<?xml version='1.0' encoding='utf-8'?>
<robot name="smith300_faithful">
  <link name="world" />
  <joint name="base_fix" type="fixed">
    <parent link="world" />
    <child link="L0" />
    <origin xyz="0 0 0" rpy="3.14159 0 0" />
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        <box size="0.075 0.075 0.006" />
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      <material name="baseplate139770723422096">
        <color rgba="0.90 0.75 0.15 1" />
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    </visual>
    <visual>
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        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
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      <material name="servo139770723422096">
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    <parent link="L0" />
    <child link="L1" />
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    <axis xyz="0 1 0" />
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  <link name="L1">
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      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
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    <child link="L2" />
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  <link name="L2">
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      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
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    <parent link="L2" />
    <child link="L3" />
    <origin xyz="-0.1052 0 0" rpy="3.14159 1.57079 3.14159" />
    <axis xyz="0 1 0" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
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  <link name="L3">
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      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
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      <material name="fxh139770723431696">
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    <visual>
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      <material name="fxmark139770723431696">
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  <joint name="j4" type="revolute">
    <parent link="L3" />
    <child link="L4" />
    <origin xyz="-0.1052 0 0" rpy="0.0 0.0 0.0" />
    <axis xyz="0 1 0" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
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  <link name="L4">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
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      <material name="yoke139770723467728">
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    <visual>
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      <material name="servo139770723467728">
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    <visual>
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    <visual>
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    <visual>
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  <joint name="j5" type="revolute">
    <parent link="L4" />
    <child link="L5" />
    <origin xyz="-0.1052 0 0" rpy="1.5708 0.0 0.0" />
    <axis xyz="0 1 0" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
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  <link name="L5">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
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      <material name="yoke139770723470928">
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      <material name="servo139770723470928">
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    <visual>
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    <visual>
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      <material name="fxh139770723470928">
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      <material name="fxmark139770723470928">
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  </link>
  <joint name="j6" type="revolute">
    <parent link="L5" />
    <child link="L6" />
    <origin xyz="-0.1052 0 0" rpy="3.14159 0.0 -1.57079" />
    <axis xyz="0 1 0" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
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  <link name="L6">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
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  <joint name="j7" type="revolute">
    <parent link="L6" />
    <child link="L7" />
    <origin xyz="-0.1052 0 0" rpy="0.0 0.0 0.0" />
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  <link name="L7">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
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  <joint name="gripper_mount" type="fixed">
    <parent link="L7" />
    <child link="gripper" />
    <origin xyz="-0.1052 0 0" rpy="0 0 0" />
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  <link name="gripper">
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      <material name="gpalm139770723480368">
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  <joint name="finger_l" type="prismatic">
    <parent link="gripper" />
    <child link="finger_l" />
    <origin xyz="-0.026 0 0.018" rpy="0 0 0" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="0.018" effort="5" velocity="0.1" />
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  <link name="finger_l">
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      <origin xyz="-0.018 0 0" rpy="0 0 0" />
      <geometry>
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      <material name="fp_finger_l139770723481408">
        <color rgba="0.30 0.30 0.34 1" />
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  <joint name="finger_r" type="prismatic">
    <parent link="gripper" />
    <child link="finger_r" />
    <origin xyz="-0.026 0 -0.018" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.018" effort="5" velocity="0.1" />
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  <link name="finger_r">
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      <geometry>
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      <material name="fp_finger_r139770723482528">
        <color rgba="0.30 0.30 0.34 1" />
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  </link>
</robot>