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Wolfgang Merkt
example-robot-data
Commits
620dfbe4
Commit
620dfbe4
authored
Oct 29, 2019
by
Carlos Mastalli
Browse files
[anymal] Added extra information to the SRDF for ANYmal + kinova
parent
bf046c10
Changes
1
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anymal_b_simple_description/srdf/anymal-kinova.srdf
View file @
620dfbe4
<?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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