urdf/065ec382b612213e49941b205a074141469eba31/065ec382b612213e49941b205a074141469eba31.urdf

<?xml version="1.0" ?>
<robot name="dresser0002_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="dresser0002"/>
	</joint>
	<!--LINKS-->
	<link name="dresser0002">
		<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="dresser0002.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.018792 1.196526"/>
			<geometry>
				<box size="0.9143999814987183 0.43369999527931213 0.04529999941587448"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.018792 0.132930"/>
			<geometry>
				<box size="0.9143999814987183 0.43369999527931213 0.042500000447034836"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436100 -0.177886 0.663615"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 1.023900032043457"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436100 0.213524 0.663870"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 1.0219999551773071"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436100 -0.177886 0.057957"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 0.10849999636411667"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436100 0.213524 0.058291"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 0.10909999907016754"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.432669 0.017819 0.664020"/>
			<geometry>
				<box size="0.02630000002682209 0.35100001096725464 1.019700050354004"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001434 0.232060 0.664095"/>
			<geometry>
				<box size="0.8330000042915344 0.007199999876320362 1.0242999792099"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.015187 0.922549"/>
			<geometry>
				<box size="0.8299999833106995 0.42649999260902405 0.017899999395012856"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436099 -0.177886 0.663615"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 1.023900032043457"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436099 0.213524 0.663870"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 1.0219999551773071"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436099 -0.177886 0.057957"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 0.10849999636411667"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436099 0.213524 0.058291"/>
			<geometry>
				<box size="0.0421999990940094 0.04039999842643738 0.10909999907016754"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.432668 0.017819 0.664020"/>
			<geometry>
				<box size="0.02630000002682209 0.35100001096725464 1.019700050354004"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436333 -0.178622 0.002416"/>
			<geometry>
				<cylinder radius="0.01510000042617321" length="0.004800000227987766"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.436333 0.214240 0.002416"/>
			<geometry>
				<cylinder radius="0.01510000042617321" length="0.004800000227987766"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436332 -0.178622 0.002416"/>
			<geometry>
				<cylinder radius="0.01510000042617321" length="0.004800000227987766"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.436332 0.214240 0.002416"/>
			<geometry>
				<cylinder radius="0.01510000042617321" length="0.004800000227987766"/>
			</geometry>
		</collision>
	</link>
	<link name="dresser0002_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="dresser0002_drawer01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000887 0.001338 -0.000035"/>
			<geometry>
				<box size="0.41200000047683716 0.026900000870227814 0.23899999260902405"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.369746 -0.032331"/>
			<geometry>
				<box size="0.4059999883174896 0.00800000037997961 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.199012 0.189639 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.35359999537467957 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.199012 0.189671 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.3540000021457672 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000102 0.189836 -0.112517"/>
			<geometry>
				<box size="0.39160001277923584 0.3547999858856201 0.00800000037997961"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.022567 -0.043312 0.000879"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.027312 -0.029713 0.000879"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.072479 -0.029713 0.000879"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
	</link>
	<link name="dresser0002_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="dresser0002_drawer02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000882 0.001339 -0.000035"/>
			<geometry>
				<box size="0.41200000047683716 0.026900000870227814 0.23899999260902405"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000012 0.369746 -0.032331"/>
			<geometry>
				<box size="0.4059999883174896 0.00800000037997961 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.199024 0.189639 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.35359999537467957 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.199000 0.189671 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.3540000021457672 0.16840000450611115"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000113 0.189836 -0.112517"/>
			<geometry>
				<box size="0.39160001277923584 0.3547999858856201 0.00800000037997961"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.022452 -0.043312 0.000879"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.072331 -0.029712 0.000879"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.027460 -0.029713 0.000879"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
	</link>
	<link name="dresser0002_drawer03">
		<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="dresser0002_drawer03.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.230393 -0.043296 -0.000321"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.180514 -0.029697 -0.000321"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.280305 -0.029697 -0.000321"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.230267 -0.043296 -0.000350"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.280146 -0.029697 -0.000350"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.180355 -0.029697 -0.000350"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.001354 0.000013"/>
			<geometry>
				<box size="0.8259000182151794 0.026900000870227814 0.24240000545978546"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.369746 -0.032331"/>
			<geometry>
				<box size="0.8198999762535095 0.00800000037997961 0.17170000076293945"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.405951 0.188670 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.3562000095844269 0.17170000076293945"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.405951 0.190110 -0.032331"/>
			<geometry>
				<box size="0.00800000037997961 0.35420000553131104 0.17170000076293945"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000136 0.189444 -0.114190"/>
			<geometry>
				<box size="0.8052999973297119 0.35499998927116394 0.00800000037997961"/>
			</geometry>
		</collision>
	</link>
	<link name="dresser0002_drawer04">
		<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="dresser0002_drawer04.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.230393 -0.043378 -0.002861"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.180514 -0.029778 -0.002861"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.280305 -0.029778 -0.002861"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.230267 -0.043378 -0.002890"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.280146 -0.029778 -0.002890"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.180355 -0.029778 -0.002890"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.001273 0.000091"/>
			<geometry>
				<box size="0.8259000182151794 0.026900000870227814 0.26010000705718994"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.369665 -0.032320"/>
			<geometry>
				<box size="0.8198999762535095 0.00800000037997961 0.18940000236034393"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.405951 0.188589 -0.032320"/>
			<geometry>
				<box size="0.00800000037997961 0.3562000095844269 0.18940000236034393"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.405951 0.190029 -0.032320"/>
			<geometry>
				<box size="0.00800000037997961 0.35420000553131104 0.18940000236034393"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000136 0.189363 -0.123032"/>
			<geometry>
				<box size="0.8052999973297119 0.35499998927116394 0.00800000037997961"/>
			</geometry>
		</collision>
	</link>
	<link name="dresser0002_drawer05">
		<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="dresser0002_drawer05.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.230393 -0.043336 -0.001122"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.180514 -0.029737 -0.001122"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="-0.280305 -0.029737 -0.001122"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.230267 -0.043336 -0.001151"/>
			<geometry>
				<box size="0.08420000225305557 0.012799999676644802 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.280146 -0.029737 -0.001151"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.180355 -0.029737 -0.001151"/>
			<geometry>
				<box size="0.03999999910593033 0.019999999552965164 0.01140000019222498"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.001314 0.000057"/>
			<geometry>
				<box size="0.8259000182151794 0.026900000870227814 0.2508000135421753"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.369707 -0.032339"/>
			<geometry>
				<box size="0.8198999762535095 0.00800000037997961 0.1800999939441681"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.405951 0.188630 -0.032339"/>
			<geometry>
				<box size="0.00800000037997961 0.3562000095844269 0.1800999939441681"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.405951 0.190070 -0.032339"/>
			<geometry>
				<box size="0.00800000037997961 0.35420000553131104 0.1800999939441681"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000136 0.189404 -0.118409"/>
			<geometry>
				<box size="0.8052999973297119 0.35499998927116394 0.00800000037997961"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="dresser0002_drawer01" type="prismatic">
		<parent link="dresser0002"/>
		<child link="dresser0002_drawer01"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.3113126729387662" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.207827 -0.185974 1.052296"/>
	</joint>
	<joint name="dresser0002_drawer02" type="prismatic">
		<parent link="dresser0002"/>
		<child link="dresser0002_drawer02"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.3113126729387662" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.207826 -0.185974 1.052296"/>
	</joint>
	<joint name="dresser0002_drawer03" type="prismatic">
		<parent link="dresser0002"/>
		<child link="dresser0002_drawer03"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.3113126729387662" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.000000 -0.185990 0.790622"/>
	</joint>
	<joint name="dresser0002_drawer04" type="prismatic">
		<parent link="dresser0002"/>
		<child link="dresser0002_drawer04"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.3113126729387662" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.000000 -0.185908 0.537937"/>
	</joint>
	<joint name="dresser0002_drawer05" type="prismatic">
		<parent link="dresser0002"/>
		<child link="dresser0002_drawer05"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.3113126729387662" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.000000 -0.185950 0.280549"/>
	</joint>
</robot>