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