<?xml version="0.0" ?>
<robot name="seesawObstacle">
    <material name="brown">
        <color rgba="0.62 0.32 0.176 1"/>
    </material>
    <link name="plank">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <mass value="10." />
            <inertia  ixx=".0016" ixy="0.0"  ixz="0.0"  iyy="0.0016"  iyz="0.0"  izz=".0016" />
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="1.2 2.0 0.02"/>
            </geometry>
            <material name="brown"/>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="1.2 1.0 0.02"/>
            </geometry>
        </collision>
    </link>
    <joint name="fixed_joint" type="fixed">
        <origin rpy="1.57079632679 1.57079632679 0" xyz="0 0 -0.05"/>
        <parent link="plank"/>
        <child link="cylinder"/>
        <axis xyz="0 0 1"/>
    </joint>
    <link name="cylinder">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <mass value="10." />
            <inertia  ixx=".0016" ixy="0.0"  ixz="0.0"  iyy="0.0016"  iyz="0.0"  izz=".0016" />
        </inertial>
        <visual>
            <!-- <origin rpy="1.57 1.57 0" xyz="0 0 -0.05"/> -->
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.8" radius="0.05"/>
            </geometry>
            <material name="brown"/>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <!-- <origin rpy="1.57 1.57 0" xyz="0 0 -0.05"/> -->
            <geometry>
                <cylinder length="0.4" radius="0.05"/>
            </geometry>
        </collision>
    </link>
</robot>