urdf

crowdbotsim/urdf/Body.urdf

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="Body">
+  <material name="Default-Material">
+    <color rgba="1 1 1 1" />
+  </material>
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.00812011864036322" ixy="-1.98765254255662E-10" ixz="0" iyy="0.00812011864036322" iyz="0" izz="0.0134958978742361" />
+    </inertial>
+    <visual>
+      <geometry>
+        <cylinder length="0.12832" radius="0.164893" />
+      </geometry>
+      <material name="Default-Material" />
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.12832" radius="0.164893" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.194457" />
+      <mass value="1" />
+      <inertia ixx="0.0112345023080707" ixy="0" ixz="0" iyy="0.0112345023080707" iyz="0" izz="0.00251521426253021" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 -0.562" />
+      <geometry>
+        <box size="1 1 1" />
+      </geometry>
+      <material name="Default-Material" />
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.562" />
+      <geometry>
+        <box size="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="" type="floating">
+    <origin xyz="0 0.098 -0.076" />
+    <parent link="base_link" />
+    <child link="link" />
+  </joint>
+</robot>

crowdbotsim/urdf/Cuybot.urdf

-<?xml version='1.0' encoding='utf-8'?>
-<robot name="Cuybot">
+<?xml version='1.0' encoding='utf-8'?>\n<robot name="Cuybot">
+  <material name="Default-Material">
+    <color rgba="1 1 1 1" />
+  </material>
   <material name="Default-Diffuse">
     <color rgba="1 1 1 0.5" />
   </material>
   <link name="base_link">
     <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
+      <origin rpy="0 0 0" xyz="0.001882 -0.025814 0.308298" />
       <mass value="1" />
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+      <inertia ixx="0.0837742984294891" ixy="-8.47628398332745E-05" ixz="9.22621329664253E-05" iyy="0.0773460119962692" iyz="0.0108890077099204" izz="0.0405166447162628" />
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://crowdbotsim/meshes/Narko2.stl" scale="1 1 1" />
+        <mesh filename="package://crowdbotsim/urdf/meshes/Narko2.STL" scale="1 1 1" />
       </geometry>
       <material name="Default-Diffuse" />
     </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/urdf/meshes/Narko2.STL" scale="1 1 1" />
+      </geometry>
+    </collision>
   </link>
-</robot>
+</robot>
\ No newline at end of file