~shadowrobot/sr-ros-interface/trunk

<robot name="desk" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="desk">

 

  <link name="desk_pillar">

    <inertial>

      <origin xyz="0 0 0.5"/>

      <mass value="1000.0"/>

      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

    </inertial>

    <visual>

      <origin rpy="0 0 0" xyz="0 0 0.51"/>

      <geometry name="desk_visual">

        <cylinder length="0.98" radius="0.1"/>

      </geometry>

      <material name="Green"/>

    </visual>

    <collision>

      <origin rpy="0 0 0" xyz="0 0 0.51"/>

      <geometry name="desk_collision">

        <cylinder length=".98" radius="0.1"/>

      </geometry>

    </collision>

  </link>

  <gazebo reference="desk_pillar">

    <material>Gazebo/Green</material>

    <mu1>1000.0</mu1>

    <mu2>1000.0</mu2>

    <kp>10000000.0</kp>

    <kd>1.0</kd>

    <selfCollide>true</selfCollide>

  </gazebo>

 

  <link name="desk_support">

    <inertial>

      <origin xyz="0 0 0"/>

      <mass value="1000.0"/>

      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

    </inertial>

    <visual>

      <origin rpy="0 0 0" xyz="0 0 0.01"/>

      <geometry name="desk_s_visual">

        <cylinder length="0.02" radius="1.0"/>

      </geometry>

      <material name="Green"/>

    </visual>

    <collision>

      <origin rpy="0 0 0" xyz="0 0 0.01"/>

      <geometry name="desk_s_collision">

        <cylinder length="0.02" radius="1.0"/>

      </geometry>

    </collision>

  </link>

  <gazebo reference="desk_support">

    <material>Gazebo/Green</material>

    <mu1>1000.0</mu1>

    <mu2>1000.0</mu2>

    <kp>10000000.0</kp>

    <kd>1.0</kd>

    <selfCollide>true</selfCollide>

  </gazebo>

 

  <gazebo>

    <canonicalBody>desk_support</canonicalBody>

  </gazebo>

 

  <joint name="desk_joint" type="fixed">

    <parent link="desk_support"/>

    <child link="desk_pillar"/>

    <origin rpy="0 0 0" xyz="0 0 0.02"/>

  </joint>

 

  </xacro:macro>

</robot>