<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
	
<xacro:property name="width" value=".2" />

  <link name="gripper_base">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_base.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_left1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/>
      </geometry>
    <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left1.dae"/>
      </geometry>
        <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_left2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/>
      </geometry>
    <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left2.dae"/>
      </geometry>
        <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_left3">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/>
      </geometry>
    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_left3.dae"/>
      </geometry>
    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_right1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/>
      </geometry>
    <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right1.dae"/>
      </geometry>
        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_right2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/>
      </geometry>
    <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right2.dae"/>
      </geometry>
        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_right3">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/>
      </geometry>
    <origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/adaptive_gripper/gripper_right3.dae"/>
      </geometry>
    <origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
    </collision>
  </link>


<joint name="gripper_controller" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_left3"/>
    <origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/> 
  </joint>

  <joint name="gripper_base_to_gripper_left2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_left2"/>
    <origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
  </joint>

  <joint name="gripper_left3_to_gripper_left1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
    <parent link="gripper_left3"/>
    <child link="gripper_left1"/>
    <origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
  </joint>

  <joint name="gripper_base_to_gripper_right3" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_right3"/>
    <origin xyz= "0.012 0.005 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
  </joint>

  <joint name="gripper_base_to_gripper_right2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_right2"/>
    <origin xyz= "0.005 0.027 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
  </joint>

  <joint name="gripper_right3_to_gripper_right1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
    <parent link="gripper_right3"/>
    <child link="gripper_right1"/>
    <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
  </joint>
  
</robot>

