<?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/myarm_c650/myarm_basic_base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_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/myarm_c650/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.0065 " rpy = " 3.14159 0 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.0065 " rpy = " 3.14159 0 0"/>
    </collision>
  </link>

  <link name="link2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0.003 0.0 " rpy = " 3.14159 0 -1.5708 "/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
      </geometry>
      <origin xyz = "0.0 0.003 0.0 " rpy = " 3.14159 0 -1.5708"/>
    </collision>
  </link>

  <link name="link3">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 -0.001 0.004 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint3.dae"/>
      </geometry>
      <origin xyz = "0.0 -0.001 0.004" rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="link4">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.004 " rpy = " 0 3.14159 0"/>
    </visual>
    <collision>
       <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.004 " rpy = " 0 3.14159 0"/>
    </collision>
  </link>


  <link name="link5">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0.0 0.001 " rpy = " 3.14159 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/joint5.dae"/>
      </geometry>
    <origin xyz = "0 0.0 0.001 " rpy = " 3.14159 0 -1.5708"/>
    </collision>
  </link>


  <link name="gripper">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
      </geometry>
    <origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
      </geometry>
    <origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
    </collision>
  </link>

  <link name="gripper_left">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
      </geometry>
    <origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
      </geometry>
    <origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
    </collision>
  </link>

  <link name="gripper_right">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
      </geometry>
    <origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
      </geometry>
    <origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
    </collision>
  </link>


  



  <!-- <link name="endeffector">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link> -->



  <joint name="joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.070" rpy = "3.14159 0 0"/>  
  </joint>


  <joint name="joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <!-- <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>   -->
    <origin xyz= "0 0 -0.080" rpy = "1.5708 0 0"/>  
  </joint>


  <joint name="joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.3962" upper = "1.32" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "0.0565 -0.296 0   " rpy = "0 0 0"/>  
  </joint>


 
  <joint name="joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz= "0.081 0 0.004" rpy = "0 -1.5708 0"/>  
  </joint>


  <joint name="joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz= "0.0 0.0003 -0.250" rpy = "-1.5708 3.14159 -1.5708"/>  
  </joint>

 
  <joint name="joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
    <parent link="link5"/>
    <child link="gripper"/>
    <origin xyz= "0 -0.055 0" rpy = "-1.5708 0 0"/>  
  </joint>

  <joint name="gripper" type="prismatic">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
    <parent link="gripper"/>
    <child link="gripper_left"/>
    <origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>  
  </joint>

  <joint name="gripper_r" type="prismatic">
    <axis xyz="0 0 -1"/>
    <limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
    <parent link="gripper"/>
    <child link="gripper_right"/>
    <origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
    <!-- 跟随左手指运动 -->
    <mimic joint="gripper" multiplier="1.0" offset="0" />
  </joint>

  <!-- <joint name="endeffector_to_endeffector" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
    <parent link="endeffector"/>
    <child link="endeffector"/>
    <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>  
  </joint> -->



</robot>

