models/table_cloth_generated/object.urdf

<?xml version="1.0"?>
<robot name="table_cloth_generated">
  <link name="base_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.05"/>
      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="textured.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="collision.obj" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
</robot>