|
|
<?xml version="1.0" ?> |
|
|
<robot name="switch"> |
|
|
<link name="base"/> |
|
|
<link name="link_0"> |
|
|
<visual name="switch-1"> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-8.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="switch-1"> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-9.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="switch-1"> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-4.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="switch-1"> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-3.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-8.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-9.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-4.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-3.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint name="joint_0" type="revolute"> |
|
|
<origin xyz="0.05022849999999996 -0.010858965876808951 0.041670398045619433"/> |
|
|
<axis xyz="-1 0 0"/> |
|
|
<child link="link_0"/> |
|
|
<parent link="link_1"/> |
|
|
<limit lower="0.0" upper="0.5585053606381855"/> |
|
|
</joint> |
|
|
<link name="link_1"> |
|
|
<visual name="base_body-2"> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-2.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="base_body-2"> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-6.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="base_body-2"> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-7.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<visual name="base_body-2"> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-1.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-2.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-6.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-7.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/switch/original-1.obj" scale="0.1 0.1 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint name="joint_1" type="fixed"> |
|
|
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> |
|
|
<child link="link_1"/> |
|
|
<parent link="base"/> |
|
|
</joint> |
|
|
</robot> |
|
|
|
