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<?xml version="1.0" ?>
<robot name="door">
<link name="root">
</link>
<joint name="root_rotation" type="revolute">
<origin rpy="0 0 3.14" xyz="0 0 0"/>
<parent link="root"/>
<child link="body"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
</joint>
<link name="body">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="25.0"/>
<!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="door1.glb" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.414 -1.041 0"/>
<geometry>
<box size="0.7 1.8 0.026"/>
</geometry>
</collision>
</link>
</robot>
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