From 0dca91a62a5ab5abe9f2c8d1ccdf0ea4d37cb3b6 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <ufdrv@student.kit.edu>
Date: Fri, 4 Dec 2015 11:07:50 +0100
Subject: [PATCH] added depth cam node for the simulation
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index e186b8c2d..5699ab54b 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="DepthCameraSim"/>
<Child name="HeadIMU"/>
</RobotNode>
@@ -254,6 +255,20 @@
</Visualization>
</RobotNode>
+ <RobotNode name="DepthCameraSim">
+ <Transform>
+ <Translation x="105" y="70" z="0" units='mm'/>
+ <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
+ <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+ <rollpitchyaw roll="20.7" pitch="0" yaw="0" unitsAngle="degree"/>
+ <rollpitchyaw roll="0" pitch="0" yaw="270" unitsAngle="degree"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+ </Visualization>
+ </RobotNode>
+
<RobotNode name="HeadIMU">
<Transform>
<Translation x="0" y="-10" z="0" units='mm'/>
--
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