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<?xml version="1.0" ?>
<robot name="wardrobe0058_ARMATURE">
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<joint name="root_rotation" type="fixed">
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<parent link="root"/>
<child link="wardrobe0058"/>
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<!--LINKS-->
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</link>
<link name="wardrobe0058_door01">
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<visual>
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<collision>
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</link>
<link name="wardrobe0058_door02">
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<visual>
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</link>
<link name="wardrobe0058_door03">
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</link>
<link name="wardrobe0058_door04">
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<visual>
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</link>
<link name="wardrobe0058_door05">
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<mass value="1.000000"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
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</link>
<!--JOINTS-->
<joint name="wardrobe0058_door01" type="revolute">
<parent link="wardrobe0058"/>
<child link="wardrobe0058_door01"/>
<axis xyz="0.000000 -0.000000 -1.000000"/>
<limit effort="100.0000" lower="-0.0" upper="2.4434609413146973" velocity="3.0000"/>
<origin rpy="0 0 0" xyz="-1.138894 -0.254768 1.103692"/>
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<joint name="wardrobe0058_door02" type="revolute">
<parent link="wardrobe0058"/>
<child link="wardrobe0058_door02"/>
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<joint name="wardrobe0058_door03" type="revolute">
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<joint name="wardrobe0058_door04" type="revolute">
<parent link="wardrobe0058"/>
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<joint name="wardrobe0058_door05" type="revolute">
<parent link="wardrobe0058"/>
<child link="wardrobe0058_door05"/>
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<origin rpy="0 0 0" xyz="1.137601 -0.254768 1.103693"/>
</joint>
</robot>
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