objects/hot3d/coffee_pot/coffee_pot.urdf

<?xml version="1.0"?>
<robot name="coffee_pot">
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="coffee_pot.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
      <geometry>
        <mesh filename="coffee_pot.obj" scale="1 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="1.500000"/>
      <inertia ixx="0.00374707" ixy="0" ixz="0" iyy="0.00549976" iyz="0" izz="0.00355570"/>
    </inertial>
  </link>
</robot>