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<?xml version="1.0" ?>
<robot name="fridge">
<link name="root">
</link>
<joint name="root_rotation" type="fixed">
<origin rpy="1.565 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="70.0"/>
<!-- 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="body.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!--top-->
<collision>
<origin rpy="0 0 0" xyz="0 -0.002765 -0.94159"/>
<geometry>
<box size="0.633 0.691 0.027"/>
</geometry>
</collision>
<!--bottom-->
<collision>
<origin rpy="0 0 0" xyz="0 -0.002765 0.93"/>
<geometry>
<box size="0.633 0.691 0.04"/>
</geometry>
</collision>
<!--drawer slide-->
<collision>
<origin rpy="0 0 0" xyz="0.017 0.01 -0.71"/>
<geometry>
<box size="0.45 0.07 0.02"/>
</geometry>
</collision>
<!--top shelf-->
<collision>
<origin rpy="0 0 0" xyz="0.035 0.018 -0.6"/>
<geometry>
<box size="0.47 0.5 0.02"/>
</geometry>
</collision>
<!--top middle shelf-->
<collision>
<origin rpy="0 0 0" xyz="0.035 -0.002765 -0.226826"/>
<geometry>
<box size="0.46 0.66 0.027"/>
</geometry>
</collision>
<!--bottom middle shelf-->
<collision>
<origin rpy="0 0 0" xyz="0.035 -0.002765 -0.033778"/>
<geometry>
<box size="0.46 0.66 0.027"/>
</geometry>
</collision>
<!--bottom shelf-->
<collision>
<origin rpy="0 0 0" xyz="0.05 0.01 0.33"/>
<geometry>
<box size="0.46 0.66 0.03"/>
</geometry>
</collision>
<!--sides-->
<collision>
<origin rpy="0 0 0" xyz="0 -0.337538 0.005784"/>
<geometry>
<box size="0.633 0.03 1.89126"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.329773 0.005784"/>
<geometry>
<box size="0.633 0.03 1.89126"/>
</geometry>
</collision>
<!--back-->
<collision>
<origin rpy="0 0 0" xyz="-0.316502 -0.002765 0"/>
<geometry>
<box size="0.029014 0.690834 1.91906"/>
</geometry>
</collision>
</link>
<joint name="top_door_hinge" type="revolute">
<origin rpy="0 0 0" xyz="0.322 0.353 -0.385"/>
<parent link="body"/>
<child link="top_door"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0.0" upper="2.3" velocity="40"/>
</joint>
<link name="top_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="8"/>
<!-- 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="0.014 -0.355 0"/>
<geometry>
<mesh filename="top_door.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.034 -0.346 -0.02"/>
<geometry>
<box size="0.055 0.69 1.103"/>
</geometry>
</collision>
</link>
<joint name="bottom_door_hinge" type="revolute">
<origin rpy="0 0 0" xyz="0.322 0.353 0.531"/>
<parent link="body"/>
<child link="bottom_door"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
</joint>
<link name="bottom_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="6"/>
<!-- 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="0.022 -0.354 0"/>
<geometry>
<mesh filename="bottom_door.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.034 -0.346 0.02"/>
<geometry>
<box size="0.055 0.684 0.77"/>
</geometry>
</collision>
</link>
</robot>
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