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How to add a color/material to a STL mesh in an URDF file?

I use STL meshes and urdf files and I can't seem to set the material colors in the urdf file. I tried adding material like this (similar to what I would do in an SDF file):

 <gazebo reference="link_name">


 <gazebo reference="link_name">

But it wouldn't work.

So: How can I set material/colours for STL files in an urdf file?