<?xml version="1.0"?>

<robot name="iai_table" xmlns:xacro="http://ros.org/wiki/xacro">

  <macro name="iai_table_1" params="name parent *origin">
    <!-- LINKS -->
    
    <link name="${name}_main">
      
      <sphere_inertia radius="0" mass="0"/>
      <visual>
        <origin xyz="0 0 0.3619" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0.3619" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
        </geometry>
      </collision>
    </link>
      
    
    <!-- JOINTS -->
    
    <joint name="${name}_main_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_main"/>
    </joint>
  </macro>
</robot>
