<?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>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 1.5707 0 0" />
        </visual>
        <collision>
            <origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
            <geometry>
                <cylinder length="0.08" radius="0.06" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link1">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
            </geometry>
            <origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" />
        </visual>
        <collision>
            <origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
            <geometry>
                <cylinder length="0.06" radius="0.03" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
            </geometry>
            <origin xyz="0 0 -0.0446 " rpy=" 0 -1.5707 -1.5707" />
        </visual>
        <collision>
            <origin xyz="0.14 0 -0.08 " rpy=" 0 1.5708 0" />
            <geometry>
                <cylinder length="0.28" radius="0.028" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
            </geometry>
            <origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 -1.5707" />
        </visual>
        <collision>
            <origin xyz="0.13 0.0 0.02 " rpy="0 1.5708 0" />
            <geometry>
                <cylinder length="0.28" radius="0.024" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link4">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
            </geometry>
            <origin xyz="0 0 0.041 " rpy=" -1.5707 0 1.5707" />
        </visual>
        <collision>
            <origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
            <geometry>
                <cylinder length="0.05" radius="0.024" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link5">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
            </geometry>
            <origin xyz="-0.043 0  0 " rpy=" 0  -1.5707 3.1415926" />
        </visual>
        <collision>
            <origin xyz="0.0 0.0 -0.015 " rpy=" 0  0 -1.5708" />
            <geometry>
                <cylinder length="0.05" radius="0.028" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link6">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
            </geometry>
            <!-- <material name = "grey">
        <color rgba = "0.5 0.5 0.5 1"/>
      </material> -->
            <origin xyz="0.01 0 0" rpy=" 0 1.5707  0" />
        </visual>
        <collision>
            <origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
            <geometry>
                <cylinder length="0.006" radius="0.026" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <joint name="joint1_to_base" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
        <parent link="base" />
        <child link="link1" />
        <origin xyz="0 0 0.22934" rpy="0 0 0" />
    </joint>
    <joint name="joint2_to_joint1" type="revolute">
        <axis xyz="0 0 -1" />
        <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
        <limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
        <parent link="link1" />
        <child link="link2" />
        <origin xyz="0 0  0" rpy="1.5707 -1.5708 0" />
    </joint>
    <joint name="joint3_to_joint2" type="revolute">
        <axis xyz=" 0 0 -1" />
        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
        <parent link="link2" />
        <child link="link3" />
        <origin xyz="0.27 0 0   " rpy="0 0 0" />
    </joint>
    <joint name="joint4_to_joint3" type="revolute">
        <axis xyz=" 0 0 -1" />
        <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
        <limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
        <parent link="link3" />
        <child link="link4" />
        <origin xyz="0.267 0  -0.0745" rpy="0 0 1.5708" />
    </joint>
    <joint name="joint5_to_joint4" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
        <parent link="link4" />
        <child link="link5" />
        <origin xyz="0 -0.095 0.002" rpy="1.5707 -1.5707 0" />
    </joint>
    <joint name="joint6_to_joint5" type="revolute">
        <axis xyz="-1 0 0" />
        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
        <parent link="link5" />
        <child link="link6" />
        <origin xyz="-0.054 0 0" rpy="-1.5707 0 0 " />
    </joint>
    <transmission name="trans_joint1_to_base">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint1_to_base">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint1_to_base_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint2_to_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2_to_joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_to_joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3_to_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3_to_joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_to_joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4_to_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4_to_joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_to_joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5_to_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5_to_joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_to_joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6_to_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6_to_joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_to_joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

