<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from hsrb_lab.urdf.xacro            | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="hsrb_lab">
  <material name="table_grey">
    <color rgba="0.8 0.8 0.8 1"/>
  </material>
  <material name="shelf_grey">
    <color rgba="0.7 0.7 0.8 1"/>
  </material>
  <material name="shelf_small_grey">
    <color rgba="0.7 0.7 0.8 1"/>
  </material>
  <material name="shelf_door_grey">
    <color rgba="0.9 0.9 0.98 1"/>
  </material>
  <link name="world"/>
  <joint name="world_room_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.12 0 "/>
    <parent link="world"/>
    <child link="room_link"/>
  </joint>
  <link name="room_link"/>
  <!-- General conveinience links -->
  <link name="shelf_origin"/>
  <link name="shelf_center"/>
  <link name="shelf_base_center"/>
  <joint name="shelf_origin_joint" type="fixed">
    <origin rpy="0 0 -1.570796327" xyz="0.1 -0.1 0"/>
    <parent link="room_link"/>
    <child link="shelf_origin"/>
  </joint>
  <joint name="shelf_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.18 0.49 0.75"/>
    <parent link="shelf_origin"/>
    <child link="shelf_center"/>
  </joint>
  <joint name="shelf_base_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.18 0.49 0.0"/>
    <parent link="shelf_origin"/>
    <child link="shelf_base_center"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_back_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.98 1.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.98 1.5"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_back_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.36 0.49 0.75"/>
    <parent link="shelf_origin"/>
    <child link="shelf_back_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_right_side_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.36 0.01 1.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.36 0.01 1.5"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_right_side_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.18 0.0 0.75"/>
    <parent link="shelf_origin"/>
    <child link="shelf_right_side_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_left_side_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.36 0.01 1.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.36 0.01 1.5"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_left_side_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.18 0.98 0.75"/>
    <parent link="shelf_origin"/>
    <child link="shelf_left_side_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_floor_0_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_floor_0_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.06"/>
    <parent link="shelf_base_center"/>
    <child link="shelf_floor_0_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_floor_1_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_floor_1_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.43"/>
    <parent link="shelf_base_center"/>
    <child link="shelf_floor_1_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_floor_2_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_floor_2_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.8"/>
    <parent link="shelf_base_center"/>
    <child link="shelf_floor_2_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_floor_3_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_floor_3_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 1.162"/>
    <parent link="shelf_base_center"/>
    <child link="shelf_floor_3_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_floor_4_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size="0.36 0.98 0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_floor_4_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 1.478"/>
    <parent link="shelf_base_center"/>
    <child link="shelf_floor_4_piece"/>
  </joint>
  <!-- LINKS -->
  <link name="table_center">
    <visual>
      <material name="table_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.95 0.72"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.95 0.72"/>
      </geometry>
    </collision>
  </link>
  <link name="table_origin"/>
  <!-- Additional tf-frames -->
  <link name="table_surface_center"/>
  <link name="table_front_edge_center"/>
  <!-- JOINTS -->
  <joint name="table_origin_joint" type="fixed">
    <origin rpy="0 0 -1.655" xyz="-2.5 0.2 0"/>
    <parent link="room_link"/>
    <child link="table_origin"/>
  </joint>
  <joint name="table_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.475 0.36"/>
    <parent link="table_origin"/>
    <child link="table_center"/>
  </joint>
  <joint name="table_surface_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.475 0.72"/>
    <parent link="table_origin"/>
    <child link="table_surface_center"/>
  </joint>
  <joint name="table_front_edge_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.475 0.72"/>
    <parent link="table_origin"/>
    <child link="table_front_edge_center"/>
  </joint>
  <!-- LINKS -->
  <link name="table_2_center">
    <visual>
      <material name="table_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.95 0.72"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.95 0.72"/>
      </geometry>
    </collision>
  </link>
  <link name="table_2_origin"/>
  <!-- Additional tf-frames -->
  <link name="table_2_surface_center"/>
  <link name="table_2_front_edge_center"/>
  <!-- JOINTS -->
  <joint name="table_2_origin_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="-1.6 1.2 0"/>
    <parent link="room_link"/>
    <child link="table_2_origin"/>
  </joint>
  <joint name="table_2_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.475 0.36"/>
    <parent link="table_2_origin"/>
    <child link="table_2_center"/>
  </joint>
  <joint name="table_2_surface_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.475 0.72"/>
    <parent link="table_2_origin"/>
    <child link="table_2_surface_center"/>
  </joint>
  <joint name="table_2_front_edge_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.475 0.72"/>
    <parent link="table_2_origin"/>
    <child link="table_2_front_edge_center"/>
  </joint>
  <!-- LINKS -->
  <link name="table_3_center">
    <visual>
      <material name="table_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.55 0.45"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.55 0.55 0.45"/>
      </geometry>
    </collision>
  </link>
  <link name="table_3_origin"/>
  <!-- Additional tf-frames -->
  <link name="table_3_surface_center"/>
  <link name="table_3_front_edge_center"/>
  <!-- JOINTS -->
  <joint name="table_3_origin_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="2.3 1 0"/>
    <parent link="room_link"/>
    <child link="table_3_origin"/>
  </joint>
  <joint name="table_3_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.275 0.225"/>
    <parent link="table_3_origin"/>
    <child link="table_3_center"/>
  </joint>
  <joint name="table_3_surface_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.275 0.275 0.45"/>
    <parent link="table_3_origin"/>
    <child link="table_3_surface_center"/>
  </joint>
  <joint name="table_3_front_edge_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.275 0.45"/>
    <parent link="table_3_origin"/>
    <child link="table_3_front_edge_center"/>
  </joint>
  <!-- General conveinience links -->
  <link name="shelf_small_origin"/>
  <link name="shelf_small_center"/>
  <link name="shelf_small_base_center"/>
  <joint name="shelf_small_origin_joint" type="fixed">
    <origin rpy="0 0 -1.570796327" xyz="-0.95 -0.1 0"/>
    <parent link="room_link"/>
    <child link="shelf_small_origin"/>
  </joint>
  <joint name="shelf_small_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.17 0.355 0.52"/>
    <parent link="shelf_small_origin"/>
    <child link="shelf_small_center"/>
  </joint>
  <joint name="shelf_small_base_center_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.17 0.355 0.0"/>
    <parent link="shelf_small_origin"/>
    <child link="shelf_small_base_center"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_back_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.71 1.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.71 1.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_back_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.34 0.355 0.52"/>
    <parent link="shelf_small_origin"/>
    <child link="shelf_small_back_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_right_side_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.34 0.01 1.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.34 0.01 1.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_right_side_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.17 0.0 0.52"/>
    <parent link="shelf_small_origin"/>
    <child link="shelf_small_right_side_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_left_side_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.34 0.01 1.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.34 0.01 1.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_left_side_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.17 0.71 0.52"/>
    <parent link="shelf_small_origin"/>
    <child link="shelf_small_left_side_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_door_left_door">
    <visual>
      <material name="shelf_door_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.355 1.04"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <box size="0.01 0.355 1.04"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_door_left_door_joint" type="revolute">
    <origin rpy="0 0 3.1416" xyz="-0.17 -0.1775 0"/>
    <axis xyz="0 0 1"/>
    <parent link="shelf_small_left_side_piece"/>
    <child link="shelf_small_door_left_door"/>
    <limit effort="30" lower="0.0" upper="1.91986" velocity="1.0"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_floor_0_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.02"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.02"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_floor_0_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.055"/>
    <parent link="shelf_small_base_center"/>
    <child link="shelf_small_floor_0_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_floor_1_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.015"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.015"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_floor_1_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.45"/>
    <parent link="shelf_small_base_center"/>
    <child link="shelf_small_floor_1_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_floor_2_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.015"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.015"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_floor_2_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.71"/>
    <parent link="shelf_small_base_center"/>
    <child link="shelf_small_floor_2_piece"/>
  </joint>
  <!-- LINK -->
  <link name="shelf_small_floor_3_piece">
    <visual>
      <material name="shelf_grey"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.02"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.34 0.71 0.02"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT -->
  <joint name="shelf_small_floor_3_piece_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 1.02"/>
    <parent link="shelf_small_base_center"/>
    <child link="shelf_small_floor_3_piece"/>
  </joint>
  <!-- LINKS -->
  <link name="table_area_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <joint name="table_area_main_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="2.35 2.35 0"/>
    <parent link="room_link"/>
    <child link="table_area_main"/>
  </joint>
  <!-- LINKS -->
  <link name="table_area_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/misc/big_table_1.obj"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <joint name="table_area_2_main_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="0.25 2.35 0"/>
    <parent link="room_link"/>
    <child link="table_area_2_main"/>
  </joint>
  <!-- LINKS -->
  <link name="hsr_lab_wall_1">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <link name="hsr_lab_wall_2">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="5 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="5 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <!-- -->
  <link name="hsr_lab_wall_3">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <link name="hsr_lab_wall_4">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="5 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="5 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <link name="kitchen_walls"/>
  <joint name="walls_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 1.2 0"/>
    <parent link="room_link"/>
    <child link="kitchen_walls"/>
  </joint>
  <joint name="wall_1_joint" type="fixed">
    <origin rpy="0 -0 1.5708" xyz="2.5 0.25 0"/>
    <parent link="kitchen_walls"/>
    <child link="hsr_lab_wall_1"/>
  </joint>
  <joint name="wall_2_joint" type="fixed">
    <origin rpy="0 -0 3.14159" xyz="0 2.25 0"/>
    <parent link="kitchen_walls"/>
    <child link="hsr_lab_wall_2"/>
  </joint>
  <joint name="wall_3_joint" type="fixed">
    <origin rpy="0 0 -1.5708" xyz="-2.5 0.25 0"/>
    <parent link="kitchen_walls"/>
    <child link="hsr_lab_wall_3"/>
  </joint>
  <joint name="wall__joint" type="fixed">
    <origin rpy="0 -0 0.000157" xyz="0 -1.75 0"/>
    <parent link="kitchen_walls"/>
    <child link="hsr_lab_wall_4"/>
  </joint>
</robot>
