<?xml version="1.0"?>
<!--
Copyright 2025 Duatic AG

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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="" />

  <!-- simple, complex -->
  <xacro:arg name="collision" default="complex" />
  <!-- real, mock, sim -->
  <xacro:arg name="mode" default="mock" />
  <!-- physical ethercat bus, only used for real -->
  <xacro:arg name="ethercat_bus" default="eth0" />
  <!-- v1, v2, ... -->
  <xacro:arg name="version" default="corydoras12" />

  <!-- Only relevant for Gazebo -->
  <xacro:arg name="namespace" default="" />
  <xacro:arg name="controller_manager_yaml" default="" />

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

<link name="base_link" />

  <link name="table">
    <visual>
      <origin xyz="0 0 0" 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>
    <inertial>
      <mass value="10.0"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="table_joint" type="fixed">
    <parent link="base_link"/>
    <child link="table"/>
    <origin xyz="0 0 -0.025" rpy="0 0 0"/>
  </joint>

  <!-- create an instance of the dynaarm and fix its base-->
  <xacro:dynaarm tf_prefix="$(arg tf_prefix)"
                parent_link="table"
                collision="$(arg collision)"
                mode="$(arg mode)"
                ethercat_bus="$(arg ethercat_bus)"
                version="$(arg version)">
    <origin xyz="0 0 0.025" rpy="0.0 0.0 0.0" />
  </xacro:dynaarm>

  <!-- Include the control plugin -->
  <xacro:include filename="$(find duatic_control)/urdf/plugins.urdf.xacro" />
  <xacro:control namespace="$(arg namespace)"
                controller_manager_yaml="$(arg controller_manager_yaml)" />

</robot>
