gso/Android_Lego/object.urdf

<robot name="Android_Lego">
    <link name="base">
        <inertial>
            <origin xyz="-2.9552980196676992e-18 -1.847061262292312e-19 -7.388245049169247e-18" />
            <mass value="9.5538356494815e-05" />
            <inertia ixx="5.2629441583448496e-08" ixy="-1.4028868319676369e-10" 
                     ixz="1.3635258442738346e-10" iyy="9.786302081340551e-08" 
                     iyz="-1.2829046002586573e-09" izz="4.950462162838556e-08" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="visual_geometry.obj" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 0" />
            <geometry>
                <mesh filename="collision_geometry.obj" />
            </geometry>
        </collision>
    </link>
</robot>