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clover_lab_mujoco.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ../xacro/clover_lab.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="clover_lab">
<material name="White">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="Glass">
<color rgba="0.9 0.9 0.9 0.9"/>
</material>
<material name="Black">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Oak">
<color rgba="0.89 0.81 0.69 1.0"/>
</material>
<material name="LightGreen">
<color rgba="0.8 1 0.8 1.0"/>
</material>
<!-- Using meter, kg -->
<!-- https://www.ikea.com.hk/en/products/kitchen-fixed-interiors/kitchen-fixed-interiors/maximera-art-80297276-->
<!-- The meshdir to be used by MJCF need not be the same as the URDF -->
<mujoco>
<compiler balanceinertia="true" discardvisual="true" meshdir="./meshes" strippath="true"/>
</mujoco>
<link name="bc_frame_base_link">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 1.8 0.12"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 1.8 0.12"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="20"/>
<inertia ixx="5.424" ixy="0" ixz="0" iyy="0.624" iyz="0" izz="6.0"/>
</inertial>
</link>
<link name="bc_frame_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.016 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.016 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.26677333333333336" ixy="0" ixz="0" iyy="0.4166666666666667" iyz="0" izz="0.15010666666666664"/>
</inertial>
</link>
<joint name="bc_frame_left_side_panel_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.892 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_left_side_panel"/>
</joint>
<link name="bc_frame_right_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.016 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.016 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.26677333333333336" ixy="0" ixz="0" iyy="0.4166666666666667" iyz="0" izz="0.15010666666666664"/>
</inertial>
</link>
<joint name="bc_frame_right_side_panel_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.892 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_right_side_panel"/>
</joint>
<link name="bc_frame_back_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 1.8 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 1.8 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="20"/>
<inertia ixx="6.466666666666668" ixy="0" ixz="0" iyy="1.0670933333333334" iyz="0" izz="5.400426666666667"/>
</inertial>
</link>
<joint name="bc_frame_back_panel_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.292 0 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_back_panel"/>
</joint>
<link name="bc_frame_worktop">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.635 1.86 0.028"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.635 1.86 0.028"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="20.65"/>
<inertia ixx="5.954744133333334" ixy="0" ixz="0" iyy="0.6952321541666667" iyz="0" izz="6.647278020833333"/>
</inertial>
</link>
<joint name="bc_frame_worktop_joint" type="fixed">
<origin xyz="0 0 0.874"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_worktop"/>
</joint>
<link name="bc_frame_c1_v_shelf">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.5346666666666668" ixy="0" ixz="0" iyy="0.8333333333333334" iyz="0" izz="0.3013333333333333"/>
</inertial>
</link>
<joint name="bc_frame_c1_v_shelf_joint" type="fixed">
<origin xyz="0 -0.5 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_c1_v_shelf"/>
</joint>
<link name="bc_frame_c2_v_shelf">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.5346666666666668" ixy="0" ixz="0" iyy="0.8333333333333334" iyz="0" izz="0.3013333333333333"/>
</inertial>
</link>
<joint name="bc_frame_c2_v_shelf_joint" type="fixed">
<origin xyz="0 -0.29999999999999993 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_c2_v_shelf"/>
</joint>
<link name="bc_frame_c3_v_shelf">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.04 0.8"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.5346666666666668" ixy="0" ixz="0" iyy="0.8333333333333334" iyz="0" izz="0.3013333333333333"/>
</inertial>
</link>
<joint name="bc_frame_c3_v_shelf_joint" type="fixed">
<origin xyz="0 0.09999999999999998 0.46"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_c3_v_shelf"/>
</joint>
<link name="bc_frame_h1_shelf">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.8 0.02"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.8 0.02"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.5336666666666667" ixy="0" ixz="0" iyy="0.30033333333333334" iyz="0" izz="0.8333333333333334"/>
</inertial>
</link>
<joint name="bc_frame_h1_shelf_joint" type="fixed">
<origin xyz="0 0.5000000000000001 0.6100000000000001"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_h1_shelf"/>
</joint>
<link name="bc_frame_h2_shelf">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.8 0.02"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.6 0.8 0.02"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.5336666666666667" ixy="0" ixz="0" iyy="0.30033333333333334" iyz="0" izz="0.8333333333333334"/>
</inertial>
</link>
<joint name="bc_frame_h2_shelf_joint" type="fixed">
<origin xyz="0 0.5000000000000001 0.39000000000000007"/>
<parent link="bc_frame_base_link"/>
<child link="bc_frame_h2_shelf"/>
</joint>
<link name="base_cabinet_c1_door">
<visual>
<origin xyz="0 0.198 0"/>
<geometry>
<box size="0.016 0.396 0.796"/>
</geometry>
<material name="Oak"/>
</visual>
<collision>
<origin xyz="0 0.198 0"/>
<geometry>
<box size="0.016 0.396 0.796"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0.198 0"/>
<mass value="3.31"/>
<inertia ixx="0.21802749333333335" ixy="0" ixz="0" iyy="0.1748430266666667" iyz="0" izz="0.04332569333333334"/>
</inertial>
</link>
<joint name="base_cabinet_c1_door_joint" type="revolute">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c1_door"/>
<limit effort="10" lower="0" upper="1.5707963267948966" velocity="1"/>
<dynamics damping="100" friction="0.1"/>
<origin xyz="0.308 -0.9 0.46"/>
<axis xyz="0 0 -1"/>
</joint>
<link name="base_cabinet_c1_door_handle_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
<material name="Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.09"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000211711" ixy="0" ixz="0" iyy="6.3764e-05" iyz="0" izz="0.000274426"/>
</inertial>
</link>
<joint name="base_cabinet_c1_door_handle_joint" type="fixed">
<parent link="base_cabinet_c1_door"/>
<child link="base_cabinet_c1_door_handle_link"/>
<origin rpy="1.5707963267948966 0 0" xyz="0.008 0.35 0.28"/>
</joint>
<link name="base_cabinet_c1_r1_drawer_front_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.06"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.06"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05254166666666666" ixy="0" ixz="0" iyy="0.0016066666666666666" iyz="0" izz="0.05114833333333333"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r1_drawer_front_panel_joint" type="prismatic">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c1_r1_drawer_front_panel"/>
<origin xyz="0.292 -0.7 0.5800000000000001"/>
<limit effort="10" lower="0" upper="0.542" velocity="1"/>
<axis xyz="1 0 0"/>
</joint>
<link name="base_cabinet_c1_r1_drawer_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05114833333333333" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.17344333333333337"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r1_drawer_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c1_r1_drawer_front_panel"/>
<child link="base_cabinet_c1_r1_drawer_bottom_panel"/>
<origin xyz="-0.263 0 -0.022"/>
</joint>
<link name="base_cabinet_c1_r2_drawer_front_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.2"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.06770833333333333" ixy="0" ixz="0" iyy="0.016773333333333338" iyz="0" izz="0.05114833333333333"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r2_drawer_front_panel_joint" type="prismatic">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c1_r2_drawer_front_panel"/>
<origin xyz="0.292 -0.7 0.33999999999999997"/>
<limit effort="10" lower="0" upper="0.542" velocity="1"/>
<axis xyz="1 0 0"/>
</joint>
<link name="base_cabinet_c1_r2_drawer_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05114833333333333" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.17344333333333337"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r2_drawer_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c1_r2_drawer_front_panel"/>
<child link="base_cabinet_c1_r2_drawer_bottom_panel"/>
<origin xyz="-0.263 0 -0.092"/>
</joint>
<link name="base_cabinet_c1_r2_drawer_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0033546666666666673" ixy="0" ixz="0" iyy="0.02781366666666667" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r2_drawer_left_side_panel_joint" type="fixed">
<parent link="base_cabinet_c1_r2_drawer_bottom_panel"/>
<child link="base_cabinet_c1_r2_drawer_left_side_panel"/>
<origin xyz="0 0.16699999999999998 0.092"/>
</joint>
<link name="base_cabinet_c1_r2_drawer_right_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0033546666666666673" ixy="0" ixz="0" iyy="0.02781366666666667" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r2_drawer_right_side_panel_joint" type="fixed">
<parent link="base_cabinet_c1_r2_drawer_bottom_panel"/>
<child link="base_cabinet_c1_r2_drawer_right_side_panel"/>
<origin xyz="0 -0.16699999999999998 0.092"/>
</joint>
<link name="base_cabinet_c1_r2_drawer_back_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.2"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.02708333333333333" ixy="0" ixz="0" iyy="0.0067093333333333345" iyz="0" izz="0.020459333333333333"/>
</inertial>
</link>
<joint name="base_cabinet_c1_r2_drawer_back_panel_joint" type="fixed">
<parent link="base_cabinet_c1_r2_drawer_bottom_panel"/>
<child link="base_cabinet_c1_r2_drawer_back_panel"/>
<origin xyz="-0.263 0 0.092"/>
</joint>
<link name="base_cabinet_c2_pull_out_front_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.196 0.796"/>
</geometry>
<material name="Oak"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.196 0.796"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1.66"/>
<inertia ixx="0.09296442666666667" ixy="0" ixz="0" iyy="0.08768562666666668" iyz="0" izz="0.005349626666666667"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_front_panel_joint" type="prismatic">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c2_pull_out_front_panel"/>
<limit effort="10" lower="0" upper="0.542" velocity="1"/>
<dynamics damping="100" friction="0.1"/>
<origin xyz="0.308 -0.4 0.46"/>
<axis xyz="1 0 0"/>
</joint>
<link name="base_cabinet_c2_pull_out_handle_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
<material name="Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.09"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000211711" ixy="0" ixz="0" iyy="6.3764e-05" iyz="0" izz="0.000274426"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_handle_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_front_panel"/>
<child link="base_cabinet_c2_pull_out_handle_link"/>
<origin rpy="0 0 0" xyz="0.008 0 0.34800000000000003"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_1_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.15 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.15 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.009481666666666666" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.13177666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_1_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_front_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_1_bottom_panel"/>
<origin xyz="-0.279 0 0.18050000000000002"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_1_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.135"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.135"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0015400833333333334" ixy="0" ixz="0" iyy="0.025999083333333336" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_1_left_side_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_1_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_1_left_side_panel"/>
<origin xyz="0 0.067 0.059500000000000004"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_1_right_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.135"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.135"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0015400833333333334" ixy="0" ixz="0" iyy="0.025999083333333336" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_1_right_side_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_1_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_1_right_side_panel"/>
<origin xyz="0 -0.067 0.059500000000000004"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_1_back_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.15 0.135"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.15 0.135"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.006787499999999999" ixy="0" ixz="0" iyy="0.003080166666666667" iyz="0" izz="0.0037926666666666664"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_1_back_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_1_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_1_back_panel"/>
<origin xyz="-0.263 0 0.059500000000000004"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_2_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.15 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.15 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.009481666666666666" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.13177666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_2_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_front_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_2_bottom_panel"/>
<origin xyz="-0.279 0 -0.23949999999999994"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_2_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0033546666666666673" ixy="0" ixz="0" iyy="0.02781366666666667" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_2_left_side_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_2_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_2_left_side_panel"/>
<origin xyz="0 0.067 0.092"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_2_right_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.0033546666666666673" ixy="0" ixz="0" iyy="0.02781366666666667" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_2_right_side_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_2_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_2_right_side_panel"/>
<origin xyz="0 -0.067 0.092"/>
</joint>
<link name="base_cabinet_c2_pull_out_drawer_2_back_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.15 0.2"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.15 0.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.010416666666666666" ixy="0" ixz="0" iyy="0.0067093333333333345" iyz="0" izz="0.0037926666666666664"/>
</inertial>
</link>
<joint name="base_cabinet_c2_pull_out_drawer_2_back_panel_joint" type="fixed">
<parent link="base_cabinet_c2_pull_out_drawer_2_bottom_panel"/>
<child link="base_cabinet_c2_pull_out_drawer_2_back_panel"/>
<origin xyz="-0.263 0 0.092"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_front_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.396 0.196"/>
</geometry>
<material name="Oak"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.396 0.196"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.75"/>
<inertia ixx="0.012202" ixy="0" ixz="0" iyy="0.0024170000000000003" iyz="0" izz="0.009817000000000001"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_front_panel_joint" type="prismatic">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c3_r1_drawer_front_panel"/>
<limit effort="10" lower="0" upper="0.542" velocity="1"/>
<dynamics damping="100" friction="0.1"/>
<origin xyz="0.308 -0.09999999999999998 0.76"/>
<axis xyz="1 0 0"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_handle_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
<material name="Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.09"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000211711" ixy="0" ixz="0" iyy="6.3764e-05" iyz="0" izz="0.000274426"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_handle_joint" type="fixed">
<parent link="base_cabinet_c3_r1_drawer_front_panel"/>
<child link="base_cabinet_c3_r1_drawer_handle_link"/>
<origin rpy="0 0 0" xyz="0.008 0 0.048"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_interior_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05114833333333333" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.17344333333333337"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_interior_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c3_r1_drawer_front_panel"/>
<child link="base_cabinet_c3_r1_drawer_interior_bottom_panel"/>
<origin xyz="-0.279 0 -0.064"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_interior_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.001749333333333333" ixy="0" ixz="0" iyy="0.026208333333333333" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_interior_left_side_panel_joint" type="fixed">
<parent link="base_cabinet_c3_r1_drawer_interior_bottom_panel"/>
<child link="base_cabinet_c3_r1_drawer_interior_left_side_panel"/>
<origin xyz="0 0.16699999999999998 0.064"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_interior_right_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.001749333333333333" ixy="0" ixz="0" iyy="0.026208333333333333" iyz="0" izz="0.024501666666666668"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_interior_right_side_panel_joint" type="fixed">
<parent link="base_cabinet_c3_r1_drawer_interior_bottom_panel"/>
<child link="base_cabinet_c3_r1_drawer_interior_right_side_panel"/>
<origin xyz="0 -0.16699999999999998 0.064"/>
</joint>
<link name="base_cabinet_c3_r1_drawer_interior_back_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.144"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.35 0.144"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.023872666666666664" ixy="0" ixz="0" iyy="0.003498666666666666" iyz="0" izz="0.020459333333333333"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r1_drawer_interior_back_panel_joint" type="fixed">
<parent link="base_cabinet_c3_r1_drawer_interior_bottom_panel"/>
<child link="base_cabinet_c3_r1_drawer_interior_back_panel"/>
<origin xyz="-0.263 0 0.064"/>
</joint>
<link name="base_cabinet_c3_r2_drawer_front_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.396 0.196"/>
</geometry>
<material name="Oak"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.016 0.396 0.196"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.75"/>
<inertia ixx="0.012202" ixy="0" ixz="0" iyy="0.0024170000000000003" iyz="0" izz="0.009817000000000001"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r2_drawer_front_panel_joint" type="prismatic">
<parent link="bc_frame_base_link"/>
<child link="base_cabinet_c3_r2_drawer_front_panel"/>
<limit effort="10" lower="0" upper="0.542" velocity="1"/>
<dynamics damping="100" friction="0.1"/>
<origin xyz="0.308 -0.09999999999999998 0.56"/>
<axis xyz="1 0 0"/>
</joint>
<link name="base_cabinet_c3_r2_drawer_handle_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
<material name="Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://clover_lab/meshes/handle.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.09"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000211711" ixy="0" ixz="0" iyy="6.3764e-05" iyz="0" izz="0.000274426"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r2_drawer_handle_joint" type="fixed">
<parent link="base_cabinet_c3_r2_drawer_front_panel"/>
<child link="base_cabinet_c3_r2_drawer_handle_link"/>
<origin rpy="0 0 0" xyz="0.008 0 0.048"/>
</joint>
<link name="base_cabinet_c3_r2_drawer_interior_bottom_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.35 0.016"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05114833333333333" ixy="0" ixz="0" iyy="0.12250833333333333" iyz="0" izz="0.17344333333333337"/>
</inertial>
</link>
<joint name="base_cabinet_c3_r2_drawer_interior_bottom_panel_joint" type="fixed">
<parent link="base_cabinet_c3_r2_drawer_front_panel"/>
<child link="base_cabinet_c3_r2_drawer_interior_bottom_panel"/>
<origin xyz="-0.279 0 -0.064"/>
</joint>
<link name="base_cabinet_c3_r2_drawer_interior_left_side_panel">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>
</geometry>
<material name="Glass"/>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.542 0.016 0.144"/>