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<?xml version="1.0"?>
<robot name="rocker_switch">
<!-- Materials -->
<material name="mat_black"><color rgba="0.08 0.08 0.08 1.0"/></material>
<material name="mat_gray"><color rgba="0.45 0.45 0.48 1.0"/></material>
<!-- Root base for the standalone switch -->
<link name="switch_base_link">
<inertial>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<mass value="0.08"/>
<inertia ixx="0.00006" ixy="0.0" ixz="0.0"
iyy="0.00006" iyz="0.0"
izz="0.00008"/>
</inertial>
<visual>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<geometry><box size="0.07 0.05 0.012"/></geometry>
<material name="mat_black"/>
</visual>
<collision>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<geometry><box size="0.07 0.05 0.012"/></geometry>
</collision>
</link>
<!-- Rocker Switch housing -->
<link name="switch_housing_link">
<inertial>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.00002" ixy="0.0" ixz="0.0"
iyy="0.00002" iyz="0.0"
izz="0.00002"/>
</inertial>
<visual>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<geometry><box size="0.05 0.03 0.012"/></geometry>
<material name="mat_gray"/>
</visual>
<collision>
<origin xyz="0 0 0.006" rpy="0 0 0"/>
<geometry><box size="0.05 0.03 0.012"/></geometry>
</collision>
</link>
<joint name="switch_housing_joint" type="fixed">
<parent link="switch_base_link"/>
<child link="switch_housing_link"/>
<!-- centered on the base -->
<origin xyz="0 0 0.012" rpy="0 0 0"/>
</joint>
<!-- Rocker toggle -->
<link name="rocker_link">
<inertial>
<origin xyz="0 0 0.004" rpy="0 0 0"/>
<mass value="0.02"/>
<inertia ixx="0.000005" ixy="0.0" ixz="0.0"
iyy="0.000004" iyz="0.0"
izz="0.000006"/>
</inertial>
<visual>
<origin xyz="0 0 0.004" rpy="0 0 0"/>
<geometry><box size="0.042 0.024 0.008"/></geometry>
<material name="mat_black"/>
</visual>
<collision>
<origin xyz="0 0 0.004" rpy="0 0 0"/>
<geometry><box size="0.042 0.024 0.008"/></geometry>
</collision>
</link>
<joint name="rocker_joint" type="revolute">
<parent link="switch_housing_link"/>
<child link="rocker_link"/>
<origin xyz="0 0 0.010" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-0.436332" upper="0.436332" effort="0.3" velocity="3.0"/>
<dynamics damping="0.03" friction="0.02"/>
</joint>
</robot>
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