<?xml version="1.0" ?>
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find duru_urdf_description)/urdf/materials.xacro" />
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.trans" />
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.gazebo" />
<link name="base_link">
  <inertial>
    <origin xyz="0.0025063996888676993 6.18864581074269e-17 0.144708365482515" rpy="0 0 0"/>
    <mass value="203.16003115712493"/>
    <inertia ixx="4.307522" iyy="8.227537" izz="9.633563" ixy="-0.0" iyz="0.0" ixz="-0.093878"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

</robot>
