urdf/fridge/fridge_dynamic.urdf

<?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>