assets/bidex/objects/urdf/door_mobility.urdf

<?xml version="1.0" ?>
<robot name="door">
	<link name="base"/>
	<link name="link_0">
		<visual name="outside_frame-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/door/original-1.obj"/>
			</geometry>
		</visual>
		<visual name="outside_frame-1">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/door/original-2.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/door/original-1.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/door/original-2.obj"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_0" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_0"/>
		<parent link="base"/>
	</joint>
	<link name="link_1">
		<visual name="glass-34">
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-12.obj"/>
			</geometry>
		</visual>
		<visual name="fixed_part-31">
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
			</geometry>
		</visual>
		<visual name="fixed_part-30">
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-12.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
			<geometry>
				<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="revolute">
		<origin xyz="-0.4265270657166128 0.48329200000000005 0.008461858680020029"/>
		<axis xyz="0 -1 0"/>
		<child link="link_1"/>
		<parent link="link_0"/>
		<limit lower="0.0" upper="1.5707963267948966"/>
	</joint>
	<link name="link_2">
		<visual name="glass-33">
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-7.obj"/>
			</geometry>
		</visual>
		<visual name="fixed_part-32">
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
			</geometry>
		</visual>
		<visual name="fixed_part-29">
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-7.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
			<geometry>
				<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_2" type="revolute">
		<origin xyz="0.42040686074842226 0.4832920000000003 0.0055998888476049835"/>
		<axis xyz="0 1 0"/>
		<child link="link_2"/>
		<parent link="link_0"/>
		<limit lower="-0.0" upper="1.5707963267948966"/>
	</joint>
</robot>