<?xml version="1.0"?>
<robot name="office">
  <material name="Brown">
    <color rgba="0.33 0.21 0.04 1"/>
  </material>
  <material name="White">
    <color rgba="1 1 1 1"/>
  </material>
  <material name="Grey">
    <color rgba=".3 .3 .3 1"/>
  </material>
  <material name="Red">
    <color rgba="1 0 0 1"/>
  </material>
  <link name="wall1">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 1" rpy="0 0 0"/>
      <geometry>
        <box size="10 .1 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="0 0 1" rpy="0 0 0"/>
      <geometry>
        <box size="10 .1 2."/>
      </geometry>
    </collision>
  </link>
  <link name="wall2">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".1 8. 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".1 8. 2."/>
      </geometry>
    </collision>
  </link>
  <link name="wall3">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 0. .5" rpy="0 0 0"/>
      <geometry>
        <box size="10 .1 1."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="0 0. .5" rpy="0 0 0"/>
      <geometry>
        <box size="10 .1 1."/>
      </geometry>
    </collision>
  </link>
  <link name="wall4">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".1 8. 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".1 8. 2."/>
      </geometry>
    </collision>
  </link>
  <link name="internalWall">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="7.5 .1 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="7.5 .1 2."/>
      </geometry>
    </collision>
  </link>
  <link name="tableLegUL">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-1 3 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="-1 3 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
    </collision>
  </link>
  <link name="wall23">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <!-- <origin xyz="1.75 8. 1" rpy="0 0 0" /> -->
      <origin xyz="1.75 0. 1" rpy="0 0 0"/>
      <geometry>
        <box size="6.5 .1 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="1.75 0. 1" rpy="0 0 0"/>
      <geometry>
        <box size="6.5 .1 2."/>
      </geometry>
    </collision>
  </link>
  <link name="wall34">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0. 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <!-- <origin xyz="-4.125 8. 1" rpy="0 0 0" /> -->
      <origin xyz="-4.125 0. 1" rpy="0 0 0"/>
      <geometry>
        <box size="1.75 .1 2."/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin xyz="-4.125 0. 1" rpy="0 0 0"/>
      <geometry>
        <box size="1.75 .1 2."/>
      </geometry>
    </collision>
  </link>
  <link name="tableLegUR">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="1 3 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="1 3 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
    </collision>
  </link>
  <link name="tableLegLR">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="1 1 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="1 1 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
    </collision>
  </link>
  <link name="tableLegLL">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-1 1 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="-1 1 .5" rpy="0 0 0"/>
      <geometry>
        <box size=".1 .1 1."/>
      </geometry>
    </collision>
  </link>
  <link name="TableTop">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="0 2 .98" rpy="0 0 0"/>
      <geometry>
        <box size="2.1 2.1 .1"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin xyz="0 2 .98" rpy="0 0 0"/>
      <geometry>
        <box size="2.1 2.1 .1"/>
      </geometry>
    </collision>
  </link>
  <link name="cabinet">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-3.3 5.5 .9" rpy="0 0 0"/>
      <geometry>
        <box size="2.2 1. 1.8"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin xyz="-3.3 5.5 .9" rpy="0 0 0"/>
      <geometry>
        <box size="2.2 1. 1.8"/>
      </geometry>
    </collision>
  </link>
  <link name="drawer1">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-3.3 5.3 .9" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="-3.3 5.3 .9" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
    </collision>
  </link>
  <link name="drawer2">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-3.3 5.3 1.4" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="-3.3 5.3 1.4" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
    </collision>
  </link>
  <link name="drawer3">
    <inertial>
      <mass value=".5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
    </inertial>
    <visual>
      <origin xyz="-3.3 5.3 .4" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="-3.3 5.3 .4" rpy="0 0 0"/>
      <geometry>
        <box size="2. 1. .33"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint1" type="fixed">
    <parent link="wall1"/>
    <child link="wall2"/>
    <origin xyz="5 4 1" rpy="0 0 0"/>
  </joint>
  <joint name="joint2" type="fixed">
    <parent link="wall2"/>
    <child link="wall3"/>
    <origin xyz="-5 4 -1" rpy="0 0 0"/>
  </joint>
  <joint name="joint3" type="fixed">
    <parent link="wall3"/>
    <child link="wall4"/>
    <origin xyz="-5 -4 1" rpy="0 0 0"/>
  </joint>
  <joint name="lowerToUpperWall3From2" type="fixed">
    <parent link="wall3"/>
    <child link="wall23"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="lowerToUpperWall3From4" type="fixed">
    <parent link="wall3"/>
    <child link="wall34"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="internalJoint" type="fixed">
    <parent link="wall4"/>
    <child link="internalWall"/>
    <origin xyz="3.75 2 0" rpy="0 0 0"/>
  </joint>
  <joint name="WallToTableTop" type="fixed">
    <parent link="wall1"/>
    <child link="TableTop"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="TableTopToLegUL" type="fixed">
    <parent link="TableTop"/>
    <child link="tableLegUL"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="TableTopToLegUR" type="fixed">
    <parent link="TableTop"/>
    <child link="tableLegUR"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="TableTopToLegLR" type="fixed">
    <parent link="TableTop"/>
    <child link="tableLegLR"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="TableTopToLegLL" type="fixed">
    <parent link="TableTop"/>
    <child link="tableLegLL"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="WallToCabinet" type="fixed">
    <parent link="wall1"/>
    <child link="cabinet"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="CabinetToDrawer1" type="fixed">
    <parent link="cabinet"/>
    <child link="drawer1"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="CabinetToDrawer2" type="fixed">
    <parent link="cabinet"/>
    <child link="drawer2"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="CabinetToDrawer3" type="fixed">
    <parent link="cabinet"/>
    <child link="drawer3"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
</robot>
