urdf/0ea4b67131a00b8273dd4ac308aa5d11b840a99c/0ea4b67131a00b8273dd4ac308aa5d11b840a99c.urdf

<?xml version="1.0" ?>
<robot name="cabinet0020_ARMATURE">
	<link name="root"/>
	<joint name="root_rotation" type="fixed">
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		<parent link="root"/>
		<child link="cabinet0020"/>
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	<!--LINKS-->
	<link name="cabinet0020">
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		<mass value="1.000000"/>
		<visual>
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			<geometry>
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		<collision>
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		<collision>
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		<collision>
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		<collision>
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	</link>
	<link name="cabinet0020_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="cabinet0020_door01.glb" scale="1.0 1.0 1.0"/>
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		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.189596 -0.009991 -0.000995"/>
			<geometry>
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		<collision>
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		<collision>
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		<collision>
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			<geometry>
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		</collision>
	</link>
	<link name="cabinet0020_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="cabinet0020_door02.glb" scale="1.0 1.0 1.0"/>
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		<collision>
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		<collision>
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		</collision>
	</link>
	<!--JOINTS-->
	<joint name="cabinet0020_door01" type="revolute">
		<parent link="cabinet0020"/>
		<child link="cabinet0020_door01"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.7925267219543457" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.380396 -0.183710 0.470615"/>
	</joint>
	<joint name="cabinet0020_door02" type="revolute">
		<parent link="cabinet0020"/>
		<child link="cabinet0020_door02"/>
		<axis xyz="0.000000 0.000000 1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.7925267219543457" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.380401 -0.183748 0.470621"/>
	</joint>
</robot>