collada_unit_centimeter.urdf

<robot name="collada_unit_centimeter">
  <link name="block">
    <inertial>
      <mass value="1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ipr_models/misc/test_collada/meshes/collada_unit_centimeter.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ipr_models/misc/test_collada/meshes/collada_unit_centimeter.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>

collada_unit_meter.dae

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  <asset>
    <contributor>
      <author>Blender User</author>
      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
    </contributor>
    <created>2015-02-16T11:14:28</created>
    <modified>2015-02-16T11:14:28</modified>
    <unit name="meter" meter="1"/>
    <up_axis>Z_UP</up_axis>
  </asset>
  <library_images/>
  <library_effects>
    <effect id="Material-effect">
      <profile_COMMON>
        <technique sid="common">
          <phong>
            <emission>
              <color sid="emission">0 0 0 1</color>
            </emission>
            <ambient>
              <color sid="ambient">0 0 0 1</color>
            </ambient>
            <diffuse>
              <color sid="diffuse">0.64 0.64 0.64 1</color>
            </diffuse>
            <specular>
              <color sid="specular">0.5 0.5 0.5 1</color>
            </specular>
            <shininess>
              <float sid="shininess">50</float>
            </shininess>
            <index_of_refraction>
              <float sid="index_of_refraction">1</float>
            </index_of_refraction>
          </phong>
        </technique>
      </profile_COMMON>
    </effect>
  </library_effects>
  <library_materials>
    <material id="Material-material" name="Material">
      <instance_effect url="#Material-effect"/>
    </material>
  </library_materials>
  <library_geometries>
    <geometry id="Cube-mesh" name="Cube">
      <mesh>
        <source id="Cube-mesh-positions">
          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
          <technique_common>
            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <source id="Cube-mesh-normals">
          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 2.38419e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 1.78814e-7</float_array>
          <technique_common>
            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <vertices id="Cube-mesh-vertices">
          <input semantic="POSITION" source="#Cube-mesh-positions"/>
        </vertices>
        <polylist material="Material-material" count="12">
          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
          <p>0 0 1 0 2 0 7 1 6 1 5 1 4 2 5 2 1 2 5 3 6 3 2 3 2 4 6 4 7 4 4 5 0 5 3 5 3 6 0 6 2 6 4 7 7 7 5 7 0 8 4 8 1 8 1 9 5 9 2 9 3 10 2 10 7 10 7 11 4 11 3 11</p>
        </polylist>
      </mesh>
    </geometry>
  </library_geometries>
  <library_controllers/>
  <library_visual_scenes>
    <visual_scene id="Scene" name="Scene">
      <node id="Cube" name="Cube" type="NODE">
        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#Cube-mesh">
          <bind_material>
            <technique_common>
              <instance_material symbol="Material-material" target="#Material-material"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
      </node>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_visual_scene url="#Scene"/>
  </scene>
</COLLADA>

collada_unit_meter.urdf

<robot name="collada_unit_meter">
  <link name="block">
    <inertial>
      <mass value="1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ipr_models/misc/test_collada/meshes/collada_unit_meter.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ipr_models/misc/test_collada/meshes/collada_unit_meter.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>

ollada_unit_centimeter.dae

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  <asset>
    <contributor>
      <author>Blender User</author>
      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
    </contributor>
    <created>2015-02-16T11:14:28</created>
    <modified>2015-02-16T11:14:28</modified>
    <unit name="centimeter" meter="0.01"/>
    <up_axis>Z_UP</up_axis>
  </asset>
  <library_images/>
  <library_effects>
    <effect id="Material-effect">
      <profile_COMMON>
        <technique sid="common">
          <phong>
            <emission>
              <color sid="emission">0 0 0 1</color>
            </emission>
            <ambient>
              <color sid="ambient">0 0 0 1</color>
            </ambient>
            <diffuse>
              <color sid="diffuse">0.64 0.64 0.64 1</color>
            </diffuse>
            <specular>
              <color sid="specular">0.5 0.5 0.5 1</color>
            </specular>
            <shininess>
              <float sid="shininess">50</float>
            </shininess>
            <index_of_refraction>
              <float sid="index_of_refraction">1</float>
            </index_of_refraction>
          </phong>
        </technique>
      </profile_COMMON>
    </effect>
  </library_effects>
  <library_materials>
    <material id="Material-material" name="Material">
      <instance_effect url="#Material-effect"/>
    </material>
  </library_materials>
  <library_geometries>
    <geometry id="Cube-mesh" name="Cube">
      <mesh>
        <source id="Cube-mesh-positions">
          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
          <technique_common>
            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <source id="Cube-mesh-normals">
          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 2.38419e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 1.78814e-7</float_array>
          <technique_common>
            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <vertices id="Cube-mesh-vertices">
          <input semantic="POSITION" source="#Cube-mesh-positions"/>
        </vertices>
        <polylist material="Material-material" count="12">
          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
          <p>0 0 1 0 2 0 7 1 6 1 5 1 4 2 5 2 1 2 5 3 6 3 2 3 2 4 6 4 7 4 4 5 0 5 3 5 3 6 0 6 2 6 4 7 7 7 5 7 0 8 4 8 1 8 1 9 5 9 2 9 3 10 2 10 7 10 7 11 4 11 3 11</p>
        </polylist>
      </mesh>
    </geometry>
  </library_geometries>
  <library_controllers/>
  <library_visual_scenes>
    <visual_scene id="Scene" name="Scene">
      <node id="Cube" name="Cube" type="NODE">
        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
        <instance_geometry url="#Cube-mesh">
          <bind_material>
            <technique_common>
              <instance_material symbol="Material-material" target="#Material-material"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
      </node>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_visual_scene url="#Scene"/>
  </scene>
</COLLADA>