<?xml version="1.0"?> <robot name="pan_tilt">
<link name="base_link"> <visual>
<geometry>
<cylinder length="0.01" radius="0.2"/> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <material name="yellow"> <color rgba="1 1 0 1"/> </material> </visual> </link>
<joint name="pan_joint" type="revolute"> <parent link="base_link"/> <child link="pan_link"/> <origin xyz="0 0 0.1"/> <axis xyz="0 0 1" />
</joint>
<link name="pan_link"> <visual>
<geometry>
<cylinder length="0.4" radius="0.04"/> </geometry>
<origin rpy="0 0 0" xyz="0 0 0.09"/> <material name="red"> <color rgba="0 0 1 1"/> </material> </visual> </link>
<joint name="tilt_joint" type="revolute"> <parent link="pan_link"/> <child link="tilt_link"/> <origin xyz="0 0 0.2"/> <axis xyz="0 1 0" /> </joint>
<link name="tilt_link"> <visual>
<geometry>
<cylinder length="0.4" radius="0.04"/> </geometry>
<origin rpy="0 1.5 0" xyz="0 0 0"/> <material name="green"> <color rgba="1 0 0 1"/> </material> </visual> </link> </robot>