<?xml version="1.0" ?>
<robot name="link_robot">
  <link name="base_0">
    <inertial>
      <origin xyz="-0.000119 0.000197 -0.000644" rpy="0 0 0"/>
      <mass value="1.000000"/>
      <inertia ixx="0.131951" iyy="0.131998" izz="0.166802" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
    <visual>
      <origin xyz="-0.000000 -0.000000 -0.000000" rpy="0 0 0"/>
      <geometry>
        <mesh filename="glb/part_0.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.000000 -0.000000 -0.000000" rpy="0 0 0"/>
      <geometry>
        <mesh filename="glb/part_0.glb"/>
      </geometry>
    </collision>
  </link>
  <link name="door_1">
    <inertial>
      <origin xyz="-0.405370 0.357435 0.026348" rpy="0 0 0"/>
      <mass value="1.000000"/>
      <inertia ixx="0.042818" iyy="0.083534" izz="0.125889" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
    <visual>
      <origin xyz="-0.405824 0.336681 -0.330254" rpy="0 0 0"/>
      <geometry>
        <mesh filename="glb/part_1.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.405824 0.336681 -0.330254" rpy="0 0 0"/>
      <geometry>
        <mesh filename="glb/part_1.glb"/>
      </geometry>
    </collision>
  </link>
  <joint name="door_joint_1" type="revolute">
    <parent link="base_0"/>
    <child link="door_1"/>
    <origin xyz="0.405824 -0.336681 0.330254" rpy="0 0 0"/>
    <axis xyz="1.000000 0.000000 0.000000"/>
    <limit lower="0.000000" upper="0.989346" effort="50.000000" velocity="1.000000"/>
  </joint>
</robot>
