urdf/6acafe4f37b17ff0c33d22c8dc3fede1bddc67de/6acafe4f37b17ff0c33d22c8dc3fede1bddc67de.urdf

<?xml version="1.0" ?>
<robot name="double_sided_sink_cabinet0004_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="double_sided_sink_cabinet0004"/>
	</joint>
	<!--LINKS-->
	<link name="double_sided_sink_cabinet0004">
		<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="double_sided_sink_cabinet0004.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000086 -0.240463 0.875868"/>
			<geometry>
				<box size="0.800000011920929 0.09889999777078629 0.04619999974966049"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000086 0.228682 0.875868"/>
			<geometry>
				<box size="0.800000011920929 0.120899997651577 0.04619999974966049"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.366982 -0.011673 0.875868"/>
			<geometry>
				<box size="0.06620000302791595 0.36230000853538513 0.04619999974966049"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.204687 -0.011485 0.875868"/>
			<geometry>
				<box size="0.390500009059906 0.36250001192092896 0.04619999974966049"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000086 -0.294325 0.876780"/>
			<geometry>
				<box size="0.800000011920929 0.01140000019222498 0.02319999970495701"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000086 0.294426 0.876842"/>
			<geometry>
				<box size="0.800000011920929 0.011099999770522118 0.024399999529123306"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.162216 -0.011422 0.708624"/>
			<geometry>
				<box size="0.32010000944137573 0.33730000257492065 0.00419999985024333"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.335573 -0.011212 0.793037"/>
			<geometry>
				<box size="0.0034000000450760126 0.3684000074863434 0.12710000574588776"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000035 0.002347 0.088165"/>
			<geometry>
				<box size="0.7993999719619751 0.5105000138282776 0.17630000412464142"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.386336 0.002347 0.513966"/>
			<geometry>
				<box size="0.026799999177455902 0.5105000138282776 0.6776000261306763"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.386267 0.002347 0.513993"/>
			<geometry>
				<box size="0.026799999177455902 0.5105000138282776 0.6775000095367432"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 0.594995 0.000000" xyz="0.328204 -0.011212 0.719192"/>
			<geometry>
				<box size="0.0034000000450760126 0.3684000074863434 0.027300000190734863"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -3.141593" xyz="-0.011140 -0.011632 0.793037"/>
			<geometry>
				<box size="0.0034000000450760126 0.3684000074863434 0.12710000574588776"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 0.594995 -3.141593" xyz="-0.003771 -0.011632 0.719193"/>
			<geometry>
				<box size="0.0034000000450760126 0.3684000074863434 0.027300002053380013"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 1.570796" xyz="0.162018 0.170029 0.793037"/>
			<geometry>
				<box size="0.0034000000450760126 0.3467000126838684 0.12710000574588776"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 0.594995 1.570796" xyz="0.162018 0.162660 0.719193"/>
			<geometry>
				<box size="0.0034000000450760126 0.3467000126838684 0.027300002053380013"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -1.570796" xyz="0.162414 -0.192872 0.793037"/>
			<geometry>
				<box size="0.0034000000450760126 0.3467000126838684 0.12710000574588776"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 0.594995 -1.570796" xyz="0.162414 -0.185503 0.719193"/>
			<geometry>
				<box size="0.0034000000450760126 0.3467000126838684 0.027300000190734863"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.177764 0.206856 0.950082"/>
			<geometry>
				<cylinder radius="0.023749999701976776" length="0.10530000180006027"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.177764 0.206856 1.060492"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.1347000002861023"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 1.221915 0.000000" xyz="0.213833 0.206258 0.955454"/>
			<geometry>
				<cylinder radius="0.01834999956190586" length="0.06700000166893005"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.234979 0.206130 1.006316"/>
			<geometry>
				<cylinder radius="0.0030499999411404133" length="0.06700000166893005"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.179035 0.000000 0.000000" xyz="0.177764 0.204747 1.136184"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.025599999353289604"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.559755 0.000000 0.000000" xyz="0.177764 0.197504 1.155085"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.024399999529123306"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.908550 0.000000 0.000000" xyz="0.177764 0.184387 1.169699"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.023399999365210533"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.233637 0.000000 0.000000" xyz="0.177764 0.167585 1.178871"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.02290000021457672"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541140 0.000000 0.000000" xyz="0.177764 0.148652 1.182326"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.02319999970495701"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.863487 0.000000 0.000000" xyz="0.177764 0.129433 1.179778"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.02319999970495701"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="2.220173 0.000000 0.000000" xyz="0.177764 0.112182 1.170881"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.02410000003874302"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="2.588998 0.000000 0.000000" xyz="0.177764 0.098568 1.155570"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.026000000536441803"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="2.780576 0.000000 0.000000" xyz="0.177764 0.076578 1.103520"/>
			<geometry>
				<cylinder radius="0.010700000450015068" length="0.09239999949932098"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 1.570796 0.000000" xyz="0.000086 -0.289062 0.888031"/>
			<geometry>
				<cylinder radius="0.010900000110268593" length="0.800000011920929"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 1.570796 0.000000" xyz="0.000086 -0.289062 0.863732"/>
			<geometry>
				<cylinder radius="0.010900000110268593" length="0.800000011920929"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 1.570796 0.000000" xyz="0.000086 0.288926 0.888031"/>
			<geometry>
				<cylinder radius="0.010900000110268593" length="0.800000011920929"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 1.570796 0.000000" xyz="0.000086 0.288926 0.863732"/>
			<geometry>
				<cylinder radius="0.010900000110268593" length="0.800000011920929"/>
			</geometry>
		</collision>
	</link>
	<link name="double_sided_sink_cabinet0004_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="double_sided_sink_cabinet0004_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197943 0.000169 0.314942"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.05920000001788139"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197935 0.000169 -0.323271"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.059300001710653305"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.029620 0.000169 -0.004173"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.366260 0.000169 -0.004173"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197941 0.002566 -0.004154"/>
			<geometry>
				<box size="0.2773999869823456 0.004000000189989805 0.5789999961853027"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.368097 -0.009691 0.308652"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.368089 -0.010363 0.308656"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285595 0.000000 0.000000" xyz="0.368089 -0.017462 0.307964"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 0.000000 0.000000" xyz="0.368089 -0.020946 0.305746"/>
			<geometry>
				<box size="0.017999999225139618 0.005500000435858965 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 0.000000 0.000000" xyz="0.368089 -0.022748 0.303163"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 0.000000 0.000000" xyz="0.368089 -0.025286 0.287710"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 0.000000 0.000000" xyz="0.368089 -0.028904 0.258874"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 0.000000 0.000000" xyz="0.368089 -0.030513 0.237368"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 3.141593 -0.000000" xyz="0.368083 -0.009691 0.151576"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 3.141593 -0.000000" xyz="0.368091 -0.010363 0.151607"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285594 3.141593 -0.000000" xyz="0.368091 -0.017462 0.152298"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 3.141593 -0.000000" xyz="0.368091 -0.020946 0.154516"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 3.141593 -0.000000" xyz="0.368091 -0.022748 0.157100"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 3.141593 -0.000000" xyz="0.368091 -0.025286 0.172553"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 3.141593 -0.000000" xyz="0.368091 -0.028904 0.201388"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 3.141593 -0.000000" xyz="0.368091 -0.030513 0.222895"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
	</link>
	<link name="double_sided_sink_cabinet0004_door02">
		<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="double_sided_sink_cabinet0004_door02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.369678 -0.009691 0.308653"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.369686 -0.010364 0.308657"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285595 0.000000 0.000000" xyz="-0.369686 -0.017462 0.307965"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 0.000000 0.000000" xyz="-0.369686 -0.020946 0.305747"/>
			<geometry>
				<box size="0.017999999225139618 0.005500000435858965 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 0.000000 0.000000" xyz="-0.369686 -0.022748 0.303163"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 0.000000 0.000000" xyz="-0.369686 -0.025286 0.287710"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 0.000000 0.000000" xyz="-0.369686 -0.028904 0.258875"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 0.000000 0.000000" xyz="-0.369686 -0.030513 0.237369"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 3.141593 -0.000000" xyz="-0.369693 -0.009691 0.151577"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.000000 3.141593 -0.000000" xyz="-0.369684 -0.010364 0.151607"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285594 3.141593 -0.000000" xyz="-0.369684 -0.017462 0.152299"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 3.141593 -0.000000" xyz="-0.369684 -0.020946 0.154517"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 3.141593 -0.000000" xyz="-0.369684 -0.022748 0.157101"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 3.141593 -0.000000" xyz="-0.369684 -0.025286 0.172553"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 3.141593 -0.000000" xyz="-0.369684 -0.028904 0.201389"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 3.141593 -0.000000" xyz="-0.369684 -0.030513 0.222895"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197918 0.000169 0.314942"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.05920000001788139"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197930 0.000169 -0.323271"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.059300001710653305"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197933 0.002566 -0.004154"/>
			<geometry>
				<box size="0.2773999869823456 0.004000000189989805 0.5789999961853027"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.029611 0.000169 -0.004179"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.366251 0.000169 -0.004178"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
	</link>
	<link name="double_sided_sink_cabinet0004_door03">
		<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="double_sided_sink_cabinet0004_door03.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 -3.141593" xyz="-0.369691 0.009680 0.308645"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -3.141593" xyz="-0.369683 0.010937 0.308649"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285595 0.000000 -3.141593" xyz="-0.369683 0.018035 0.307957"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 -0.000000 -3.141593" xyz="-0.369683 0.021519 0.305739"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 0.000000 -3.141593" xyz="-0.369683 0.023322 0.303156"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 0.000000 -3.141593" xyz="-0.369683 0.025860 0.287703"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 -0.000000 -3.141593" xyz="-0.369683 0.029478 0.258867"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 -0.000000 -3.141593" xyz="-0.369683 0.031087 0.237361"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="3.141593 0.000000 0.000000" xyz="-0.369676 0.009680 0.151569"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="3.141593 0.000000 0.000000" xyz="-0.369685 0.010937 0.151600"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-2.855999 0.000000 0.000000" xyz="-0.369685 0.018035 0.152291"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-2.304971 0.000000 0.000000" xyz="-0.369685 0.021520 0.154509"/>
			<geometry>
				<box size="0.017999999225139618 0.00549999950453639 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.873414 0.000000 0.000000" xyz="-0.369685 0.023322 0.157093"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.722437 0.000000 0.000000" xyz="-0.369685 0.025860 0.172546"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.668658 0.000000 0.000000" xyz="-0.369685 0.029478 0.201381"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.599767 0.000000 0.000000" xyz="-0.369685 0.031087 0.222888"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197924 -0.000178 0.314935"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.05920000001788139"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197930 -0.000178 -0.323278"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.059300001710653305"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.197931 -0.002428 -0.004161"/>
			<geometry>
				<box size="0.2773999869823456 0.003700000001117587 0.5789999961853027"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.029608 -0.000178 -0.004180"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.366257 -0.000178 -0.004184"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
	</link>
	<link name="double_sided_sink_cabinet0004_door04">
		<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="double_sided_sink_cabinet0004_door04.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 -3.141593" xyz="0.368097 0.009680 0.308653"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -3.141593" xyz="0.368106 0.010937 0.308657"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.285595 0.000000 -3.141593" xyz="0.368106 0.018035 0.307966"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.836622 -0.000000 -3.141593" xyz="0.368106 0.021520 0.305747"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.268179 0.000000 -3.141593" xyz="0.368106 0.023322 0.303164"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.419156 0.000000 -3.141593" xyz="0.368106 0.025860 0.287711"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.472935 -0.000000 -3.141593" xyz="0.368106 0.029478 0.258875"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.541825 -0.000000 -3.141593" xyz="0.368106 0.031087 0.237369"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="3.141593 0.000000 0.000000" xyz="0.368112 0.009680 0.151577"/>
			<geometry>
				<box size="0.019600000232458115 0.002099999925121665 0.007199999876320362"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="3.141593 0.000000 0.000000" xyz="0.368104 0.010937 0.151608"/>
			<geometry>
				<box size="0.017999999225139618 0.010200000368058681 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-2.855999 0.000000 0.000000" xyz="0.368104 0.018035 0.152299"/>
			<geometry>
				<box size="0.017999999225139618 0.005499999970197678 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-2.304971 0.000000 0.000000" xyz="0.368104 0.021520 0.154518"/>
			<geometry>
				<box size="0.017999999225139618 0.00549999950453639 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.873414 0.000000 0.000000" xyz="0.368104 0.023322 0.157101"/>
			<geometry>
				<box size="0.017999999225139618 0.00279999990016222 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.722437 0.000000 0.000000" xyz="0.368104 0.025860 0.172554"/>
			<geometry>
				<box size="0.017999999225139618 0.02930000051856041 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.668658 0.000000 0.000000" xyz="0.368104 0.029478 0.201390"/>
			<geometry>
				<box size="0.017999999225139618 0.029100000858306885 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.599767 0.000000 0.000000" xyz="0.368104 0.031086 0.222896"/>
			<geometry>
				<box size="0.017999999225139618 0.014700000174343586 0.0040000006556510925"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197941 -0.000178 0.314945"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.05920000001788139"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197935 -0.000178 -0.323270"/>
			<geometry>
				<box size="0.2773999869823456 0.018200000748038292 0.059300001710653305"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.197935 -0.002428 -0.004153"/>
			<geometry>
				<box size="0.2773999869823456 0.003700000001117587 0.5789999961853027"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.029610 -0.000178 -0.004172"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.366265 -0.000178 -0.004177"/>
			<geometry>
				<box size="0.05920000001788139 0.018200000748038292 0.6974999904632568"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="double_sided_sink_cabinet0004_door01" type="revolute">
		<parent link="double_sided_sink_cabinet0004"/>
		<child link="double_sided_sink_cabinet0004_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="-0.398046 -0.265126 0.507516"/>
	</joint>
	<joint name="double_sided_sink_cabinet0004_door02" type="revolute">
		<parent link="double_sided_sink_cabinet0004"/>
		<child link="double_sided_sink_cabinet0004_door02"/>
		<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="0.397831 -0.265126 0.507515"/>
	</joint>
	<joint name="double_sided_sink_cabinet0004_door03" type="revolute">
		<parent link="double_sided_sink_cabinet0004"/>
		<child link="double_sided_sink_cabinet0004_door03"/>
		<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="0.397830 0.266515 0.507523"/>
	</joint>
	<joint name="double_sided_sink_cabinet0004_door04" type="revolute">
		<parent link="double_sided_sink_cabinet0004"/>
		<child link="double_sided_sink_cabinet0004_door04"/>
		<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="-0.398046 0.266515 0.507514"/>
	</joint>
</robot>