roomA.world

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    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
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      <surface_model>EARTH_WGS84</surface_model>
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      <elevation>0</elevation>
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          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
          <pose frame=''>0 0 1.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='cabinet_bottom_plate_geom'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
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              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
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                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
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              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.45 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 1.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <link name='cabinet_bottom_plate_clone'>
        <inertial>
          <pose frame=''>0 0 -1 0 -0 0</pose>
          <inertia>
            <ixx>2.05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.05</iyy>
            <iyz>0</iyz>
            <izz>2.05</izz>
          </inertia>
          <mass>25</mass>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0.354605 -0.722723 0 0 -0 0.787259</pose>
        <gravity>1</gravity>
        <visual name='cabinet_bottom_plate_geom_visual'>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.45 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
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            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
          <pose frame=''>0 0 1.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
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            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 1.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.45 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>-9.63478 -4.47159 0 0 -0 0</pose>
    </model>
  </world>
</sdf>