models/cup/cup_vhacd.urdf

<robot name="cup">
    <link name="base_link">
        <inertial>
            <mass value="0.000043"/>
            <origin xyz="0.000780 -0.007282 0.000539" rpy="0 0 0"/>
            <inertia 
                ixx="0.000000" ixy="0.000000" ixz="0.000000"
                iyy="0.000000" iyz="0.000000" izz="0.000000"/>
        </inertial>

        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="./sam3d/textured.obj" scale="1 1 1"/>
            </geometry>
            
            <material name="texture_material">
                <texture filename="./sam3d/textured_albedo.png"/>
                <color rgba="1 1 1 1"/>
            </material>
        
        </visual>

        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="./sam3d/textured_vhacd.obj" scale="1 1 1"/>
            </geometry>
        </collision>
    </link>
</robot>