<?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/mycobot_pro_630/J1-W.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-W.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
        </collision>
        
    </link>
    <link name="joint1">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
            </geometry>
            <origin xyz="0 0.05 -0.07 " rpy="0 0 3.14159" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
            </geometry>
            <origin xyz="0 0.05 -0.07 " rpy=" 0 0 3.14159" />
        </collision>
        
    </link>
    <link name="joint2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
            </geometry>
            <origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
            </geometry>
            <origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
        </collision>
        
    </link>
    <link name="joint3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
            </geometry>
            <origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
            </geometry>
            <origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
        </collision>
        
    </link>
    <link name="joint4">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
            </geometry>
            <origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
            </geometry>
            <origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
        </collision>
        
    </link>
    <link name="joint5">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
            </geometry>
            <origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
            </geometry>
            <origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
        </collision>
        
    </link>
    <link name="joint6">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 3.14159  -1.5706" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 3.14159  -1.5706" />
        </collision>
        
    </link>
    

    <joint name="joint1_to_base" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
        <parent link="base" />
        <child link="joint1" />
        <origin xyz="0 0 0.156" rpy="0 0 0" />
    </joint>
    <joint name="joint2_to_joint1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint1" />
        <child link="joint2" />
        <origin xyz="0 0.05  0.083 " rpy="1.5707 0 3.14159" />
    </joint>
    <joint name="joint3_to_joint2" type="revolute">
        <axis xyz=" 0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint2" />
        <child link="joint3" />
        <origin xyz="0 0.25 0   " rpy="0 0 0" />
    </joint>
    <joint name="joint4_to_joint3" type="revolute">
        <axis xyz=" 0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint3" />
        <child link="joint4" />
        <origin xyz="0 0.25 -0.03   " rpy="0 0 0" />
    </joint>
    <joint name="joint5_to_joint4" type="revolute">
        <axis xyz="0 0 -1" />
        <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
        <parent link="joint4" />
        <child link="joint5" />
        <origin xyz="0 0.055 0.055" rpy="1.5707 -1.5707 0" />
    </joint>
    <joint name="joint6_to_joint5" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
        <parent link="joint5" />
        <child link="joint6" />
        <origin xyz="0.0495 0 -0.0405" rpy="-1.5707 0 -1.5706 " />
    </joint>
    
    
</robot>