A block to replace baxter's base: rostopic pub /robot/urdf baxter_core_msgs/URDFConfiguration -f block.yaml

block.yaml

time:
  secs: 1449703751
  nsecs: 232993
link: 'torso'
joint: 'pedestal_fixed'
urdf: '<robot name="pedestal">
  <link name="block">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="40" />
      <inertia  ixx="0.5" ixy="0.0"  ixz="0.0"  iyy="0.5"  iyz="0.0"  izz="0.5" />
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.5 0.5 0.5" />
      </geometry>
      <material name="holidaygreen">
         <color rgba="0.0 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.5 0.5 0.5" />
      </geometry>
    </collision>
  </link>
  <joint name="pedestal_fixed" type="fixed">
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.32"/>
      <parent link="torso"/>
      <child link="block"/>
  </joint>
</robot>'