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


  <link name="base">
    <visual>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/base.dae"/>
      </geometry>
      <origin xyz = " 0 -0.28 0.051 " rpy = " 1.5707963 0 -1.5707963"/>
    </visual>
    <collision>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/base.dae"/>
      </geometry>
      <origin xyz = " 0 -0.28 0.051 " rpy = " 1.5707963 0 -1.5707963"/>
    </collision>

  </link>

  <link name="link1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link1.dae"/>
      </geometry>
      <origin xyz = "0 -0.282  -0.115 " rpy = " 1.5707963 0 -1.5707963"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link1.dae"/>
      </geometry>
      <origin xyz = "0 -0.282  -0.115 " rpy = " 1.5707963 0 -1.5707963"/>
    </collision>
  </link>

  <link name="link2">
    <visual>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link2.dae"/>
      </geometry>
      <origin xyz = "0  0.105 -0.414  " rpy = " 0 1.5707963 3.1415926"/>
    </visual>
    <collision>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link2.dae"/>
      </geometry>
      <origin xyz = "0  0.105 -0.414  " rpy = " 0 1.5707963 3.1415926"/>
    </collision>     

  </link>

  <link name="link3">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link3.dae"/>
      </geometry>
      <origin xyz = "0 0.235  -0.325 " rpy = "0 1.5707963  3.1419626"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link3.dae"/>
      </geometry>
      <origin xyz = "0 0.235  -0.325 " rpy = "0 1.5707963  3.1419626"/>
    </collision>
  </link>

  <link name="link4">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link4.dae"/>
      </geometry>
      <origin xyz = "-0.12 -0.235  0.252" rpy = " 0 -1.5707963  0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mypalletizer_260_m5/link4.dae"/>
      </geometry>
    <origin xyz = "-0.12 -0.235  0.252" rpy = " 0 -1.5707963  0"/>
    </collision>
  </link>

  <link name="link5">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <cylinder length="0.015" radius="0.0152"/>
      </geometry>
      <material name = "grey">
        <color rgba = "0.5 0.5 0.5 1"/>
      </material>
      <origin xyz = "0 -0.001 0.01 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <cylinder length="0.015" radius="0.0152"/>
      </geometry>
      <origin xyz = "0 -0.001 0.01 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <joint name="joint1_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.824" upper = "2.824" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.12" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.0349" upper = "1.5708" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz= "0 0 0.0" rpy = " -1.5707963 0 0 "/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.6057" upper = "1.0471" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "0.0 -0.14 0   " rpy = "0 0 0 "/>  
  </joint>

  <joint name="joint4_to_joint3" type="fixed">
    <!-- <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "0" upper = "1.5707963" velocity = "0"/> -->
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz= "0.134 -0.005   0.0" rpy = "3.1415926 0 0 "/>  
  </joint>

  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz= " 0.044 0 0" rpy = "  1.5707963 0 0 "/>  
    <!-- <origin xyz= " 0.178 0 -0.005" rpy = "  -1.5707963 0 0 "/>   -->

  </joint>

</robot>