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

  <!-- 底部 -->
  <link name="base">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/base.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/base.dae"/>
        </geometry>
        <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <!-- 腰部 -->
  <link name="link_body">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/body.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/body.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <!-- 屏幕头部 -->
  <link name="link_head">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/head.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/head.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <!-- 摄像头 -->
  <link name="link_eye">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/head_eye.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.0 " rpy = " 0 0 3.14159"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/head_eye.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.1 " rpy = " 0 0 3.14159"/>
    </collision>
  </link>

  <link name="link1_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint1_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint1_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link2_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint2_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint2_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
    </collision>
  </link>

  <link name="link3_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint3_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint3_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link4_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint4_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint4_L.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link5_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint5_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint5_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link6_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint6_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint6_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link7_L">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint7_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint7_L.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link1_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint1_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint1_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
    </collision>
  </link>

 <link name="link2_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint2_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint2_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
    </collision>
  </link>

  <link name="link3_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint3_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint3_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link4_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint4_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint4_R.dae"/>
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link5_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint5_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint5_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link6_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint6_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint6_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="link7_R">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint7_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mercury_b1/joint7_R.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <joint name="joint1_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link_body"/>
    <child link="link1_L"/>
    <origin xyz= " 0.075 0.186 0.085   " rpy = "-1.5708 0 -0.5235"/>  
  </joint>

  <joint name="joint2_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
    <parent link="link1_L"/>
    <child link="link2_L"/>
    <origin xyz= " 0 0 0  " rpy = "-1.5708 0 0"/>  
  </joint>

  <joint name="joint3_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link2_L"/>
    <child link="link3_L"/>
    <origin xyz= " 0 -0.11 0  " rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint4_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
    <parent link="link3_L"/>
    <child link="link4_L"/>
    <origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
  </joint>

  <joint name="joint5_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link4_L"/>
    <child link="link5_L"/>
    <origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
  </joint>

  <joint name="joint6_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
    <parent link="link5_L"/>
    <child link="link6_L"/>
    <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint7_L" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link6_L"/>
    <child link="link7_L"/>
    <origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint1_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link_body"/>
    <child link="link1_R"/>
    <origin xyz= " 0.075 -0.186 0.085   " rpy = "1.5708 0 0.5235"/>  
  </joint>

  <joint name="joint2_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
    <parent link="link1_R"/>
    <child link="link2_R"/>
    <origin xyz= " 0 0 0  " rpy = "-1.5708 0 0"/>  
  </joint>

  <joint name="joint3_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link2_R"/>
    <child link="link3_R"/>
    <origin xyz= " 0 -0.11 0  " rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint4_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
    <parent link="link3_R"/>
    <child link="link4_R"/>
    <origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
  </joint>

  <joint name="joint5_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link4_R"/>
    <child link="link5_R"/>
    <origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
  </joint>

  <joint name="joint6_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
    <parent link="link5_R"/>
    <child link="link6_R"/>
    <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
  </joint>

  <joint name="joint7_R" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
    <parent link="link6_R"/>
    <child link="link7_R"/>
    <origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>  
  </joint>


  <joint name="eye" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "0" upper = "0.8377" velocity = "0"/>
    <parent link="link_head"/>
    <child link="link_eye"/>
    <origin xyz= " 0.03 0 -0.08   " rpy = "1.5708 0 3.14"/>  
  </joint>

  <joint name="head" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.4085" upper = "3.2812" velocity = "0"/>
    <parent link="link_body"/>
    <child link="link_head"/>
    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
  </joint>

  <joint name="body" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.0594" upper = "2.0594" velocity = "0"/>
    <parent link="base"/>
    <child link="link_body"/>
    <origin xyz= " 0 0 0.231   " rpy = "0 0 0"/>  
  </joint>

</robot>
