<robot name="table">
  <contact name="pancake_table_table_top">
    <link name="pancake_table_table_top_link"/>
    <!-- Box size: size_x * size_y * size_z
              x             y            z     -->
    <point>
        0.8  0.3  0.0125
        0.8  -0.3  0.0125
        -0.8  0.3  0.0125
        -0.8  -0.3  0.0125
      </point>
    <shape>
        4 0 2 3 1
      </shape>
  </contact>
</robot>
