<?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/ultraArm_p340/ultraArm-base.dae"/>
      </geometry>
      <origin xyz = " 0 0 0.0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-base.dae"/>
      </geometry>
      <origin xyz = " 0 0 0.0 " rpy = " 0 0 0"/>
    </collision>

  </link>

  <link name="link1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-1.dae"/>
      </geometry>
      <origin xyz = "0 0 0.122 " rpy = " 3.1415926 0 0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-1.dae"/>
      </geometry>
      <origin xyz = "0 0  0.122 " rpy = " 3.1415926 0 0"/>
    </collision>
  </link>

  <link name="link2">
    <visual>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-2.dae"/>
      </geometry>
      <origin xyz = "-0.03  0.112 0.0  " rpy = " 1.5708 0 0"/>
    </visual>
    <collision>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-2.dae"/>
      </geometry>
      <origin xyz = "-0.03  0.112 0.0  " rpy = " 1.5708 0 0"/>
    </collision>     

  </link>

  <link name="link3">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-3.dae"/>
      </geometry>
      <origin xyz = "-0.03 0.23  0.0 " rpy = "1.5708 0 0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/ultraArm_p340/ultraArm-3.dae"/>
      </geometry>
      <origin xyz = "-0.03 0.23  0.0 " rpy = "1.5708 0 0"/>
    </collision>
  </link>


  <joint name="joint1_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.36" upper = "2.967" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/>  
  </joint>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.31" upper = "1.57" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-0.087" upper = "1.0472" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "0.00 -0.12 0   " rpy = "0 0 0 "/>  
  </joint>

</robot>