From 6d88db2ea45390f245b45b20264478a1bde497c8 Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Thu, 20 Feb 2020 13:08:32 +0100
Subject: [PATCH 1/9] added the table for the popcorn demo

---
 .../urdf_obj/IAI_kitchen_walls.urdf.xacro     |  43 +-
 .../urdf_obj/IAI_popcorn_table.urdf.xacro     | 443 ++++++++++++++++++
 .../urdf_obj/iai_kitchen_python.urdf.xacro    |  77 +--
 3 files changed, 507 insertions(+), 56 deletions(-)
 create mode 100644 iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro

diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
index e54f860..b6dd703 100644
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -4,7 +4,7 @@
 
   <macro name="iai_kitchen_wall_robohow" params="parent *origin">
     <!-- LINKS -->
-    
+
     <link name="kitchen_wall_1">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -20,7 +20,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_2">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -36,7 +36,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_3">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -52,7 +52,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_4">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -68,7 +68,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_5">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -84,9 +84,9 @@
         </geometry>
       </collision>
     </link>
-    
-    
-    
+
+
+
     <link name="kitchen_wall_6">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -101,8 +101,10 @@
             <box size="1 0.15 0.7" />
         </geometry>
       </collision>
-    </link>   
+    </link>
+
 
+<!--
     <link name="kitchen_wall_7">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -118,17 +120,18 @@
         </geometry>
       </collision>
     </link>
-    
+  -->
+
     <!-- JOINTS -->
-    
+
     <link name="kitchen_walls"/>
-        
+
     <joint name="walls_main_joint" type="fixed">
         <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="kitchen_walls"/>
     </joint>
-    
+
     <joint name="wall_1_joint" type="fixed">
         <origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
@@ -146,39 +149,39 @@
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_2"/>
     </joint>
-    
+
     <joint name="wall_3_joint" type="fixed">
         <origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_3"/>
     </joint>
-    
+
     <joint name="wall_4_joint" type="fixed">
         <origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_4"/>
     </joint>
-    
+
     <joint name="wall_5_joint" type="fixed">
         <origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_5"/>
     </joint>
-    
+
     <joint name="wall_6_joint" type="fixed">
       <origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
-
+<!--
     <joint name="wall_7_joint" type="fixed">
       <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_7"/>
     </joint>
-
+-->
     <gazebo reference="kitchen_wall_6">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
   </macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
new file mode 100644
index 0000000..a6d6766
--- /dev/null
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -0,0 +1,443 @@
+<robot name="iai_popcorn_table" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <macro name="iai_popcorn_table" params="name parent *origin">
+
+    <link name="${name}_footprint"/>
+
+    <joint name="${name}_footprint_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent}"/>
+      <child link="${name}_footprint"/>
+    </joint>
+
+    <link name="${name}_front_left_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_right_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_back_left_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_back_right_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_panel">
+      <visual>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_panel">
+      <visual>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_panel">
+      <visual>
+        <geometry>
+          <box size="1.56 0.01 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="1.56 0.01 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_surface">
+      <visual>
+        <geometry>
+          <box size="1.75 0.64 0.025"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="1.75 0.64 0.025"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_stove">
+      <visual>
+        <geometry>
+          <box size="0.59 0.52 0.01"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.59 0.52 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_wall">
+      <visual>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_wall">
+      <visual>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+
+
+    <joint name="${name}_front_left_leg_joint" type="fixed">
+      <origin xyz="-0.81 -0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_left_leg"/>
+    </joint>
+
+    <joint name="${name}_front_right_leg_joint" type="fixed">
+      <origin xyz="0.81 -0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_right_leg"/>
+    </joint>
+
+    <joint name="${name}_back_left_leg_joint" type="fixed">
+      <origin xyz="-0.81 0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_back_left_leg"/>
+    </joint>
+
+    <joint name="${name}_back_right_leg_joint" type="fixed">
+      <origin xyz="0.81 0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_back_right_leg"/>
+    </joint>
+
+    <joint name="${name}_surface_joint" type="fixed">
+      <origin xyz="0 0 0.7"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_surface"/>
+    </joint>
+
+    <joint name="${name}_stove_joint" type="fixed">
+      <origin xyz="0 0.04 0.71"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_stove"/>
+    </joint>
+
+    <joint name="${name}_left_panel_joint" type="fixed">
+      <origin xyz="-0.81 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_panel"/>
+    </joint>
+
+    <joint name="${name}_right_panel_joint" type="fixed">
+      <origin xyz="0.81 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_panel"/>
+    </joint>
+
+    <joint name="${name}_front_panel_joint" type="fixed">
+      <origin xyz="0 -0.27 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_panel"/>
+    </joint>
+
+    <joint name="${name}_left_wall_joint" type="fixed">
+      <origin xyz="-0.31 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_wall"/>
+    </joint>
+
+    <joint name="${name}_right_wall_joint" type="fixed">
+      <origin xyz="0.31 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_wall"/>
+    </joint>
+
+    <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_left" parent="${name}_footprint">
+      <origin xyz="0.555 0 0.53"/>
+    </iai_popcorn_table_drawer>
+
+    <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_right" parent="${name}_footprint">
+      <origin xyz="-0.555 0 0.53"/>
+    </iai_popcorn_table_drawer>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_1" parent="${name}_stove">
+      <origin xyz="-0.235 0.22 0.01"/>
+    </iai_popcorn_stove_knob>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_2" parent="${name}_stove">
+      <origin xyz="-0.235 0.17 0.01"/>
+    </iai_popcorn_stove_knob>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_3" parent="${name}_stove">
+      <origin xyz="-0.235 0.12 0.01"/>
+    </iai_popcorn_stove_knob>
+
+  </macro>
+
+  <macro name="iai_popcorn_table_drawer" params="name parent *origin">
+
+
+  <joint name="${name}_table_joint" type="prismatic">
+        <parent link="${parent}"/>
+        <child link="${name}_bottom"/>
+        <limit effort="1000.0" lower="0" upper="0.4" velocity="0.5"/>
+        <axis xyz="0 1 0 "/>
+        <xacro:insert_block name="origin"/>
+  </joint>
+
+
+  <link name="${name}_bottom">
+    <visual>
+      <geometry>
+        <box size="0.42 0.52 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.42 0.52 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_right_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.52 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.52 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_left_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.52 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.52 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_back_side">
+    <visual>
+      <geometry>
+        <box size="0.42 0.01 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.42 0.01 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_front_side">
+    <visual>
+      <geometry>
+        <box size="0.46 0.01 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.46 0.01 0.15"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_right_side_joint" type="fixed">
+    <origin xyz="0.205 0 0.065"/>
+    <parent link="${name}_bottom"/>
+    <child link="${name}_right_side"/>
+  </joint>
+
+  <joint name="${name}_left_side_joint" type="fixed">
+    <origin xyz="-0.205 0 0.065"/>
+    <parent link="${name}_bottom"/>
+    <child link="${name}_left_side"/>
+  </joint>
+
+  <joint name="${name}_back_side_joint" type="fixed">
+    <origin xyz="0 -0.255 0.065"/>
+    <parent link="${name}_bottom"/>
+    <child link="${name}_back_side"/>
+  </joint>
+
+  <joint name="${name}_front_side_joint" type="fixed">
+    <origin xyz="0 0.255 0.075"/>
+    <parent link="${name}_bottom"/>
+    <child link="${name}_front_side"/>
+  </joint>
+
+  <iai_popcorn_table_drawer_handle name="${name}_handle" parent="${name}_front_side">
+    <origin xyz="0 0.03 0"/>
+  </iai_popcorn_table_drawer_handle>
+
+  </macro>
+
+  <macro name="iai_popcorn_table_drawer_handle" params="name parent *origin">
+
+  <link name="${name}_left_part">
+    <visual>
+      <geometry>
+        <box size="0.01 0.03 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.03 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_right_part">
+    <visual>
+      <geometry>
+        <box size="0.01 0.03 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.03 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_middle_part">
+    <visual>
+      <geometry>
+        <box size="0.3 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.3 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_left_middle_joint" type="fixed">
+    <origin xyz="-0.15 -0.01 0"/>
+    <parent link="${name}_middle_part"/>
+    <child link="${name}_left_part"/>
+  </joint>
+
+  <joint name="${name}_right_middle_joint" type="fixed">
+    <origin xyz="0.15 -0.01 0"/>
+    <parent link="${name}_middle_part"/>
+    <child link="${name}_right_part"/>
+  </joint>
+
+  <joint name="${name}_middle_drawer_joint" type="fixed">
+    <xacro:insert_block name="origin"/>
+    <parent link="${parent}"/>
+    <child link="${name}_middle_part"/>
+  </joint>
+
+  </macro>
+
+  <macro name="iai_popcorn_stove_knob" params="name parent *origin">
+
+  <link name="${name}">
+
+    <sphere_inertia radius="0" mass="0"/>
+    <visual>
+    <origin xyz="0 0 0" rpy="0 ${1.5 * pi} ${0.5 * pi}" />
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+    <origin xyz="0 0 0" rpy="0 ${1.5 * pi} ${0.5 * pi}" />
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_joint" type="revolute">
+    <xacro:insert_block name="origin"/>
+    <parent link="${parent}"/>
+    <child link="${name}"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-${pi}" upper="0" effort="300" velocity="10"/>
+  </joint>
+
+  </macro>
+
+</robot>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
index 0ce0274..3a12d65 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
@@ -4,33 +4,33 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
-  
+
   <macro name="sphere_inertia" params="radius mass">
         <inertial>
           <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
           <mass value="1"/>
-          <inertia 
-              ixx="1" ixy="0.0" ixz="0.0" 
-              iyy="1" iyz="0.0" 
+          <inertia
+              ixx="1" ixy="0.0" ixz="0.0"
+              iyy="1" iyz="0.0"
               izz="1"/>
         </inertial>
-    
+
   </macro>
-  
-  <link name="room_link">    
-    
+
+  <link name="room_link">
+
       <sphere_inertia radius="0" mass="0"/>
   </link>
   <xacro:if value="${simulated}">
-    <link name="world"/> 
+    <link name="world"/>
     <joint name="world_room_joint" type="fixed">
         <origin xyz="0.0 0.03 0 " rpy="0 0 0" />
         <parent link="world"/>
         <child link="room_link"/>
-      </joint>   
-      
+      </joint>
+
   </xacro:if>
-  
+
   <gazebo>
       <static>false</static>
   </gazebo>
@@ -41,53 +41,58 @@
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
-  
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_popcorn_table.urdf.xacro"/>
+
   <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />
   </iai_sink_area>
-  
+
   <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />
   </iai_oven_area>
-  
-  
+
+
   <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />    
+    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />
   </iai_kitchen_island>
-  
+
   <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />
   </iai_fridge_area>
-  
-  
+
+
   <iai_table_1 name="table_area" parent="room_link">
     <origin xyz="-2.4 -1.5 0" rpy="0 0 ${pi}" />
   </iai_table_1>
-  
-  
+
+
   <iai_kitchen_wall_robohow parent="room_link">
-    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />    
+    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
- 
+
+  <iai_popcorn_table name="iai_popcorn_table" parent="room_link">
+    <origin xyz="-0.05 -1.7 0"/>
+  </iai_popcorn_table>
+
 
 
   <!-- Included above already
   <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
+    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />
   </iai_sink_area>
-  
+
   <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />    
+    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />
   </iai_oven_area>
-  
-  
+
+
   <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />    
+    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />
   </iai_kitchen_island>
-  
+
   <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />    
+    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />
   </iai_fridge_area>
   -->
- 
+
 </robot>

From 7ebb1cea8873197a5ff35f37786198258a652c8a Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Thu, 5 Mar 2020 14:44:13 +0100
Subject: [PATCH 2/9] added the grids on the left and right sioe

---
 .../urdf_obj/IAI_popcorn_table.urdf.xacro     | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
index a6d6766..10393e1 100644
--- a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -153,6 +153,34 @@
       </collision>
     </link>
 
+    <link name="${name}_right_grid">
+      <visual>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_grid">
+      <visual>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </collision>
+    </link>
+
+
+
 
 
     <joint name="${name}_front_left_leg_joint" type="fixed">
@@ -221,6 +249,18 @@
       <child link="${name}_right_wall"/>
     </joint>
 
+    <joint name="${name}_right_grid_joint" type="fixed">
+      <origin xyz="-0.55 0 0.18"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_grid"/>
+    </joint>
+
+    <joint name="${name}_left_grid_joint" type="fixed">
+      <origin xyz="0.55 0 0.18"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_grid"/>
+    </joint>
+
     <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_left" parent="${name}_footprint">
       <origin xyz="0.555 0 0.53"/>
     </iai_popcorn_table_drawer>

From c2efaeb408d81f4b7c673912d072b0ab9689e16a Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Mon, 9 Mar 2020 09:42:23 +0100
Subject: [PATCH 3/9] adjustet the x axis of the drawer

---
 .../urdf_obj/IAI_popcorn_table.urdf.xacro       | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
index 10393e1..9bbe7a4 100644
--- a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -1,3 +1,5 @@
+<?xml version="1.0"?>
+
 <robot name="iai_popcorn_table" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <macro name="iai_popcorn_table" params="name parent *origin">
@@ -262,11 +264,11 @@
     </joint>
 
     <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_left" parent="${name}_footprint">
-      <origin xyz="0.555 0 0.53"/>
+      <origin xyz="0.555 0 0.53" rpy="0 0 ${0.5 * pi}"/>
     </iai_popcorn_table_drawer>
 
     <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_right" parent="${name}_footprint">
-      <origin xyz="-0.555 0 0.53"/>
+      <origin xyz="-0.555 0 0.53" rpy="0 0 ${0.5 * pi}"/>
     </iai_popcorn_table_drawer>
 
     <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_1" parent="${name}_stove">
@@ -288,12 +290,13 @@
 
   <joint name="${name}_table_joint" type="prismatic">
         <parent link="${parent}"/>
-        <child link="${name}_bottom"/>
+        <child link="${name}_base"/>
         <limit effort="1000.0" lower="0" upper="0.4" velocity="0.5"/>
-        <axis xyz="0 1 0 "/>
+        <axis xyz="1 0 0 "/>
         <xacro:insert_block name="origin"/>
   </joint>
 
+  <link name="${name}_base" />
 
   <link name="${name}_bottom">
     <visual>
@@ -360,6 +363,12 @@
     </collision>
   </link>
 
+  <joint name="${name}_bottom_side_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 ${1.5*pi}"/>
+    <parent link="${name}_base"/>
+    <child link="${name}_bottom"/>
+  </joint>
+
   <joint name="${name}_right_side_joint" type="fixed">
     <origin xyz="0.205 0 0.065"/>
     <parent link="${name}_bottom"/>

From 592fc25326cff2f95a6a48fcf9fad5a4f1d8cb6f Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Mon, 9 Mar 2020 11:20:57 +0100
Subject: [PATCH 4/9] rotated the drawer so x axis point to the front

---
 .../urdf_obj/IAI_popcorn_table.urdf.xacro     | 43 +++++++++----------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
index 9bbe7a4..803cf36 100644
--- a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -287,24 +287,23 @@
 
   <macro name="iai_popcorn_table_drawer" params="name parent *origin">
 
-
   <joint name="${name}_table_joint" type="prismatic">
         <parent link="${parent}"/>
-        <child link="${name}_base"/>
+        <child link="${name}_main"/>
         <limit effort="1000.0" lower="0" upper="0.4" velocity="0.5"/>
         <axis xyz="1 0 0 "/>
         <xacro:insert_block name="origin"/>
   </joint>
 
-  <link name="${name}_base" />
-
-  <link name="${name}_bottom">
+  <link name="${name}_main">
     <visual>
+      <origin rpy="0 0 ${1.5 *pi}"/>
       <geometry>
         <box size="0.42 0.52 0.01"/>
       </geometry>
     </visual>
     <collision>
+      <origin rpy="0 0 ${1.5 *pi}"/>
       <geometry>
         <box size="0.42 0.52 0.01"/>
       </geometry>
@@ -363,38 +362,32 @@
     </collision>
   </link>
 
-  <joint name="${name}_bottom_side_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="0 0 ${1.5*pi}"/>
-    <parent link="${name}_base"/>
-    <child link="${name}_bottom"/>
-  </joint>
-
   <joint name="${name}_right_side_joint" type="fixed">
-    <origin xyz="0.205 0 0.065"/>
-    <parent link="${name}_bottom"/>
+    <origin xyz="0 0.205 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <parent link="${name}_main"/>
     <child link="${name}_right_side"/>
   </joint>
 
   <joint name="${name}_left_side_joint" type="fixed">
-    <origin xyz="-0.205 0 0.065"/>
-    <parent link="${name}_bottom"/>
+    <origin xyz="0 -0.205 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <parent link="${name}_main"/>
     <child link="${name}_left_side"/>
   </joint>
 
   <joint name="${name}_back_side_joint" type="fixed">
-    <origin xyz="0 -0.255 0.065"/>
-    <parent link="${name}_bottom"/>
+    <origin xyz=" -0.255 0 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <parent link="${name}_main"/>
     <child link="${name}_back_side"/>
   </joint>
 
   <joint name="${name}_front_side_joint" type="fixed">
-    <origin xyz="0 0.255 0.075"/>
-    <parent link="${name}_bottom"/>
+    <origin xyz=" 0.255 0 0.075" rpy="0 0 ${1.5 * pi}"/>
+    <parent link="${name}_main"/>
     <child link="${name}_front_side"/>
   </joint>
 
   <iai_popcorn_table_drawer_handle name="${name}_handle" parent="${name}_front_side">
-    <origin xyz="0 0.03 0"/>
+    <origin xyz="0 0.03 0" rpy="0 0 ${0.5 * pi}"/>
   </iai_popcorn_table_drawer_handle>
 
   </macro>
@@ -403,11 +396,13 @@
 
   <link name="${name}_left_part">
     <visual>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.01 0.03 0.01"/>
       </geometry>
     </visual>
     <collision>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.01 0.03 0.01"/>
       </geometry>
@@ -416,11 +411,13 @@
 
   <link name="${name}_right_part">
     <visual>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.01 0.03 0.01"/>
       </geometry>
     </visual>
     <collision>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.01 0.03 0.01"/>
       </geometry>
@@ -429,11 +426,13 @@
 
   <link name="${name}_middle_part">
     <visual>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.3 0.01 0.01"/>
       </geometry>
     </visual>
     <collision>
+      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
         <box size="0.3 0.01 0.01"/>
       </geometry>
@@ -441,13 +440,13 @@
   </link>
 
   <joint name="${name}_left_middle_joint" type="fixed">
-    <origin xyz="-0.15 -0.01 0"/>
+    <origin xyz="-0.01 -0.15  0"/>
     <parent link="${name}_middle_part"/>
     <child link="${name}_left_part"/>
   </joint>
 
   <joint name="${name}_right_middle_joint" type="fixed">
-    <origin xyz="0.15 -0.01 0"/>
+    <origin xyz="-0.01 0.15  0"/>
     <parent link="${name}_middle_part"/>
     <child link="${name}_right_part"/>
   </joint>

From 4290c6542c66b2f4e7ad8a4184d2d68995c90818 Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Wed, 11 Mar 2020 15:13:27 +0100
Subject: [PATCH 5/9] removed rotation of links

---
 .../urdf_obj/IAI_popcorn_table.urdf.xacro     | 50 ++++++++-----------
 1 file changed, 21 insertions(+), 29 deletions(-)

diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
index 803cf36..a4a5c73 100644
--- a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -297,15 +297,13 @@
 
   <link name="${name}_main">
     <visual>
-      <origin rpy="0 0 ${1.5 *pi}"/>
       <geometry>
-        <box size="0.42 0.52 0.01"/>
+        <box size="0.52 0.42 0.01"/>
       </geometry>
     </visual>
     <collision>
-      <origin rpy="0 0 ${1.5 *pi}"/>
       <geometry>
-        <box size="0.42 0.52 0.01"/>
+        <box size="0.52 0.42 0.01"/>
       </geometry>
     </collision>
   </link>
@@ -313,12 +311,12 @@
   <link name="${name}_right_side">
     <visual>
       <geometry>
-        <box size="0.01 0.52 0.13"/>
+        <box size="0.52 0.01  0.13"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <box size="0.01 0.52 0.13"/>
+        <box size="0.52 0.01 0.13"/>
       </geometry>
     </collision>
   </link>
@@ -326,12 +324,12 @@
   <link name="${name}_left_side">
     <visual>
       <geometry>
-        <box size="0.01 0.52 0.13"/>
+        <box size="0.52 0.01 0.13"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <box size="0.01 0.52 0.13"/>
+        <box size=" 0.52 0.01 0.13"/>
       </geometry>
     </collision>
   </link>
@@ -339,12 +337,12 @@
   <link name="${name}_back_side">
     <visual>
       <geometry>
-        <box size="0.42 0.01 0.13"/>
+        <box size="0.01 0.42  0.13"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <box size="0.42 0.01 0.13"/>
+        <box size="0.01 0.42 0.13"/>
       </geometry>
     </collision>
   </link>
@@ -352,42 +350,42 @@
   <link name="${name}_front_side">
     <visual>
       <geometry>
-        <box size="0.46 0.01 0.13"/>
+        <box size="0.01 0.46  0.13"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <box size="0.46 0.01 0.15"/>
+        <box size="0.01 0.46 0.15"/>
       </geometry>
     </collision>
   </link>
 
   <joint name="${name}_right_side_joint" type="fixed">
-    <origin xyz="0 0.205 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <origin xyz="0 0.205 0.065"/>
     <parent link="${name}_main"/>
     <child link="${name}_right_side"/>
   </joint>
 
   <joint name="${name}_left_side_joint" type="fixed">
-    <origin xyz="0 -0.205 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <origin xyz="0 -0.205 0.065" />
     <parent link="${name}_main"/>
     <child link="${name}_left_side"/>
   </joint>
 
   <joint name="${name}_back_side_joint" type="fixed">
-    <origin xyz=" -0.255 0 0.065" rpy="0 0 ${0.5 * pi}"/>
+    <origin xyz=" -0.255 0 0.065" />
     <parent link="${name}_main"/>
     <child link="${name}_back_side"/>
   </joint>
 
   <joint name="${name}_front_side_joint" type="fixed">
-    <origin xyz=" 0.255 0 0.075" rpy="0 0 ${1.5 * pi}"/>
+    <origin xyz=" 0.255 0 0.075" />
     <parent link="${name}_main"/>
     <child link="${name}_front_side"/>
   </joint>
 
   <iai_popcorn_table_drawer_handle name="${name}_handle" parent="${name}_front_side">
-    <origin xyz="0 0.03 0" rpy="0 0 ${0.5 * pi}"/>
+    <origin xyz="0.03 0 0"/>
   </iai_popcorn_table_drawer_handle>
 
   </macro>
@@ -396,45 +394,39 @@
 
   <link name="${name}_left_part">
     <visual>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.01 0.03 0.01"/>
+        <box size="0.03 0.01 0.01"/>
       </geometry>
     </visual>
     <collision>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.01 0.03 0.01"/>
+        <box size="0.03 0.01  0.01"/>
       </geometry>
     </collision>
   </link>
 
   <link name="${name}_right_part">
     <visual>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.01 0.03 0.01"/>
+        <box size="0.03 0.01 0.01"/>
       </geometry>
     </visual>
     <collision>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.01 0.03 0.01"/>
+        <box size="0.03 0.01 0.01"/>
       </geometry>
     </collision>
   </link>
 
   <link name="${name}_middle_part">
     <visual>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.3 0.01 0.01"/>
+        <box size="0.01 0.3 0.01"/>
       </geometry>
     </visual>
     <collision>
-      <origin rpy="0 0  ${1.5 * pi}"/>
       <geometry>
-        <box size="0.3 0.01 0.01"/>
+        <box size="0.01 0.3 0.01"/>
       </geometry>
     </collision>
   </link>

From 798e15d440018f1f22e69e7a143978d0c3ac6aaf Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Tue, 28 Jul 2020 13:20:21 +0200
Subject: [PATCH 6/9] clean up pull request

---
 .../urdf_obj/IAI_kitchen_walls.urdf.xacro     | 16 +--
 .../iai_kitchen_popcorn_python.urdf.xacro     | 98 +++++++++++++++++++
 .../urdf_obj/iai_kitchen_python.urdf.xacro    |  3 +-
 3 files changed, 107 insertions(+), 10 deletions(-)
 create mode 100644 iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro

diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
index b6dd703..012651c 100644
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <macro name="iai_kitchen_wall_robohow" params="parent *origin">
+  <macro name="iai_kitchen_wall_robohow" params="parent *origin wall_7">
     <!-- LINKS -->
 
     <link name="kitchen_wall_1">
@@ -103,8 +103,7 @@
       </collision>
     </link>
 
-
-<!--
+<xacro:if value="${wall_7 == 'true'}">
     <link name="kitchen_wall_7">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -120,7 +119,8 @@
         </geometry>
       </collision>
     </link>
-  -->
+
+  </xacro:if>
 
     <!-- JOINTS -->
 
@@ -137,13 +137,13 @@
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_1"/>
     </joint>
-    <!--
+<!--
     <joint name="wall_1_joint" type="fixed">
         <origin xyz="1 0.562175 0" rpy="0 0 0" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_1"/>
     </joint>
-    -->
+-->
     <joint name="wall_2_joint" type="fixed">
         <origin xyz="2.87551 0 0" rpy="0 -0 1.5708" />
       <parent link="kitchen_walls"/>
@@ -173,13 +173,13 @@
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
-<!--
+<xacro:if value="${wall_7 == 'true'}">
     <joint name="wall_7_joint" type="fixed">
       <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_7"/>
     </joint>
--->
+</xacro:if>
     <gazebo reference="kitchen_wall_6">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
new file mode 100644
index 0000000..fbbc7c1
--- /dev/null
+++ b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+
+<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="pi" value="3.1415926535897931" />
+  <xacro:property name="simulated" value="true" />
+
+  <macro name="sphere_inertia" params="radius mass">
+        <inertial>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+          <mass value="1"/>
+          <inertia
+              ixx="1" ixy="0.0" ixz="0.0"
+              iyy="1" iyz="0.0"
+              izz="1"/>
+        </inertial>
+
+  </macro>
+
+  <link name="room_link">
+
+      <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <xacro:if value="${simulated}">
+    <link name="world"/>
+    <joint name="world_room_joint" type="fixed">
+        <origin xyz="0.0 0.03 0 " rpy="0 0 0" />
+        <parent link="world"/>
+        <child link="room_link"/>
+      </joint>
+
+  </xacro:if>
+
+  <gazebo>
+      <static>false</static>
+  </gazebo>
+  <!--- FIXME THIS should NOT be here -->
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_oven_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_island.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_sink_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_popcorn_table.urdf.xacro"/>
+
+  <iai_sink_area name="sink_area" parent="room_link">
+    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />
+  </iai_sink_area>
+
+  <iai_oven_area name="oven_area" parent="room_link">
+    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />
+  </iai_oven_area>
+
+
+  <iai_kitchen_island name="kitchen_island" parent="room_link">
+    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />
+  </iai_kitchen_island>
+
+  <iai_fridge_area name="fridge_area" parent="room_link">
+    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />
+  </iai_fridge_area>
+
+
+  <iai_table_1 name="table_area" parent="room_link">
+    <origin xyz="-2.4 -1.5 0" rpy="0 0 ${pi}" />
+  </iai_table_1>
+
+
+  <iai_kitchen_wall_robohow parent="room_link" wall_7="false">
+    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
+  </iai_kitchen_wall_robohow>
+
+  <iai_popcorn_table name="iai_popcorn_table" parent="room_link">
+    <origin xyz="-0.05 -1.7 0"/>
+  </iai_popcorn_table>
+
+
+
+  <!-- Included above already
+  <iai_sink_area name="sink_area" parent="room_link">
+    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />
+  </iai_sink_area>
+
+  <iai_oven_area name="oven_area" parent="room_link">
+    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />
+  </iai_oven_area>
+
+
+  <iai_kitchen_island name="kitchen_island" parent="room_link">
+    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />
+  </iai_kitchen_island>
+
+  <iai_fridge_area name="fridge_area" parent="room_link">
+    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />
+  </iai_fridge_area>
+  -->
+
+</robot>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
index 3a12d65..c1f7f12 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
@@ -41,7 +41,6 @@
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_popcorn_table.urdf.xacro"/>
 
   <iai_sink_area name="sink_area" parent="room_link">
     <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />
@@ -66,7 +65,7 @@
   </iai_table_1>
 
 
-  <iai_kitchen_wall_robohow parent="room_link">
+  <iai_kitchen_wall_robohow parent="room_link" wall_7="true">
     <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
 

From 92cafc870d1b0a81f0227ae9c821b29254121a7a Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Wed, 19 Aug 2020 13:59:10 +0200
Subject: [PATCH 7/9] removed obsolete macro and added properties

---
 iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro | 3 ++-
 iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro         | 7 ++-----
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
index fbbc7c1..f1c3a67 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
@@ -4,6 +4,7 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
+  <xacro:property name="include_wall_7" value="false"/>
 
   <macro name="sphere_inertia" params="radius mass">
         <inertial>
@@ -66,7 +67,7 @@
   </iai_table_1>
 
 
-  <iai_kitchen_wall_robohow parent="room_link" wall_7="false">
+  <iai_kitchen_wall_robohow parent="room_link" wall_7="${include_wall_7}">
     <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
 
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
index c1f7f12..754e740 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
@@ -4,6 +4,7 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
+  <xacro:property name="include_wall_7" value="true"/>
 
   <macro name="sphere_inertia" params="radius mass">
         <inertial>
@@ -65,14 +66,10 @@
   </iai_table_1>
 
 
-  <iai_kitchen_wall_robohow parent="room_link" wall_7="true">
+  <iai_kitchen_wall_robohow parent="room_link" wall_7="${include_wall_7}">
     <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
 
-  <iai_popcorn_table name="iai_popcorn_table" parent="room_link">
-    <origin xyz="-0.05 -1.7 0"/>
-  </iai_popcorn_table>
-
 
 
   <!-- Included above already

From 477dce8aaa8e864b3eeacd5bcab0f6f8efc04c7b Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Thu, 29 Oct 2020 09:34:15 +0100
Subject: [PATCH 8/9] added default parameter

---
 iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro  | 2 +-
 iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
index 012651c..ed61abd 100644
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <macro name="iai_kitchen_wall_robohow" params="parent *origin wall_7">
+  <macro name="iai_kitchen_wall_robohow" params="parent *origin wall_7:=true">
     <!-- LINKS -->
 
     <link name="kitchen_wall_1">
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
index 754e740..bb1028c 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
@@ -4,7 +4,6 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
-  <xacro:property name="include_wall_7" value="true"/>
 
   <macro name="sphere_inertia" params="radius mass">
         <inertial>
@@ -66,7 +65,7 @@
   </iai_table_1>
 
 
-  <iai_kitchen_wall_robohow parent="room_link" wall_7="${include_wall_7}">
+  <iai_kitchen_wall_robohow parent="room_link">
     <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
 

From 959a42545f14147b19b134fd30ccbebbc754c00a Mon Sep 17 00:00:00 2001
From: Jonas Dech <jdech@uni-bremen.de>
Date: Thu, 29 Oct 2020 10:25:13 +0100
Subject: [PATCH 9/9] renamed parameter

---
 iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro          | 6 +++---
 iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
index ed61abd..334a263 100644
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <macro name="iai_kitchen_wall_robohow" params="parent *origin wall_7:=true">
+  <macro name="iai_kitchen_wall_robohow" params="parent *origin include_wall_7:=true">
     <!-- LINKS -->
 
     <link name="kitchen_wall_1">
@@ -103,7 +103,7 @@
       </collision>
     </link>
 
-<xacro:if value="${wall_7 == 'true'}">
+<xacro:if value="${include_wall_7 == 'true'}">
     <link name="kitchen_wall_7">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -173,7 +173,7 @@
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
-<xacro:if value="${wall_7 == 'true'}">
+<xacro:if value="${include_wall_7 == 'true'}">
     <joint name="wall_7_joint" type="fixed">
       <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
index f1c3a67..5a1dd9c 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
@@ -67,7 +67,7 @@
   </iai_table_1>
 
 
-  <iai_kitchen_wall_robohow parent="room_link" wall_7="${include_wall_7}">
+  <iai_kitchen_wall_robohow parent="room_link" include_wall_7="${include_wall_7}">
     <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>