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

  <!--Example single arm setup-->

  <xacro:arg name="tf_prefix" default="" />
  <!-- e.g.: 6-->
  <xacro:arg name="dof" default="6" />
  <!-- real, mock, sim -->
  <xacro:arg name="mode" default="mock" />
  <!-- physical ethercat bus, only used for real -->
  <xacro:arg name="ethercat_bus" default="eth0" />
  <!-- Change to add covers to the arm -->
  <xacro:arg name="covers" default="false" />
  <!-- v1, v2, ... -->
  <xacro:arg name="version" default="baracuda12" />

  <xacro:include filename="$(find dynaarm_description)/urdf/dynaarm.urdf.xacro" />

  <link name="world" />


  <link name="table">
       <visual>
         <origin xyz="0 0 -0.025" rpy="0 0 0" />
        <geometry>
           <box size="1.0 1.0 0.05"/>
        </geometry>
        <material name="Wood">
          <color rgba="0.9 0.83 0.733 1.0"/>
        </material>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
           <box size="1.0 1.0 0.05"/>
        </geometry>
      </collision>
  </link>
  <joint name="table_joint" type="fixed">
        <parent link="world"/>
        <child link="table"/>
  </joint>


  <!-- create an instance of the dynaarm xacro macro and fix its base, move it up such that it doesn't intersect with the ground -->
  <xacro:dynaarm tf_prefix="$(arg tf_prefix)"
                parent_link="table"
                dof="$(arg dof)"
                mode="$(arg mode)"
                ethercat_bus="$(arg ethercat_bus)"
                covers="$(arg covers)"
                version="$(arg version)">
    <origin xyz="0 0 0.085" rpy="0.0 0.0 0.0" />
  </xacro:dynaarm>

</robot>
