
<robot name="table_cloth_generated" version="1.0">
    <link name="body">
        <collision name="body-collision">
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="collision.obj" scale="1.0 1.0 1.0" />
            </geometry>
        </collision>
        <visual name="body-visual">
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="textured.dae" scale="1.0 1.0 1.0" />
            </geometry>
        </visual>
    </link>
</robot>