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


  <link name="joint1">
    <visual>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/280jn/joint1_jet.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
  </link>

  <link name="joint2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/280jn/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
    </visual>
  </link>


  <link name="joint3">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/280jn/joint3.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </visual>
  </link>


  <link name="joint4">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/280jn/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </visual>
  </link>




<link name="joint5">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/280jn/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
    </visual>
  </link>


  <link name="joint6">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/280jn/joint6.dae"/>
      </geometry>
    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
    </visual>
  </link>


  <link name="joint6_flange">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/280jn/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </visual>
  </link>





    <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin xyz= "0 0 0.15756" rpy = "0 0 0"/>  
  </joint>


  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
  </joint>


  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
  </joint>



  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
  </joint>

  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
  </joint>

  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint6"/>
    <child link="joint6_flange"/>
    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
  </joint>



</robot>

