From d5c2e022fee16f052200cd946c5d24170220469a Mon Sep 17 00:00:00 2001
From: armar-user <armar@user>
Date: Sat, 20 Feb 2016 16:32:09 +0100
Subject: [PATCH] added kinematic chain for head without roll joint
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index b21010a39..43a789173 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -473,6 +473,8 @@
</RobotNodeSet>
+
+
<RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
@@ -482,6 +484,14 @@
</RobotNodeSet>
+ <RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Cameras"/>
+ <Node name="VirtualCentralGaze"/>
+ </RobotNodeSet>
+
+
<RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
--
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