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

  <link name="base_link">
       <inertial>
  	<mass value="1"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  </inertial>
    </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" />
      <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
      <dynamics damping="50" friction="1"/>
    </joint>

    <link name="pan_link">
     <inertial>
  	<mass value="1"/>
    <origin rpy="0 0 0" xyz="0 0 1"/>
  	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  </inertial>
    </link>

    <joint name="tilt_joint" type="revolute">
      <parent link="pan_link"/>
      <child link="tilt_link"/>
      <origin rpy="0.0 0.0 0.0" xyz="4 0 1"/>
      <axis xyz="0.0 1.0 0.0" />
      <limit effort="300" velocity="1.0" lower="-4.64" upper="4.64"/>
    </joint>

    <link name="tilt_link">
    <inertial>
  	<mass value="5"/>
    <origin rpy="0 0 0" xyz="1.001 1 1"/>
  	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  </inertial>
    </link>
</robot>