From 08c3916eee01f4002e578c53a73c4b06b0f1162d Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Mon, 19 Oct 2015 20:18:27 +0200
Subject: [PATCH] added node for IMU to robot model
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 489ef1bee..e186b8c2d 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -166,6 +166,7 @@
<Child name="Jaw"/>
<Child name="Kinect"/>
<Child name="DepthCamera"/>
+ <Child name="HeadIMU"/>
</RobotNode>
<RobotNode name="Jaw">
@@ -252,6 +253,19 @@
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
+
+ <RobotNode name="HeadIMU">
+ <Transform>
+ <Translation x="0" y="-10" z="0" units='mm'/>
+ <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+ </Visualization>
+ </RobotNode>
+
+
<RobotNode name="Eye_Left_Dummy">
<Transform>
--
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