<?xml version="1.0" encoding="utf-8"?>
<robot
    xmlns="http://www.ros.org/wiki/urdf"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation=
    "https://raw.github.com/laas/urdf_validator/master file:urdf.xsd"
    name="one_dof_revolute_x">
  <link name="link1">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1."/>
      <inertia ixx="1." ixy="0." ixz="0."
	       iyy="1." iyz="0."
	       izz="1." />
    </inertial>
  </link>
  <link name="link2">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1."/>
      <inertia ixx="1." ixy="0." ixz="0."
	       iyy="1." iyz="0."
	       izz="1." />
    </inertial>
  </link>

  <joint name="joint1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>

    <origin xyz="0 1 0" rpy="0 0 0"/>
    <axis xyz="1 0 0" />

    <limit effort="999999" velocity="999999"
	   lower="-3.14" upper="3.14" />
  </joint>
</robot>
