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Commit 6ac6bfa8 authored by Wolfgang Merkt's avatar Wolfgang Merkt
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ANYmal-Kinova: Fix reference posture to be within position limits

parent d4e656d4
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robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
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......@@ -92,12 +92,12 @@
<joint name="RH_HAA" value="0.1" />
<joint name="RH_HFE" value="-0.7" />
<joint name="RH_KFE" value="1." />
<joint name="j2s6s200_joint_1" value="1.5707" />
<joint name="j2s6s200_joint_2" value="2.618" />
<joint name="j2s6s200_joint_3" value="-1.5707" />
<joint name="j2s6s200_joint_4" value="3.1415" />
<joint name="j2s6s200_joint_5" value="2.618" />
<joint name="j2s6s200_joint_6" value="0." />
<joint name="j2s6s200_joint_1" value="4.71238898038469" /><!-- 3π / 2 -->
<joint name="j2s6s200_joint_2" value="3.665191429188092" /><!-- 7π / 6 -->
<joint name="j2s6s200_joint_3" value="1.0471975511965976" /><!-- 1π / 3 -->
<joint name="j2s6s200_joint_4" value="0.0" />
<joint name="j2s6s200_joint_5" value="2.0943951023931953" /><!-- 2π / 3 -->
<joint name="j2s6s200_joint_6" value="0.0" />
</group_state>
<disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
......
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