<?xml version='1.0' encoding='utf-8'?>
<robot name="double_joint">
  <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_servoB_flipped.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_servoB_flipped.stl">
        <color rgba="0.45 0.40 0.35 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="double_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mdouble_holder.stl">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
  </link>
  <joint name="joint" type="revolute">
    <parent link="base" />
    <child link="out" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="6" velocity="3" />
  </joint>
  <link name="out">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="double_yoke.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mdouble_yoke.stl">
        <color rgba="0.30 0.70 0.40 1" />
      </material>
    </visual>
  </link>
</robot>