<?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>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
    <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="link1">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
    </visual>
     <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
    </collision>
  </link>


  <link name="link2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
    </visual>
     <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
    </collision>
  </link>


  <link name="link3">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
    </visual>
     <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
      </geometry>
    <origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/>
    </collision>
  </link>



<link name="link4">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
    </visual>
     <collision>
     <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
    </collision>
  </link>


  <link name="link5">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
      </geometry>
    <origin xyz = "0 0  0 " rpy = " 0  0 1.5707"/>
    </visual>
     <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
      </geometry>
    <origin xyz = "0 0  0 " rpy = " 0  0 1.5707"/>
    </collision>
  </link>

  <link name="link6">
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
      </geometry>
      <material name = "grey">
        <color rgba = "0.5 0.5 0.5 1"/>
      </material>
    <origin xyz = "0.03 0 0" rpy = " 0 -1.5707  0"/>
    </visual>
     <collision>
     <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
      </geometry>
      <material name = "grey">
        <color rgba = "0.5 0.5 0.5 1"/>
      </material>
    <origin xyz = "0.03 0 0" rpy = " 0 -1.5707  0"/>
    </collision>
  </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="base"/>
    <child link="link1"/>
    <origin xyz= "0 0 0.19934" 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="link1"/>
    <child link="link2"/>
    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>  
  </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="link2"/>
    <child link="link3"/>
    <origin xyz= "0.25 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="link3"/>
    <child link="link4"/>
    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
  </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="link4"/>
    <child link="link5"/>
    <origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>  
  </joint>

  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="-1 0 0"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="link5"/>
    <child link="link6"/>
    <origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>  
  </joint>



</robot>

