/>
                <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" euler="-1.570796326794897 0 0" pos="0 0.081 0">
                  <!-- <joint name="kuka_joint_7" axis="0 0 1" limited="true" range="-3.05432619099 3.05432619099"/> -->
                  <inertial euler="0 0 0" pos="0 0 0.02" mass="1.2" 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"/>
                  <site name="ee_site" pos="0 0 0.05" euler="0 0 0" size="0.005, 0.005, 0.005"/>
                  <include file="peg/peg_collision.xml"/>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</mujoco>
