<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="myarm_m" >
	
<xacro:property name="width" value=".2" />
<!-- 扭矩未设置 -->

  <!-- base_footprint -->

  <link name="base">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_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_m/link1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.1 " rpy = " 0 3.14 0"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.1 " rpy = "0 3.14 0"/>
    </collision>
  </link>

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


  <link name="link3">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0" rpy = "0 3.14159 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.0" rpy = "0 3.14159 0"/>
    </collision>
  </link>
  

  <link name="link4">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
    </visual>
    <collision>
       <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 3.14159  -1.5708"/>
    </collision>
  </link>


  <link name="link5">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0 " rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="gripper">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
    </collision>
  </link>

  <link name="gripper_left">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
    </collision>
  </link>


  <link name="gripper_right">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
      </geometry>
    <origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
    </collision>
  </link>

  <joint name="joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.0368" upper = "2.9147" velocity = "0"/>
    <parent link="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0" rpy = "0 3.14 0"/>  
  </joint>

  <joint name="joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.6057" upper = "1.6232" velocity = "0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz= "0 0 -0.175" rpy = "-1.57079 -1.57079 0"/>  
  </joint>

   <joint name="joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.5882" upper = "1.7977" velocity = "0"/>
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz= "-0.303 -0.057 0   " rpy = "0 3.14159 -1.57079"/>  
  </joint>


  <joint name="joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz= "-0.08 0 0" rpy = "0 1.57079 0"/>  
  </joint>

 
  <joint name="joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.6755" upper = "1.5533" velocity = "0"/>
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz= "0 0 -0.258" rpy = "0 1.57079 0"/>  
  </joint>

  <joint name="joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
    <parent link="link5"/>
    <child link="gripper"/>
    <origin xyz= "0.07 0 0" rpy = "0 -1.57079 0"/>  
  </joint>


  <joint name="gripper" type="prismatic">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "0" upper = "0.0345" velocity = "0"/>
    <parent link="gripper"/>
    <child link="gripper_left"/>
    <origin xyz= "0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>  
  </joint>

  <joint name="gripper_r" type="prismatic">
    <axis xyz="0 0 -1"/>
    <limit effort = "1000.0" lower = "0" upper = "0.06" velocity = "0"/>
    <parent link="gripper"/>
    <child link="gripper_right"/>
    <origin xyz= "-0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
    <!-- 跟随左手指运动 -->
    <mimic joint="gripper" multiplier="1.0" offset="0" />
  </joint>

</robot>
