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		<mass value="1.000000"/>
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	<link name="Kitchen0010_drawer05">
		<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
		<mass value="1.000000"/>
		<visual>
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			<geometry>
				<mesh filename="Kitchen0010_drawer05.glb" scale="1.0 1.0 1.0"/>
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		<collision>
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		<collision>
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	<!--JOINTS-->
	<joint name="Kitchen0010_door01" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door01"/>
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	<joint name="Kitchen0010_door02" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door02"/>
		<axis xyz="-1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-2.018477 -0.262300 2.167315"/>
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	<joint name="Kitchen0010_door03" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door03"/>
		<axis xyz="-1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-1.328678 -0.262300 2.167315"/>
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	<joint name="Kitchen0010_door04" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door04"/>
		<axis xyz="-1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="1.199868 -0.262300 2.167315"/>
	</joint>
	<joint name="Kitchen0010_door05" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door05"/>
		<axis xyz="-1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="1.806043 -0.262300 2.167315"/>
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	<joint name="Kitchen0010_door06" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door06"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="2.693382 -0.276368 1.561975"/>
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	<joint name="Kitchen0010_door07" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door07"/>
		<axis xyz="1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="1.804330 -0.275254 0.966437"/>
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	<joint name="Kitchen0010_door08" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door08"/>
		<axis xyz="1.000000 0.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="1.570796251296997" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="1.199521 -0.275254 0.966437"/>
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	<joint name="Kitchen0010_door09" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door09"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="2.693382 -0.276368 0.568330"/>
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	<joint name="Kitchen0010_door10" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door10"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="2.106392 -0.275457 0.564685"/>
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	<joint name="Kitchen0010_door11" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door11"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.898794 -0.275407 0.564685"/>
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	<joint name="Kitchen0010_door12" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door12"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-1.789073 -0.263592 0.543127"/>
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	<joint name="Kitchen0010_door13" type="revolute">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_door13"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.268928050994873" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-2.698349 -0.263574 0.543116"/>
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	<joint name="Kitchen0010_drawer01" type="prismatic">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_drawer01"/>
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		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
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	<joint name="Kitchen0010_drawer02" type="prismatic">
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		<child link="Kitchen0010_drawer02"/>
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		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.441336 -0.253785 0.354401"/>
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	<joint name="Kitchen0010_drawer03" type="prismatic">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_drawer03"/>
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		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
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	<joint name="Kitchen0010_drawer04" type="prismatic">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_drawer04"/>
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		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
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	<joint name="Kitchen0010_drawer05" type="prismatic">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_drawer05"/>
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		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-1.349305 -0.253815 0.726328"/>
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	<joint name="Kitchen0010_drawer06" type="prismatic">
		<parent link="Kitchen0010"/>
		<child link="Kitchen0010_drawer06"/>
		<axis xyz="0.000000 -1.000000 0.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="0.467276482416885" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-1.349305 -0.253815 0.354527"/>
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</robot>