<?xml version="1.0"?>
<robot name="ground">
  <link name="ground_base">
    <!--
        VISUAL
        -->
    <visual>
      <!-- Ground -->
      <geometry>
        <box size="1 1 0.02"/>
      </geometry>
      <origin xyz="0 0 -0.01"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </visual>
    <visual>
      <!-- Obstacle in front -->
      <geometry>
        <box size="0.2 0.02 0.3"/>
      </geometry>
      <origin xyz="0.4 0 0.15"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </visual>
    <visual>
      <!-- Obstacle in rear -->
      <geometry>
        <box size="0.2 0.02 0.3"/>
      </geometry>
      <origin xyz="-0.4 0 0.15"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </visual>
    <!--
        COLLISION
        -->
    <collision>
      <!-- Ground -->
      <geometry>
        <box size="1 1 0.02"/>
      </geometry>
      <origin xyz="0 0 -0.01"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </collision>
    <collision>
      <!-- Obstacle in front -->
      <geometry>
        <box size="0.2 0.02 0.3"/>
      </geometry>
      <origin xyz="0.4 0 0.15"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </collision>
    <collision>
      <!-- Obstacle in rear -->
      <geometry>
        <box size="0.2 0.02 0.3"/>
      </geometry>
      <origin xyz="-0.4 0 0.15"/>
      <material name="Orange">
        <color rgba="1 0.4 0.3 0.6"/>
      </material>
    </collision>
  </link>
</robot>
