<?xml version="1.0" ?>
<robot name="cabinet0025_ARMATURE">
	<link name="root"/>
	<joint name="root_rotation" type="fixed">
		<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
		<parent link="root"/>
		<child link="cabinet0025"/>
	</joint>
	<!--LINKS-->
	<link name="cabinet0025">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="cabinet0025.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.006430 0.009061"/>
			<geometry>
				<box size="0.3424000144004822 0.28700000047683716 0.01810000091791153"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.162139 0.006430 0.398705"/>
			<geometry>
				<box size="0.01810000091791153 0.28700000047683716 0.763700008392334"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.162139 0.006430 0.398723"/>
			<geometry>
				<box size="0.01810000091791153 0.28700000047683716 0.7639999985694885"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.011285 0.277514"/>
			<geometry>
				<box size="0.3061999976634979 0.23929999768733978 0.02070000022649765"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.011285 0.515516"/>
			<geometry>
				<box size="0.3061999976634979 0.23929999768733978 0.02070000022649765"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000149 0.140430 0.400428"/>
			<geometry>
				<box size="0.3084999918937683 0.01899999938905239 0.7667999863624573"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.006430 0.788738"/>
			<geometry>
				<box size="0.3424000144004822 0.28700000047683716 0.01810000091791153"/>
			</geometry>
		</collision>
	</link>
	<link name="cabinet0025_door01">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="cabinet0025_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.169490 0.000000 -0.000000"/>
			<geometry>
				<box size="0.33899998664855957 0.016599999740719795 0.7998999953269958"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="cabinet0025_door01" type="revolute">
		<parent link="cabinet0025"/>
		<child link="cabinet0025_door01"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.356194496154785" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.169490 -0.147068 0.398900"/>
	</joint>
</robot>
