<?xml version='1.0' encoding='utf-8'?>
<robot name="smith300_poses">
  <link name="L0">
    <visual>
      <origin xyz="0.0263353 0 0.0437" rpy="0 0 0" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140191504391744">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.037535 0.000600 0.054000" rpy="1.530100 -0.012300 -0.003100" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186029324416">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.037535 0.000600 0.054000" rpy="1.530100 -0.012300 -0.003100" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186029325056">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan1" type="revolute">
    <parent link="L0" />
    <child link="L1" />
    <origin xyz="0.0388353 0 0.0624" rpy="3.14159 0 3.14159" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L1">
    <visual>
      <origin xyz="-0.0611647 -0.0017 -0.0423953" rpy="0 1.5708 -1.5708" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186029326176">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.050865 -0.012900 -0.042995" rpy="-0.012314 0.040697 -1.573395" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186029322416">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.050865 -0.012900 -0.042995" rpy="-0.012314 0.040697 -1.573395" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025640320">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan2" type="revolute">
    <parent link="L1" />
    <child link="L2" />
    <origin xyz="-0.0611647 -0.0204 -0.0548953" rpy="0 -1.5708 -1.5708" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L2">
    <visual>
      <origin xyz="-0.122705 -0.0433353 0.0167" rpy="3.14159 0 -1.5708" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186025641360">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.122105 -0.032135 0.006400" rpy="2.847908 -1.528282 -1.867328" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186025641920">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.122105 -0.032135 0.006400" rpy="2.847908 -1.528282 -1.867328" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025642640">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan3" type="revolute">
    <parent link="L2" />
    <child link="L3" />
    <origin xyz="-0.122705 -0.0558353 -0.002" rpy="0 0 1.5708" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L3">
    <visual>
      <origin xyz="-0.1305 0 0.0187" rpy="3.14159 0 3.14159" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186025643680">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.141700 0.000600 0.008400" rpy="1.611490 0.012303 3.138493" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186025644240">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.141700 0.000600 0.008400" rpy="1.611490 0.012303 3.138493" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025644960">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan4" type="revolute">
    <parent link="L3" />
    <child link="L4" />
    <origin xyz="-0.143 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L4">
    <visual>
      <origin xyz="-0.0525 0.0027 0.0224" rpy="1.5708 0 3.14159" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186025646000">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.063700 -0.007600 0.021800" rpy="0.040700 0.012303 3.138493" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186025646560">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.063700 -0.007600 0.021800" rpy="0.040700 0.012303 3.138493" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025647280">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan5" type="revolute">
    <parent link="L4" />
    <child link="L5" />
    <origin xyz="-0.065 0.0214 0.0224" rpy="1.5708 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L5">
    <visual>
      <origin xyz="-0.0354647 -0.0055 0.0767353" rpy="0 -1.5708 -3.14159" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186025648320">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.045765 -0.006100 0.065535" rpy="-1.558489 -0.040693 1.568193" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186025648880">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.045765 -0.006100 0.065535" rpy="-1.558489 -0.040693 1.568193" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025649600">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
  <joint name="pan6" type="revolute">
    <parent link="L5" />
    <child link="L6" />
    <origin xyz="-0.0167647 -0.0055 0.0892353" rpy="0 1.5708 -3.14159" />
    <axis xyz="0 0 1" />
    <limit lower="-2" upper="2" effort="2.94" velocity="3.0" />
  </joint>
  <link name="L6">
    <visual>
      <origin xyz="-0.033 -0.038 0.0187" rpy="3.14159 0 3.14159" />
      <geometry>
        <mesh filename="assets/sts3215_03a_v1.stl" scale="1 1 1" />
      </geometry>
      <material name="sts3215_03a_v1140186025650640">
        <color rgba="0.32 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.044200 -0.037400 0.008400" rpy="1.611490 0.012303 3.138493" />
      <geometry>
        <mesh filename="wrap_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="wrap_holder140186025651200">
        <color rgba="0.20 0.52 0.85 0.85" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.044200 -0.037400 0.008400" rpy="1.611490 0.012303 3.138493" />
      <geometry>
        <mesh filename="yoke_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_arm140186025651920">
        <color rgba="0.85 0.60 0.20 0.85" />
      </material>
    </visual>
  </link>
</robot>