mira_simple.urdf

<?xml version="1.0"?>
<robot name="mira">
    <link name="base_link">
        <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <cylinder radius="0.06" length="0.09"/>
        </geometry>
        </visual>
    </link>
  
    <link name="roll_M1_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder radius="0.06" length="0.09"/>
            </geometry>
        </visual>
    </link>
    
    <joint name="roll_joint" type="revolute">
        <parent link="base_link"/>
        <child link="roll_M1_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
        <axis xyz="1 0 0"/>
    </joint>
  
</robot>