urdf/71fa3c2594d4399ed3f0d0942e3edcd2be8fdbc5/71fa3c2594d4399ed3f0d0942e3edcd2be8fdbc5.urdf

<?xml version="1.0" ?>
<robot name="Refrigerator0003_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="Refrigerator0003"/>
	</joint>
	<!--LINKS-->
	<link name="Refrigerator0003">
		<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="Refrigerator0003.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000972 0.016217 2.390544"/>
			<geometry>
				<box size="1.0480999946594238 0.5 0.01889999955892563"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.016217 0.009456"/>
			<geometry>
				<box size="1.0499999523162842 0.5 0.01889999955892563"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.515329 0.016217 1.199242"/>
			<geometry>
				<box size="0.01889999955892563 0.5 2.3666999340057373"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.515544 0.016217 1.199242"/>
			<geometry>
				<box size="0.01889999955892563 0.5 2.3666999340057373"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000623 0.258645 1.200175"/>
			<geometry>
				<box size="1.0183000564575195 0.01510000042617321 2.3701000213623047"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.001826 0.016217 1.891953"/>
			<geometry>
				<box size="1.020300030708313 0.5 0.024000000208616257"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000149 0.016217 0.508901"/>
			<geometry>
				<box size="1.0181000232696533 0.5 0.026599999517202377"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_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="Refrigerator0003_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.256496 -0.000091 0.000001"/>
			<geometry>
				<box size="0.5123000144958496 0.029200000688433647 1.3767999410629272"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_door02">
		<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="Refrigerator0003_door02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.256274 -0.000092 0.000002"/>
			<geometry>
				<box size="0.512499988079071 0.029200000688433647 1.3767999410629272"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_door03">
		<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="Refrigerator0003_door03.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.256274 -0.000092 -0.000002"/>
			<geometry>
				<box size="0.512499988079071 0.029200000688433647 0.4948999881744385"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_door04">
		<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="Refrigerator0003_door04.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.256496 -0.000091 -0.000003"/>
			<geometry>
				<box size="0.5123000144958496 0.029200000688433647 0.4948999881744385"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_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="Refrigerator0003_drawer01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 -0.000134 -0.000654"/>
			<geometry>
				<box size="1.0299999713897705 0.029200000688433647 0.24230000376701355"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.255793 -0.103288"/>
			<geometry>
				<box size="1.0 0.48240000009536743 0.007000000216066837"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.493500 0.002791"/>
			<geometry>
				<box size="1.0 0.007000000216066837 0.20800000429153442"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.496500 0.253450 0.002391"/>
			<geometry>
				<box size="0.007000000216066837 0.47780001163482666 0.20880000293254852"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.496500 0.253233 0.002356"/>
			<geometry>
				<box size="0.007000000216066837 0.47679999470710754 0.20890000462532043"/>
			</geometry>
		</collision>
	</link>
	<link name="Refrigerator0003_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="Refrigerator0003_drawer02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 -0.000134 0.000001"/>
			<geometry>
				<box size="1.0299999713897705 0.029200000688433647 0.24400000274181366"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.255678 -0.103488"/>
			<geometry>
				<box size="1.0 0.48179998993873596 0.007000000216066837"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.493500 0.002645"/>
			<geometry>
				<box size="1.0 0.007000000216066837 0.2087000012397766"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.496500 0.253116 0.001853"/>
			<geometry>
				<box size="0.007000000216066837 0.47690001130104065 0.2102999985218048"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.496500 0.253493 0.001668"/>
			<geometry>
				<box size="0.007000000216066837 0.4763999879360199 0.21060000360012054"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="Refrigerator0003_door01" type="revolute">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_door01"/>
		<axis xyz="-0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.515356 -0.251526 1.199855"/>
	</joint>
	<joint name="Refrigerator0003_door02" type="revolute">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_door02"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.515001 -0.251525 1.199855"/>
	</joint>
	<joint name="Refrigerator0003_door03" type="revolute">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_door03"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.515001 -0.251525 2.142533"/>
	</joint>
	<joint name="Refrigerator0003_door04" type="revolute">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_door04"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.515356 -0.251526 2.142534"/>
	</joint>
	<joint name="Refrigerator0003_drawer01" type="prismatic">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_drawer01"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.45510783937555116" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.000000 -0.251483 0.384012"/>
	</joint>
	<joint name="Refrigerator0003_drawer02" type="prismatic">
		<parent link="Refrigerator0003"/>
		<child link="Refrigerator0003_drawer02"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.45510783937555116" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.000000 -0.251483 0.131988"/>
	</joint>
</robot>