hssd-partnr-ci / urdf /59d4630af6aee8b19660537466b52f2c26a74c19 /59d4630af6aee8b19660537466b52f2c26a74c19.urdf
aclegg3
initial commit
cac4cf9
raw
history blame
25.4 kB
<?xml version="1.0" ?>
<robot name="Kitchen_Cabinet0033_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="Kitchen_Cabinet0033"/>
</joint>
<!--LINKS-->
<link name="Kitchen_Cabinet0033">
<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="Kitchen_Cabinet0033.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 -0.000000 0.875325"/>
<geometry>
<box size="0.9998999834060669 0.5999999642372131 0.046199996024370193"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000882 0.002347 0.846128"/>
<geometry>
<box size="0.986299991607666 0.5104999542236328 0.012199997901916504"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.477258 0.002347 0.420434"/>
<geometry>
<box size="0.026399999856948853 0.5104999542236328 0.8408998847007751"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.480849 0.002347 0.420116"/>
<geometry>
<box size="0.026399999856948853 0.5104999542236328 0.840199887752533"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001803 0.002347 0.079146"/>
<geometry>
<box size="0.9316999912261963 0.4444999396800995 0.15829998254776"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001961 0.002347 0.163499"/>
<geometry>
<box size="0.9323999881744385 0.5104999542236328 0.010399999096989632"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.001535 0.237701 0.504618"/>
<geometry>
<box size="0.9333000183105469 0.039799995720386505 0.67249995470047"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.201959 -0.017679 0.504158"/>
<geometry>
<box size="0.020600000396370888 0.47039994597435 0.6727999448776245"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.138154 -0.018012 0.501597"/>
<geometry>
<box size="0.6608999967575073 0.4697999358177185 0.023399997502565384"/>
</geometry>
</collision>
</link>
<link name="Kitchen_Cabinet0033_door01">
<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="Kitchen_Cabinet0033_door01.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.029710 0.000315 -0.005509"/>
<geometry>
<box size="0.05920000001788139 0.018199998885393143 0.6892999410629272"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.245938 0.000315 -0.005509"/>
<geometry>
<box size="0.05920000001788139 0.018199998885393143 0.6892999410629272"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.137751 0.000315 -0.320531"/>
<geometry>
<box size="0.15839999914169312 0.018199998885393143 0.05929999426007271"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.137742 0.000315 0.309528"/>
<geometry>
<box size="0.15760000050067902 0.018199998885393143 0.059199992567300797"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.137842 0.003179 -0.005488"/>
<geometry>
<box size="0.15700000524520874 0.004899999592453241 0.5707999467849731"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.244279 -0.009697 0.313440"/>
<geometry>
<box size="0.019600000232458115 0.0017999997362494469 0.0071999989449977875"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.244270 -0.012959 0.313444"/>
<geometry>
<box size="0.017999999225139618 0.004699999466538429 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.143222 -0.000000 -0.000000" xyz="0.244270 -0.016351 0.313275"/>
<geometry>
<box size="0.017999999225139618 0.0026999996043741703 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.426680 -0.000000 -0.000000" xyz="0.244270 -0.018401 0.312669"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.705533 -0.000000 -0.000000" xyz="0.244270 -0.020223 0.311508"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.982017 -0.000000 -0.000000" xyz="0.244270 -0.021658 0.309887"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.263458 -0.000000 -0.000000" xyz="0.244270 -0.022589 0.307962"/>
<geometry>
<box size="0.017999999225139618 0.0027999996673315763 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.407710 -0.000000 -0.000000" xyz="0.244270 -0.024089 0.299565"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.420521 -0.000000 -0.000000" xyz="0.244270 -0.026340 0.285225"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="1.463162 -0.000000 -0.000000" xyz="0.244270 -0.028189 0.270833"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999258667231"/>
</geometry>
</collision>
<collision>
<origin rpy="1.493063 -0.000000 -0.000000" xyz="0.244270 -0.029595 0.256416"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.534025 -0.000000 -0.000000" xyz="0.244270 -0.030360 0.242070"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.244279 -0.009697 0.156397"/>
<geometry>
<box size="0.019600000232458115 0.0017999997362494469 0.0071999989449977875"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.244270 -0.012959 0.156393"/>
<geometry>
<box size="0.017999999225139618 0.004699999466538429 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.143222 0.000000 -0.000000" xyz="0.244270 -0.016351 0.156562"/>
<geometry>
<box size="0.017999999225139618 0.0026999996043741703 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.426680 0.000000 -0.000000" xyz="0.244270 -0.018401 0.157168"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.705533 0.000000 -0.000000" xyz="0.244270 -0.020223 0.158329"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.982017 0.000000 -0.000000" xyz="0.244270 -0.021658 0.159950"/>
<geometry>
<box size="0.017999999225139618 0.0027999994345009327 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.263458 0.000000 -0.000000" xyz="0.244270 -0.022589 0.161875"/>
<geometry>
<box size="0.017999999225139618 0.0027999996673315763 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.407710 0.000000 -0.000000" xyz="0.244270 -0.024089 0.170272"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.420521 0.000000 -0.000000" xyz="0.244270 -0.026340 0.184612"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.463162 0.000000 -0.000000" xyz="0.244270 -0.028189 0.199004"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999258667231"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.493063 0.000000 -0.000000" xyz="0.244270 -0.029595 0.213420"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.534025 0.000000 -0.000000" xyz="0.244270 -0.030361 0.227767"/>
<geometry>
<box size="0.017999999225139618 0.014799998141825199 0.003999999724328518"/>
</geometry>
</collision>
</link>
<link name="Kitchen_Cabinet0033_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="Kitchen_Cabinet0033_drawer01.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="0.085989 -0.009788 0.137046"/>
<geometry>
<box size="0.019600000232458115 0.0017999999690800905 0.007199999876320362"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="0.085993 -0.013050 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.004699999932199717 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.143222 1.570796 0.000000" xyz="0.085824 -0.016442 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.0027000000700354576 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.426680 1.570796 0.000000" xyz="0.085218 -0.018492 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.705533 1.570796 0.000000" xyz="0.084057 -0.020314 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.982017 1.570796 0.000000" xyz="0.082436 -0.021749 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="1.263457 1.570796 0.000000" xyz="0.080511 -0.022680 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="1.407710 1.570796 0.000000" xyz="0.072114 -0.024180 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.0040000006556510925"/>
</geometry>
</collision>
<collision>
<origin rpy="1.420521 1.570796 0.000000" xyz="0.057774 -0.026430 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.0040000006556510925"/>
</geometry>
</collision>
<collision>
<origin rpy="1.463162 1.570796 0.000000" xyz="0.043382 -0.028280 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.493063 1.570796 0.000000" xyz="0.028965 -0.029686 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="1.534025 1.570796 0.000000" xyz="0.014619 -0.030451 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="-0.071054 -0.009788 0.137046"/>
<geometry>
<box size="0.019600000232458115 0.0017999999690800905 0.007199999876320362"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="-0.071058 -0.013050 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.004699999932199717 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.143222 1.570796 0.000000" xyz="-0.070889 -0.016442 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.0027000000700354576 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.426680 1.570796 0.000000" xyz="-0.070283 -0.018492 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.705533 1.570796 0.000000" xyz="-0.069122 -0.020314 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.982017 1.570796 0.000000" xyz="-0.067501 -0.021749 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.263457 1.570796 0.000000" xyz="-0.065576 -0.022680 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.407710 1.570796 0.000000" xyz="-0.057179 -0.024180 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.0040000006556510925"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.420521 1.570796 0.000000" xyz="-0.042839 -0.026430 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.0040000006556510925"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.463162 1.570796 0.000000" xyz="-0.028447 -0.028280 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.493063 1.570796 0.000000" xyz="-0.014030 -0.029686 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.534025 1.570796 0.000000" xyz="0.000316 -0.030451 0.137054"/>
<geometry>
<box size="0.017999999225139618 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000811 0.000224 0.138581"/>
<geometry>
<box size="0.6937999725341797 0.018200000748038292 0.05920000001788139"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000811 0.000224 -0.144161"/>
<geometry>
<box size="0.6937999725341797 0.018200000748038292 0.059300001710653305"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.318097 0.000224 -0.002695"/>
<geometry>
<box size="0.05920000001788139 0.018200000748038292 0.22390000522136688"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.316489 0.000224 -0.002685"/>
<geometry>
<box size="0.05920000001788139 0.018200000748038292 0.22419999539852142"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000800 0.003088 -0.002783"/>
<geometry>
<box size="0.5752999782562256 0.004900000058114529 0.22349999845027924"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.311910 0.243191 -0.042000"/>
<geometry>
<box size="0.02199999988079071 0.4675999879837036 0.22200000286102295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.311910 0.243230 -0.042000"/>
<geometry>
<box size="0.02199999988079071 0.4675000011920929 0.22200000286102295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000238 0.466000 -0.042000"/>
<geometry>
<box size="0.6040999889373779 0.02199999988079071 0.22200000286102295"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000285 0.232931 -0.142005"/>
<geometry>
<box size="0.6043999791145325 0.4472000002861023 0.02199999988079071"/>
</geometry>
</collision>
</link>
<link name="Kitchen_Cabinet0033_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="Kitchen_Cabinet0033_drawer02.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="0.085996 -0.009788 0.138748"/>
<geometry>
<box size="0.019599998369812965 0.0017999997362494469 0.007199999876320362"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="0.086001 -0.013050 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.004699999466538429 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.143222 1.570796 0.000000" xyz="0.085831 -0.016442 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.0026999996043741703 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.426680 1.570796 0.000000" xyz="0.085226 -0.018492 0.138757"/>
<geometry>
<box size="0.01799999736249447 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.705533 1.570796 0.000000" xyz="0.084064 -0.020314 0.138757"/>
<geometry>
<box size="0.01799999736249447 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="0.982017 1.570796 0.000000" xyz="0.082443 -0.021749 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.0027999996673315763 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.263458 1.570796 0.000000" xyz="0.080518 -0.022680 0.138757"/>
<geometry>
<box size="0.01799999736249447 0.00279999990016222 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.407710 1.570796 0.000000" xyz="0.072121 -0.024180 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.420521 1.570796 0.000000" xyz="0.057781 -0.026431 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="1.463162 1.570796 0.000000" xyz="0.043389 -0.028280 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999258667231"/>
</geometry>
</collision>
<collision>
<origin rpy="1.493063 1.570796 0.000000" xyz="0.028973 -0.029686 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="1.534025 1.570796 0.000000" xyz="0.014626 -0.030452 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="-0.071047 -0.009788 0.138748"/>
<geometry>
<box size="0.019599998369812965 0.0017999997362494469 0.007199999876320362"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.000000 1.570796 0.000000" xyz="-0.071051 -0.013050 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.004699999466538429 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.143222 1.570796 0.000000" xyz="-0.070881 -0.016442 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.0026999996043741703 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.426680 1.570796 0.000000" xyz="-0.070276 -0.018492 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.0027999994345009327 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.705533 1.570796 0.000000" xyz="-0.069115 -0.020314 0.138757"/>
<geometry>
<box size="0.01799999736249447 0.00279999990016222 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.982017 1.570796 0.000000" xyz="-0.067494 -0.021749 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.0027999996673315763 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.263458 1.570796 0.000000" xyz="-0.065568 -0.022680 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.00279999990016222 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.407710 1.570796 0.000000" xyz="-0.057172 -0.024180 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.420521 1.570796 0.000000" xyz="-0.042832 -0.026431 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.004000000189989805"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.463162 1.570796 0.000000" xyz="-0.028440 -0.028280 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999258667231"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.493063 1.570796 0.000000" xyz="-0.014023 -0.029686 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="-1.534025 1.570796 0.000000" xyz="0.000323 -0.030452 0.138756"/>
<geometry>
<box size="0.01799999736249447 0.014800000004470348 0.003999999724328518"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000804 0.000224 0.138558"/>
<geometry>
<box size="0.6937999725341797 0.018199998885393143 0.059199992567300797"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000804 0.000224 -0.144185"/>
<geometry>
<box size="0.6937999725341797 0.018199998885393143 0.05929999426007271"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.318090 0.000224 -0.002719"/>
<geometry>
<box size="0.05920000001788139 0.018199998885393143 0.2238999754190445"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.316496 0.000224 -0.002709"/>
<geometry>
<box size="0.05920000001788139 0.018199998885393143 0.22419996559619904"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000793 0.003088 -0.002807"/>
<geometry>
<box size="0.5752999782562256 0.004899999592453241 0.22349996864795685"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="0.311917 0.243190 -0.042024"/>
<geometry>
<box size="0.02199999988079071 0.46759992837905884 0.22199997305870056"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.311902 0.243230 -0.042024"/>
<geometry>
<box size="0.02199999988079071 0.4674999415874481 0.22199997305870056"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000230 0.466000 -0.042024"/>
<geometry>
<box size="0.6040999889373779 0.02199999801814556 0.22199997305870056"/>
</geometry>
</collision>
<collision>
<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000278 0.232931 -0.142029"/>
<geometry>
<box size="0.6043999791145325 0.4471999406814575 0.02199999801814556"/>
</geometry>
</collision>
</link>
<!--JOINTS-->
<joint name="Kitchen_Cabinet0033_door01" type="revolute">
<parent link="Kitchen_Cabinet0033"/>
<child link="Kitchen_Cabinet0033_door01"/>
<axis xyz="0.000000 0.000000 -1.000000"/>
<limit effort="100.0000" lower="-0.0" upper="2.6179938316345215" velocity="3.0000"/>
<origin rpy="0 0 0" xyz="-0.484329 -0.265272 0.504366"/>
</joint>
<joint name="Kitchen_Cabinet0033_drawer01" type="prismatic">
<parent link="Kitchen_Cabinet0033"/>
<child link="Kitchen_Cabinet0033_drawer01"/>
<axis xyz="0.000000 -1.000000 0.000000"/>
<limit effort="100.0000" lower="-0.0" upper="0.4229170680239953" velocity="3.0000"/>
<origin rpy="0 0 0" xyz="0.143682 -0.265181 0.675300"/>
</joint>
<joint name="Kitchen_Cabinet0033_drawer02" type="prismatic">
<parent link="Kitchen_Cabinet0033"/>
<child link="Kitchen_Cabinet0033_drawer02"/>
<axis xyz="0.000000 -1.000000 0.000000"/>
<limit effort="100.0000" lower="-0.0" upper="0.422917015172633" velocity="3.0000"/>
<origin rpy="0 0 0" xyz="0.143675 -0.265181 0.327895"/>
</joint>
</robot>