<?xml version='1.0' encoding='utf-8'?>
<robot name="sts3215">
  <material name="black">
    <color rgba="0.1 0.1 0.1 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.06 0.4 0.1 1.0"/>
  </material>

  <link name="Base">
    <visual>
      <origin xyz="0 0 -0.01" rpy="-1.57079 0 0"/>
      <geometry>
        <mesh filename="bambot_assets/Base_Motor.stl"/>
        
      </geometry>
      <material name="black"/>
    </visual>
  </link>

  <link name="Rotation_Pitch">
    <inertial>
      <mass value="0.119226"/>
      <origin xyz="-9.07886e-05 0.0590972 0.01089" rpy="0 0 0"/>
      <inertia ixx="5.94278e-05" ixy="0" ixz="0" iyy="5.89975e-05" iyz="0" izz="3.13712e-05"/>
    </inertial>
    <visual>
      <geometry>
        <box size="0.07 0.005 0.021"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>


  <joint name="Rotation" type="revolute">
    <parent link="Base"/>
    <child link="Rotation_Pitch"/>
    <origin xyz="0 0.065 0.036" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14158" upper="3.14158" effort="35" velocity="1"/>
  </joint>
</robot>