gazebo_models/hinged_door/model-1_4.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="hinged_door">

    <link name="frame">
      <pose>0.06 -0.0005 0 0 0 0</pose>
      <collision name="collision_1">
        <pose>-0.025145 -0.03429 1.0541 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05029 0.06858 2.10820</size>
          </box>
        </geometry>
      </collision>

      <collision name="collision_2">
        <pose>-0.025145 0.95631 1.0541 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05029 0.06858 2.10820</size>
          </box>
        </geometry>
      </collision>

      <collision name="collision_3">
        <pose>-0.0251450 0.46482 2.07137 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05029 0.92964 0.07366</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
	<pose>0 -0.06858 0 0 0 0 </pose>
        <geometry>
          <mesh>
            <uri>model://hinged_door/meshes/frame.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="door">
      <pose>-0.0 0.000 2.040 3.14159 0 1.57</pose>
      <inertial>
        <mass>41.3256</mass>
        <pose>0.4569 0.0349 1.016 0 0 0</pose>
        <inertia>
          <ixx>14.2053</ixx>
          <ixy>0.0004</ixy>
          <ixz>0.0000</ixz>
          <iyy>17.1997</iyy>
          <iyz>0.0000</iyz>
          <izz>3.0298</izz>
        </inertia>
      </inertial> 
      <collision name="collision">
        <pose>0.4569 0.0349 1.016 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9144 0.04445 2.032</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
	<pose>0 -0.06858 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://hinged_door/meshes/door.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="handles">
      <pose>0.0 0.8 1.05 0 3.14 1.57</pose>
      <collision name="handle1_collision">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>

      <visual name="handle1_visual">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>

      <collision name="handle2_collision">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>

      <visual name="handle2_visual">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>

    </link>

    <joint name="handle" type="revolute">
      <parent>door</parent>
      <child>handles</child>
      <pose>0.015 0 0 0 0 0</pose>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>1.58</upper>
        </limit>
        <dynamics>
          <damping>1.0</damping>
          <friction>10 </friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>

    <joint name="hinge" type="revolute">
      <parent>frame</parent>
      <child>door</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>1.58</upper>
        </limit>
        <dynamics>
          <damping>1.0</damping>
          <friction>1.0 </friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>

    <joint name="world_joint" type="revolute">
      <child>frame</child>
      <parent>world</parent>
      <axis>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <dynamics>
          <damping>1.0</damping>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>

  </model>
</sdf>