<mujoco model="ur5">
    <compiler angle="radian" meshdir="../ur5/collision/" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="base" file="base.stl" />
        <mesh name="shoulder" file="shoulder.stl" />
        <mesh name="upperarm" file="upperarm.stl" />
        <mesh name="forearm" file="forearm.stl" />
        <mesh name="wrist1" file="wrist1.stl" />
        <mesh name="wrist2" file="wrist2.stl" />
        <mesh name="wrist3" file="wrist3.stl" />
    </asset>
    <worldbody>
        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="base" />
        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
        <body name="shoulder_link" pos="0 0 0.089159">
            <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
            <joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
            <body name="upper_arm_link" pos="0 0.13585 0" quat="0.707107 0 0.707107 0">
                <inertial pos="0 0 0.28" mass="8.393" diaginertia="0.226891 0.226891 0.0151074" />
                <joint name="shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                <body name="forearm_link" pos="0 -0.1197 0.425">
                    <inertial pos="0 0 0.196125" mass="2.275" diaginertia="0.0312168 0.0312168 0.004095" />
                    <joint name="elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" />
                    <body name="wrist_1_link" pos="0 0 0.39225" quat="0.707107 0 0.707107 0">
                        <inertial pos="0 0.093 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                        <joint name="wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                        <body name="wrist_2_link" pos="0 0.093 0">
                            <inertial pos="0 0 0.09465" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                            <joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" />
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                            <body name="wrist_3_link" pos="0 0 0.09465">
                                <inertial pos="0 0.0650884 0" quat="0.707107 0 0 0.707107" mass="0.1889" diaginertia="0.000132134 8.47648e-05 8.47648e-05" />
                                <joint name="wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" />
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                <geom size="0.005 0.005 0.005" pos="0 0.0723 0" quat="0.707107 0 0 0.707107" type="box" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
