<?xml version="1.0" ?>
<robot name="cabinet0157_ARMATURE">
	<link name="root"/>
	<joint name="root_rotation" type="fixed">
		<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
		<parent link="root"/>
		<child link="cabinet0157"/>
	</joint>
	<!--LINKS-->
	<link name="cabinet0157">
		<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="cabinet0157.glb" scale="1.0 1.0 1.0"/>
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		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000000 0.007723 1.448470"/>
			<geometry>
				<box size="0.7712000012397766 0.38999998569488525 0.04190000146627426"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.000626 0.007701 0.734701"/>
			<geometry>
				<box size="0.020099999383091927 0.38999998569488525 1.385699987411499"/>
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		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000039 0.007701 0.382815"/>
			<geometry>
				<box size="0.6870999932289124 0.38999998569488525 0.020099999383091927"/>
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		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000039 0.007701 0.732867"/>
			<geometry>
				<box size="0.6870999932289124 0.38999998569488525 0.020099999383091927"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000039 0.007701 1.081810"/>
			<geometry>
				<box size="0.6870999932289124 0.38999998569488525 0.020099999383091927"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.364453 0.007723 0.734701"/>
			<geometry>
				<box size="0.04190000146627426 0.38999998569488525 1.385699987411499"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.364531 0.007723 0.734701"/>
			<geometry>
				<box size="0.04190000146627426 0.38999998569488525 1.385699987411499"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.007723 0.020932"/>
			<geometry>
				<box size="0.7712000012397766 0.38999998569488525 0.04190000146627426"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.176630 0.196098 0.557841"/>
			<geometry>
				<box size="0.3343999981880188 0.010300000198185444 0.32989999651908875"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.177108 0.196098 0.557841"/>
			<geometry>
				<box size="0.3328000009059906 0.010300000198185444 0.32989999651908875"/>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="-0.337968 0.200956 1.400950"/>
			<geometry>
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		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.338046 0.200955 1.400951"/>
			<geometry>
				<box size="0.039000000804662704 0.003599999938160181 0.027699999511241913"/>
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		</collision>
	</link>
	<link name="cabinet0157_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="cabinet0157_door01.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.165843 0.000060 0.000001"/>
			<geometry>
				<box size="0.33169999718666077 0.017500000074505806 0.3260999917984009"/>
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		</collision>
		<collision>
			<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.308523 -0.016780 -0.000319"/>
			<geometry>
				<cylinder radius="0.006649999879300594" length="0.013500000350177288"/>
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		</collision>
		<collision>
			<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.308523 -0.008263 -0.000319"/>
			<geometry>
				<cylinder radius="0.004449999891221523" length="0.008999999612569809"/>
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		</collision>
	</link>
	<link name="cabinet0157_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="cabinet0157_door02.glb" scale="1.0 1.0 1.0"/>
			</geometry>
		</visual>
		<collision>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.164024 0.000061 0.000001"/>
			<geometry>
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		<collision>
			<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.305311 -0.016780 -0.000319"/>
			<geometry>
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		<collision>
			<origin rpy="-1.570796 -0.000000 0.000000" xyz="0.305311 -0.008263 -0.000319"/>
			<geometry>
				<cylinder radius="0.004449999891221523" length="0.008999999612569809"/>
			</geometry>
		</collision>
	</link>
	<!--JOINTS-->
	<joint name="cabinet0157_door01" type="revolute">
		<parent link="cabinet0157"/>
		<child link="cabinet0157_door01"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.356194496154785" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="-0.342646 -0.178738 0.557653"/>
	</joint>
	<joint name="cabinet0157_door02" type="revolute">
		<parent link="cabinet0157"/>
		<child link="cabinet0157_door02"/>
		<axis xyz="0.000000 -0.000000 -1.000000"/>
		<limit effort="100.0000" lower="-0.0" upper="2.356194496154785" velocity="3.0000"/>
		<origin rpy="0 0 0" xyz="0.010697 -0.178739 0.557653"/>
	</joint>
</robot>
