Commit 61d7412c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

add an abstract version with larger trunk (y axis) to take wholebody oscillation in account

parent ec64de9e
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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>
...@@ -28,7 +28,7 @@ class Robot (Parent): ...@@ -28,7 +28,7 @@ class Robot (Parent):
urdfName = 'anymal_trunk' urdfName = 'anymal_trunk'
# URDF files describing the reachable workspace of each limb of HyQ # URDF files describing the reachable workspace of each limb of HyQ
urdfNameRom = ['anymal_RFleg_rom','anymal_LHleg_rom','anymal_LFleg_rom','anymal_RHleg_rom'] urdfNameRom = ['anymal_RFleg_rom','anymal_LHleg_rom','anymal_LFleg_rom','anymal_RHleg_rom']
urdfSuffix = "" urdfSuffix = "_large"
srdfSuffix = "" srdfSuffix = ""
# TODO # TODO
......
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