<?xml version="1.0" ?>
<robot name="Kitchen_Corner_Cabinet0001_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="Kitchen_Corner_Cabinet0001"/>
	</joint>
	<!--LINKS-->
	<link name="Kitchen_Corner_Cabinet0001">
		<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="Kitchen_Corner_Cabinet0001.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.125200 0.875326"/>
			<geometry>
				<box size="0.847000002861023 0.5954999327659607 0.046199996024370193"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.124834 -0.297404 0.875326"/>
			<geometry>
				<box size="0.5974000096321106 0.25099995732307434 0.046199996024370193"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000048 0.148095 0.094895"/>
			<geometry>
				<box size="0.8443999886512756 0.5482999682426453 0.189799964427948"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.147611 -0.271888 0.094895"/>
			<geometry>
				<box size="0.5493000149726868 0.29419997334480286 0.189799964427948"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000579 0.410542 0.521922"/>
			<geometry>
				<box size="0.8457000255584717 0.024799996986985207 0.6661999225616455"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.406713 -0.003074 0.518595"/>
			<geometry>
				<box size="0.031099999323487282 0.8099998831748962 0.667199969291687"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.125945 -0.406563 0.520696"/>
			<geometry>
				<box size="0.5310999751091003 0.024799996986985207 0.6629999279975891"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.410553 0.136522 0.520677"/>
			<geometry>
				<box size="0.025599999353289604 0.5245999693870544 0.6629999279975891"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -0.785398" xyz="-0.233887 -0.233639 0.875326"/>
			<geometry>
				<box size="0.353799968957901 0.18199999630451202 0.046199996024370193"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.791581" xyz="-0.188719 -0.186762 0.094895"/>
			<geometry>
				<box size="0.18219998478889465 0.40389999747276306 0.189799964427948"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.791581" xyz="-0.124848 -0.398078 0.094895"/>
			<geometry>
				<box size="0.03240000084042549 0.026799999177455902 0.189799964427948"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.791581" xyz="-0.401230 -0.123905 0.094895"/>
			<geometry>
				<box size="0.03240000084042549 0.026799999177455902 0.189799964427948"/>
			</geometry>
		</collision>
	</link>
	<link name="Kitchen_Corner_Cabinet0001_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="Kitchen_Corner_Cabinet0001_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.783422" xyz="-0.126961 0.137684 -0.322625"/>
			<geometry>
				<box size="0.018199998885393143 0.3739999830722809 0.05929999426007271"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.783422" xyz="-0.126961 0.137684 0.313817"/>
			<geometry>
				<box size="0.018199998885393143 0.3739999830722809 0.059199992567300797"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.783421" xyz="-0.238031 0.249194 -0.004443"/>
			<geometry>
				<box size="0.018199998885393143 0.059300001710653305 0.5835999250411987"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.783421" xyz="-0.015911 0.026194 -0.004443"/>
			<geometry>
				<box size="0.018199998885393143 0.059300001710653305 0.5835999250411987"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.782659" xyz="-0.129737 0.144891 -0.004442"/>
			<geometry>
				<box size="0.00549999950453639 0.24639998376369476 0.5890999436378479"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.985185 0.000000 -0.785289" xyz="-0.255245 0.235288 0.303232"/>
			<geometry>
				<box size="0.017999999225139618 0.0027999996673315763 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.269569 0.000000 -0.785289" xyz="-0.255901 0.234631 0.301306"/>
			<geometry>
				<box size="0.017999999225139618 0.0027999996673315763 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.413363 -0.000000 -0.785289" xyz="-0.256971 0.233561 0.292900"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.426108 -0.000000 -0.785289" xyz="-0.258542 0.231990 0.278561"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.454883 -0.000000 -0.785288" xyz="-0.259861 0.230670 0.264192"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.492702 -0.000000 -0.785288" xyz="-0.260853 0.229678 0.249821"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.544202 0.000000 -0.785288" xyz="-0.261392 0.229139 0.235437"/>
			<geometry>
				<box size="0.017999999225139618 0.01499999687075615 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -0.785289" xyz="-0.246788 0.243735 0.149741"/>
			<geometry>
				<box size="0.019599998369812965 0.0017999998526647687 0.0071999989449977875"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -0.785289" xyz="-0.249246 0.241288 0.149736"/>
			<geometry>
				<box size="0.017999999225139618 0.005200000014156103 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.145604 0.000000 -0.785288" xyz="-0.251503 0.239031 0.149905"/>
			<geometry>
				<box size="0.017999999225139618 0.002699999837204814 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.428331 0.000000 -0.785289" xyz="-0.252946 0.237587 0.150516"/>
			<geometry>
				<box size="0.017999999225139618 0.0027000000700354576 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.704813 0.000000 -0.785289" xyz="-0.254227 0.236306 0.151668"/>
			<geometry>
				<box size="0.017999999225139618 0.002699999837204814 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-0.985185 -0.000000 -0.785289" xyz="-0.255245 0.235288 0.153288"/>
			<geometry>
				<box size="0.017999999225139618 0.0027999996673315763 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.269569 -0.000000 -0.785289" xyz="-0.255901 0.234631 0.155214"/>
			<geometry>
				<box size="0.017999999225139618 0.0027999996673315763 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.413363 0.000000 -0.785289" xyz="-0.256971 0.233561 0.163621"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.426108 0.000000 -0.785289" xyz="-0.258542 0.231990 0.177960"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.454883 0.000000 -0.785288" xyz="-0.259861 0.230670 0.192328"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.492702 0.000000 -0.785288" xyz="-0.260853 0.229678 0.206699"/>
			<geometry>
				<box size="0.017999999225139618 0.014999997802078724 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.544202 -0.000000 -0.785288" xyz="-0.261392 0.229139 0.221083"/>
			<geometry>
				<box size="0.017999999225139618 0.01499999687075615 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.704813 -0.000000 -0.785289" xyz="-0.254227 0.236306 0.304852"/>
			<geometry>
				<box size="0.017999999225139618 0.002699999837204814 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.428331 -0.000000 -0.785289" xyz="-0.252946 0.237587 0.306005"/>
			<geometry>
				<box size="0.017999999225139618 0.002699999837204814 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.145604 -0.000000 -0.785288" xyz="-0.251503 0.239031 0.306616"/>
			<geometry>
				<box size="0.017999999225139618 0.002699999837204814 0.004000000189989805"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -0.785289" xyz="-0.249246 0.241288 0.306784"/>
			<geometry>
				<box size="0.017999999225139618 0.005200000014156103 0.003999999724328518"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 -0.785289" xyz="-0.246788 0.243735 0.306780"/>
			<geometry>
				<box size="0.019599998369812965 0.0017999998526647687 0.0071999989449977875"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="Kitchen_Corner_Cabinet0001_door01" type="revolute">
		<parent link="Kitchen_Corner_Cabinet0001"/>
		<child link="Kitchen_Corner_Cabinet0001_door01"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.181661605834961" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.150191 -0.412716 0.507562"/>
	</joint>
</robot>
