<?xml version="0.0" ?>
<robot name="table.urdf">
    <link name="baseLink">
        <contact>
            <lateral_friction value="1.0"/>
        </contact>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value=".0"/>
            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.8"/>
            <geometry>
                <mesh filename="table.obj" scale="1.5 1 0.05"/>
            </geometry>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0.8"/>
            <geometry>
                <box size="1.5 1 0.05"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0 0 0" xyz="-0.65 -0.4 0.39"/>
            <geometry>
                <mesh filename="table.obj" scale="0.1 0.1 0.78"/>
            </geometry>
            <material name="framemat0"/>
        </visual>
        <visual>
            <origin rpy="0 0 0" xyz="-0.65 0.4 0.39"/>
            <geometry>
                <mesh filename="table.obj" scale="0.1 0.1 0.78"/>
            </geometry>
            <material name="framemat0"/>
        </visual>
        <visual>
            <origin rpy="0 0 0" xyz="0.65 -0.4 0.39"/>
            <geometry>
                <mesh filename="table.obj" scale="0.1 0.1 0.78"/>
            </geometry>
            <material name="framemat0"/>
        </visual>
        <visual>
            <origin rpy="0 0 0" xyz="0.65 0.4 0.39"/>
            <geometry>
                <mesh filename="table.obj" scale="0.1 0.1 0.78"/>
            </geometry>
        </visual>
    </link>
</robot>