fix urdf name and add srdf

data/srdf/anymal_trunk_large.srdf

+<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

@@ -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