<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from desk.urdf.xacro                | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="desk" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <material name="light_gray">
    <color rgba="0.6 0.6 0.6 1"/>
  </material>
  <material name="dark_gray">
    <color rgba="0.3 0.3 0.3 1"/>
  </material>
  <material name="marine">
    <color rgba="0 0.1 0.2 1"/>
  </material>
  <material name="light_turquoise">
    <color rgba="0 0.6 0.6 1"/>
  </material>
  <material name="light_purple">
    <color rgba="0.3 0.3 0.6 1"/>
  </material>
  <material name="black">
    <color rgba="0.05 0.05 0.05 1"/>
  </material>
  <link name="world"/>
  <link name="ground">
    <visual>
      <geometry>
        <box size="5 5 0.1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="5 5 0.1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="world_ground_joint" type="fixed">
    <parent link="world"/>
    <child link="ground"/>
    <origin rpy="0 0 0" xyz="0 0 -0.05"/>
  </joint>
  <link name="board">
    <visual>
      <geometry>
        <box size="2.5 1.5 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="dark_gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="2.5 1.5 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="right_body">
    <visual>
      <geometry>
        <cylinder length="0.65" radius="0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_gray"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.65" radius="0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="right_foot">
    <visual>
      <geometry>
        <box size="0.05 1.5 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.05 1.5 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="right_body_foot_joint" type="fixed">
    <parent link="right_body"/>
    <child link="right_foot"/>
    <origin rpy="0 0 0" xyz="0 0 -0.3375"/>
  </joint>
  <link name="left_body">
    <visual>
      <geometry>
        <cylinder length="0.65" radius="0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_gray"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.65" radius="0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="left_foot">
    <visual>
      <geometry>
        <box size="0.05 1.5 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.05 1.5 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="left_body_foot_joint" type="fixed">
    <parent link="left_body"/>
    <child link="left_foot"/>
    <origin rpy="0 0 0" xyz="0 0 -0.3375"/>
  </joint>
  <joint name="board_right_body_joint" type="fixed">
    <parent link="board"/>
    <child link="right_body"/>
    <origin rpy="0 0 0" xyz="1.225 0 -0.35"/>
  </joint>
  <joint name="board_left_body_joint" type="fixed">
    <parent link="board"/>
    <child link="left_body"/>
    <origin rpy="0 0 0" xyz="-1.225 0 -0.35"/>
  </joint>
  <joint name="world_board_joint" type="fixed">
    <parent link="world"/>
    <child link="board"/>
    <origin rpy="0 0 0" xyz="0 0 0.7"/>
  </joint>
  <link name="upper_case_background">
    <visual>
      <geometry>
        <box size="0.833333333333 0.025 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="marine"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.833333333333 0.025 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="upper_case_bottom">
    <visual>
      <geometry>
        <box size="0.833333333333 0.775 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="marine"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.833333333333 0.775 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_case_background_bottom_joint" type="fixed">
    <parent link="upper_case_background"/>
    <child link="upper_case_bottom"/>
    <origin rpy="0 0 0" xyz="0 -0.375 -0.129166666667"/>
  </joint>
  <link name="upper_case_right">
    <visual>
      <geometry>
        <box size="0.025 0.75 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="marine"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.025 0.75 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_case_background_right_joint" type="fixed">
    <parent link="upper_case_background"/>
    <child link="upper_case_right"/>
    <origin rpy="0 0 0" xyz="0.404166666666 -0.3875 0"/>
  </joint>
  <link name="upper_case_left">
    <visual>
      <geometry>
        <box size="0.025 0.75 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="marine"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.025 0.75 0.233333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_case_background_left_joint" type="fixed">
    <parent link="upper_case_background"/>
    <child link="upper_case_left"/>
    <origin rpy="0 0 0" xyz="-0.404166666666 -0.3875 0"/>
  </joint>
  <joint name="board_upper_case_background_joint" type="fixed">
    <parent link="board"/>
    <child link="upper_case_background"/>
    <origin rpy="0 0 0" xyz="0.783333333333 0.0125 -0.141666666667"/>
  </joint>
  <link name="upper_drawer_bottom">
    <visual>
      <geometry>
        <box size="0.783333333333 0.75 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_turquoise"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.783333333333 0.75 0.025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="upper_drawer_background">
    <visual>
      <geometry>
        <box size="0.783333333333 0.025 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_turquoise"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.783333333333 0.025 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_drawer_bottom_background_joint" type="fixed">
    <parent link="upper_drawer_bottom"/>
    <child link="upper_drawer_background"/>
    <origin rpy="0 0 0" xyz="0 0.3625 0.116666666667"/>
  </joint>
  <link name="upper_drawer_right">
    <visual>
      <geometry>
        <box size="0.025 0.725 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_turquoise"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.025 0.725 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_drawer_bottom_right_joint" type="fixed">
    <parent link="upper_drawer_bottom"/>
    <child link="upper_drawer_right"/>
    <origin rpy="0 0 0" xyz="0.379166666666 -0.0125 0.116666666667"/>
  </joint>
  <link name="upper_drawer_left">
    <visual>
      <geometry>
        <box size="0.025 0.725 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_turquoise"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.025 0.725 0.208333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_drawer_bottom_left_joint" type="fixed">
    <parent link="upper_drawer_bottom"/>
    <child link="upper_drawer_left"/>
    <origin rpy="0 0 0" xyz="-0.379166666666 -0.0125 0.116666666667"/>
  </joint>
  <link name="upper_drawer_front">
    <visual>
      <geometry>
        <box size="0.833333333333 0.025 0.258333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="light_turquoise"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.833333333333 0.025 0.258333333333"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_drawer_bottom_front_joint" type="fixed">
    <parent link="upper_drawer_bottom"/>
    <child link="upper_drawer_front"/>
    <origin rpy="0 0 0" xyz="0 -0.3875 0.0916666666665"/>
  </joint>
  <link name="upper_drawer_handle">
    <visual>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <origin rpy="0 0 1.5707963268" xyz="0 0 0"/>
      <material name="light_purple"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <origin rpy="0 0 1.5707963268" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="upper_drawer_front_handle_joint" type="fixed">
    <parent link="upper_drawer_front"/>
    <child link="upper_drawer_handle"/>
    <origin rpy="0 0 0" xyz="0 -0.0375 0"/>
  </joint>
  <joint name="upper_case_bottom_upper_drawer_bottom_joint" type="prismatic">
    <parent link="upper_case_bottom"/>
    <child link="upper_drawer_bottom"/>
    <limit effort="500" lower="-0.3875" upper="0" velocity="0.5"/>
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 -0.0125 0.025"/>
  </joint>
</robot>
