clover_lab.urdf

<?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-->
  <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"/>
      </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_r2_drawer_interior_left_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r2_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r2_drawer_interior_left_side_panel"/>
    <origin xyz="0 0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r2_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_r2_drawer_interior_right_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r2_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r2_drawer_interior_right_side_panel"/>
    <origin xyz="0 -0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r2_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_r2_drawer_interior_back_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r2_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r2_drawer_interior_back_panel"/>
    <origin xyz="-0.263 0 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_front_panel_joint" type="prismatic">
    <parent link="bc_frame_base_link"/>
    <child link="base_cabinet_c3_r3_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                        0.36000000000000004"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_handle_joint" type="fixed">
    <parent link="base_cabinet_c3_r3_drawer_front_panel"/>
    <child link="base_cabinet_c3_r3_drawer_handle_link"/>
    <origin rpy="0 0 0" xyz="0.008 0 0.048"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_interior_bottom_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r3_drawer_front_panel"/>
    <child link="base_cabinet_c3_r3_drawer_interior_bottom_panel"/>
    <origin xyz="-0.279 0                                 -0.064"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_interior_left_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r3_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r3_drawer_interior_left_side_panel"/>
    <origin xyz="0 0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_interior_right_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r3_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r3_drawer_interior_right_side_panel"/>
    <origin xyz="0 -0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r3_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_r3_drawer_interior_back_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r3_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r3_drawer_interior_back_panel"/>
    <origin xyz="-0.263 0 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_front_panel_joint" type="prismatic">
    <parent link="bc_frame_base_link"/>
    <child link="base_cabinet_c3_r4_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                        0.15999999999999992"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_handle_joint" type="fixed">
    <parent link="base_cabinet_c3_r4_drawer_front_panel"/>
    <child link="base_cabinet_c3_r4_drawer_handle_link"/>
    <origin rpy="0 0 0" xyz="0.008 0 0.048"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_interior_bottom_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r4_drawer_front_panel"/>
    <child link="base_cabinet_c3_r4_drawer_interior_bottom_panel"/>
    <origin xyz="-0.279 0                                 -0.064"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_interior_left_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r4_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r4_drawer_interior_left_side_panel"/>
    <origin xyz="0 0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_interior_right_side_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r4_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r4_drawer_interior_right_side_panel"/>
    <origin xyz="0 -0.16699999999999998 0.064"/>
  </joint>
  <link name="base_cabinet_c3_r4_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_r4_drawer_interior_back_panel_joint" type="fixed">
    <parent link="base_cabinet_c3_r4_drawer_interior_bottom_panel"/>
    <child link="base_cabinet_c3_r4_drawer_interior_back_panel"/>
    <origin xyz="-0.263 0 0.064"/>
  </joint>
  <link name="base_cabinet_c4_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_c4_door_joint" type="revolute">
    <parent link="bc_frame_base_link"/>
    <child link="base_cabinet_c4_door"/>
    <limit effort="10" lower="0" upper="1.5707963267948966" velocity="1"/>
    <dynamics damping="100" friction="0.1"/>
    <origin xyz="0.308                      0.09999999999999998                      0.46"/>
    <axis xyz="0 0 -1"/>
  </joint>
  <link name="base_cabinet_c4_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_c4_door_handle_joint" type="fixed">
    <parent link="base_cabinet_c4_door"/>
    <child link="base_cabinet_c4_door_handle_link"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0.008 0.35 0.28"/>
  </joint>
  <link name="base_cabinet_c5_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_c5_door_joint" type="revolute">
    <parent link="bc_frame_base_link"/>
    <child link="base_cabinet_c5_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_c5_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_c5_door_handle_joint" type="fixed">
    <parent link="base_cabinet_c5_door"/>
    <child link="base_cabinet_c5_door_handle_link"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0.008 -0.35 0.28"/>
  </joint>
  <link name="wc_frame_back_panel">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.016 1 0.81"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.016 1 0.81"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="20"/>
      <inertia ixx="2.7601666666666667" ixy="0" ixz="0" iyy="1.093926666666667" iyz="0" izz="1.6670933333333335"/>
    </inertial>
  </link>
  <link name="wc_frame_left_side_panel">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.016 0.81"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.016 0.81"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0.5469633333333335" ixy="0" ixz="0" iyy="0.6735000000000001" iyz="0" izz="0.12696333333333334"/>
    </inertial>
  </link>
  <joint name="wc_frame_left_side_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.187                    0.492 0"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_left_side_panel"/>
  </joint>
  <link name="wc_frame_right_side_panel">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.016 0.81"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.016 0.81"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0.5469633333333335" ixy="0" ixz="0" iyy="0.6735000000000001" iyz="0" izz="0.12696333333333334"/>
    </inertial>
  </link>
  <joint name="wc_frame_right_side_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.187                    -0.492 0"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_right_side_panel"/>
  </joint>
  <link name="wc_frame_top_panel">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.016"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="20"/>
      <inertia ixx="1.6670933333333335" ixy="0" ixz="0" iyy="0.2539266666666667" iyz="0" izz="1.9201666666666666"/>
    </inertial>
  </link>
  <joint name="wc_frame_top_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.187 0                    0.397"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_top_panel"/>
  </joint>
  <link name="wc_frame_bottom_panel">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.016"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="20"/>
      <inertia ixx="1.6670933333333335" ixy="0" ixz="0" iyy="0.2539266666666667" iyz="0" izz="1.9201666666666666"/>
    </inertial>
  </link>
  <joint name="wc_frame_bottom_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.187 0                    -0.397"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_bottom_panel"/>
  </joint>
  <link name="wc_frame_c1_v_shelf">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.04 0.81"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 0.04 0.81"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0.5480833333333335" ixy="0" ixz="0" iyy="0.6735000000000001" iyz="0" izz="0.12808333333333333"/>
    </inertial>
  </link>
  <joint name="wc_frame_c1_v_shelf_joint" type="fixed">
    <origin xyz="0.187 0.09999999999999998 0"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_c1_v_shelf"/>
  </joint>
  <link name="wc_frame_h1_shelf">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.02"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.02"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0.8336666666666667" ixy="0" ixz="0" iyy="0.12708333333333335" iyz="0" izz="0.9600833333333333"/>
    </inertial>
  </link>
  <joint name="wc_frame_h1_shelf_joint" type="fixed">
    <origin xyz="0.187 0 0.065"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_h1_shelf"/>
  </joint>
  <link name="wc_frame_h2_shelf">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.02"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.39 1 0.02"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="0.8336666666666667" ixy="0" ixz="0" iyy="0.12708333333333335" iyz="0" izz="0.9600833333333333"/>
    </inertial>
  </link>
  <joint name="wc_frame_h2_shelf_joint" type="fixed">
    <origin xyz="0.187 0 -0.135"/>
    <parent link="wc_frame_back_panel"/>
    <child link="wc_frame_h2_shelf"/>
  </joint>
  <link name="wall_cabinet_c1_door">
    <visual>
      <origin xyz="0 0.298 0"/>
      <geometry>
        <box size="0.016 0.596 0.806"/>
      </geometry>
      <material name="Oak"/>
    </visual>
    <collision>
      <origin xyz="0 0.298 0"/>
      <geometry>
        <box size="0.016 0.596 0.806"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0.298 0"/>
      <mass value="3.31"/>
      <inertia ixx="0.2771716766666667" ixy="0" ixz="0" iyy="0.1792618766666667" iyz="0" izz="0.09805102666666665"/>
    </inertial>
  </link>
  <joint name="wall_cabinet_c1_door_joint" type="revolute">
    <parent link="wc_frame_back_panel"/>
    <child link="wall_cabinet_c1_door"/>
    <limit effort="10" lower="0" upper="1.5707963267948966" velocity="1"/>
    <dynamics damping="100" friction="0.1"/>
    <origin xyz="0.39 -0.5 0"/>
    <axis xyz="0 0 -1"/>
  </joint>
  <link name="wall_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="wall_cabinet_c1_door_handle_joint" type="fixed">
    <parent link="wall_cabinet_c1_door"/>
    <child link="wall_cabinet_c1_door_handle_link"/>
    <origin rpy="0 0 0" xyz="0.008 0.48 -0.35"/>
  </joint>
  <link name="wall_cabinet_c2_door">
    <visual>
      <origin xyz="0 -0.198 0"/>
      <geometry>
        <box size="0.016 0.396 0.806"/>
      </geometry>
      <material name="Oak"/>
    </visual>
    <collision>
      <origin xyz="0 -0.198 0"/>
      <geometry>
        <box size="0.016 0.396 0.806"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 -0.198 0"/>
      <mass value="3.31"/>
      <inertia ixx="0.22244634333333338" ixy="0" ixz="0" iyy="0.1792618766666667" iyz="0" izz="0.04332569333333334"/>
    </inertial>
  </link>
  <joint name="wall_cabinet_c2_door_joint" type="revolute">
    <parent link="wc_frame_back_panel"/>
    <child link="wall_cabinet_c2_door"/>
    <limit effort="10" lower="0" upper="1.5707963267948966" velocity="1"/>
    <dynamics damping="100" friction="0.1"/>
    <origin xyz="0.39 0.5 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="wall_cabinet_c2_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="wall_cabinet_c2_door_handle_joint" type="fixed">
    <parent link="wall_cabinet_c2_door"/>
    <child link="wall_cabinet_c2_door_handle_link"/>
    <origin rpy="0 0 0" xyz="0.008 -0.28 -0.35"/>
  </joint>
  <link name="world"/>
  <joint name="base_cabinet_reference" type="fixed">
    <origin rpy="0 0 0" xyz="-2.7 0.2 0.06"/>
    <parent link="world"/>
    <child link="bc_frame_base_link"/>
  </joint>
  <joint name="wall_cabinet_reference" type="fixed">
    <origin rpy="0 0 0" xyz="-3.0 0.4 2.045"/>
    <parent link="world"/>
    <child link="wc_frame_back_panel"/>
  </joint>
  <link name="lab_left_wall">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="6 0.1 2.7"/>
      </geometry>
      <material name="LightGreen"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="6 0.1 2.7"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="100"/>
      <inertia ixx="60.83333333333334" ixy="0" ixz="0" iyy="360.75" iyz="0" izz="300.0833333333333"/>
    </inertial>
  </link>
  <joint name="left_wall_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 1.6500000000000001 1.35"/>
    <parent link="world"/>
    <child link="lab_left_wall"/>
  </joint>
  <link name="lab_back_wall">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.1 3.2 2.7"/>
      </geometry>
      <material name="LightGreen"/>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <box size="0.1 3.2 2.7"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="100"/>
      <inertia ixx="146.08333333333334" ixy="0" ixz="0" iyy="60.83333333333334" iyz="0" izz="85.41666666666669"/>
    </inertial>
  </link>
  <joint name="back_wall_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-3.05 0 1.35"/>
    <parent link="world"/>
    <child link="lab_back_wall"/>
  </joint>
</robot>