<?xml version="1.0" ?>
<robot name="wall">

    <link name="wall_base_link">
        <inertial>
        <mass value="0"/>
        <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
        </inertial>
    </link>

    <link name="x_neg_wall">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
            <mass value="0"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
            <geometry>
                <mesh filename="wallx30.obj" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="-0.155 0 0.025"/>
            <geometry>
                <mesh filename="wallx30.obj" scale="1 1 1"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_to_x_neg_wall" type="fixed">
        <parent link="wall_base_link"/>
        <child link="x_neg_wall"/>
    </joint>


    <link name="x_pos_wall">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
            <mass value="0"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
            <geometry>
                <mesh filename="wallx30.obj" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0.155 0 0.025"/>
            <geometry>
                <mesh filename="wallx30.obj" scale="1 1 1"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_to_x_pos_wall" type="fixed">
        <parent link="wall_base_link"/>
        <child link="x_pos_wall"/>
    </joint>


    <link name="y_neg_wall">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
            <mass value="0"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
            <geometry>
                <mesh filename="wally32.obj" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 -0.155 0.025"/>
            <geometry>
                <mesh filename="wally32.obj" scale="1 1 1"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_to_y_neg_wall" type="fixed">
        <parent link="wall_base_link"/>
        <child link="y_neg_wall"/>
    </joint>

    <link name="y_pos_wall">
        <contact>
            <lateral_friction value="1"/>
        </contact>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
            <mass value="0"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
            <geometry>
                <mesh filename="wally32.obj" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0.155 0.025"/>
            <geometry>
                <mesh filename="wally32.obj" scale="1 1 1"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_to_y_pos_wall" type="fixed">
        <parent link="wall_base_link"/>
        <child link="y_pos_wall"/>
    </joint>

</robot>