<?xml version="1.0" ?>
<robot name="rm_65_description">
  <link name="root"/>
  
  <link name="base_link">
    <inertial>
      <origin
        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
        rpy="0 0 0" />
      <mass
        value="0.841070778135659" />
      <inertia
        ixx="0.0017261110801622"
        ixy="2.52746264980217E-06"
        ixz="-3.67690303614961E-05"
        iyy="0.00170987405835604"
        iyz="1.67996364994424E-06"
        izz="0.000904023422915791" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
    <geometry>
        <mesh
          filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
      </geometry>
      <material
       name="">
       <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  
  <link name="link_1">
    <inertial>
      <origin
        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
        rpy="0 0 0" />
    <mass
        value="0.593563443690403" />
    <inertia
        ixx="0.00126614120341847"
        ixy="-1.294980943835E-08"
        ixz="-9.80120923066996E-09"
        iyy="0.00118168178300364"
        iyz="-0.00021121727444415"
        izz="0.00056135241627747" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
    <geometry>
        <mesh
          filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
    </geometry>
    <material
      name="">
        <color
          rgba="1 1 1 1" />
    </material>
    </visual>
    <collision>
     <origin
        xyz="0 0 0"
        rpy="0 0 0" />
    <geometry>
      <mesh
        filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL" />
    </geometry>
    </collision>
  </link>
  
  <joint name="root_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="root"/>
    <child link="base_link"/>
  </joint>

  <joint name="joint1" type="revolute">
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0 0 1" />
    <origin xyz="0 0 0.2405" rpy="0 0 0" />
    <limit
      lower="-3.1"
      upper="3.1"
      effort="60"
      velocity="3.14" />
  </joint>
</robot>
