anymal_trunk_large.urdf 931 Bytes
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<robot name="anymal_all">
  <link name="base_link">
  <inertial>
     <mass value="30.47"/>
     <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
  </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://anymal-rbprm/meshes/anymal_all_large_visual.dae"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!--visual>
      <origin xyz="0 0 -0.05" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://anymal-rbprm/meshes/anymal_trunk_large.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual-->
    <collision>
      <origin xyz="0 0 -0.05" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://anymal-rbprm/meshes/anymal_trunk_large.stl"/>
      </geometry>
    </collision>
  </link>
</robot>