From 6ac6bfa8fe6936a0c99a81e97283927727c0f032 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Sun, 24 Nov 2019 20:18:58 +0000
Subject: [PATCH] ANYmal-Kinova: Fix reference posture to be within position
limits
---
.../srdf/anymal-kinova.srdf | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf b/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
index 72df5d3..6743cdc 100644
--- a/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
+++ b/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
@@ -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" /><!-- 3Ï€ / 2 -->
+ <joint name="j2s6s200_joint_2" value="3.665191429188092" /><!-- 7Ï€ / 6 -->
+ <joint name="j2s6s200_joint_3" value="1.0471975511965976" /><!-- 1Ï€ / 3 -->
+ <joint name="j2s6s200_joint_4" value="0.0" />
+ <joint name="j2s6s200_joint_5" value="2.0943951023931953" /><!-- 2Ï€ / 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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