<?xml version='1.0' encoding='utf-8'?>
<robot name="two_servo">
  <link name="world" />
  <joint name="world_to_servo_0" type="fixed">
    <parent link="world" />
    <child link="servo_0" />
    <origin xyz="0 0 0.032000" rpy="1.5708 0 0" />
  </joint>
  <link name="servo_0">
    <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="st3215.stl125890840128432">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="base_holder_detach.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="base_holder.stl125890840128992">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="fiducial_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fidmount">
        <color rgba="0.93 0.55 0.16 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_arm_marker_plate.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="armboard">
        <color rgba="0.10 0.10 0.10 1" />
      </material>
    </visual>
  </link>
  <joint name="output_0" type="revolute">
    <parent link="servo_0" />
    <child link="yoke_0" />
    <origin xyz="-0.0255 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="yoke_0">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890840130112">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <link name="servo_1">
    <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="st3215.stl125890840130752">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl125890840131312">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_beauty_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_1.stl125890840131872">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_1" type="revolute">
    <parent link="servo_1" />
    <child link="yoke_1" />
    <origin xyz="-0.0255 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="yoke_1">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890839922224">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_1" type="fixed">
    <parent link="yoke_0" />
    <child link="servo_1" />
    <origin xyz="-0.026500 0.035000 0.009000" rpy="1.570796 0.000000 -1.570796" />
  </joint>
  <link name="servo_2">
    <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="st3215.stl125890840128032">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl125890840133232">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_beauty_2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_2.stl125890840576224">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_2" type="revolute">
    <parent link="servo_2" />
    <child link="yoke_2" />
    <origin xyz="-0.0255 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="yoke_2">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890840577344">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_2" type="fixed">
    <parent link="yoke_1" />
    <child link="servo_2" />
    <origin xyz="-0.220500 -0.000000 0.006000" rpy="3.141593 1.570796 3.141593" />
  </joint>
  <link name="servo_3">
    <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="st3215.stl125890840578464">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl125890840579024">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_beauty_3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_3.stl125890840579584">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_3" type="revolute">
    <parent link="servo_3" />
    <child link="yoke_3" />
    <origin xyz="-0.0255 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="yoke_3">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890840580704">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_3" type="fixed">
    <parent link="yoke_2" />
    <child link="servo_3" />
    <origin xyz="-0.180500 -0.010000 -0.009000" rpy="-1.570797 0.000000 0.000000" />
  </joint>
  <link name="servo_4">
    <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="st3215.stl125890840581824">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl125890840582384">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_beauty_4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_4.stl125890840582944">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_4" type="revolute">
    <parent link="servo_4" />
    <child link="yoke_4" />
    <origin xyz="-0.0255 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="yoke_4">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890840584064">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_4" type="fixed">
    <parent link="yoke_3" />
    <child link="servo_4" />
    <origin xyz="-0.069500 -0.009000 0.010000" rpy="1.570797 0.000000 0.000000" />
  </joint>
  <link name="servo_5">
    <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="st3215.stl125890840585184">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl125890840585744">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_beauty_5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_5.stl125890840586304">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_5" type="revolute">
    <parent link="servo_5" />
    <child link="yoke_5" />
    <origin xyz="-0.0255 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="yoke_5">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl125890840587424">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_5" type="fixed">
    <parent link="yoke_4" />
    <child link="servo_5" />
    <origin xyz="-0.062500 -0.008000 0.007000" rpy="1.570796 1.570796 0.000000" />
  </joint>
  <joint name="arm_to_gripper" type="fixed">
    <parent link="yoke_5" />
    <child link="gripper_base" />
    <origin xyz="-0.0464 0 0" rpy="0 0 0" />
  </joint>
  <link name="gripper_base">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_servo_to_finger.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mservo_to_finger">
        <color rgba="0.55 0.60 0.70 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_servo.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mservo">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mholder">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_finger_adj.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mfinger_adj">
        <color rgba="0.55 0.60 0.70 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_connector1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mconnector1">
        <color rgba="0.95 0.45 0.12 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_camera_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mcamera_mount">
        <color rgba="0.55 0.75 0.60 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_camera_cover.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mcamera_cover">
        <color rgba="0.95 0.55 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mcamera_body">
        <color rgba="0.13 0.13 0.16 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_cam_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mcam_conn">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_fixed_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mfixed_conn">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <link name="gripper_jaw_link">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_finger.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mfinger">
        <color rgba="0.90 0.65 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_yoke.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_myoke">
        <color rgba="0.90 0.65 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_yoke_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_myoke_conn">
        <color rgba="0.85 0.30 0.30 1" />
      </material>
    </visual>
  </link>
  <joint name="gripper_jaw" type="revolute">
    <parent link="gripper_base" />
    <child link="gripper_jaw_link" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-0.1" upper="0.9" effort="3" velocity="3" />
  </joint>
</robot>