<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="putting_down_neem.urdf">
   <link name="room_link">
      <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
         <mass value="1" />
         <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
      </inertial>
   </link>
   <link name="world" />
   <joint name="world_room_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <parent link="world" />
      <child link="room_link" />
   </joint>
   <link name="spoon" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="1.57 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://putting_down_neem/meshes/spoon_ver.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="spoon_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 0" />
      <child link="spoon" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="plate" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="1.57 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://putting_down_neem/meshes/plate.obj" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="plate_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 0" />
      <child link="plate" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>

</robot>
