<?xml version='1.0' encoding='utf-8'?>
<robot name="my_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 0" />
  </joint>
  <link name="base">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_my_block.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_my_block.stl">
        <color rgba="0.25 0.55 0.85 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_extrusion" type="prismatic">
    <parent link="base" />
    <child link="ext" />
    <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="ext">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_my_extrusion.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_my_extrusion.stl">
        <color rgba="0.66 0.68 0.72 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_tnuts" type="prismatic">
    <parent link="ext" />
    <child link="tnuts" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0.7 0.7" />
    <limit lower="0" upper="0.04" effort="1" velocity="1" />
  </joint>
  <link name="tnuts">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_my_tnuts.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_my_tnuts.stl">
        <color rgba="0.55 0.42 0.25 1" />
      </material>
    </visual>
  </link>
  <joint name="explode_screws" type="prismatic">
    <parent link="base" />
    <child link="screws" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0.7 0.7" />
    <limit lower="0" upper="0.06" effort="1" velocity="1" />
  </joint>
  <link name="screws">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_my_screws.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_my_screws.stl">
        <color rgba="0.80 0.80 0.83 1" />
      </material>
    </visual>
  </link>
</robot>