sadbot.sdf.xml

<sdf version='1.4'>
  <model name='sadbot'>
    <link name='link_1'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1</mass>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
      </inertial>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <link name='base_link'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1</mass>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
      </inertial>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='joint_1' type='revolute'>
      <child>base_link</child>
      <parent>link_1</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1</lower>
          <upper>1</upper>
          <effort>1</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
        </dynamics>
      </axis>
      <physics>
        <provide_feedback>1</provide_feedback>
        <ode>
          <provide_feedback>1</provide_feedback>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>