<?xml version="1.0"?>
<robot name="cabinet_sektion">
  <material name="White">
    <color rgba="0.85 0.85 0.85 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.6 0.6 0.6 1.0"/>
  </material>
  <material name="Front">
    <color rgba="0.4 0.4 0.4 1.0"/>
  </material>

  <link name="sektion">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="sektion_visual">
      <origin rpy="0  0  0" xyz="0.0364  0  -0.266"/>
      <geometry>
        <box size=".35 .518 .014"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision name="sektion_collision">
      <origin rpy="0  0  0" xyz="0.0364  0  -0.266"/>
      <geometry>
        <box size=".35 .518 .014"/>
      </geometry>
    </collision>
  </link>

  <link name="block">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="block_visual">
      <origin rpy="0  0  0" xyz="0.  0.  0."/>
      <geometry>
        <box size=".12 .12 .1"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision name="block_collision">
      <origin rpy="0  0  0" xyz="0.  0.  0."/>
      <geometry>
        <box size=".12 .12 .1"/>
      </geometry>
    </collision>
  </link>

  <link name="drawer_top">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="drawer_top_visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Front"/>
    </visual>
    <collision name="drawer_top_collision">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="0.7 0.7 0.7"/>
      </geometry>
    </collision>
  </link>

  <link name="drawer_handle_top">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="drawer_handle_top_visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision name="drawer_handle_top_collision">
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
    </collision>
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="0.3"/>
      <inertia_scaling value="3.0"/>
    </contact>
  </link>

  <link name="drawer_bottom">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="drawer_bottom_visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Front"/>
    </visual>
    <collision name="drawer_bottom_collision">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="White"/>
    </collision>
  </link>

  <link name="drawer_handle_bottom">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="drawer_top_visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision name="drawer_top_collision">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="White"/>
    </collision>
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="0.3"/>
      <inertia_scaling value="3.0"/>
    </contact>
  </link>

  <link name="door_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="door_right_visual">
      <origin rpy="0  0  0" xyz="0  -0.1292942  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/door_right.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Front"/>
    </visual>
    <collision name="door_right_collision">
      <origin rpy="0  0  0" xyz="0  -0.1292942  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/door_right.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="White"/>
    </collision>
  </link>

  <link name="door_right_nob_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="door_right_nob_visual">
      <origin rpy="0  0  0" xyz="-0.189  -0.196  0.119"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision name="door_right_nob_collision">
      <origin rpy="0  0  0" xyz="-0.189  -0.196  0.119"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
    </collision>
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="0.3"/>
      <inertia_scaling value="3.0"/>
    </contact>
  </link>

  <link name="door_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value=".2"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="door_left_visual">
      <origin rpy="0  0  0" xyz="0  0.1292942  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/door_left.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Front"/>
    </visual>
    <collision name="door_left_collision">
      <origin rpy="0  0  0" xyz="0  0.1292942  0"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/door_left.obj" scale="0.7 0.7 0.7"/>
      </geometry>
    </collision>
  </link>

  <link name="door_left_nob_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual name="door_left_nob_visual">
      <origin rpy="0  0  0" xyz="-0.189  0.196  0.119"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision name="door_left_nob_collision">
      <origin rpy="0  0  0" xyz="-0.189  0.196  0.119"/>
      <geometry>
        <mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="0.7 0.7 0.7"/>
      </geometry>
    </collision>
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="0.3"/>
      <inertia_scaling value="3.0"/>
    </contact>
  </link>

  <joint name="sektion_block_joint" type="fixed">
    <parent link="sektion"/>
    <child link="block"/>
    <origin xyz="0.12 0.1 -0.17" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <joint name="door_right_joint" type="revolute">
    <parent link="sektion"/>
    <child link="door_right_link"/>
    <origin xyz="0.22134 0.26299 -0.090811" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="0" upper="2.57" velocity="10.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="door_right_nob_transform" type="fixed">
    <parent link="door_right_link"/>
    <child link="door_right_nob_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <joint name="door_left_joint" type="revolute">
    <parent link="sektion"/>
    <child link="door_left_link"/>
    <origin xyz="0.22134 -0.26299 -0.090811" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-2.57" upper="0." velocity="10.0"/>
    <dynamics damping="0.01" friction="0.01"/>
  </joint>

  <joint name="door_left_nob_transform" type="fixed">
    <parent link="door_left_link"/>
    <child link="door_left_nob_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <joint name="drawer_top_joint" type="prismatic">
    <parent link="sektion"/>
    <child link="drawer_top"/>
    <origin xyz="0.03605 0 0.22204" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.2" velocity="10.0"/>
    <dynamics damping="0.01" friction="0.01"/>
  </joint>

  <joint name="drawer_handle_top_joint" type="fixed">
    <parent link="drawer_top"/>
    <child link="drawer_handle_top"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.2" velocity="0.1"/>
  </joint>

  <joint name="drawer_bottom_joint" type="prismatic">
    <parent link="sektion"/>
    <child link="drawer_bottom"/>
    <origin xyz="0.03605 0 0.133" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.2" velocity="10.0"/>
    <dynamics damping="0.01" friction="0.01"/>
  </joint>

  <joint name="drawer_handle_bottom_joint" type="fixed">
    <parent link="drawer_bottom"/>
    <child link="drawer_handle_bottom"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.2" velocity="0.1"/>
  </joint>

</robot>
