<?xml version="1.0"?>
<robot name="bravo7_no_ee">

    <material name="green">
            <color rgba="0.235 0.702 0.443 1"/>
    </material>

    <material name="blue">
            <color rgba="0.263 0.733 0.984 1"/>
    </material>

    <material name="red">
            <color rgba="1 0 0 1"/>
    </material>

    <material name="black">
            <color rgba="0.8 0.8 0.8 1"/>
    </material>

    <material name="orange">
            <color rgba="1 0.369 0.047 1"/>
    </material>

            <link name="link1">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-266.stl"/>
                    </geometry>
                    <material name="blue"/>
                </visual>
                <inertial>
                    <mass value="1.25"/>
                    <origin xyz="-0.075 -0.006 -0.003"/>
                    <inertia ixx="0.002108" ixy="0.000182" ixz="-0.000015" iyy="0.002573" iyz="-0.000021" izz="0.003483"/>
                </inertial>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-266_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

                    <joint name="joint1" type="continuous">
                        <parent link="link1"/>
                        <child link="link2"/>
                        <origin rpy="3.141592654 0 0" xyz="0.0665 0 0.078"/>
                        <axis xyz="0 0 1"/>
                    </joint>

            <link name="link2">
                <visual>
                    <origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-217.stl"/>
                    </geometry>
                    <material name="green"/>
                </visual>
                <inertial>
                        <mass value="1.55" />
                        <inertia ixx="0.011442" ixy="-0.000484" ixz="0.003405" iyy="0.01298" iyz="-0.001265" izz="0.003202"/>
                        <origin xyz="0.005 -0.001 0.016" rpy="-3.141592654 0 0"/>
                </inertial>
                <collision>
                    <origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-217_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

                    <joint name="joint2" type="revolute">
                        <parent link="link2"/>
                        <child link="link3"/>
                        <origin rpy="3.141592654 0 0" xyz="-0.046 0 -0.0674"/>
                        <axis xyz="0 1 0"/>
                        <limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
                    </joint>

            <link name="link3">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-250-212-214.stl"/>
                    </geometry>
                    <material name="blue"/>
                </visual>
                <inertial>
                    <mass value="1.14" />
                    <origin xyz="0.022 -0.029 0.001" />
                    <inertia ixx="0.003213" ixy="-0.001548" ixz="-0.000031" iyy="0.002327" iyz="0.000006" izz="0.00434"/>
                </inertial>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-250-212-214_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

                    <joint name="joint3" type="revolute">
                        <parent link="link3"/>
                        <child link="link4"/>
                        <origin rpy="0 0 0" xyz="-0.0052 0 -0.29055"/>
                        <axis xyz="0 1 0"/>
                        <limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
                    </joint>

            <link name="link4">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-268.stl"/>
                    </geometry>
                    <material name="green"/>
                </visual>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-268_convex_hull.stl"/>
                    </geometry>
                    <material name="green"/>
                </collision>
                <inertial>
                    <origin xyz="0.017 -0.026 -0.002" rpy="0.0 -0.0 0.0" />
                    <mass value="1.14" />
                    <inertia ixx="0.021232" ixy="0.00033" ixz="-0.003738" iyy="0.022252" iyz="-0.001278" izz="0.002054"/>
                </inertial>
            </link>

                    <joint name="joint4" type="continuous">
                        <parent link="link4"/>
                        <child link="link5"/>
                        <origin rpy="3.141592654 0 0" xyz="0.0408 0 0.09695"/>
                        <axis xyz="0 0 1"/>
                    </joint>

            <link name="link5">
                <visual>
                    <origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-214.stl"/>
                    </geometry>
                    <material name="blue"/>
                </visual>
                <inertial>
                    <mass value="1.03" />
                    <origin xyz="0.020 -0.024 0.001" rpy="-3.141592654 0 0"/>
                    <inertia ixx="0.00243" ixy="-0.001144" ixz="-0.00004" iyy="0.002026" iyz="0.000011" izz="0.00333"/>
                </inertial>
                <collision>
                    <origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-214_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

                    <joint name="joint5" type="revolute">
                        <parent link="link5"/>
                        <child link="link6"/>
                        <origin rpy="3.141592654 0 0" xyz="-0.0408 0 -0.063"/>
                        <axis xyz="0 1 0"/>
                        <limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
                    </joint>

            <link name="link6">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-161.stl"/>
                    </geometry>
                    <material name="green"/>
                </visual>
                <inertial>
                    <origin xyz="0.0 0.003 -0.098" rpy="0.0 -0.0 0.0" />
                    <mass value="0.333" />
                    <inertia ixx="0.003709" ixy="-0.000002" ixz="-0.000004" iyy="0.003734" iyz="0.0" izz="0.000079" />
                </inertial>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-161_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

                    <joint name="joint6" type="continuous">
                        <parent link="link6"/>
                        <child link="link7"/>
                        <origin rpy="0 3.14159 0" xyz="-0.0408 0 -0.14863"/>
                        <axis xyz="0 0 1"/>
                    </joint>

            <link name="link7">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-180.stl"/>
                    </geometry>
                    <material name="blue"/>
                </visual>
                <inertial>
                    <origin xyz="0.0 0.003 -0.098" />
                    <mass value="1.04" />
                    <inertia ixx="0.022359" ixy="0.000001" ixz="-0.000019" iyy="0.022363" iyz="0.000015" izz="0.000936"/>
                </inertial>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-180_convex_hull.stl"/>
                    </geometry>
                </collision>
            </link>

            <link name="force_torque_sensor">
                <visual>
                    <geometry>
                        <cylinder length="0.06" radius="0.04"/>
                    </geometry>
                    <material name="orange"/>
                </visual>
                <collision>
                    <geometry>
                        <cylinder length="0.06" radius="0.04"/>
                    </geometry>
                    <material name="orange"/>
                </collision>
            </link>

                    <joint name="FT_fixed_1" type="fixed">
                        <origin rpy="0 0 1.57" xyz=" 0 0 -0.03"/>
                        <parent link="link7"/>
                        <child link="force_torque_sensor"/>
                    </joint>

            <link name="end_effector_ball">
                <visual>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/end_effectors/contact_sphere.stl"/>
                    </geometry>
                    <material name="red"/>
                </visual>
                <collision>
                    <geometry>
                        <mesh filename="package://example-robot-data/robots/bravo7_description/meshes/end_effectors/contact_sphere_convex_hull.stl"/>
                    </geometry>
                    <material name="red"/>
                </collision>
            </link>

                    <joint name="bravo_EE_joint" type="fixed">
                        <origin rpy="0 -1.57 0" xyz=" 0.045 -0.035 0.113"/>
                        <parent link="link7"/>
                        <child link="end_effector_ball"/>
                    </joint>

            <link name="contact_point"/>

                    <joint name="contact_point_joint" type="fixed">
                        <origin rpy="0 0 0" xyz="0 0 0.24"/>
                        <parent link="force_torque_sensor"/>
                        <child link="contact_point"/>
                    </joint>
</robot>
