<robot name="table_model">
  <link name="table_body">
    <inertial>
      <mass value="10.0" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0.25 -0.5 0" /> 
      <inertia  ixx="10.0" ixy="0.0"  ixz="0.0"  iyy="10.0"  iyz="0.0"  izz="10.0" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="3.1416 0 0" />
      <geometry>
        <mesh filename="package://pr2_sweeping/gazebo_objects/table.stl" scale="0.02 0.02 0.025"/>
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="3.1416 0 0" />
      <geometry>
        <mesh filename="package://pr2_sweeping/gazebo_objects/table.stl" scale="0.02 0.02 0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="table_body">
    <material>Gazebo/LightWood</material>
  </gazebo>
</robot>