stretch_ros/stretch_description/urdf/stretch_base_imu.xacro

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

<link
    name="base_imu">
    <inertial>
      <origin
        xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
        rpy="0 0 0" />
      <mass
        value="0.000901473198307758" />
      <inertia
        ixx="2.83324000746358E-08"
        ixy="-2.10106175504755E-10"
        ixz="1.86717014516205E-10"
        iyy="5.35315990744214E-08"
        iyz="9.31114208976591E-11"
        izz="8.13221670783358E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/base_imu.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0.772549019607843 0.207843137254902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/base_imu.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_base_imu"
    type="fixed">
    <origin
      xyz="-0.12838 0.0031592 0.1474"
      rpy="-3.1416 0 -1.5708" />
    <parent
      link="base_link" />
    <child
      link="base_imu" />
    <axis
      xyz="0 0 0" />
  </joint>

</robot>