diff --git a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py b/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
index d7a933d8f884b5f3d902249b418690fe4302b9b4..77f4ffd2885597221879242d7478404914f45d7a 100644
--- a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
@@ -25,7 +25,7 @@ class Robot (Parent):
     packageName = 'anymal-rbprm'
     meshPackageName = 'anymal-rbprm'
     # URDF file describing the trunk of the robot HyQ
-    urdfName = 'anymal_trunk_large'
+    urdfName = 'anymal_trunk'
     # URDF files describing the reachable workspace of each limb of HyQ
     urdfNameRom = ['anymal_RFleg_rom','anymal_LHleg_rom','anymal_LFleg_rom','anymal_RHleg_rom']
     urdfSuffix = ""