<?xml version="1.0"?>
<robot name="yellow_post">
  <link name="base"/>
  <joint name="base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0325"/>
    <parent link="base"/>
    <child link="cylinder_base"/>
  </joint>
  <link name="cylinder_base">
    <inertial>
      <origin xyz="0 0 0.025" rpy="0 0 0"/>
      <mass value="18.0"/>
      <inertia ixx="0.01703125" ixy="0" ixz="0" iyy="0.01703125" iyz="0" izz="0.0003125"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.177"/>
      </geometry>
      <material name="Black">
        <color rgba="0.0 0.0 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.065" radius="0.177"/>
      </geometry>
    </collision>
  </link>
  <joint name="post_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.51"/>
    <parent link="cylinder_base"/>
    <child link="post"/>
  </joint>
  <link name="post">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.01703125" ixy="0" ixz="0" iyy="0.01703125" iyz="0" izz="0.0003125"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.955" radius="0.065"/>
      </geometry>
      <material name="Yellow">
        <color rgba="1.0 1.0 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.955" radius="0.065"/>
      </geometry>
    </collision>
  </link>
</robot>
