assets/bidex/objects/urdf/switch_mobility.urdf

<?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>