Baxter's base pedestal: rostopic pub /robot/urdf baxter_core_msgs/URDFConfiguration -f pedestal.yaml

pedestal.yaml

time:
  secs: 1449783752
  nsecs: 232993
link: 'torso'
joint: 'pedestal_fixed'
urdf: '<?xml version="1.0" ?>
<robot name="pedestal">
    <link name="pedestal">
            <visual>
              <origin xyz="0 0 0" rpy="0 0 0" />
              <geometry>
                <mesh filename="package://baxter_description/meshes/base/PEDESTAL.DAE" />
              </geometry>
              <material name="darkgray">
                <color rgba=".2 .2 .2 1" />
              </material>
            </visual>
            <collision>
              <origin rpy="0 0 0" xyz="-0.04 0 -0.775"/>
              <geometry>
                <box size="0.92 0.83 0.3"/>
              </geometry>
            </collision>
            <inertial>
              <origin xyz="0 0 0" rpy="0 0 0" />
              <mass value="60.86397744" />
              <inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932" />
            </inertial>
    </link>
    <joint name="pedestal_fixed" type="fixed">
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <parent link="torso"/>
      <child link="pedestal"/>
    </joint>
</robot>'