<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from IAI_drawers.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="iai_drawers" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--- FIXME THIS should NOT be here -->
  <link name="map">
    <sphere_inertia mass="0" radius="0"/>
  </link>
  <link name="drawer_1_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="drawer_1_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="drawer_1_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 1"/>
    <parent link="map"/>
    <child link="drawer_1_main"/>
    <axis xyz="1. 0. 0.0"/>
    <!--
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="drawer_1_handle_joint" type="fixed">
    <xacro:property name="handle_origin">
      <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
    </xacro:property>
    <parent link="drawer_1_main"/>
    <child link="drawer_1_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="drawer_2_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="drawer_2_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="drawer_2_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 2"/>
    <parent link="map"/>
    <child link="drawer_2_main"/>
    <axis xyz="1. 0. 0.0"/>
    <!--
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="drawer_2_handle_joint" type="fixed">
    <xacro:property name="handle_origin">
      <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
    </xacro:property>
    <parent link="drawer_2_main"/>
    <child link="drawer_2_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="drawer_3_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="drawer_3_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="drawer_3_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 3"/>
    <parent link="map"/>
    <child link="drawer_3_main"/>
    <axis xyz="1. 0. 0.0"/>
    <!--
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="drawer_3_handle_joint" type="fixed">
    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="drawer_3_main"/>
    <child link="drawer_3_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="drawer_4_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="drawer_4_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="drawer_4_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 4"/>
    <parent link="map"/>
    <child link="drawer_4_main"/>
    <axis xyz="1. 0. 0.0"/>
    <!--
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="drawer_4_handle_joint" type="fixed">
    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="drawer_4_main"/>
    <child link="drawer_4_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="drawer_5_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="drawer_5_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="drawer_5_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 5"/>
    <parent link="map"/>
    <child link="drawer_5_main"/>
    <axis xyz="1. 0. 0.0"/>
    <!--
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="drawer_5_handle_joint" type="fixed">
    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="drawer_5_main"/>
    <child link="drawer_5_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
</robot>
