<robot name="fork">
<link name="world"/>
 <link name="fork">
   <inertial>
      <mass value="0.05"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
   </inertial>
   <visual>
     <geometry>
         <mesh filename="fork.glb" scale="1 1 1"/>
     </geometry>
   </visual>
   <collision>
     <geometry>
         <mesh filename="fork_coll.glb" scale="1 1 1"/>
     </geometry>
   </collision>
 </link>
 <joint name="joint" type="fixed">
     <parent link="world"/>
     <child link="fork"/>
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
</robot>
