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

  <xacro:macro name="fanuc_lrmate200id" params="prefix">
    <link name="${prefix}base_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/base_link.stl"/>
        </geometry>
        <xacro:material_fanuc_gray28 />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/base_link.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_1">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/collision/link_1.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_2">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_2.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_2.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_3">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/collision/link_3.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_4">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_4.stl"/>
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_4.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_5">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/collision/link_5.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}link_6">
      <visual>
        <origin xyz="-0.2010 -0.03750 -0.03750" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_63.stl"/> 
        </geometry>
        <xacro:material_fanuc_yellow />
      </visual>
      <collision>
        <origin xyz="-0.2010 -0.03750 -0.03750" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_63.stl"/>
        </geometry>
      </collision>
    </link>
    <link name="${prefix}tool0" />

    <joint name="${prefix}joint_1" type="revolute">
      <origin xyz="0 0 0.330" rpy="0 0 0" />
      <parent link="${prefix}base_link" />
      <child link="${prefix}link_1" />
      <axis xyz="0 0 1" />
      <limit effort="0" lower="-2.965" upper="2.965" velocity="7.85" />
    </joint>
    <joint name="${prefix}joint_2" type="revolute">
      <origin xyz="0.050 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_1" />
      <child link="${prefix}link_2" />
      <axis xyz="0 1 0" />
      <limit effort="0" lower="-1.745329" upper="2.530727" velocity="6.63" />
    </joint>
    <joint name="${prefix}joint_3" type="revolute">
      <origin xyz="0 0 0.330" rpy="0 0 0"/>
      <parent link="${prefix}link_2" />
      <child link="${prefix}link_3" />
      <axis xyz="0 -1 0" />
      <limit effort="0" lower="-2.450966" upper="4.886922" velocity="9.08" />
    </joint>
    <joint name="${prefix}joint_4" type="revolute">
      <origin xyz="0 0 0.035" rpy="0 0 0"/>
      <parent link="${prefix}link_3"/>
      <child link="${prefix}link_4"/>
      <axis xyz="-1 0 0"/>
      <limit effort="0" lower="-3.315" upper="3.315" velocity="9.60" />
    </joint>
    <joint name="${prefix}joint_5" type="revolute">
      <origin xyz="0.335 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_4"/>
      <child link="${prefix}link_5"/>
      <axis xyz="0 -1 0"/>
      <limit effort="0" lower="-2.18" upper="2.18" velocity="9.51" />
    </joint>
    <joint name="${prefix}joint_6" type="revolute">
      <origin xyz="0.190 0 0" rpy="0 0 0"/>
      <parent link="${prefix}link_5"/>
      <child link="${prefix}link_6"/>
      <axis xyz="-1 0 0"/>
      <limit effort="0" lower="-6.285" upper="6.285" velocity="17.45" />
    </joint>
    <joint name="${prefix}joint_6-tool0" type="fixed">
      <origin xyz="0 0 0" rpy="${m_pi} ${-m_pi_2} 0" />
      <parent link="${prefix}link_6" />
      <child link="${prefix}tool0" />
    </joint>

    <!-- ROS base_link to Fanuc World Coordinates transform -->
    <link name="${prefix}base" />
    <joint name="${prefix}base_link-base" type="fixed">
      <origin xyz="0 0 0.330" rpy="0 0 0"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}base"/>
    </joint>
    
    <joint name="${prefix}link_6-tool0" type="fixed">
      <parent link="${prefix}link_6" />
      <child link="${prefix}tool0" />
      <origin xyz="0 0 0" rpy="0 0 0" />
    </joint>
   
  </xacro:macro>
</robot>
