<?xml version="1.0" ?> <sdf version="1.4"> <model name="door_handle"> <link name="handle"> <collision name="collision"> <geometry> <mesh> <uri>model://door_handle/meshes/door_handle.dae</uri> </mesh> </geometry> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://door_handle/meshes/door_handle.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>