diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15b6a9b398030035a20f7ca7af93ac2ed890948f..12a5e945b25eb29a07644ff77d42b2087a67be09 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,6 +52,7 @@ install(FILES
urdf/kitchen_area.urdf
urdf/box_color.urdf
urdf/rod.urdf
+ urdf/table.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
install(FILES
@@ -62,6 +63,7 @@ install(FILES
srdf/kitchen_area.srdf
srdf/rod.srdf
srdf/door.srdf
+ srdf/table.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
install(FILES
diff --git a/srdf/table.srdf b/srdf/table.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6c3ee483c81e0f8016030d9e9499b1f95ceef45
--- /dev/null
+++ b/srdf/table.srdf
@@ -0,0 +1,16 @@
+<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>
diff --git a/urdf/table.urdf b/urdf/table.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae05ac4dd9c3fdde77267bbb8b80754a6bff5d1a
--- /dev/null
+++ b/urdf/table.urdf
@@ -0,0 +1,160 @@
+<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>