<?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.stl128150553370576">
        <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_fused_smallboard.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="base_holder.stl128150553372416">
        <color rgba="0.20 0.52 0.85 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.stl128150553373536">
        <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.stl128150553374176">
        <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.stl128150553374736">
        <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.stl128150553375296">
        <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.stl128150553376416">
        <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.stl128150553377536">
        <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.stl128150553378096">
        <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.stl128150553378656">
        <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.stl128150553691136">
        <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.stl128150553692256">
        <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.stl128150553692816">
        <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.stl128150553693376">
        <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.stl128150553694496">
        <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.stl128150553695616">
        <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.stl128150553696176">
        <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.stl128150553696736">
        <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.stl128150553697856">
        <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.stl128150553698976">
        <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.stl128150553699536">
        <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.stl128150553700096">
        <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.stl128150553371776">
        <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="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mst3215.stl">
        <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_v2_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_holder.stl">
        <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_v2_enpire_fixed.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_enpire_fixed.stl">
        <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_v2_fixed_riser.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_fixed_riser.stl">
        <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_v2_fixed_plate.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_fixed_plate.stl">
        <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_v2_handle_column.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_handle_column.stl">
        <color rgba="0.30 0.55 0.90 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover_arm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
  </link>
  <link name="gripper_jaw_link">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_yoke.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_yoke.stl">
        <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_v2_yoke_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_yoke_conn.stl">
        <color rgba="0.85 0.30 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_enpire_moving.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_enpire_moving.stl">
        <color rgba="0.55 0.60 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_thumb_cradle.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="g_mgnode_v2_thumb_cradle.stl">
        <color rgba="0.90 0.40 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="-0.9" upper="0.1" effort="3" velocity="3" />
  </joint>
</robot>