<?xml version="1.0" ?>
<robot name="table.urdf">
  <mujoco>
    <compiler fusestatic="false" inertiafromgeom="false" balanceinertia="true" discardvisual="false" meshdir="../meshes_table/" />
  </mujoco>
  <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>
    <!-- TOP -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.865"/>
      <geometry>
	<mesh filename="table.obj" scale="1.02 0.75 0.03"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.865"/>
      <geometry>
	 	<box size="1.02 0.75 0.03"/>
      </geometry>
    </collision>
    <!-- LEG bottom-left-->
    <visual>
      <origin rpy="0 0 0" xyz="-0.40 -0.3 0.425"/>
      <geometry>
	    <mesh filename="table.obj" scale="0.1 0.1 0.85"/>
      </geometry>
      <material name="framemat0"/>	 
    </visual>
    <!-- LEG top-left-->
    <visual>
      <origin rpy="0 0 0" xyz="-0.4 0.3 0.425"/>
      <geometry>
        <mesh filename="table.obj" scale="0.1 0.1 0.85"/>
      </geometry>
      <material name="framemat0"/>
    </visual>
    <!-- LEG bottom-right-->
    <visual>
      <origin rpy="0 0 0" xyz="0.4 -0.3 0.425"/>
      <geometry>
        <mesh filename="table.obj" scale="0.1 0.1 0.85"/>
      </geometry>
      <material name="framemat0"/>
    </visual>
    <!-- LEG top-right-->
    <visual>
      <origin rpy="0 0 0" xyz="0.4 0.3 0.425"/>
      <geometry>
        <mesh filename="table.obj" scale="0.1 0.1 0.85"/>
      </geometry>
    </visual>
  </link>
</robot>

