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