Commit 620dfbe4 authored by Carlos Mastalli's avatar Carlos Mastalli

[anymal] Added extra information to the SRDF for ANYmal + kinova

parent bf046c10
<?xml version="1.0" ?>
<robot name="anymal">
<robot name="anymal_kinova">
<group name="lf_leg">
<joint name="LF_HAA" />
......@@ -25,12 +25,28 @@
<joint name="RH_KFE" />
<chain base_link="base" tip_link="RH_FOOT" />
</group>
<group name="arm">
<joint name="j2s6s200_joint_1" />
<joint name="j2s6s200_joint_2" />
<joint name="j2s6s200_joint_3" />
<joint name="j2s6s200_joint_4" />
<joint name="j2s6s200_joint_5" />
<joint name="j2s6s200_joint_5" />
<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>
<group name="r_legs">
<group name="rf" />
<group name="rh" />
......@@ -60,6 +76,7 @@
<end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
<end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
<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="half_sitting" group="all_legs">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
......
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