From 620dfbe421c65f1c61188c43d0a675aadee015e6 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Tue, 29 Oct 2019 09:54:21 +0000
Subject: [PATCH] [anymal] Added extra information to the SRDF for ANYmal +
kinova
---
.../srdf/anymal-kinova.srdf | 19 ++++++++++++++++++-
1 file changed, 18 insertions(+), 1 deletion(-)
diff --git a/anymal_b_simple_description/srdf/anymal-kinova.srdf b/anymal_b_simple_description/srdf/anymal-kinova.srdf
index 67c2dd0..1db1041 100644
--- a/anymal_b_simple_description/srdf/anymal-kinova.srdf
+++ b/anymal_b_simple_description/srdf/anymal-kinova.srdf
@@ -1,5 +1,5 @@
<?xml version="1.0" ?>
-<robot name="anymal">
+<robot name="anymal_kinova">
<group name="lf_leg">
<joint name="LF_HAA" />
@@ -25,12 +25,28 @@
<joint name="RH_KFE" />
<chain base_link="base" tip_link="RH_FOOT" />
</group>
+ <group name="arm">
+ <joint name="j2s6s200_joint_1" />
+ <joint name="j2s6s200_joint_2" />
+ <joint name="j2s6s200_joint_3" />
+ <joint name="j2s6s200_joint_4" />
+ <joint name="j2s6s200_joint_5" />
+ <joint name="j2s6s200_joint_5" />
+ <chain base_link="base" tip_link="j2s6s200_end_effector" />
+ </group>
<group name="all_legs">
<group name="lf" />
<group name="rf" />
<group name="lh" />
<group name="rh" />
</group>
+ <group name="all">
+ <group name="lf" />
+ <group name="rf" />
+ <group name="lh" />
+ <group name="rh" />
+ <group name="arm" />
+ </group>
<group name="r_legs">
<group name="rf" />
<group name="rh" />
@@ -60,6 +76,7 @@
<end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
<end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
<end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
+ <end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" />
<group_state name="half_sitting" group="all_legs">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
--
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