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