<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="frc2016_lowbar">
    <link name="base">
      <inertial>
        <mass>50</mass>
        <inertia>
          <ixx>0.03554304</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.134411694</iyy>
          <iyz>0</iyz>
          <izz>0.165376013</izz>
        </inertia>
      </inertial>

      <visual name="platform">
        <pose>0 0 0.039065 0 0 0</pose>
        <geometry>
          <box>
            <size>1.26 0.5996 0.07813</size>
          </box>
        </geometry>
      </visual>
      <collision name="platform">
        <pose>0 0 0.039065 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.6096 0.07813</size>
          </box>
        </geometry>
      </collision>

      <visual name="right_column">
        <pose>-0.57845 -0.18464 0.26863 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>0.381</length>
          </cylinder>
        </geometry>
      </visual>
      <collision name="right_column">
        <pose>-0.57845 -0.18464 0.26863 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>0.381</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="left_column">
        <pose>0.57845 -0.18464 0.26863 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>0.381</length>
          </cylinder>
        </geometry>
      </visual>
      <collision name="left_column">
        <pose>0.57845 -0.18464 0.26863 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>0.381</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="horizontal">
        <pose>0 -0.18464 0.43556 0 1.5707 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>1.2018</length>
          </cylinder>
        </geometry>
      </visual>
      <collision name="horizontal">
        <pose>0 -0.18464 0.43556 0 1.5707 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0254</radius>
            <length>1.2018</length>
          </cylinder>
        </geometry>
      </collision>
    </link>

    <link name="wall">
      <pose>0 -0.1778 0.24323 0 0 0</pose>
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.00774528</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.11661267</iyy>
          <iyz>0</iyz>
          <izz>0.10887411</izz>
        </inertia>
      </inertial>

      <visual name="visual">
        <geometry>
          <box>
            <size>1.1176 0.00635 0.3</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="collision">
        <geometry>
          <box>
            <size>1.143 0.00635 0.3</size>
          </box>
        </geometry>
      </collision>
    </link>

    <joint type="revolute" name="bar_joint">
      <pose>0 0 0.36378 0 0 0</pose>
      <parent>base</parent>
      <child>wall</child>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.5707</lower>
          <upper>1.5707</upper>
        </limit>
      </axis>
    </joint>

  </model>
</sdf>