<?xml version="1.0"?>

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

  <xacro:macro name="pr2_torso_gazebo_v0" params="name">

    <gazebo reference="${name}_link">
      <sensor type="contact" name="${name}_contact_sensor">
        <contact>
          <collision>${name}_link_geom</collision>
        </contact>
        <update_rate>100.0</update_rate>
        <plugin name="${name}_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>100.0</updateRate>
          <bumperTopicName>${name}_bumper</bumperTopicName>
          <frameName>world</frameName>
        </plugin>
      </sensor>
    </gazebo>

    <gazebo>
      <joint type="screw" name="${name}_screw_torso_lift_joint">
          <parent>${name}_link</parent>
          <child>${name}_motor_screw_link</child>
          <axis>
            <xyz>0 0 1</xyz>
          </axis>
          <thread_pitch>3141.6</thread_pitch>
      </joint>
    </gazebo>

  </xacro:macro>



</robot>
