<?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.stl139935410175280">
        <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_detach.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="base_holder.stl139935410700672">
        <color rgba="0.20 0.52 0.85 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="fiducial_mount.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="fidmount">
        <color rgba="0.93 0.55 0.16 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.stl139935410701792">
        <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.stl139935410702432">
        <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.stl139935410702992">
        <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.stl139935410703552">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl139935410704672">
        <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.stl139935410705792">
        <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.stl139935410706352">
        <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.stl139935410706912">
        <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.stl139935410708032">
        <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.stl139935410709152">
        <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.stl139935410709712">
        <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.stl139935410710272">
        <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_fillet.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="yoke_fillet.stl139935410711392">
        <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.stl139935410712512">
        <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.stl139935410713072">
        <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.stl139935410713632">
        <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.stl139935410714752">
        <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.stl139935410715872">
        <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.stl139935410716432">
        <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.stl139935410749824">
        <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.stl139935410028464">
        <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>