<?xml version="1.0"?>
<robot name="table"> <!-- Table made of boxes -->
  <link name="table_base">
    <visual>
      <origin xyz="0 0 -0.039"/> <!-- 0.001 to avoid collision with robot-->
      <geometry>
        <box size="0.3 0.3 0.07" />
      </geometry>
      <material name="Red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 -0.039"/>
      <geometry>
        <box size="0.3 0.3 0.07" />
      </geometry>
    </collision>
  </link>

  <joint name="j_foot_one" type="fixed">
    <parent link="table_base"/>
    <child link="l_foot_one"/>
    <origin xyz="0 0 0"/>
  </joint>

  <link name="l_foot_one">
    <visual>
      <origin xyz="0 0 -0.3"/>
      <geometry>
        <box size="0.07 0.07 0.46" />
      </geometry>
      <material name="Red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 -0.3"/>
      <geometry>
        <box size="0.07 0.07 0.46" />
      </geometry>
    </collision>
  </link>
</robot>
