<?xml version="1.0"?>
<sdf version="1.7">
  <model name="extra_heavy_duty_table">
    <link name="link">
      <inertial>
        <mass>53.5</mass>
        <!--
        The spatial inertia values given below were derived based on the
        equation for a cuboid:

        https://en.wikipedia.org/wiki/List_of_moments_of_inertia#List_of_3D_inertia_tensors.

        Obviously, the table is not a cuboid, meaning the inertia matrix is
        imperfect. Having an accurate spatial inertia specification may be
        important for us to know when / if a robot mounted on top of the
        table will cause the table to tip over. It will also be necessary to
        model what happens when a mobile robot bumps into the table.

        TODO(lucy-tri): Compute a more accurate spatial inertia of this table.
        -->
        <inertia>
          <ixx>5.177409</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>4.843753753</iyy>
          <iyz>0</iyz>
          <izz>4.843753753</izz>
        </inertia>
      </inertial>
      <kinematic>0</kinematic>
      <visual name="back_right_leg">
        <pose>-0.33 -0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="front_left_leg">
        <pose>0.33 0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="left_crossbar">
        <pose>0.33 0 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.662 0.05</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="right_crossbar">
        <pose>-0.33 0 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.662 0.05</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="back_left_leg">
        <pose>-0.33 0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="front_right_leg">
        <pose>0.33 -0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="back_crossbar">
        <pose>0 0.35 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6112 0.05 0.05</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="front_crossbar">
        <pose>0 -0.35 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6112 0.05 0.05</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <visual name="visual1">
        <pose>0 0 0.736 0 0 0</pose>
        <geometry>
          <box>
            <size>0.7112 0.762 0.057</size>
          </box>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1</ambient>
          <diffuse>0.7 0.7 0.7 1</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
      </visual>
      <collision name="front_crossbar">
        <laser_retro>0</laser_retro>
        <pose>0 -0.35 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6112 0.05 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="back_crossbar">
        <laser_retro>0</laser_retro>
        <pose>0 0.35 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.6112 0.05 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="left_crossbar">
        <laser_retro>0</laser_retro>
        <pose>0.33 0 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.662 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="right_crossbar">
        <laser_retro>0</laser_retro>
        <pose>-0.33 0 0.13335 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.662 0.05</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="back_right_leg">
        <laser_retro>0</laser_retro>
        <pose>-0.33 -0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="front_left_leg">
        <laser_retro>0</laser_retro>
        <pose>0.33 0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="back_left_leg">
        <laser_retro>0</laser_retro>
        <pose>-0.33 0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="front_right_leg">
        <laser_retro>0</laser_retro>
        <pose>0.33 -0.35 0.381 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.762</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name="surface">
        <laser_retro>0</laser_retro>
        <pose>0 0 0.736 0 0 0</pose>
        <geometry>
          <box>
            <size>0.7112 0.762 0.057</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.6</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <static>1</static>
  </model>
</sdf>
