<?xml version="1.0" ?>
<robot 
    xmlns:xacro="http://ros.org/wiki/xacro">

    <xacro:macro name="r_platform" params="prefix">
        <link name="Placa_cima">
            <inertial>
                <origin xyz="-0.176936337591448 0.00306007682802778 -0.00508917812830267" rpy="0 0 0" />
                <mass value="4.45495796159962" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Placa_cima.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.298039215686275 1 1 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Placa_cima.STL" />
                </geometry>
            </collision>
        </link>
        <link name="estrutura1">
            <inertial>
                <origin xyz="0.0902928987505107 0.00500000000000006 -0.15" rpy="0 0 0" />
                <mass value="0.369813102924492" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura1.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura1.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="placa_cima_estrutura1" type="fixed">
            <origin xyz="0.182 -0.202250000000001 -0.309999999999999" rpy="-3.14159265358979 -6.72862439166762E-16 3.14159265358979" />
            <parent link="Placa_cima" />
            <child link="estrutura1" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="Curva_cima">
            <inertial>
                <origin xyz="3.33066907387547E-16 -0.0324562842733922 0.39343329100272" rpy="0 0 0" />
                <mass value="1.4814389684612" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Curva_cima.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.298039215686275 1 1 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Curva_cima.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="estrutura1_curva_cima" type="fixed">
            <origin xyz="-0.04 0.205 0" rpy="-1.5708 0 -1.5708" />
            <parent link="estrutura1" />
            <child link="Curva_cima" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="plataform_base_link">
            <inertial>
                <origin xyz="0.409656075991922 0.112053255905365 0.235029914740766" rpy="0 0 0" />
                <mass value="106.934808234131" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/plataform_base_link.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.176470588235294 0.176470588235294 0.176470588235294 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/plataform_base_link.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="curva_base" type="fixed">
            <origin xyz="-0.235 -0.277 0.7875" rpy="0 1.5707963267949 0" />
            <parent link="Curva_cima" />
            <child link="plataform_base_link" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="Rwheel">
            <inertial>
                <origin xyz="5.55111512312578E-17 -2.77555756156289E-17 0.045" rpy="0 0 0" />
                <mass value="4.07150407905237" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Rwheel.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Rwheel.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="base_Rwheel" type="fixed">
            <origin xyz="0.62 -0.03 0.5" rpy="0 0 0" />
            <parent link="plataform_base_link" />
            <child link="Rwheel" />
            <axis xyz="0 0 1" />
        </joint>
        <link name="Lwheel">
            <inertial>
                <origin xyz="0 0 -0.045" rpy="0 0 0" />
                <mass value="4.07150407905237" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Lwheel.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Lwheel.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="base_Lwheel" type="fixed">
            <origin xyz="0.62 -0.03 -0.03" rpy="0 0 1.1753" />
            <parent link="plataform_base_link" />
            <child link="Lwheel" />
            <axis xyz="0 0 1" />
        </joint>
        <link name="Frente">
            <inertial>
                <origin xyz="0.347499078789456 0.0399999861284609 0.0497459135150458" rpy="0 0 0" />
                <mass value="15.6519108580651" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Frente.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/Frente.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="PCurva_cima_frente" type="fixed">
            <origin xyz="0.3475 -0.17 -0.003" rpy="3.1416 0 3.1416" />
            <parent link="Curva_cima" />
            <child link="Frente" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="traseira">
            <inertial>
                <origin xyz="0.347499026357106 0.0413173072995202 0.0500264208794842" rpy="0 0 0" />
                <mass value="15.8453315381401" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/traseira.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/traseira.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="PCurva_cima_traseira" type="fixed">
            <origin xyz="-0.3475 -0.17 0.788" rpy="0 0 0" />
            <parent link="Curva_cima" />
            <child link="traseira" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="estrutura2">
            <inertial>
                <origin xyz="0.0301448611881368 0.15 0.00499999999999989" rpy="0 0 0" />
                <mass value="0.177127899668705" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura2.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura2.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="estrutura2_placa_cima" type="fixed">
            <origin xyz="0.192 -0.20225 -0.01" rpy="-1.5708 6.9606E-16 1.5708" />
            <parent link="Placa_cima" />
            <child link="estrutura2" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="estrutura3">
            <inertial>
                <origin xyz="0.0298551388118631 0.15 0.005" rpy="0 0 0" />
                <mass value="0.177127899668705" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura3.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura3.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="estrutura3_placa_cima" type="fixed">
            <origin xyz="0.192 0.14775 -0.01" rpy="-1.5708 6.9606E-16 1.5708" />
            <parent link="Placa_cima" />
            <child link="estrutura3" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="estrutura4">
            <inertial>
                <origin xyz="0.0902928987505107 0.005 -0.15" rpy="0 0 0" />
                <mass value="0.369813102924493" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura4.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura4.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="placa_cima_estrutrura4" type="fixed">
            <origin xyz="0.182 0.19775 -0.31" rpy="-3.1416 -6.7286E-16 3.1416" />
            <parent link="Placa_cima" />
            <child link="estrutura4" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="estrutura5">
            <inertial>
                <origin xyz="0.075 0.005 -0.15" rpy="0 0 0" />
                <mass value="0.347080724470473" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura5.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura5.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="placa_cima_Estrutura5" type="fixed">
            <origin xyz="-0.538 0.20275 -0.31" rpy="3.1416 -6.9606E-16 -1.5708" />
            <parent link="Placa_cima" />
            <child link="estrutura5" />
            <axis xyz="0 0 0" />
        </joint>
        <link name="estrutura6">
            <inertial>
                <origin xyz="0.0750000000000001 0.00499999999999989 -0.15" rpy="0 0 0" />
                <mass value="0.347080724470473" />
                <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura6.STL" />
                </geometry>
                <material name="">
                    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                </material>
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://r_platform/meshes/estrutura6.STL" />
                </geometry>
            </collision>
        </link>
        <joint name="placa_cima_estrutura6" type="fixed">
            <origin xyz="-0.548 -0.19725 -0.31" rpy="-3.1416 6.9606E-16 1.5708" />
            <parent link="Placa_cima" />
            <child link="estrutura6" />
            <axis xyz="0 0 0" />
        </joint>

    </xacro:macro>
</robot>
