<?xml version='1.0' encoding='utf-8'?>
<robot name="umi_v2">
  <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>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_enpire_fixed.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_enpire_fixed.stl">
        <color rgba="0.55 0.75 0.60 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_fixed_riser.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_fixed_riser.stl">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_fixed_plate.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_fixed_plate.stl">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_handle_column.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_handle_column.stl">
        <color rgba="0.30 0.55 0.90 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_aruco_cube_shelled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_aruco_cube_shelled.stl">
        <color rgba="0.92 0.92 0.92 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_aruco_cube_shelled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_aruco_cube_shelled.stl">
        <color rgba="0.92 0.92 0.92 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_aruco_cube_shelled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_aruco_cube_shelled.stl">
        <color rgba="0.92 0.92 0.92 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_aruco_cube_shelled.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_aruco_cube_shelled.stl">
        <color rgba="0.92 0.92 0.92 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_cam_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_cam_conn.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_mount.stl">
        <color rgba="0.93 0.60 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_body.stl">
        <color rgba="0.15 0.35 0.15 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_camera_cover.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mugnode_v2_camera_cover.stl">
        <color rgba="0.55 0.85 0.65 1" />
      </material>
    </visual>
  </link>
  <joint name="jaw" type="revolute">
    <parent link="base" />
    <child link="jaw_link" />
    <origin xyz="-0.0255 0 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-0.9" upper="0.1" effort="3" velocity="3" />
  </joint>
  <link name="jaw_link">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_yoke.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_yoke.stl">
        <color rgba="0.90 0.65 0.20 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_yoke_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_yoke_conn.stl">
        <color rgba="0.85 0.30 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_enpire_moving.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_enpire_moving.stl">
        <color rgba="0.55 0.60 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_v2_thumb_cradle.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mgnode_v2_thumb_cradle.stl">
        <color rgba="0.90 0.40 0.30 1" />
      </material>
    </visual>
  </link>
</robot>