<?xml version="1.0"?>
<robot name="singular_arm">
<link name="base">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<link name="massless_link"/>
<joint name="singular_joint" type="revolute">
<parent link="base"/><child link="massless_link"/>
<axis xyz="0 0 1"/>
<limit effort="1" lower="-1" upper="1" velocity="1"/>
</joint>
</robot>