<?xml version="1.0" ?> <robot name="door"> <link name="root"> </link> <joint name="root_rotation" type="revolute"> <origin rpy="0 1.56 0" 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" upper="2.4" 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="door3.glb" scale="0.98 0.98 0.98"/> </geometry> </visual> <collision> <origin rpy="0 0 0" xyz="0.444 -1.041 0"/> <geometry> <box size="0.7 1.8 0.026"/> </geometry> </collision> </link> </robot>