<?xml version="1.0.1"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
	
<xacro:property name="width" value=".2" />


  <link name="base">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J1.dae"/>
      </geometry>
      <origin xyz = "-0.108 -0.003 0 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J1.dae"/>
        </geometry>
        <origin xyz = "-0.108 -0.003 0 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J2.dae"/>
      </geometry>
      <origin xyz = "0.0015 -0.0392 0.0 " rpy = " -1.5708 0 -3.14159 "/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J2.dae"/>
      </geometry>
      <origin xyz = "0.0015 -0.0392 0.0 " rpy = " -1.5708 0 -3.14159 "/>
    </collision>
  </link>

  <link name="link2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J3.dae"/>
      </geometry>
    <origin xyz = "0.0598 0.005 -0.203 " rpy = " 0 0 1.5708 "/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J3.dae"/>
      </geometry>
      <origin xyz = "0.0598  0.005 -0.203 " rpy = " 0 0 1.5708"/>
    </collision>
  </link>

  <link name="link3">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J4.dae"/>
      </geometry>
      <origin xyz = "0.07 0.005 -0.383 " rpy = " 0 0 1.5708"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J4.dae"/>
      </geometry>
      <origin xyz = "0.07 0.005 -0.383" rpy = " 0 0 1.5708"/>
    </collision>
  </link>


  <link name="link4">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J5.dae"/>
      </geometry>
    <origin xyz = "-0.014 0 0.0 " rpy = " 0 -1.5708 0"/>
    </visual>
    <collision>
       <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J5.dae"/>
      </geometry>
      <origin xyz = "-0.014 0 0.0 " rpy = " 0 -1.5708 0"/>
    </collision>
  </link>


  <link name="link5">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6.dae"/>
      </geometry>
    <origin xyz = "0.004 -0.024 -0.655 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6.dae"/>
      </geometry>
    <origin xyz = "0.004 -0.024 -0.655 " rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="link6">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6_end.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 3.14159 0 0"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6_end.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 3.14159 0 0"/>
    </collision>
  </link>



  <joint name="joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8274" upper = "2.8274" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.210" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint2" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort = "1000.0" lower = "-2.1816" upper = "2.1816" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz= "0 -0.048 0" rpy = "0 0 -1.5708"/>  
  </joint>


  <joint name="joint3" type="revolute">
    <axis xyz=" 1 0 0"/>
    <limit effort = "1000.0" lower = "-2.6878" upper = "2.6878" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "-0.01 0 0.18  " rpy = "0 0 0"/>  
  </joint>


  <joint name="joint4" type="revolute">
    <axis xyz=" 1 0 0"/>
    <limit effort = "1000.0" lower = "-2.8274" upper = "2.8274" velocity = "0"/>
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz= "0 0 0.173" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8274" upper = "2.8274" velocity = "0"/>
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz= "0.0455 0 0.097" rpy = "0 0 0"/>  
  </joint>

 
  <joint name="joint6" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
    <parent link="link5"/>
    <child link="link6"/>
    <origin xyz= "0 0.04 0" rpy = "0 0 1.5708"/>  
  </joint>

</robot>

