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Humanoid Path Planner
anymal-rbprm
Commits
a3161017
Commit
a3161017
authored
Feb 16, 2019
by
Pierre Fernbach
Browse files
fix urdf name and add srdf
parent
2feebfc1
Changes
2
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data/srdf/anymal_trunk_large.srdf
0 → 100644
View file @
a3161017
<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>
src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
View file @
a3161017
...
...
@@ -25,10 +25,10 @@ class Robot (Parent):
packageName
=
'anymal-rbprm'
meshPackageName
=
'anymal-rbprm'
# URDF file describing the trunk of the robot HyQ
urdfName
=
'anymal_trunk'
urdfName
=
'anymal_trunk
_large
'
# 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
=
"
_large
"
urdfSuffix
=
""
srdfSuffix
=
""
# TODO
...
...
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