<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hexapod_robot">
    <xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_materials.xacro"/>
    <xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_macros.xacro"/>

    <link name="base_link">
        <xacro:create_frame_plate z_offset="-0.034"/>
        <xacro:create_frame_plate z_offset=" 0.034"/>
        
        <xacro:create_coxa_joint_mount xy_offset="-0.040  0.080"/>
        <xacro:create_coxa_joint_mount xy_offset="-0.060  0.000"/>
        <xacro:create_coxa_joint_mount xy_offset="-0.040 -0.080"/>

        <xacro:create_coxa_joint_mount xy_offset=" 0.040 -0.080"/>
        <xacro:create_coxa_joint_mount xy_offset=" 0.060  0.000"/>
        <xacro:create_coxa_joint_mount xy_offset=" 0.040  0.080"/>
    </link>

    <xacro:create_leg number="1" side="l" xy_offset="-0.040   0.080"/>
    <xacro:create_leg number="2" side="l" xy_offset="-0.060   0.000"/>
    <xacro:create_leg number="3" side="l" xy_offset="-0.040  -0.080"/>
    <xacro:create_leg number="4" side="r" xy_offset=" 0.040  -0.080"/>
    <xacro:create_leg number="5" side="r" xy_offset=" 0.060   0.000"/>
    <xacro:create_leg number="6" side="r" xy_offset=" 0.040   0.080"/>
        
    <xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_ros2_control.xacro"/>

</robot>
