<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
    <xacro:macro name="rack" params="*origin parent">
        <link name="rack_body">
            <static>true</static>
            <inertial>
                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <mass value="0.0"/>
                <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
            </inertial>
            <visual>
                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <geometry>
                    <mesh filename="package://rbs_simulation/rack/model/rack.dae" scale="0.35 0.35 0.35"/>
                </geometry>
                <material name="asd">
                    <color rgba="1.0 0.0 0.0 1.0"/>
                    <texture filename="package://rbs_simulation/rack/model/Metal.jpg"/>
                </material>
            </visual>
            <collision>
                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
                <geometry>
                    <mesh filename="package://rbs_simulation/rack/model/rack.stl" scale="0.35 0.35 0.35"/>
                </geometry>
            </collision>
        </link>

        <joint name="rack_base_joint" type="fixed">
            <parent link="${parent}" />
            <child link="rack_body" />
            <xacro:insert_block name="origin" />
        </joint>
    </xacro:macro>
</robot>
