Joints in `current_joints` mixed up

[michaelosthege]

Our portal has axes A1, A2, A3, E1 and when moving to a JointsState it works as expected: E1 is the Z-rotational axis in this case.

However, robot_state.joints_current reports E1=0 at all times but puts the values for E1 into the field for A4:

This looks like the line where the POSJOINTCURRENT messages are unpacked:

CRI-Python-Lib/cri_lib/cri_protocol_parser.py

Lines 142 to 149 in 1b2940f

	case "POSJOINTCURRENT":
	joints = []
	for i in range(16):
	joints.append(float(parameters[segment_start_idx + 1 + i]))
	with self.robot_state_lock:
	self.robot_state.joints_current = JointsState(*joints)
	segment_start_idx += 17