urdf/doors/doubledoor.urdf

<?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>