<?xml version="0.0" ?>
<robot name="urdf_table">
 <link name="world"/>
  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="baseLink"/>
    <origin xyz="0 0 0"/>
  </joint>

  <link name="baseLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.6"/>
       <mass value="0"/>
       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.6"/>
      <geometry>
	    <mesh filename="table.obj" scale="0.6 0.6 0.08"/>
      </geometry>
	   <material name="framemat0">
      <color
                    rgba="1 1 1 1" />
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
      <geometry>
        <box size="0.05 0.05 0.56"/>
      </geometry>
	  <material name="framemat0"/>	 
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
      <geometry>
        <box size="0.05 0.05 0.56"/>
      </geometry>
	  <material name="framemat0"/>
	  </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
      <geometry>
        <box size="0.05 0.05 0.56"/>
      </geometry>
	  <material name="framemat0"/>
	  </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
      <geometry>
        <box size="0.05 0.05 0.56"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.6"/>
      <geometry>
      <box size="0.6 0.6 0.08"/>
      </geometry>
    </collision>    
  </link>
</robot>

