From 8de7ed716cabcbc401bb01198c8cbb58897f0f44 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Sun, 24 Nov 2019 20:20:59 +0000
Subject: [PATCH] WIP: ANYmal-Kinova Change joint type from continuous to
revolute To not trigger Pinocchio's SO(2) representation
---
.../anymal_b_simple_description/robots/anymal-kinova.urdf | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
index b5e2bb5..4504224 100644
--- a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
@@ -904,7 +904,7 @@
<inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
</inertial>
</link>
- <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"/>
</inertial>
</link>
- <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"/>
</inertial>
</link>
- <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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