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Fix ANYmal-Kinova URDF

Wolfgang Merkt requested to merge wxmerkt/example-robot-data:wxm-kinova-fixes into devel

Two changes:

  1. The default configuration was outside of the position limits causing issues in the simulation. The new configuration is within all joint limits.
  2. I changed three joints in the URDF to revolute from continuous. They do have limits and otherwise Pinocchio uses SO(2) which is not what we want.

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