unseen_objects/yellow_cup.urdf

<robot name="yellow_cup">
	<link name="_name">
		<visual>
			<origin xyz="-0.0042382619058616575 -2.84599572019422e-05 0.0008675804776221618" rpy="0 0 0" />
			<geometry>
				<mesh filename="yellow_cup/textured.obj" scale="1 1 1" />
			</geometry>
			<material name="texture">
				<color rgba="1.0 1.0 1.0 1.0" />
			</material>
		</visual>
		<collision>
			<geometry>
				<mesh filename="yellow_cup/textured_vhacd.obj" scale="1 1 1" />
			</geometry>
		<origin xyz="-0.0042382619058616575 -2.84599572019422e-05 0.0008675804776221618" rpy="0 0 0" /></collision>
		<inertial>
			<mass value="1.0" />
			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
		</inertial>
	</link>
</robot>