<robot name="door">
  <link name="base_link"/>
  <link name="door_link">
    <inertial>
      <origin xyz="0.503 0.0025 1" rpy="0 0 0" />
      <mass value="0.6"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
	       iyy="0.001" iyz="0.0"
	       izz="0.001" />
    </inertial>

    <visual>
      <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0.53 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="1.06 0.05 2"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.53 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="1.06 0.05 2"/>
      </geometry>
    </collision>
  </link>
  <joint name="door_joint" type="revolute">
    <limit effort="1" upper="0" lower="-3.14" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <child link="door_link"/>
    <parent link="base_link"/>
  </joint>
  <link name="wall1_link">
    <visual>
      <origin xyz="1 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="2 0.05 2"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="1 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="2 0.05 2"/>
      </geometry>
    </collision>
  </link>
  <link name="wall2_link">
    <visual>
      <origin xyz="1 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="2 0.05 2"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="1 0.025 1" rpy="0 0 0" />
      <geometry>
        <box size="2 0.05 2"/>
      </geometry>
    </collision>
  </link>
  <joint name="wall1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-2.01 0 0"/>
    <child link="wall1_link"/>
    <parent link="base_link"/>
  </joint>
  <joint name="wall2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1.07 0 0"/>
    <child link="wall2_link"/>
    <parent link="base_link"/>
  </joint>
</robot>
