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

  <link name="joint1">
    <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="joint2">
    <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="joint3">
    <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="joint4">
    <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="joint5">
    <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="endeffector">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
      </geometry>
    <origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
    </visual>
    <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
      </geometry>
    <origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
    </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_to_base" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
    <parent link="base"/>
    <child link="joint1"/>
    <origin xyz= "0 0 0.070" rpy = "3.14159 0 0"/>  
  </joint>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <!-- <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_to_joint2" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0.0565 -0.296 0   " rpy = "0 0 0"/>  
  </joint>


 
  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "0.081 0 0.004" rpy = "0 -1.5708 0"/>  
  </joint>


  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "0.0 0.0003 -0.250" rpy = "-1.5708 3.14159 -1.5708"/>  
  </joint>

 
  <joint name="endeffector_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
    <parent link="joint5"/>
    <child link="endeffector"/>
    <origin xyz= "0 -0.045 0" rpy = "-1.5708 0 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>

