Commit 8de7ed71 authored by Wolfgang Merkt's avatar Wolfgang Merkt
Browse files

WIP: ANYmal-Kinova Change joint type from continuous to revolute

To not trigger Pinocchio's SO(2) representation
parent 6ac6bfa8
......@@ -904,7 +904,7 @@
<inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
<joint name="j2s6s200_joint_1" type="continuous">
<joint name="j2s6s200_joint_1" type="revolute">
<parent link="j2s6s200_link_base"/>
<child link="j2s6s200_link_1"/>
<axis xyz="0 0 1"/>
......@@ -1033,7 +1033,7 @@
<inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
<joint name="j2s6s200_joint_4" type="continuous">
<joint name="j2s6s200_joint_4" type="revolute">
<parent link="j2s6s200_link_3"/>
<child link="j2s6s200_link_4"/>
<axis xyz="0 0 1"/>
......@@ -1119,7 +1119,7 @@
<inertia ixx="0.0003453236187" ixy="0" ixz="0" iyy="0.0003453236187" iyz="0" izz="0.0005816"/>
<joint name="j2s6s200_joint_6" type="continuous">
<joint name="j2s6s200_joint_6" type="revolute">
<parent link="j2s6s200_link_5"/>
<child link="j2s6s200_link_6"/>
<axis xyz="0 0 1"/>
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