46 lines
1.6 KiB
XML
Executable File
46 lines
1.6 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="stair_length" value="0.640" />
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<xacro:property name="stair_width" value="0.310" />
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<xacro:property name="stair_height" value="0.170" />
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<xacro:macro name="stairs" params="stairs xpos ypos zpos">
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<joint name="stair_joint_origin" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="stair_link_${stairs}"/>
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</joint>
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<link name="stair_link_${stairs}">
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<visual>
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<geometry>
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<box size="${stair_length} ${stair_width} ${stair_height}"/>
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</geometry>
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<material name="grey"/>
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<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
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</visual>
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<collision>
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<geometry>
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<box size="${stair_length} ${stair_width} ${stair_height}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.80"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<xacro:if value="${stairs}">
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<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
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<joint name="stair_joint_${stairs}" type="fixed">
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<parent link="stair_link_${stairs}"/>
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<child link="stair_link_${stairs-1}"/>
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</joint>
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</xacro:if>
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</xacro:macro>
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</robot> |