<?xml version='1.0' encoding='utf-8'?>
<robot name="yoke_test">
  <link name="world" />
  <joint name="world_to_base" type="fixed">
    <parent link="world" />
    <child link="base" />
    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
  </joint>
  <link name="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="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="mgnode_v2_holder.stl">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
  </link>
  <joint name="jaw" type="revolute">
    <parent link="explode_carrier" />
    <child link="yoke_link" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="3" velocity="3" />
  </joint>
  <link name="yoke_link">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_gen_thin.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="myoke_gen_thin.stl">
        <color rgba="0.30 0.70 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_screws_horn" type="prismatic">
    <parent link="yoke_link" />
    <child link="screws_horn" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="0" upper="0.06" effort="1" velocity="1" />
  </joint>
  <link name="screws_horn">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_screws_horn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_screws_horn.stl">
        <color rgba="0.75 0.75 0.78 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_screws_idler" type="prismatic">
    <parent link="yoke_link" />
    <child link="screws_idler" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <limit lower="0" upper="0.06" effort="1" velocity="1" />
  </joint>
  <link name="screws_idler">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_screws_idler.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_screws_idler.stl">
        <color rgba="0.75 0.75 0.78 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_yoke" type="prismatic">
    <parent link="base" />
    <child link="explode_carrier" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.08" effort="1" velocity="1" />
  </joint>
  <link name="explode_carrier" />
</robot>