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