<?xml version='1.0' encoding='utf-8'?>
<robot name="gem_mount">
  <link name="world" />
  <joint name="world_to_base" type="fixed">
    <parent link="world" />
    <child link="base" />
    <origin xyz="0 0 0" rpy="0 0 -1.5708" />
  </joint>
  <link name="base">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gem_mount/mount_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgem_mount/mount_base.stl">
        <color rgba="0.25 0.55 0.85 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_tube" type="prismatic">
    <parent link="base" />
    <child link="tube" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="0" upper="0.12" effort="1" velocity="1" />
  </joint>
  <link name="tube">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_gem_tube.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_gem_tube.stl">
        <color rgba="0.62 0.65 0.70 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_top_mouth" type="prismatic">
    <parent link="tube" />
    <child link="top_mouth" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="0" upper="0.1" effort="1" velocity="1" />
  </joint>
  <link name="top_mouth">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gem_mount/motor0_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgem_mount/motor0_mount.stl">
        <color rgba="0.30 0.70 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_screws_base" type="prismatic">
    <parent link="base" />
    <child link="screws_base" />
    <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_base">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_gem_screws_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_gem_screws_base.stl">
        <color rgba="0.75 0.75 0.78 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_screws_top" type="prismatic">
    <parent link="top_mouth" />
    <child link="screws_top" />
    <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_top">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_gem_screws_top.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_gem_screws_top.stl">
        <color rgba="0.75 0.75 0.78 1" />
      </material>
    </visual>
  </link>
</robot>