<?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.stl140114813075760">
        <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.stl140114813076480">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813077600">
        <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.stl140114813078240">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl140114813078800">
        <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_beauty_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_1.stl140114813079360">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="cb_tower.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="cb_tower.stl">
        <color rgba="0.55 0.6 0.65 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="cb_spring_i.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="cb_spring_i.stl">
        <color rgba="0.95 0.45 0.1 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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813080480">
        <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="-0.026500 0.035000 0.009000" 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.stl140114813081600">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl140114813082160">
        <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_beauty_2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_2.stl140114813082720">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813083840">
        <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 0.006000" rpy="3.141593 1.570796 3.141593" />
  </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.stl140114813084960">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl140114813085520">
        <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_beauty_3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_3.stl140114813086080">
        <color rgba="0.30 0.66 0.45 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="cb_clip.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="cb_clip.stl">
        <color rgba="0.55 0.6 0.65 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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813087200">
        <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 -0.010000 -0.009000" rpy="-1.570797 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.stl140114813088320">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl140114813088880">
        <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_beauty_4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_4.stl140114813089440">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813090560">
        <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="-0.069500 -0.009000 0.010000" rpy="1.570797 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.stl140114813091680">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="holder_fillet.stl140114813108688">
        <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_beauty_5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="connector_beauty_5.stl140114813109248">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl140114813110368">
        <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="-0.062500 -0.008000 0.007000" rpy="1.570796 1.570796 0.000000" />
  </joint>
</robot>