<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>

  <xacro:macro name="fanuc_m20ia" params="prefix">
    <!-- links: main serial chain -->
    <link name="${prefix}base_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/base_link.stl"/>
        </geometry>
        <xacro:material_fanuc_gray28 />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/base_link.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_1">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_1.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_1.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_2">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_2.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_2.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_3">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_3.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_3.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_4">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_4.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_4.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_5">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_5.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_5.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_6">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/visual/link_6.stl"/>
        </geometry>
        <xacro:material_fanuc_black />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_m20ia_support/meshes/m20ia/collision/link_6.stl"/>
        </geometry>
      </collision>
    </link>

    <!-- joints: main serial chain -->
    <joint name="${prefix}joint_1" type="revolute">
      <origin xyz="0 0 0.525" rpy="0 0 0"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}link_1"/>
      <axis xyz="0 0 1"/>
      <limit lower="-2.967060" upper="2.967060" effort="0" velocity="3.403392" />
    </joint>
    <joint name="${prefix}joint_2" type="revolute">
      <origin xyz="0.150 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_1"/>
      <child link="${prefix}link_2"/>
      <axis xyz="0 1 0"/>
      <limit lower="-1.745329" upper="2.792527" effort="0" velocity="3.054326" />
    </joint>
    <joint name="${prefix}joint_3" type="revolute">
      <origin xyz="0 0 0.790" rpy="0 0 0"/>
      <parent link="${prefix}link_2"/>
      <child link="${prefix}link_3"/>
      <axis xyz="0 -1 0"/>
      <limit lower="-3.228859" upper="4.766843" effort="0" velocity="3.141593" />
    </joint>
    <joint name="${prefix}joint_4" type="revolute">
      <origin xyz="0 0 0.250" rpy="0 0 0"/>
      <parent link="${prefix}link_3"/>
      <child link="${prefix}link_4"/>
      <axis xyz="-1 0 0"/>
      <limit lower="-3.490658" upper="3.490658" effort="0" velocity="6.283185" />
    </joint>
    <joint name="${prefix}joint_5" type="revolute">
      <origin xyz="0.835 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_4"/>
      <child link="${prefix}link_5"/>
      <axis xyz="0 -1 0"/>
      <limit lower="-2.443461" upper="2.443461" effort="0" velocity="6.283185" />
    </joint>
    <joint name="${prefix}joint_6" type="revolute">
      <origin xyz="0.100 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_5"/>
      <child link="${prefix}link_6"/>
      <axis xyz="-1 0 0"/>
      <limit lower="-4.712389" upper="4.712389" effort="0" velocity="9.599311" />
    </joint>

    <!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
    <link name="${prefix}base" />
    <joint name="${prefix}base_link-base" type="fixed">
      <origin xyz="0 0 0.525" rpy="0 0 0"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}base"/>
    </joint>

    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
    <link name="${prefix}flange" />
    <joint name="${prefix}joint_6-flange" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <parent link="${prefix}link_6" />
      <child link="${prefix}flange" />
    </joint>

    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
    <link name="${prefix}tool0" />
    <joint name="${prefix}link_6-tool0" type="fixed">
      <origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" />
      <parent link="${prefix}link_6" />
      <child link="${prefix}tool0" />
    </joint>
  </xacro:macro>
</robot>
