diff --git a/data/urdf/anymal_trunk.urdf b/data/urdf/anymal_trunk.urdf
index eb0ed9faa1ccd3eead0c95f01c76c4793562458e..2a3b4d8f4cff436af57c02868934341d67bc1588 100644
--- a/data/urdf/anymal_trunk.urdf
+++ b/data/urdf/anymal_trunk.urdf
@@ -1,5 +1,9 @@
 <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>