<?xml version="1.0"?>
<robot name="door">
  <handle name="handle1" clearance="0.025">
    <position> 0.9 0.075 0.9 0.7071 0 0 -0.7071 </position>
    <link name="door_link"/>
  </handle>
  <handle name="handle2" clearance="0.025">
    <position> 0.9 -0.025 0.9 0.7071 0 0 0.7071 </position>
    <link name="door_link"/>
  </handle>
  <disable_collisions link1="door_link"  link2="wall1_link" reason="Default" />
  <disable_collisions link1="door_link"  link2="wall2_link" reason="Default" />
  <disable_collisions link1="wall1_link" link2="wall2_link" reason="Default" />
</robot>