wine_cooler.urdf.xml

<?xml version="1.0"?>
<robot name="wine_cooler">
  
  <macro name="wine_cooler" params="name parent xyz rpy">
    
    <link name="${parent}_${name}_wine_cooler_link">    
      <visual>
        <geometry>
          <mesh filename="package://iai_maps/Media/models/meshes/wine_cooler.dae" scale="0.03 0.03 0.03" />
        </geometry>		
        <origin rpy="0 0 0" xyz="0 0 0" />	
      </visual>

      <collision>
        <geometry>
          <mesh filename="package://iai_maps/Media/models/meshes/wine_cooler.dae" scale="0.03 0.03 0.03" />
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0" />
      </collision>

      <inertial>
	<mass value="1000"/>
	<cuboid_inertia_def width="1.1" height="1.8" length="1" mass="1000"/>
	<origin rpy="0 0 0" xyz="0.48 0.3 0.9" />
      </inertial>
    </link>
    
    <joint name="${parent}_${name}_wine_cooler_joint" type="fixed">
      <origin xyz="${xyz}" rpy="${rpy}"/>
      <parent link="${parent}_link"/>
      <child link="${parent}_${name}_wine_cooler_link"/>
    </joint>
    
  </macro>
  
</robot>