<?xml version='1.0' encoding='utf-8'?>
<robot name="two_servo">
  <link name="world" />
  <joint name="world_to_servo_0" type="fixed">
    <parent link="world" />
    <child link="servo_0" />
    <origin xyz="0 0 0.032000" rpy="1.5708 0 0" />
  </joint>
  <link name="servo_0">
    <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.stl139805873331616">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="base_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="base_holder.stl139805873331136">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
  </link>
  <joint name="output_0" type="revolute">
    <parent link="servo_0" />
    <child link="yoke_0" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_0">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873333136">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <link name="servo_1">
    <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.stl139805873333776">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_approx_drilled.stl139805873334336">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_aligned_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_aligned_1.stl139805873334816">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_1" type="revolute">
    <parent link="servo_1" />
    <child link="yoke_1" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_1">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873335936">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_1" type="fixed">
    <parent link="yoke_0" />
    <child link="servo_1" />
    <origin xyz="-0.030500 0.047000 0.000000" rpy="1.570796 0.000000 -1.570796" />
  </joint>
  <link name="servo_2">
    <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.stl139805873337056">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_approx_drilled.stl139805873337616">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_aligned_2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_aligned_2.stl139805873338096">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_2" type="revolute">
    <parent link="servo_2" />
    <child link="yoke_2" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_2">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873339216">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_2" type="fixed">
    <parent link="yoke_1" />
    <child link="servo_2" />
    <origin xyz="-0.220500 0.000000 -0.000000" rpy="-0.000000 1.570796 0.000000" />
  </joint>
  <link name="servo_3">
    <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.stl139805873639712">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_approx_drilled.stl139805873640272">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_aligned_3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_aligned_3.stl139805873640752">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_3" type="revolute">
    <parent link="servo_3" />
    <child link="yoke_3" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_3">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873641872">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_3" type="fixed">
    <parent link="yoke_2" />
    <child link="servo_3" />
    <origin xyz="-0.180500 0.000000 0.000000" rpy="-1.570796 0.000000 0.000000" />
  </joint>
  <link name="servo_4">
    <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.stl139805873642992">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_approx_drilled.stl139805873643552">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_aligned_4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_aligned_4.stl139805873644032">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_4" type="revolute">
    <parent link="servo_4" />
    <child link="yoke_4" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_4">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873645152">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_4" type="fixed">
    <parent link="yoke_3" />
    <child link="servo_4" />
    <origin xyz="-0.066500 0.000000 0.000000" rpy="1.570796 0.000000 0.000000" />
  </joint>
  <link name="servo_5">
    <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.stl139805873646272">
        <color rgba="0.35 0.35 0.40 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="holder_approx_drilled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_approx_drilled.stl139805873646832">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="connector_aligned_5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_aligned_5.stl139805873647312">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
  </link>
  <joint name="output_5" type="revolute">
    <parent link="servo_5" />
    <child link="yoke_5" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.74" upper="1.74" effort="2.94" velocity="3.0" />
  </joint>
  <link name="yoke_5">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="yoke_exact.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_exact.stl139805873648432">
        <color rgba="0.85 0.60 0.20 1" />
      </material>
    </visual>
  </link>
  <joint name="connect_5" type="fixed">
    <parent link="yoke_4" />
    <child link="servo_5" />
    <origin xyz="-0.054500 0.000000 0.000000" rpy="1.570796 1.570796 0.000000" />
  </joint>
</robot>