[tiago_steel.urdf] Fix the joint type to be used in SoT.

robots/tiago_steel.urdf

@@ -552,7 +552,7 @@
     <kinematic>0</kinematic>
     <gravity>1</gravity>
   </link>
-  <joint name="suspension_right_joint" type="prismatic">
+  <joint name="suspension_right_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="100.0" lower="-0.005" upper="0.005" velocity="1.0"/>
@@ -562,7 +562,7 @@
     <dynamics damping="100"/>
     <safety_controller k_position="0" k_velocity="10" soft_lower_limit="-0.005" soft_upper_limit="0.005"/>
   </joint>
-  <joint name="wheel_right_joint" type="continuous">
+  <joint name="wheel_right_joint" type="revolute">
     <parent link="suspension_right_link"/>
     <child link="wheel_right_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
@@ -620,7 +620,7 @@
     <kinematic>0</kinematic>
     <gravity>1</gravity>
   </link>
-  <joint name="suspension_left_joint" type="prismatic">
+  <joint name="suspension_left_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="100.0" lower="-0.005" upper="0.005" velocity="1.0"/>
@@ -630,7 +630,7 @@
     <dynamics damping="100"/>
     <safety_controller k_position="0" k_velocity="10" soft_lower_limit="-0.005" soft_upper_limit="0.005"/>
   </joint>
-  <joint name="wheel_left_joint" type="continuous">
+  <joint name="wheel_left_joint" type="revolute">
     <parent link="suspension_left_link"/>
     <child link="wheel_left_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
@@ -699,14 +699,14 @@
       </geometry>
     </collision>
   </link>
-  <joint name="caster_front_right_1_joint" type="continuous">
+  <joint name="caster_front_right_1_joint" type="fixed">
     <parent link="base_link"/>
     <child link="caster_front_right_1_link"/>
     <origin rpy="0 0 0" xyz="0.1695 -0.102 -0.0335"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.005" friction="0.0"/>
   </joint>
-  <joint name="caster_front_right_2_joint" type="continuous">
+  <joint name="caster_front_right_2_joint" type="fixed">
     <parent link="caster_front_right_1_link"/>
     <child link="caster_front_right_2_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
@@ -775,14 +775,14 @@
       </geometry>
     </collision>
   </link>
-  <joint name="caster_front_left_1_joint" type="continuous">
+  <joint name="caster_front_left_1_joint" type="fixed">
     <parent link="base_link"/>
     <child link="caster_front_left_1_link"/>
     <origin rpy="0 0 0" xyz="0.1695 0.102 -0.0335"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.005" friction="0.0"/>
   </joint>
-  <joint name="caster_front_left_2_joint" type="continuous">
+  <joint name="caster_front_left_2_joint" type="fixed">
     <parent link="caster_front_left_1_link"/>
     <child link="caster_front_left_2_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
@@ -851,14 +851,14 @@
       </geometry>
     </collision>
   </link>
-  <joint name="caster_back_right_1_joint" type="continuous">
+  <joint name="caster_back_right_1_joint" type="fixed">
     <parent link="base_link"/>
     <child link="caster_back_right_1_link"/>
     <origin rpy="0 0 0" xyz="-0.1735 -0.102 -0.0335"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.005" friction="0.0"/>
   </joint>
-  <joint name="caster_back_right_2_joint" type="continuous">
+  <joint name="caster_back_right_2_joint" type="fixed">
     <parent link="caster_back_right_1_link"/>
     <child link="caster_back_right_2_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
@@ -927,14 +927,14 @@
       </geometry>
     </collision>
   </link>
-  <joint name="caster_back_left_1_joint" type="continuous">
+  <joint name="caster_back_left_1_joint" type="fixed">
     <parent link="base_link"/>
     <child link="caster_back_left_1_link"/>
     <origin rpy="0 0 0" xyz="-0.1735 0.102 -0.0335"/>
     <axis xyz="0 0 1"/>
     <dynamics damping="0.005" friction="0.0"/>
   </joint>
-  <joint name="caster_back_left_2_joint" type="continuous">
+  <joint name="caster_back_left_2_joint" type="fixed">
     <parent link="caster_back_left_1_link"/>
     <child link="caster_back_left_2_link"/>
     <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>