<?xml version="0.0" ?>
<robot name="slabObstacle">
    <material name="brown">
        <color rgba="0.62 0.32 0.176 1"/>
    </material>
  <link name="slabObstacleLink">
  <contact>
      <lateral_friction value="1"/>
  </contact>

<inertial>
<mass value="5.0" />
<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="0.4 0.4 0.01"/>
      </geometry>
       <material name="brown"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	    <box size="0.4 0.4 0.01"/>
      </geometry>
    </collision>
  </link>
</robot>