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

 <link name="env">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.3 1.3 1.3"/>
      </geometry>
      <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
    </visual>
  </link>

  <link name="base">
    <visual>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/base.dae"/>
      </geometry>
      <origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
    </visual>
    <collision>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/base.dae"/>
      </geometry>
      <origin xyz = " 0 0 0 " rpy = " 0 0 -3.1415926"/>
    </collision>

  </link>

  <link name="link1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link1.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link1.dae"/>
      </geometry>
      <origin xyz = "0 0 -0.132 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link2">
    <visual>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
      </geometry>
      <origin xyz = "-0.005 0.21 0.002  " rpy = " 1.5708 -3.1415926 0"/>

    </visual>
    <collision>
      <geometry>    
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
      </geometry>
      <origin xyz = "-0.005  -0.21 0.002  " rpy = " 1.5708 -3.1415926 0"/>
      
    </collision>     
  </link>

  <link name="link3">
    <visual>
      <geometry> 
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
      </geometry>
      <origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926  0"/>
      <!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0  0"/> -->
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
      </geometry>
      <origin xyz = "-0.09 0.306 0.005" rpy = "1.5708 3.1415926 0"/>
    </collision>
  </link>

  <link name="link4">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
      </geometry>
      <origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
      </geometry>
    <origin xyz = "0.009 -0.311  -0.228" rpy = " 0 1.5708  1.5708"/>
    </collision>
  </link>

  <link name="link5">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
      </geometry>
      <origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
      </geometry>
      <origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
    </collision>
  </link>

  <link name="link6">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
      </geometry>
      <origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
      </geometry>
      <origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
    </collision>
  </link>


  <joint name="joint1_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.1" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
  </joint>

  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz= "0.108 -0.005  -0.001" rpy = "0 1.5708 0 "/>  
  </joint>

  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  
  </joint>

  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
    <parent link="link5"/>
    <child link="link6"/>
    <origin xyz= " 0.06 0.00 -0.0" rpy = "  0 1.5708 0 "/>  
  </joint>

  <joint name="vision_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="base"/>
    <child link="env"/>
    <origin xyz= "0 0 0" rpy = "0 0 0"/>
  </joint>
</robot>