<?xml version="1.0"?>
<robot name="servo_zero_fixture_demo">
  <link name="assembly">
    <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.stl"><color rgba="0.20 0.20 0.22 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.stl"><color rgba="0.55 0.58 0.62 1"/></material></visual>
    <visual><origin xyz="0 0 0" rpy="0 0 0"/><geometry><mesh filename="yoke_fillet.stl" scale="0.001 0.001 0.001"/></geometry><material name="yoke_fillet.stl"><color rgba="0.85 0.60 0.20 1"/></material></visual>
  </link>
  <link name="saddle">
    <visual><origin xyz="0 0 0" rpy="0 0 0"/><geometry><mesh filename="servo_zero_fixture.stl" scale="0.001 0.001 0.001"/></geometry><material name="servo_zero_fixture.stl"><color rgba="0.25 0.80 0.40 0.85"/></material></visual>
  </link>
  <joint name="seated" type="fixed"><parent link="assembly"/><child link="saddle"/><origin xyz="0 0 0" rpy="0 0 0"/></joint>
</robot>
