<mujoco model="smith300_arm">
  <compiler angle="radian" meshdir="./" />

  <asset>
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    <mesh name="yoke_exact" content_type="model/stl" file="yoke_exact.stl" scale="0.001 0.001 0.001" />
    <mesh name="holder_approx_drilled" content_type="model/stl" file="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_1" content_type="model/stl" file="connector_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_2" content_type="model/stl" file="connector_2.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_3" content_type="model/stl" file="connector_3.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_4" content_type="model/stl" file="connector_4.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_5" content_type="model/stl" file="connector_5.stl" scale="0.001 0.001 0.001" />
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                <inertial pos="0 0 0" mass="0.05" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="output_5" pos="0 0 0" axis="0 1 0" range="-1.74 1.74" actuatorfrcrange="-2.94 2.94" />
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            </body>
          </body>
        </body>
      </body>
    </body>
  <light pos="0.3 -0.3 1.2" dir="-0.3 0.3 -1" directional="true" /><geom name="floor" type="plane" size="1.5 1.5 .05" material="grid" pos="0 0 0" contype="0" conaffinity="0" /></worldbody>
<statistic center="-0.15 0.2 0.2" extent="0.7" /><visual><global azimuth="130" elevation="-20" offwidth="1600" offheight="1600" /></visual><actuator><position name="drive_output_0" joint="output_0" kp="40" kv="2" ctrlrange="-1.74 1.74" /><position name="drive_output_1" joint="output_1" kp="40" kv="2" ctrlrange="-1.74 1.74" /><position name="drive_output_2" joint="output_2" kp="40" kv="2" ctrlrange="-1.74 1.74" /><position name="drive_output_3" joint="output_3" kp="40" kv="2" ctrlrange="-1.74 1.74" /><position name="drive_output_4" joint="output_4" kp="40" kv="2" ctrlrange="-1.74 1.74" /><position name="drive_output_5" joint="output_5" kp="40" kv="2" ctrlrange="-1.74 1.74" /></actuator></mujoco>