<?xml version="1.0" ?>
<robot name="ground_jump_easy">
  <link name="ground"> </link>
  <joint name="ground_start_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="ground"/>
    <child link="groundStart"/>
  </joint>
  <link name="groundStart">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/ground_jump_easyStart.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/ground_jump_easyStart.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="ground_goal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="ground"/>
    <child link="groundGoal"/>
  </joint>
  <link name="groundGoal">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/ground_jump_lowGoal.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/ground_jump_lowGoal.stl"/>
      </geometry>
    </collision>
  </link>
</robot>
