<?xml version="1.0" ?>
<robot name="urdf_door">
    <link name="world"/>
    <joint name="fixed" type="fixed">
        <parent link="world"/>
        <child link="baseLink"/>
        <origin xyz="0 0 0"/>
    </joint>
    <link name="baseLink">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.35"/>
            <mass value="1.0"/>
            <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0.05 0 1."/>
            <geometry>
                <box size="0.1 0.1 2"/>
            </geometry>
            <material name="framemat0">
                <color
                    rgba="0.9 0.4 0. 1" />
            </material>
        </visual>
        <visual>
            <origin rpy="0 0 0" xyz="1.5 0 1."/>
            <geometry>
                <box size="0.1 0.1 2"/>
            </geometry>
            <material name="framemat0"/>
        </visual>
        <visual>
            <origin rpy="0 0 0" xyz="0.75 0 1.95"/>
            <geometry>
                <box size="1.5 0.1 0.1"/>
            </geometry>
            <material name="framemat0"/>
        </visual>
        <!-- <collision>
            <origin rpy="0 0 0" xyz="0.05 0 1."/>
            <geometry>
                <box size="0.1 0.1 2"/>
            </geometry>
        </collision>
        <collision>
            <origin rpy="0 0 0" xyz="1.5 0 1."/>
            <geometry>
                <box size="0.1 0.1 2"/>
            </geometry>
        </collision>
        <collision>
            <origin rpy="0 0 0" xyz="0.75 0 1.95"/>
            <geometry>
                <box size="1.5 0.1 0.1"/>
            </geometry>
        </collision> -->
    </link>
    <link name="childA">
        <inertial>
            <origin rpy="0 0 0" xyz="0.4 0 0.4"/>
            <mass value="1.0"/>
            <inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0.7 0 0.85"/>
            <geometry>
                <box size="1.4  0.05 1.9"/>
            </geometry>
            <material name="doormat0">
                <color rgba="0.8 0.8 0.3 1" />
            </material>
        </visual>
        <!-- <collision>
            <origin rpy="0 0 0" xyz="0.7 0 0.85"/>
            <geometry>
                <box size="1.4  0.05 1.9"/>
            </geometry>
        </collision> -->
    </link>
    <joint name="joint_baseLink_childA" type="continuous">
        <parent link="baseLink"/>
        <child link="childA"/>
        <dynamics damping="1.0" friction="0.0001"/>
        <origin xyz="0.05 0 0.1"/>
        <axis xyz="0 0 1"/>
    </joint>

    <joint name="door_right_target_joint" type="fixed">
        <parent link="baseLink"/>
        <child link="door_right_target"/>
        <origin rpy="0 0 0" xyz="0.05 0.1 1.3"/>
        <axis xyz="0 1 0"/>
    </joint>
    <link name="door_right_target">
        <inertial>
            <mass value="0.01"/>
            <inertia  ixx=".0016" ixy="0.0"  ixz="0.0"  iyy="0.0016"  iyz="0.0"  izz=".0016" />
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <sphere radius="0.05" />
            </geometry>
        </visual>
    </link>
</robot>