<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from test_urdf.xacro                | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="test_converter" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="link_slot1">
    <visual>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="link_slot1_switch">
    <visual>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="link_slot1_switch_cover">
    <visual>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <box size="1 1 1"/>
        <box size="1 1 1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <joint name="link_slot1/link_slot1_switch" type="revolute">
    <parent link="link_slot1"/>
    <child link="link_slot1_switch"/>
    <origin rpy="0.419 0 0" xyz=".037 .111 0.005"/>
    <axis xyz="1 0 0"/>
    <limit effort="10000000.0" lower="-0.84" upper="0" velocity="1000"/>
  </joint>
  <joint name="link_slot1/link_slot1_switch_cover" type="revolute">
    <parent link="link_slot1"/>
    <child link="link_slot1_switch_cover"/>
    <origin rpy="0 0 0" xyz="0.037 0.124 0.011"/>
    <axis xyz="1 0 0"/>
    <limit effort="10000000.0" lower="-1.57" upper="0" velocity="1000"/>
  </joint>
  <gazebo reference="link_slot1">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="link_slot1_switch">
    <material>Gazebo/Black</material>
  </gazebo>
  <gazebo reference="link_slot1_switch_cover">
    <material>Gazebo/Red</material>
  </gazebo>
</robot>

