Add position offsets to joints

ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro

@@ -50,6 +50,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${true}</param>
+        <param name="position_offset">0.238</param>
       </joint>
       <joint name="FLHFE">
         <command_interface name="position">
@@ -74,6 +75,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${true}</param>
+        <param name="position_offset">-0.308</param>
       </joint>
       <joint name="FLK">
         <command_interface name="position">
@@ -98,6 +100,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${true}</param>
+        <param name="position_offset">0.276</param>
       </joint>
       <joint name="FRHAA">
         <command_interface name="position">
@@ -122,6 +125,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${true}</param>
+        <param name="position_offset">-0.115</param>
       </joint>
       <joint name="FRHFE">
         <command_interface name="position">
@@ -146,6 +150,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${false}</param>
+        <param name="position_offset">-0.584</param>
       </joint>
       <joint name="FRK">
         <command_interface name="position">
@@ -165,6 +170,7 @@
         <param name="max_joint_velocity">80.</param>
         <param name="safety_damping">0.5</param>
         <param name="motor_reversed_polarity">${false}</param>
+        <param name="position_offset">0.432</param>
       </joint>
       <sensor name="IMU">
         <state_interface name="gyroscope"/>