public void addVerticalDebrisLeaningAgainstAWall(double xRelativeToRobot, double yRelativeToRobot, double debrisYaw, double debrisPitch)
{
Point3d tempPosition = new Point3d(xRelativeToRobot, yRelativeToRobot, debrisLength / 2.0 * Math.cos(debrisPitch));
FramePose debrisPose = generateDebrisPose(tempPosition, debrisYaw, debrisPitch, 0.0);
debrisRobots.add(createDebrisRobot(debrisPose));
double supportWidth = 0.1;
double supportLength = 0.2;
double supportHeight = 1.05*debrisLength;
RigidBodyTransform debrisTransform = new RigidBodyTransform();
debrisPose.getPose(debrisTransform );
TransformTools.rotate(debrisTransform, -debrisPitch, Axis.Y);
debrisPose.setPose(debrisTransform);
debrisPose.setZ(0.0);
PoseReferenceFrame debrisReferenceFrame = new PoseReferenceFrame("debrisReferenceFrame", debrisPose);
FramePose supportPose = new FramePose(debrisReferenceFrame);
double x = supportWidth / 2.0 + debrisLength/2.0 * Math.sin(debrisPitch);
double y = 0.0;
double z = supportHeight / 2.0;
supportPose.setPosition(x, y, z);
supportPose.changeFrame(constructionWorldFrame);
RigidBodyTransform supportTransform = new RigidBodyTransform();
supportPose.getPose(supportTransform);
combinedTerrainObject.addRotatableBox(supportTransform, supportWidth, supportLength, supportHeight, YoAppearance.AliceBlue());
}