<?xml version="1.0"?>
<!-- created with static scene to urdf converter -->
  <robot name="pouring_map">
    <link name="map"> 
    </link>
    <link name="tray">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/tray.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
   <link name="cup">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/cup.dae" scale="1.5 1.5 1.5"/>
            </geometry>
        </visual>
    </link>
    <link name="SM_Blue_PlasticBowl">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/SM_Blue_PlasticBowl.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
   
   
    <link name="particle2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle3">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="particle4">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle5">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle6">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle7">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle8">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle9">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="particle10">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_NEEM/meshes/dae/particle.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
 
    <joint name="tray_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="tray"/>
    </joint>
    <joint name="cup_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="cup"/>
    </joint>

    <joint name="SM_Blue_PlasticBowl_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="SM_Blue_PlasticBowl"/>
    </joint>

    <joint name="particle1_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle1"/>
    </joint>

    <joint name="particle2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle2"/>
    </joint>
    <joint name="particle3_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle3"/>
    </joint>
    <joint name="particle4_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle4"/>
    </joint>
    <joint name="particle5_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle5"/>
    </joint>
    <joint name="particle6_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle6"/>
    </joint>
    <joint name="particle7_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle7"/>
    </joint>
    <joint name="particle8_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle8"/>
    </joint>
    <joint name="particle9_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle9"/>
    </joint>
    <joint name="particle10_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="particle10"/>
    </joint>
</robot>
