<?xml version="1.0"?>
<robot name="round_table">
  <link name="table_surface_center"/>
  <link name="table_top">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.0225" ixy="0" ixz="0" iyy="0.0225" iyz="0" izz="0.0450"/>
    </inertial>
    <visual>
      <geometry>
        <cylinder length="0.017" radius="0.30"/>
      </geometry>
      <material name="White">
        <color rgba="0.9 0.9 0.9 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.017" radius="0.30"/>
      </geometry>
    </collision>
  </link>
  <joint name="table_top_joint" type="fixed">
    <origin xyz="0 0 -0.0085"/>
    <parent link="table_surface_center"/>
    <child link="table_top"/>
  </joint>
</robot>
