urdf/038f37d5b8351b29fdc8173d219ca5a503715ccc/038f37d5b8351b29fdc8173d219ca5a503715ccc.urdf

<?xml version="1.0" ?>
<robot name="Nightstand0059_ARMATURE">
	<link name="root"/>
	<joint name="root_rotation" type="fixed">
		<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
		<parent link="root"/>
		<child link="Nightstand0059"/>
	</joint>
	<!--LINKS-->
	<link name="Nightstand0059">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="Nightstand0059.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000006 0.005537 0.600069"/>
			<geometry>
				<box size="0.5666999816894531 0.4088999927043915 0.039900001138448715"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.259387 0.005537 0.416342"/>
			<geometry>
				<box size="0.050700001418590546 0.4088999927043915 0.33059999346733093"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.258997 0.005537 0.416650"/>
			<geometry>
				<box size="0.04989999905228615 0.4088999927043915 0.3312000036239624"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000653 0.005537 0.268793"/>
			<geometry>
				<box size="0.4740000069141388 0.4088999927043915 0.03550000116229057"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000193 -0.006257 0.433266"/>
			<geometry>
				<box size="0.4715000092983246 0.38530001044273376 0.03550000116229057"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000811 0.199422 0.432752"/>
			<geometry>
				<box size="0.4738999903202057 0.021199999377131462 0.29910001158714294"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.270022 -0.175585 0.000859"/>
			<geometry>
				<box size="0.029200000688433647 0.02879999950528145 0.0017000000225380063"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.283078 -0.175558 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 -0.000000 -0.000000" xyz="-0.283078 -0.189699 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 -0.000000 0.000000" xyz="-0.283078 -0.160595 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 0.080938 0.000000" xyz="-0.246691 -0.175558 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 0.080938 0.000000" xyz="-0.246699 -0.189699 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 0.080938 0.000000" xyz="-0.246699 -0.160595 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.035531 1.570796" xyz="-0.270564 -0.192579 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.081155 -0.035531 1.570796" xyz="-0.256212 -0.192598 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.035531 -1.570796" xyz="-0.270564 -0.157686 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.081155 -0.035531 -1.570796" xyz="-0.256212 -0.157667 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.270022 0.186664 0.000859"/>
			<geometry>
				<box size="0.029200000688433647 0.02879999950528145 0.0017000000225380063"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.283078 0.186638 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 -0.000000 0.000000" xyz="-0.283078 0.200779 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 -0.000000 -0.000000" xyz="-0.283078 0.171675 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.080938 -0.000000" xyz="-0.246691 0.186638 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 0.080938 -0.000000" xyz="-0.246699 0.200779 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 0.080938 -0.000000" xyz="-0.246699 0.171675 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.035531 -1.570796" xyz="-0.270564 0.203659 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.081155 -0.035531 -1.570796" xyz="-0.256212 0.203678 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.035531 1.570796" xyz="-0.270564 0.168766 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.081155 -0.035531 1.570796" xyz="-0.256212 0.168747 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.270024 -0.175585 0.000859"/>
			<geometry>
				<box size="0.029200000688433647 0.02879999950528145 0.0017000000225380063"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.283081 -0.175558 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 0.000000 0.000000" xyz="0.283081 -0.189699 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 0.000000 -0.000000" xyz="0.283081 -0.160595 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.080938 -0.000000" xyz="0.246693 -0.175558 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 -0.080938 -0.000000" xyz="0.246701 -0.189699 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 -0.080938 -0.000000" xyz="0.246701 -0.160595 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.035531 -1.570796" xyz="0.270566 -0.192579 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.081155 0.035531 -1.570796" xyz="0.256214 -0.192598 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.035531 1.570796" xyz="0.270566 -0.157686 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.081155 0.035531 1.570796" xyz="0.256214 -0.157667 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.270024 0.186664 0.000859"/>
			<geometry>
				<box size="0.029200000688433647 0.02879999950528145 0.0017000000225380063"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.283081 0.186638 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 0.000000 -0.000000" xyz="0.283081 0.200779 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 0.000000 0.000000" xyz="0.283081 0.171675 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 -0.080938 0.000000" xyz="0.246693 0.186638 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.035691 -0.080938 0.000000" xyz="0.246701 0.200779 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.035691 -0.080938 0.000000" xyz="0.246701 0.171675 0.127491"/>
			<geometry>
				<box size="0.003800000064074993 0.009600000455975533 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.035531 1.570796" xyz="0.270566 0.203659 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.081155 0.035531 1.570796" xyz="0.256214 0.203678 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.035531 -1.570796" xyz="0.270566 0.168766 0.127591"/>
			<geometry>
				<box size="0.003800000064074993 0.02889999933540821 0.2522999942302704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.081155 0.035531 -1.570796" xyz="0.256214 0.168747 0.128117"/>
			<geometry>
				<box size="0.003800000064074993 0.02290000021457672 0.2515000104904175"/>
			</geometry>
		</collision>
	</link>
	<link name="Nightstand0059_drawer01">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="Nightstand0059_drawer01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000005 0.000517 0.000074"/>
			<geometry>
				<box size="0.4681999981403351 0.03530000150203705 0.1290999948978424"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.214109 0.190878 -0.006000"/>
			<geometry>
				<box size="0.01600000075995922 0.34610000252723694 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.214109 0.190858 -0.006000"/>
			<geometry>
				<box size="0.01600000075995922 0.34610000252723694 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000174 0.355925 -0.006000"/>
			<geometry>
				<box size="0.41449999809265137 0.01600000075995922 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000106 0.183736 -0.050554"/>
			<geometry>
				<box size="0.4147000014781952 0.3312000036239624 0.01600000075995922"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000202 -0.015917 0.006099"/>
			<geometry>
				<cylinder radius="0.01549999974668026" length="0.00860000029206276"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000202 -0.023440 -0.013689"/>
			<geometry>
				<cylinder radius="0.023399999365210533" length="0.00430000014603138"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000209 -0.022250 0.006056"/>
			<geometry>
				<sphere radius="0.007000000216066837"/>
			</geometry>
		</collision>
	</link>
	<link name="Nightstand0059_drawer02">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="Nightstand0059_drawer02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000005 0.000518 0.000121"/>
			<geometry>
				<box size="0.4681999981403351 0.03530000150203705 0.1290999948978424"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.214109 0.190864 -0.006000"/>
			<geometry>
				<box size="0.01600000075995922 0.34610000252723694 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.214109 0.190883 -0.006000"/>
			<geometry>
				<box size="0.01600000075995922 0.34610000252723694 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000113 0.355925 -0.006000"/>
			<geometry>
				<box size="0.414900004863739 0.01600000075995922 0.10509999841451645"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000123 0.183948 -0.050554"/>
			<geometry>
				<box size="0.41499999165534973 0.3314000070095062 0.01600000075995922"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000202 -0.015917 0.004116"/>
			<geometry>
				<cylinder radius="0.01549999974668026" length="0.00860000029206276"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000202 -0.023440 -0.015671"/>
			<geometry>
				<cylinder radius="0.023399999365210533" length="0.00430000014603138"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="-0.000209 -0.022250 0.004073"/>
			<geometry>
				<sphere radius="0.007000000216066837"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="Nightstand0059_drawer01" type="prismatic">
		<parent link="Nightstand0059"/>
		<child link="Nightstand0059_drawer01"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.35637823022310383" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000207 -0.180719 0.515508"/>
	</joint>
	<joint name="Nightstand0059_drawer02" type="prismatic">
		<parent link="Nightstand0059"/>
		<child link="Nightstand0059_drawer02"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.35637823022310383" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000207 -0.180719 0.350830"/>
	</joint>
</robot>