<?xml version="1.0"?>
<robot name="gems_articulated_robot">

  <link name="base">
    <visual><geometry><mesh filename="gems_articulated_base.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_articulated_base.dae"/></geometry></collision>
  </link>
  <link name="yoke">
    <visual><geometry><mesh filename="gems_articulated_yoke.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_articulated_yoke.dae"/></geometry></collision>
  </link>
  <link name="sensor_mount">
    <visual><geometry><mesh filename="gems_articulated_sensor_mount.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_articulated_sensor_mount.dae"/></geometry></collision>
  </link>
  <joint name="pan_joint" type="continuous">
    <parent link="base"/>
    <child link="yoke"/>
    <origin xyz="-0.000000 0.000000 0.087880" rpy="-0.000000 0.000000 -0.061087"/>
    <axis xyz="-0.0000 -0.0000 1.0000"/>
  </joint>
  <joint name="tilt_joint" type="continuous">
    <parent link="yoke"/>
    <child link="sensor_mount"/>
    <origin xyz="0.000000 -0.040120 0.106880" rpy="1.570796 -0.000000 -0.000000"/>
    <axis xyz="-0.0000 -0.0000 1.0000"/>
  </joint>

</robot>
