<?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" name="lol">


<macro name="wheel" params="prefix front right">
        <link name="${prefix}_wheel_link">
            <visual>
                <origin rpy="${pi/2} 0 0" xyz="0 0 0" />
                <geometry>
                    <cylinder radius="${wheel_diameter/2}" length="${wheel_width}" />
                </geometry>
                <material name="Black" />
            </visual>
            <collision>
                <origin rpy="${pi/2} 0 0" xyz="0 0 0" />
                <geometry>
                    <cylinder radius="${wheel_diameter/2}" length="${wheel_width}" />
                </geometry>
            </collision>
            <inertial>
                <mass value="${wheel_mass}" />
                <origin xyz="0 0 0" />
                <inertia  ixx="0.0109375" ixy="0.0"  ixz="0.0"  iyy="0.021125"  iyz="0.0"  izz="0.0109375" />
            </inertial>
        </link>

        <joint name="${prefix}_wheel_joint" type="continuous">
            <axis xyz="0 1 0" />
            <origin xyz="${front*(body_length-0.1)/2} ${right*(body_width+wheel_width)/2} 0" />
            <anchor xyz="0 0 0" />
                    <limit effort="100" velocity="100" />
                    <joint_properties damping="0.0" friction="0.0" />
            <parent link="base_link" />
            <child link="${prefix}_wheel_link" />
        </joint>

        <gazebo reference="${prefix}_wheel_link">
            <mu1 value="10.0" /> <!-- Estava en tots els mu1 a 2.0 xo crec que patina massa -->
            <mu2 value="1.0" />
            <fdir1 value="1 0 0"/>
            <kp value="1000000.0"/>
            <kd value="100.0"/>
            <material>Gazebo/Black</material>
            <turnGravityOff>false</turnGravityOff>
        </gazebo>

        <transmission type="pr2_mechanism_model/SimpleTransmission" name="${prefix}_wheel_trans">
            <actuator name="${prefix}_wheel_motor" />
            <joint name="${prefix}_wheel_joint" />
            <mechanicalReduction>1.0</mechanicalReduction>
        </transmission>

</macro>
</robot>