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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="plugbar" params="parent name *origin">
<joint name="${name}_joint" type="fixed" >
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mir_description/meshes/misc/plugbar.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mir_description/meshes/misc/plugbar_convex_hull.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
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