<?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 0.5"/>
      <geometry>
      <box size="0.1 0.1 1"/>
      </geometry>
	   <material name="framemat0">
      <color
                    rgba="0.9 0.4 0. 1" />
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.95 0 0.5"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
	  <material name="framemat0"/>	 
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.5 0 0.95"/>
      <geometry>
        <box size="1 0.1 0.1"/>
      </geometry>
	  <material name="framemat0"/>
	  </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.5 0 0.05"/>
      <geometry>
        <box size="1 0.1 0.1"/>
      </geometry>
	  <material name="framemat0"/>
	  </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.05 0 0.5"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.95 0 0.5"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.5 0 0.95"/>
      <geometry>
        <box size="1 0.1 0.1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.5 0 0.05"/>
      <geometry>
        <box size="1 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="0.4 0 0.4"/>
      <geometry>
        <box size="0.9  0.05 0.8"/>
      </geometry>
	   <material name="doormat0">
      <color rgba="0.8 0.8 0.3 1" />
      </material>

	  </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.4 0 0.4"/>
       <geometry>
         <box size="0.9  0.05 0.8"/>
       </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>
</robot>

