<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
    <xacro:property name="width" value=".2" />
    <link name="g_base">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint1">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04  1.5708 3.14159-->
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
            </geometry>
            <origin xyz="0.0 0 0 " rpy=" 0 0 3.14159" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy="0 0 3.14159" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.06096" rpy="0 0 -1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
            </geometry>
            <origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
            </geometry>
            <origin xyz="0.0 0 0.03256" rpy="0 -1.5708 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint4">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
            </geometry>
            <origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
            </geometry>
            <origin xyz="0.0 0 0.03056" rpy="0 -1.5708 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint5">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.03356 " rpy=" 0 -1.5708 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.03356" rpy="0 -1.5708 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint6">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
            </geometry>
            <origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
            </geometry>
            <origin xyz="0 0.00 -0.038" rpy="0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint6_flange">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
            </geometry>
            <origin xyz="0.0 0 -0.012" rpy="0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <joint name="g_base_to_joint1" type="fixed">
        <axis xyz="0 0 0" />
        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
        <parent link="g_base" />
        <child link="joint1" />
        <origin xyz="0 0 0" rpy="0 0 0" />
    </joint>
    <joint name="joint2_to_joint1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.9321" upper="2.9321" 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="-2.0943" upper="2.0943" 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="-2.6179" upper="2.6179" 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="-2.5307" upper="2.5307" 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="-2.8797" upper="2.8797" 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>
    <transmission name="trans_joint2_to_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2_to_joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_to_joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3_to_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3_to_joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_to_joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4_to_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4_to_joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_to_joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5_to_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5_to_joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_to_joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6_to_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6_to_joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_to_joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6output_to_joint6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6output_to_joint6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6output_to_joint6_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

