Commit 74c70de3 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

add srdf for abstract model

parent 13ce194b
<robot name="anymal_LFleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/LFleg_vN_Rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/LFleg_vN_Rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="anymal_LHleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/LHleg_vN_Rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/LHleg_vN_Rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="anymal_RFleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/RFleg_vN_Rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/RFleg_vN_Rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="anymal_RHleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/RHleg_vN_Rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/RHleg_vN_Rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="anymal_all">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://anymal-rbprm/meshes/anymal_all_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.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.stl"/>
</geometry>
</collision>
</link>
</robot>
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment