assets/maniskill/peg/base_2/base_2.urdf

<?xml version="1.0" encoding="UTF-8"?>
<robot name="base_2">
  <link name="base_2">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="9.5"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/mesh.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/mesh.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
</robot>