created a pretty Vatican museum table top, also a marble cube

data/table/license.txt

@@ -0,0 +1,27 @@
+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this copyright notice,    
+   this list of conditions and the following disclaimer.                 
+                                                                         
+2. Redistributions in binary form must reproduce the above copyright     
+   notice, this list of conditions and the following disclaimer in the   
+   documentation and/or other materials provided with the distribution.  
+                                                                         
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             

data/table/table2.mtl

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+# Blender MTL File: 'table1.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd tabletop.jpg

data/table/table2.urdf

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+<?xml version="0.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="table2.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<cylinder length="0.01" radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+