a_urdf/object.urdf

<?xml version="1.0"?>
<robot name="object">
  <link name="object">
    <visual>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="base.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="base.obj" scale="1. 1. 1."/>        
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.0000" ixy="0.0" ixz="0.0" iyy="0.000" iyz="0.0" izz="0.000"/>
    </inertial>
  </link>
</robot>