<?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_450/PRO450_J1.dae" />
            </geometry>
            <origin xyz="0.0 -0.11 0 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J1.dae" />
            </geometry>
            <origin xyz="0.0 -0.11 0 " rpy=" 0 0 0" />
        </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_450/PRO450_J2.dae" />
            </geometry>
            <origin xyz="0.0405 0 0.0475 " rpy=" -1.5708 0 -1.5708 " />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J2.dae" />
            </geometry>
            <origin xyz="0.0405 0 0.0475 " rpy=" -1.5708 0 -1.5708 " />
        </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_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>
        <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_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>
        <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_450/PRO450_J5.dae" />
            </geometry>
            <origin xyz="-0.015 0 -0.002 " rpy=" 0 -1.5708 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J5.dae" />
            </geometry>
            <origin xyz="-0.015 0 -0.002 " rpy=" 0 -1.5708 0" />
        </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_450/PRO450_J6.dae" />
            </geometry>
            <origin xyz="0.003 -0.025 -0.608 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_450/PRO450_J6.dae" />
            </geometry>
            <origin xyz="0.003 -0.025 -0.608 " rpy=" 0 0 -0" />
        </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_450/PRO450_J6_end.dae" />
            </geometry>
            <origin xyz="0 0 0.001 " 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 0.001 " rpy=" 3.14159 0 0" />
        </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" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
        <parent link="base" />
        <child link="link1" />
        <origin xyz="-0.0045 0 0.155" rpy="0 0 0" />
    </joint>
    <joint name="joint2" type="revolute">
        <axis xyz="1 0 0" />
        <limit effort="1000.0" lower="-2.0943" upper="2.0943" velocity="0" />
        <parent link="link1" />
        <child link="link2" />
        <origin xyz="0.05 0 0.048" rpy="0 0 0" />
    </joint>
    <joint name="joint3" type="revolute">
        <axis xyz=" 1 0 0" />
        <limit effort="1000.0" lower="-2.7576" upper="2.7576" 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="-2.8797" upper="2.8797" velocity="0" />
        <parent link="link3" />
        <child link="link4" />
        <origin xyz="0.0 0 0.1735" rpy="0 0 0" />
    </joint>
    <joint name="joint5" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
        <parent link="link4" />
        <child link="link5" />
        <origin xyz="0.046 0.0003 0.05" rpy="0 0 0" />
    </joint>
    <joint name="joint6" type="revolute">
        <axis xyz="1 0 0" />
        <limit effort="1000.0" lower="-3.0543" upper="3.0543" velocity="0" />
        <parent link="link5" />
        <child link="link6" />
        <origin xyz="0 0.04 0.0435" rpy="0 0 1.5708" />
    </joint>
    <transmission name="trans_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

