urdf/cabinet/cabinet_dynamic.urdf

<?xml version="1.0" ?>
<robot name="cabinet">
  <link name="root">
  </link>
  <joint name="body_transform" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="root"/>
    <child link="body"/>
  </joint>
  <link name="body">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="25.0"/>
      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="cabinet.glb" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0348 0.75 0"/>
      <geometry>
        <box size="1.58 0.028 0.43"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0348 0.180406 0"/>
      <geometry>
        <box size="1.58 0.03 0.43"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.746944 0.458928 0"/>
      <geometry>
        <box size="0.033891 0.518524 0.43"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.822905 0.458928 0"/>
      <geometry>
        <box size="0.033891 0.518524 0.43"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.034815 0.466524 -0.208891"/>
      <geometry>
        <box size="1.57884 0.562595 0.037426"/>
      </geometry>
    </collision>

  </link>
  <joint name="left_slide" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.43573 0.46828 0.18"/>
    <parent link="body"/>
    <child link="left_door"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0" upper="0.8" velocity="1.0"/>
  </joint>

  <link name="left_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="door.glb" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.74 0.5 0.026"/>
      </geometry>
    </collision>
  </link>

  <joint name="right_slide" type="prismatic">
    <origin rpy="0 0 0" xyz="0.34 0.46828 0.2"/>
    <parent link="body"/>
    <child link="right_door"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="-0.76" upper="0" velocity="1.0"/>
  </joint>

  <link name="right_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="door.glb" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.74 0.5 0.026"/>
      </geometry>
    </collision>
  </link>
</robot>