<?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_cr35ia" params="prefix">
    <!-- links: main serial chain -->
    <link name="${prefix}base_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/base_link.stl"/>
        </geometry>
        <xacro:material_fanuc_gray28 />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/collision/base_link.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_1">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/link_1.stl"/>
        </geometry>
        <xacro:material_fanuc_green />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/collision/link_1.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_2">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/link_2.stl"/>
        </geometry>
        <xacro:material_fanuc_green />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/collision/link_2.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_3">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/link_3.stl"/>
        </geometry>
        <xacro:material_fanuc_green />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/collision/link_3.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_4">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/link_4.stl"/>
        </geometry>
        <xacro:material_fanuc_green />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/collision/link_4.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_5">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/visual/link_5.stl"/>
        </geometry>
        <xacro:material_fanuc_white />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_cr35ia_support/meshes/cr35ia/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_cr35ia_support/meshes/cr35ia/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_cr35ia_support/meshes/cr35ia/collision/link_6.stl"/>
        </geometry>
      </collision>
    </link>

    <!-- joints: main serial chain -->
    <joint name="${prefix}joint_1" type="revolute">
      <origin xyz="0 0 1.180" rpy="0 0 0"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}link_1"/>
      <axis xyz="0 0 1"/>
      <limit lower="-2.9670" upper="2.9670" effort="0" velocity="3.1415"/>
    </joint>
    <joint name="${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"/>
      <!-- refer to note 1 in the package manifest -->
      <limit lower="-0.7853" upper="2.0943" effort="0" velocity="3.1415"/>
    </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="${prefix}link_3"/>
      <axis xyz="0 -1 0"/>
      <!-- refer to note 1 in the package manifest -->
      <limit lower="-2.1450" upper="2.3561" effort="0" velocity="3.4906"/>
    </joint>
    <joint name="${prefix}joint_4" type="revolute">
      <origin xyz="0 0 0.150" rpy="0 0 0"/>
      <parent link="${prefix}link_3"/>
      <child link="${prefix}link_4"/>
      <axis xyz="-1 0 0"/>
      <limit lower="-3.4906" upper="3.4906" effort="0" velocity="6.1086"/>
    </joint>
    <joint name="${prefix}joint_5" type="revolute">
      <origin xyz="0.860 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_4"/>
      <child link="${prefix}link_5"/>
      <axis xyz="0 -1 0"/>
      <limit lower="-1.9198" upper="1.9198" effort="0" velocity="6.1086"/>
    </joint>
    <joint name="${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="-7.8539" upper="7.8539" effort="0" velocity="6.9813"/>
    </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 1.180" 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>
