<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="rasmt_single_gazebo" params="prefix">

        <!-- ros_control-plugin -->
        <gazebo>
            <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
                <!--robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type-->
                <parameters>$(find rasmt_support)/config/rasmt_single_controllers.yaml</parameters>
                <robotNamespace>/${prefix}</robotNamespace>
            </plugin>
        </gazebo>

        <!-- link 0 -->
        <gazebo reference="${prefix}_Base_Link">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 1 -->
        <gazebo reference="${prefix}_Fork_1">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 2 -->
        <gazebo reference="${prefix}_Link_1">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 3 -->
        <gazebo reference="${prefix}_Fork_2">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 4 -->
        <gazebo reference="${prefix}_Link_2">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 5 -->
        <gazebo reference="${prefix}_Fork_3">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <!-- link 6 -->
        <gazebo reference="${prefix}_Dock_Link">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>
    </xacro:macro>
</robot>