From 74c70de379cc7218912c414e0aabf16008f6ac10 Mon Sep 17 00:00:00 2001
From: pfernbac <pierre.fernbach@gmail.com>
Date: Sat, 9 Feb 2019 00:04:24 +0100
Subject: [PATCH] add srdf for abstract model

---
 data/srdf/anymal_LFleg_rom.srdf | 19 +++++++++++++++++++
 data/srdf/anymal_LHleg_rom.srdf | 19 +++++++++++++++++++
 data/srdf/anymal_RFleg_rom.srdf | 19 +++++++++++++++++++
 data/srdf/anymal_RHleg_rom.srdf | 19 +++++++++++++++++++
 data/srdf/anymal_trunk.srdf     | 28 ++++++++++++++++++++++++++++
 5 files changed, 104 insertions(+)
 create mode 100644 data/srdf/anymal_LFleg_rom.srdf
 create mode 100644 data/srdf/anymal_LHleg_rom.srdf
 create mode 100644 data/srdf/anymal_RFleg_rom.srdf
 create mode 100644 data/srdf/anymal_RHleg_rom.srdf
 create mode 100644 data/srdf/anymal_trunk.srdf

diff --git a/data/srdf/anymal_LFleg_rom.srdf b/data/srdf/anymal_LFleg_rom.srdf
new file mode 100644
index 0000000..3e619ca
--- /dev/null
+++ b/data/srdf/anymal_LFleg_rom.srdf
@@ -0,0 +1,19 @@
+<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>
diff --git a/data/srdf/anymal_LHleg_rom.srdf b/data/srdf/anymal_LHleg_rom.srdf
new file mode 100644
index 0000000..017ba79
--- /dev/null
+++ b/data/srdf/anymal_LHleg_rom.srdf
@@ -0,0 +1,19 @@
+<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>
diff --git a/data/srdf/anymal_RFleg_rom.srdf b/data/srdf/anymal_RFleg_rom.srdf
new file mode 100644
index 0000000..86bb22a
--- /dev/null
+++ b/data/srdf/anymal_RFleg_rom.srdf
@@ -0,0 +1,19 @@
+<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>
diff --git a/data/srdf/anymal_RHleg_rom.srdf b/data/srdf/anymal_RHleg_rom.srdf
new file mode 100644
index 0000000..1d5a54f
--- /dev/null
+++ b/data/srdf/anymal_RHleg_rom.srdf
@@ -0,0 +1,19 @@
+<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>
diff --git a/data/srdf/anymal_trunk.srdf b/data/srdf/anymal_trunk.srdf
new file mode 100644
index 0000000..eb0ed9f
--- /dev/null
+++ b/data/srdf/anymal_trunk.srdf
@@ -0,0 +1,28 @@
+<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>
-- 
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