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<?xml version="1.0" ?>
<robot name="test_include_urdf">
<link name="base_link">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</link>
<joint name="joint_1" type="revolute">
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-1" upper="1" velocity="1"/>
</joint>
<link name="link_1">
<inertial>
<mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
</link>
</robot>
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