<?xml version="1.0"?>
<robot name="iiwa7" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find iai_iiwa_description)/urdf/materials.xacro" />
  <!--Import the lbr iiwa macro -->
  <xacro:include filename="$(find iai_iiwa_description)/urdf/iiwa7.xacro"/>
  
  <xacro:arg name="hardware_interface" default="PositionJointInterface"/>
  <xacro:arg name="robot_name" default="iiwa"/>
  <xacro:arg name="origin_xyz" default="0 0 0"/>
  <xacro:arg name="origin_rpy" default="0 0 0"/>
  
  <!-- Fix to world just for testing -->
  <link name="world"/>
  
  <!--iiwa-->
  <xacro:iiwa7 hardware_interface="$(arg hardware_interface)" robot_name="$(arg robot_name)" parent="world">
    <origin xyz="$(arg origin_xyz)" rpy="$(arg origin_rpy)" />
  </xacro:iiwa7>
  
</robot>
