diff --git a/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf b/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
index 6743cdcbb3951328c3aa18c41c4924bcb60222de..233dcac202539eb2e2d6bc3f885eb2d3fca7683e 100644
--- a/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
+++ b/robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
@@ -1,5 +1,14 @@
<?xml version="1.0" ?>
-<robot name="anymal_kinova">
+<robot name="anymal">
+ <group name="whole_body">
+ <joint name="root_joint"/>
+ <group name="whole_body_fixed"/>
+ </group>
+ <group name="whole_body_fixed">
+ <group name="all_legs"/>
+ <group name="arm"/>
+ </group>
+ <virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base" />
<group name="lf_leg">
<joint name="LF_HAA" />
@@ -31,45 +40,38 @@
<joint name="j2s6s200_joint_3" />
<joint name="j2s6s200_joint_4" />
<joint name="j2s6s200_joint_5" />
- <joint name="j2s6s200_joint_5" />
+ <joint name="j2s6s200_joint_6" />
<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 name="lf_leg" />
+ <group name="rf_leg" />
+ <group name="lh_leg" />
+ <group name="rh_leg" />
</group>
<group name="r_legs">
- <group name="rf" />
- <group name="rh" />
+ <group name="rf_leg" />
+ <group name="rh_leg" />
</group>
<group name="l_legs">
- <group name="lf" />
- <group name="lh" />
+ <group name="lf_leg" />
+ <group name="lh_leg" />
</group>
<group name="f_legs">
- <group name="lf" />
- <group name="rf" />
+ <group name="lf_leg" />
+ <group name="rf_leg" />
</group>
<group name="h_legs">
- <group name="lh" />
- <group name="rh" />
+ <group name="lh_leg" />
+ <group name="rh_leg" />
</group>
<group name="ld_legs">
- <group name="lf" />
- <group name="rh" />
+ <group name="lf_leg" />
+ <group name="rh_leg" />
</group>
<group name="rd_legs">
- <group name="rf" />
- <group name="lh" />
+ <group name="rf_leg" />
+ <group name="lh_leg" />
</group>
<end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
@@ -78,7 +80,7 @@
<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="standing_with_arm_up" group="all">
+ <group_state name="standing_with_arm_up" group="whole_body">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
<joint name="LF_HAA" value="-0.1" />
<joint name="LF_HFE" value="0.7" />
@@ -115,7 +117,7 @@
<disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
-
+
<disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
@@ -144,13 +146,10 @@
<disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />
<disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
-
+
<!-- Need to check these 4 ? there may be auto-collisions ... -->
<disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
-
-
-
</robot>
diff --git a/robots/anymal_b_simple_description/srdf/anymal.srdf b/robots/anymal_b_simple_description/srdf/anymal.srdf
index 0b57a81c14104e79775accd911880d068e2b72be..7d24a158318931630a5cf287ef1d918d00946dbe 100644
--- a/robots/anymal_b_simple_description/srdf/anymal.srdf
+++ b/robots/anymal_b_simple_description/srdf/anymal.srdf
@@ -1,5 +1,21 @@
<?xml version="1.0" ?>
<robot name="anymal">
+ <group name="whole_body">
+ <joint name="root_joint" />
+ <joint name="LF_HAA" />
+ <joint name="LF_HFE" />
+ <joint name="LF_KFE" />
+ <joint name="LH_HAA" />
+ <joint name="LH_HFE" />
+ <joint name="LH_KFE" />
+ <joint name="RF_HAA" />
+ <joint name="RF_HFE" />
+ <joint name="RF_KFE" />
+ <joint name="RH_HAA" />
+ <joint name="RH_HFE" />
+ <joint name="RH_KFE" />
+ </group>
+ <virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base" />
<group name="lf_leg">
<joint name="LF_HAA" />
@@ -26,34 +42,34 @@
<chain base_link="base" tip_link="RH_FOOT" />
</group>
<group name="all_legs">
- <group name="lf" />
- <group name="rf" />
- <group name="lh" />
- <group name="rh" />
+ <group name="lf_leg" />
+ <group name="rf_leg" />
+ <group name="lh_leg" />
+ <group name="rh_leg" />
</group>
<group name="r_legs">
- <group name="rf" />
- <group name="rh" />
+ <group name="rf_leg" />
+ <group name="rh_leg" />
</group>
<group name="l_legs">
- <group name="lf" />
- <group name="lh" />
+ <group name="lf_leg" />
+ <group name="lh_leg" />
</group>
<group name="f_legs">
- <group name="lf" />
- <group name="rf" />
+ <group name="lf_leg" />
+ <group name="rf_leg" />
</group>
<group name="h_legs">
- <group name="lh" />
- <group name="rh" />
+ <group name="lh_leg" />
+ <group name="rh_leg" />
</group>
<group name="ld_legs">
- <group name="lf" />
- <group name="rh" />
+ <group name="lf_leg" />
+ <group name="rh_leg" />
</group>
<group name="rd_legs">
- <group name="rf" />
- <group name="lh" />
+ <group name="rf_leg" />
+ <group name="lh_leg" />
</group>
<end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
@@ -61,7 +77,7 @@
<end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
<end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
- <group_state name="standing" group="all_legs">
+ <group_state name="standing" group="whole_body">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
<joint name="LF_HAA" value="-0.1" />
<joint name="LF_HFE" value="0.7" />
@@ -127,7 +143,4 @@
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
-
-
-
</robot>