<?xml version="1.0"?>
<robot name="one_joint_lab">
  <link name="base_link"/>
  <link name="arm_link">
    <visual>
      <origin xyz="0.2 0 0"/>
      <geometry><box size="0.4 0.1 0.1"/></geometry>
    </visual>
    <collision>
      <origin xyz="0.2 0 0"/>
      <geometry><box size="0.4 0.1 0.1"/></geometry>
    </collision>
    <inertial>
      <origin xyz="0.2 0 0"/>
      <mass value="1.0"/>
      <inertia ixx="0.001666667" ixy="0" ixz="0" iyy="0.014166667" iyz="0" izz="0.014166667"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="arm_link"/>
    <origin xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.57" upper="1.57" effort="5.0" velocity="1.0"/>
  </joint>
  <ros2_control name="OneJointMock" type="system">
    <hardware><plugin>mock_components/GenericSystem</plugin></hardware>
    <joint name="joint1">
      <command_interface name="position"/>
      <state_interface name="position"><param name="initial_value">0.0</param></state_interface>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
</robot>
