From c9c3960b09044a9523c6c86eb84e297977bab488 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 13 Feb 2019 14:33:53 +0100
Subject: [PATCH] add mass in rom urdf
---
data/urdf/anymal_trunk.urdf | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/data/urdf/anymal_trunk.urdf b/data/urdf/anymal_trunk.urdf
index eb0ed9f..2a3b4d8 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>
--
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