anki-3d-engine/ThirdParty/Bullet/data/dinnerware/plate.urdf

<?xml version="1.0"?>
<robot name="cube">
  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
  <!-- LICENSE: CC-SA                                         -->
  <link name="cube">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="plate.obj"/>
      </geometry>
    </visual>

    <collision>  <!-- bottom -->
      <geometry>
        <cylinder radius="0.05" length="0.005"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0025"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision01.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision02.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision03.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision04.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision05.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <collision>
      <geometry>
        <mesh filename="plate-collision06.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <inertial>
      <mass value="0.5"/>  <!-- mr^2 = 0.5*0.12^2 = 0.0072 for Z axis, lighter along other axis -->
      <inertia ixx="0.005" iyy="0.005" izz="0.0072"/>
    </inertial>
  </link>

</robot>