<?xml version="1.0" ?>
<robot name="wardrobe0058_ARMATURE">
	<link name="root"/>
	<joint name="root_rotation" type="fixed">
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		<parent link="root"/>
		<child link="wardrobe0058"/>
	</joint>
	<!--LINKS-->
	<link name="wardrobe0058">
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		<mass value="1.000000"/>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<geometry>
				<mesh filename="wardrobe0058.glb" scale="1.0 1.0 1.0"/>
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		<collision>
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		<collision>
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		<collision>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-1.125432 0.017966 1.103838"/>
			<geometry>
				<box size="0.029200000688433647 0.5246999859809875 2.088099956512451"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000025 0.270409 1.096433"/>
			<geometry>
				<box size="2.2799999713897705 0.029200000688433647 2.0971999168395996"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="1.125408 0.012245 1.104550"/>
			<geometry>
				<box size="0.029200000688433647 0.5133000016212463 2.0880000591278076"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.184664 0.006124 1.104423"/>
			<geometry>
				<box size="0.019099999219179153 0.499099999666214 2.0666000843048096"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.185473 0.006003 1.104704"/>
			<geometry>
				<box size="0.019099999219179153 0.49880000948905945 2.0662999153137207"/>
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		</collision>
	</link>
	<link name="wardrobe0058_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="wardrobe0058_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.236701 0.000184 0.000885"/>
			<geometry>
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		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="0.433962 -0.014152 -0.209588"/>
			<geometry>
				<cylinder radius="0.008849999867379665" length="0.011900000274181366"/>
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		</collision>
		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="0.433963 -0.024037 -0.209588"/>
			<geometry>
				<cylinder radius="0.017750000581145287" length="0.007400000002235174"/>
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		</collision>
	</link>
	<link name="wardrobe0058_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="wardrobe0058_door02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.238524 0.000183 0.000884"/>
			<geometry>
				<box size="0.4754999876022339 0.019999999552965164 2.0690999031066895"/>
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		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="-0.434575 -0.014152 -0.209589"/>
			<geometry>
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		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="-0.434575 -0.024037 -0.209589"/>
			<geometry>
				<cylinder radius="0.017750000581145287" length="0.007400000002235174"/>
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		</collision>
	</link>
	<link name="wardrobe0058_door03">
		<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="wardrobe0058_door03.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.184808 0.000820 0.009147"/>
			<geometry>
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		<collision>
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		<collision>
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	</link>
	<link name="wardrobe0058_door04">
		<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="wardrobe0058_door04.glb" scale="1.0 1.0 1.0"/>
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		</visual>
		<collision>
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			<geometry>
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		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="0.432734 -0.014152 -0.209589"/>
			<geometry>
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		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="0.432734 -0.024037 -0.209589"/>
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	</link>
	<link name="wardrobe0058_door05">
		<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="wardrobe0058_door05.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.235398 0.000184 0.000882"/>
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		<collision>
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			<geometry>
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		<collision>
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			<geometry>
				<cylinder radius="0.017750000581145287" length="0.007400000002235174"/>
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		</collision>
	</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"/>
	</joint>
	<joint name="wardrobe0058_door02" type="revolute">
		<parent link="wardrobe0058"/>
		<child link="wardrobe0058_door02"/>
		<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="-0.185094 -0.254767 1.103692"/>
	</joint>
	<joint name="wardrobe0058_door03" type="revolute">
		<parent link="wardrobe0058"/>
		<child link="wardrobe0058_door03"/>
		<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="0.184783 -0.255419 1.095326"/>
	</joint>
	<joint name="wardrobe0058_door04" type="revolute">
		<parent link="wardrobe0058"/>
		<child link="wardrobe0058_door04"/>
		<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="0.187839 -0.254768 1.103693"/>
	</joint>
	<joint name="wardrobe0058_door05" type="revolute">
		<parent link="wardrobe0058"/>
		<child link="wardrobe0058_door05"/>
		<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="1.137601 -0.254768 1.103693"/>
	</joint>
</robot>
