<?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/mercury_a1/base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/base.dae"/>
        </geometry>
        <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.08 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.08 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708 "/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint2.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
    </collision>
  </link>

  <link name="joint3">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.038" rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="joint4">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
       <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint4.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>


  <link name="joint5">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="joint6">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint6.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint6.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

    <link name="joint7">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mercury_a1/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>


  <joint name="joint1_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="base"/>
    <child link="joint1"/>
    <origin xyz= "0 0 0.175" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <!-- <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>   -->
    <origin xyz= "0 0  0" rpy = "-1.5708 0 0"/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
  </joint>


 
  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
  </joint>


  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
  </joint>

 
  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin xyz= "0 0.0 0.08" rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint7_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="joint6"/>
    <child link="joint7"/>
    <origin xyz= "0.038 -0.046 0" rpy = "1.5708 0 0"/>  
  </joint>



</robot>

