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<?xml version="1.0" ?>
<robot name="door">
<link name="root">
</link>
<joint name="frame_transform" type="fixed">
<origin rpy="0 1.56 0" xyz="0 0 0"/>
<parent link="root"/>
<child link="frame"/>
</joint>
<link name="frame">
</link>
<joint name="left_hinge" type="revolute">
<origin rpy="0 0 0" xyz="-0.58 0 0"/>
<parent link="frame"/>
<child link="left_door"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="-1.2" upper="0" velocity="40"/>
</joint>
<link name="left_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="20.0"/>
<!-- 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="double_door_L.glb" scale="0.98 0.98 0.98"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.32 -1.0 0.026"/>
<geometry>
<box size="0.42 1.6 0.03"/>
</geometry>
</collision>
</link>
<joint name="right_hinge" type="revolute">
<origin rpy="0 0 0" xyz="0.58 0 0"/>
<parent link="frame"/>
<child link="right_door"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.01"/>
<limit effort="44.4" lower="0" upper="1.0" velocity="40"/>
</joint>
<link name="right_door">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="20.0"/>
<!-- 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="double_door_R.glb" scale="0.98 0.98 0.98"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.32 -1.0 0.03"/>
<geometry>
<box size="0.4 1.6 0.024"/>
</geometry>
</collision>
</link>
</robot>
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