<robot name="table">
  <material name="KitchenWhite">
    <color rgba="0.75 0.75 0.7 1.0"/>
  </material>
  <material name="KitchenLightGray">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <link name="base_link">
    <inertial>
      <mass value="2.0"/>
      <inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
    </inertial>
  </link>
  <joint name="pancake_table_table_joint" type="fixed">
    <parent link="base_link"/>
    <child link="pancake_table_table_link"/>
    <origin rpy="0 0 1.57" xyz="0.8 0 0"/>
  </joint>
  <joint name="pancake_table_table_top_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.7175"/>
    <parent link="pancake_table_table_link"/>
    <child link="pancake_table_table_top_link"/>
  </joint>
  <link name="pancake_table_table_top_link">
    <inertial>
      <mass value="2.0"/>
      <inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1.6 0.6 0.025"/>
      </geometry>
      <material name="KitchenWhite"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1.6 0.6 0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="pancake_table_table_top_link">
    <kp>100000</kp>
    <kd>1000000</kd>
    <mu1>50000</mu1>
    <mu2>50000</mu2>
    <material value="KitchenWhite"/>
  </gazebo>
  <joint name="pancake_table_first_leg_joint" type="fixed">
    <origin rpy="0 0 0 " xyz="-0.775 -0.275 0.350"/>
    <parent link="pancake_table_table_link"/>
    <child link="pancake_table_first_leg_link"/>
  </joint>
  <link name="pancake_table_first_leg_link">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="pancake_table_first_leg_link">
    <material value="KitchenLightGray"/>
  </gazebo>
  <joint name="pancake_table_second_leg_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.775 -0.275 0.350"/>
    <parent link="pancake_table_table_link"/>
    <child link="pancake_table_second_leg_link"/>
  </joint>
  <link name="pancake_table_second_leg_link">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="pancake_table_second_leg_link">
    <material value="KitchenLightGray"/>
  </gazebo>
  <joint name="pancake_table_third_leg_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.775 0.275 0.350"/>
    <parent link="pancake_table_table_link"/>
    <child link="pancake_table_third_leg_link"/>
  </joint>
  <link name="pancake_table_third_leg_link">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="pancake_table_third_leg_link">
    <material value="KitchenLightGray"/>
  </gazebo>
  <joint name="pancake_table_fourth_leg_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.775 0.275 0.350"/>
    <parent link="pancake_table_table_link"/>
    <child link="pancake_table_fourth_leg_link"/>
  </joint>
  <link name="pancake_table_fourth_leg_link">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.700" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="pancake_table_fourth_leg_link">
    <material value="KitchenLightGray"/>
  </gazebo>
  <link name="pancake_table_table_link">
    <inertial>
      <mass value="0"/>
      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
    </inertial>
  </link>
</robot>
