<?xml version='1.0' encoding='utf-8'?>
<robot name="gripper">
  <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="gnode_connector1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mconnector1">
        <color rgba="0.95 0.45 0.12 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_finger_adj.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mfinger_adj">
        <color rgba="0.55 0.60 0.70 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_holder.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mholder">
        <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_servo.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mservo">
        <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_servo_to_finger.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mservo_to_finger">
        <color rgba="0.55 0.60 0.70 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_fixed_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mfixed_conn">
        <color rgba="0.30 0.66 0.45 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="-0.1" upper="0.9" effort="3" velocity="3" />
  </joint>
  <link name="jaw_link">
    <visual>
      <origin xyz="0.0255 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="gnode_finger.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mfinger">
        <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_yoke.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="myoke">
        <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_yoke_conn.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="myoke_conn">
        <color rgba="0.85 0.30 0.30 1" />
      </material>
    </visual>
  </link>
</robot>