anki-3d-engine/ThirdParty/Bullet/data/torus/torus_with_separate_plane.urdf

<?xml version="0.0" ?>
<robot name="cube.urdf">
  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="1.0"/>
      <inertia_scaling value="3.0"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
      </geometry>
    </collision>
  </link>
</robot>