<?xml version='1.0' encoding='utf-8'?>
<robot name="smith300_modular">
  <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" />
  </joint>
  <link name="L0">
    <visual>
      <origin xyz="-0.01 0 -0.024" rpy="0 0 0" />
      <geometry>
        <box size="0.075 0.075 0.006" />
      </geometry>
      <material name="baseplate139776690589104">
        <color rgba="0.90 0.75 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690589104">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690589104">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_bg.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690589104">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0500 0.0500 0.0016" />
      </geometry>
      <material name="fxmark139776690589104">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j1" type="revolute">
    <parent link="L0" />
    <child link="L1" />
    <origin xyz="-0.0255 0 0" rpy="0 -1.5708 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L1">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke139776690592304">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690592304">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690592304">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690592304">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690592304">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j2" type="revolute">
    <parent link="L1" />
    <child link="L2" />
    <origin xyz="-0.1052 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L2">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke139776690593904">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690593904">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690593904">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690593904">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690593904">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j3" type="revolute">
    <parent link="L2" />
    <child link="L3" />
    <origin xyz="-0.1052 0 0" rpy="0 -1.0472 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L3">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke139776690597104">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690597104">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690597104">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690597104">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690597104">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j4" type="revolute">
    <parent link="L3" />
    <child link="L4" />
    <origin xyz="-0.1052 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <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" />
      </geometry>
      <material name="yoke139776690600304">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690600304">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690600304">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690600304">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690600304">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j5" type="revolute">
    <parent link="L4" />
    <child link="L5" />
    <origin xyz="-0.1052 0 0" rpy="0 -1.0472 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <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" />
      </geometry>
      <material name="yoke139776690652720">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690652720">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690652720">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fxh139776690652720">
        <color rgba="0.16 0.16 0.18 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690652720">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="j6" type="revolute">
    <parent link="L5" />
    <child link="L6" />
    <origin xyz="-0.1052 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L6">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke139776690655920">
        <color rgba="0.85 0.60 0.20 1" />
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    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="servo139776690655920">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder139776690655920">
        <color rgba="0.20 0.52 0.85 1" />
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    </visual>
    <visual>
      <origin xyz="-0.07970000000000001 0 0.0158" rpy="0 0 0" />
      <geometry>
        <mesh filename="fidex_holder_sm.stl" scale="0.001 0.001 0.001" />
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      <material name="fxh139776690655920">
        <color rgba="0.16 0.16 0.18 1" />
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    <visual>
      <origin xyz="-0.07970000000000001 0 0.019600000000000003" rpy="0 0 0" />
      <geometry>
        <box size="0.0150 0.0150 0.0016" />
      </geometry>
      <material name="fxmark139776690655920">
        <color rgba="0.96 0.96 0.96 1" />
      </material>
    </visual>
  </link>
  <joint name="gripper_mount" type="fixed">
    <parent link="L6" />
    <child link="gripper" />
    <origin xyz="-0.1052 0 0" rpy="0 0 0" />
  </joint>
  <link name="gripper">
    <visual>
      <origin xyz="-0.012 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.022 0.038 0.024" />
      </geometry>
      <material name="gpalm139776690658960">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <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" />
  </joint>
  <link name="finger_l">
    <visual>
      <origin xyz="-0.018 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.036 0.014 0.006" />
      </geometry>
      <material name="fp_finger_l139776690660000">
        <color rgba="0.30 0.30 0.34 1" />
      </material>
    </visual>
  </link>
  <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" />
  </joint>
  <link name="finger_r">
    <visual>
      <origin xyz="-0.018 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.036 0.014 0.006" />
      </geometry>
      <material name="fp_finger_r139776690661120">
        <color rgba="0.30 0.30 0.34 1" />
      </material>
    </visual>
  </link>
</robot>