<?xml version="1.0" ?>
<robot name="kitchencupboard">
  <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>
<!-- ______________________________________________Chest Of Drawers BASE  -->
  <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="chestOfDrawers_base.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 0.28 0"/>
      <geometry>
        <box size="0.75 0.02 2.0"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.017767 1.55135 0"/>
      <geometry>
        <box size="0.75 0.055 2.068"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.017767 2.66652 0"/>
      <geometry>
        <box size="0.75 0.036 2.068"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.017767 3.1373 0"/>
      <geometry>
        <box size="0.75 0.1 2.188"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 1.6768 -1.045"/>
      <geometry>
        <box size="0.73 2.836 0.025"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 1.6768 1.045"/>
      <geometry>
        <box size="0.73 2.826 0.025"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.303668 0.101558 -0.90917"/>
      <geometry>
        <box size="0.125 0.21 0.125"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="-0.283976 0.101558 -0.90917"/>
      <geometry>
        <box size="0.125 0.21 0.125"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0.303668 0.101558 0.898431"/>
      <geometry>
        <box size="0.125 0.21 0.125"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="-0.283976 0.101558 0.898431"/>
      <geometry>
        <box size="0.125 0.21 0.125"/>
      </geometry>
    </collision>
    <collision group="2">
      <origin rpy="0 0 0" xyz="-0.35 1.71689 0"/>
      <geometry>
        <box size="0.1 2.85 2.0"/>
      </geometry>
    </collision>
  </link>

<!-- Drawers TopL -->
  <joint name="drawer_topL" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 2.68351 0.489752"/>
    <parent link="body"/>
    <child link="drawer_topL"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_topL"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
      <geometry>
        <box size="0.6 0.05 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
      <geometry>
        <box size="0.022 0.34 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
      <geometry>
        <box size="0.05 0.34 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
      <geometry>
        <box size="0.6 0.32 0.022"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
      <geometry>
        <box size="0.6 0.32 0.022"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
      <geometry>
        <box size="0.018 0.04 0.04"/>
      </geometry>
    </collision>
  </link>

  <!-- Drawers TopR -->

  <joint name="drawer_topR" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 2.68351 -0.543752"/>
    <parent link="body"/>
    <child link="drawer_topR"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_topR"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerTop.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.02735 0.026228"/>
      <geometry>
        <box size="0.6 0.05 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.01324 0.207511 0.027689"/>
      <geometry>
        <box size="0.022 0.34 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.669623 0.207511 0.027689"/>
      <geometry>
        <box size="0.05 0.34 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.336837 0.225927 0.5"/>
      <geometry>
        <box size="0.6 0.32 0.022"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.336837 0.225927 -0.46"/>
      <geometry>
        <box size="0.6 0.32 0.022"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.710751 0.241129 0.000176"/>
      <geometry>
        <box size="0.018 0.04 0.04"/>
      </geometry>
    </collision>
  </link>
    
  
<!-- Drawers MidL -->

  <joint name="drawer_midL" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 1.60997 0.489752"/>
    <parent link="body"/>
    <child link="drawer_midL"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_midL"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
      <geometry>
        <box size="0.65 0.083 0.98"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
      <geometry>
        <box size="0.02 0.95 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
      <geometry>
        <box size="0.04 0.95 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
      <geometry>
        <box size="0.6 0.95 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
      <geometry>
        <box size="0.6 0.95 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
      <geometry>
        <box size="0.016 0.044 0.05"/>
      </geometry>
    </collision>
  </link>
 
<!-- Drawers MidR -->
  <joint name="drawer_midR" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 1.60997 -0.5489752"/>
    <parent link="body"/>
    <child link="drawer_midR"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_midR"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerMid.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
      <geometry>
        <box size="0.65 0.083 0.98"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.016027 0.521751 0.02"/>
      <geometry>
        <box size="0.02 0.95 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.675045 0.521751 0.032551"/>
      <geometry>
        <box size="0.04 0.95 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.521751 -0.450217"/>
      <geometry>
        <box size="0.6 0.95 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.521751 0.52217"/>
      <geometry>
        <box size="0.6 0.95 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.701 0.8 0.000556"/>
      <geometry>
        <box size="0.016 0.044 0.05"/>
      </geometry>
    </collision>
  </link>

<!-- Drawers BotL -->
  <joint name="drawer_botL" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 0.290606 0.489752"/>
    <parent link="body"/>
    <child link="drawer_botL"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_botL"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
      <geometry>
        <box size="0.65 0.08 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
      <geometry>
        <box size="0.02 1.1 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
      <geometry>
        <box size="0.04 1.1 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
      <geometry>
        <box size="0.58 1.1 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
      <geometry>
        <box size="0.58 1.1 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
      <geometry>
        <box size="0.016 0.044 0.05"/>
      </geometry>
    </collision>
  </link>

  <!-- Drawers BotR -->
  <joint name="drawer_botR" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.271285 0.290606 -0.5489752"/>
    <parent link="body"/>
    <child link="drawer_botR"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.01"/>
    <limit effort="44.4" lower="0.0" upper="0.5" velocity="40"/>
  </joint>
  <link name="drawer_botR"> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.1 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 0 0"/>
      <geometry>
        <mesh filename="chestOfDrawers_DrawerBot.glb" scale="1.0, 1.0, 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.350195 0.042735 0.022228"/>
      <geometry>
        <box size="0.65 0.08 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.016027 0.621751 0.02"/>
      <geometry>
        <box size="0.02 1.1 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.675045 0.621751 0.032551"/>
      <geometry>
        <box size="0.04 1.1 0.95"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.621751 -0.450217"/>
      <geometry>
        <box size="0.58 1.1 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.34418 0.621751 0.52217"/>
      <geometry>
        <box size="0.58 1.1 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.701 0.95 0.000556"/>
      <geometry>
        <box size="0.016 0.044 0.05"/>
      </geometry>
    </collision>
  </link>

 <!-- ______________________________________________END OF CHEST_OF_DRAWERS  -->
</robot>