urdf/0bfc35ff2d2697e99670084cb923ac6097760b5f/0bfc35ff2d2697e99670084cb923ac6097760b5f.urdf

<?xml version="1.0" ?>
<robot name="Rack0008_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="Rack0008"/>
	</joint>
	<!--LINKS-->
	<link name="Rack0008">
		<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="Rack0008.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000518 0.741160"/>
			<geometry>
				<box size="0.40639999508857727 0.33059999346733093 0.016300000250339508"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.000518 0.730669"/>
			<geometry>
				<box size="0.3928000032901764 0.31700000166893005 0.004600000102072954"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000013 0.000566 0.721358"/>
			<geometry>
				<box size="0.39160001277923584 0.3156999945640564 0.013899999670684338"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.162487 -0.124815 0.357178"/>
			<geometry>
				<box size="0.039799999445676804 0.03929999843239784 0.7143999934196472"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.162369 -0.124815 0.357191"/>
			<geometry>
				<box size="0.039799999445676804 0.03929999843239784 0.7143999934196472"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.162369 0.125998 0.357180"/>
			<geometry>
				<box size="0.039799999445676804 0.03929999843239784 0.7143999934196472"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.162487 0.125998 0.357153"/>
			<geometry>
				<box size="0.039799999445676804 0.03929999843239784 0.7142999768257141"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.171555 0.000524 0.696077"/>
			<geometry>
				<box size="0.021299999207258224 0.21220000088214874 0.03660000115633011"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.171555 0.000340 0.537234"/>
			<geometry>
				<box size="0.021299999207258224 0.21279999613761902 0.039000000804662704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000111 -0.133545 0.528220"/>
			<geometry>
				<box size="0.28610000014305115 0.021299999207258224 0.020999999716877937"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.171438 0.000736 0.537234"/>
			<geometry>
				<box size="0.021299999207258224 0.2125999927520752 0.039000000804662704"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.171438 0.000652 0.696050"/>
			<geometry>
				<box size="0.021299999207258224 0.21209999918937683 0.03660000115633011"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000059 -0.005516 0.306551"/>
			<geometry>
				<box size="0.3287000060081482 0.27730000019073486 0.020999999716877937"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000023 -0.005428 0.081830"/>
			<geometry>
				<box size="0.3212999999523163 0.2775000035762787 0.02419999986886978"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.171359 0.000600 0.086772"/>
			<geometry>
				<box size="0.021299999207258224 0.21410000324249268 0.03420000150799751"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.171478 0.000593 0.086772"/>
			<geometry>
				<box size="0.021299999207258224 0.21400000154972076 0.03420000150799751"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000020 0.005345 0.524239"/>
			<geometry>
				<box size="0.3215999901294708 0.2563000023365021 0.01209999993443489"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.174062 0.000535 0.617262"/>
			<geometry>
				<box size="0.009200000204145908 0.21140000224113464 0.12099999934434891"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.173944 0.000594 0.617251"/>
			<geometry>
				<box size="0.009200000204145908 0.21150000393390656 0.12099999934434891"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000053 0.134727 0.705090"/>
			<geometry>
				<box size="0.2872999906539917 0.021299999207258224 0.01850000023841858"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000064 0.138911 0.383104"/>
			<geometry>
				<box size="0.2849999964237213 0.010200000368058681 0.626800000667572"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.122981 0.000000 0.000000" xyz="0.172777 0.001608 0.311386"/>
			<geometry>
				<box size="0.017400000244379044 0.47099998593330383 0.014700000174343586"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.122981 0.000000 -0.000000" xyz="0.172777 0.001608 0.311386"/>
			<geometry>
				<box size="0.017400000244379044 0.47099998593330383 0.014700000174343586"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.122981 0.000000 0.000000" xyz="-0.172606 0.001608 0.311386"/>
			<geometry>
				<box size="0.017400000244379044 0.47099998593330383 0.014700000174343586"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.122981 0.000000 -0.000000" xyz="-0.172606 0.001608 0.311386"/>
			<geometry>
				<box size="0.017400000244379044 0.47099998593330383 0.014700000174343586"/>
			</geometry>
		</collision>
	</link>
	<link name="Rack0008_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="Rack0008_drawer01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.000549 -0.000006"/>
			<geometry>
				<box size="0.2831000089645386 0.021299999207258224 0.15469999611377716"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.114054 0.124408 -0.012000"/>
			<geometry>
				<box size="0.013000000268220901 0.22630000114440918 0.08869999647140503"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.114054 0.124397 -0.012000"/>
			<geometry>
				<box size="0.013000000268220901 0.2264000028371811 0.08869999647140503"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000003 0.231082 -0.012000"/>
			<geometry>
				<box size="0.21549999713897705 0.013000000268220901 0.08869999647140503"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000038 0.118204 -0.049830"/>
			<geometry>
				<box size="0.21580000221729279 0.21400000154972076 0.013000000268220901"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.026716 0.000000"/>
			<geometry>
				<cylinder radius="0.015650000423192978" length="0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.011569 0.000000"/>
			<geometry>
				<cylinder radius="0.00930000003427267" length="0.00570000009611249"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 -0.018165 0.000000"/>
			<geometry>
				<cylinder radius="0.0037499999161809683" length="0.007699999958276749"/>
			</geometry>
		</collision>
	</link>
	<link name="Rack0008_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="Rack0008_drawer02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000127 0.003499 0.057678"/>
			<geometry>
				<box size="0.28130000829696655 0.24289999902248383 0.04529999941587448"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000400 0.003104 -0.101173"/>
			<geometry>
				<box size="0.24289999902248383 0.20669999718666077 0.007300000172108412"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 1.479819 0.000001" xyz="-0.122150 0.003104 -0.031156"/>
			<geometry>
				<box size="0.14309999346733093 0.211899995803833 0.013899999670684338"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 -1.479819 -0.000001" xyz="0.122361 0.003104 -0.031159"/>
			<geometry>
				<box size="0.14309999346733093 0.211899995803833 0.013899999670684338"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 1.493678 1.570798" xyz="0.000091 -0.101997 -0.031365"/>
			<geometry>
				<box size="0.14309997856616974 0.24289999902248383 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000002 -1.479819 1.570795" xyz="0.000091 0.107265 -0.031354"/>
			<geometry>
				<box size="0.14309999346733093 0.24289999902248383 0.009499999694526196"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.874253 2.162545 0.538841" xyz="0.028670 -0.122505 0.023473"/>
			<geometry>
				<box size="0.023400001227855682 0.056299999356269836 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.950527 0.824630 1.217272" xyz="-0.034132 -0.124117 0.018399"/>
			<geometry>
				<box size="0.023399999365210533 0.06469999998807907 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000190 -0.116786 0.036070"/>
			<geometry>
				<sphere radius="0.009600000455975533"/>
			</geometry>
		</collision>
	</link>
	<link name="Rack0008_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="Rack0008_drawer03.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000127 0.003499 0.057694"/>
			<geometry>
				<box size="0.28130000829696655 0.24289999902248383 0.04529999941587448"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000400 0.003104 -0.101156"/>
			<geometry>
				<box size="0.24289999902248383 0.20669999718666077 0.007300000172108412"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 1.479819 0.000001" xyz="-0.122150 0.003104 -0.031139"/>
			<geometry>
				<box size="0.14309999346733093 0.211899995803833 0.013899999670684338"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 -1.479819 -0.000001" xyz="0.122361 0.003104 -0.031142"/>
			<geometry>
				<box size="0.14309999346733093 0.211899995803833 0.013899999670684338"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000001 1.493678 1.570798" xyz="0.000091 -0.101997 -0.031348"/>
			<geometry>
				<box size="0.14309997856616974 0.24289999902248383 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000002 -1.479819 1.570795" xyz="0.000091 0.107265 -0.031337"/>
			<geometry>
				<box size="0.14309999346733093 0.24289999902248383 0.009499999694526196"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.874253 2.162545 0.538841" xyz="0.028670 -0.122505 0.023490"/>
			<geometry>
				<box size="0.023400001227855682 0.056299999356269836 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.950527 0.824630 1.217272" xyz="-0.034132 -0.124117 0.018416"/>
			<geometry>
				<box size="0.023399999365210533 0.06469999998807907 0.009600000455975533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000190 -0.116786 0.036087"/>
			<geometry>
				<sphere radius="0.009600000455975533"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="Rack0008_drawer01" type="prismatic">
		<parent link="Rack0008"/>
		<child link="Rack0008_drawer01"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.2145681520912667" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000059 -0.134094 0.617045"/>
	</joint>
	<joint name="Rack0008_drawer02" type="prismatic">
		<parent link="Rack0008"/>
		<child link="Rack0008_drawer02"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.2145681520912667" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000118 -0.013327 0.421926"/>
	</joint>
	<joint name="Rack0008_drawer03" type="prismatic">
		<parent link="Rack0008"/>
		<child link="Rack0008_drawer03"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.2145681520912667" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000118 -0.013327 0.197657"/>
	</joint>
</robot>