From c2ccac6fbf9ae05795711595caeb0ff71c29f2dd Mon Sep 17 00:00:00 2001 From: Simon Ottenhaus <simon.ottenhaus@kit.edu> Date: Tue, 3 Nov 2015 18:16:25 +0100 Subject: [PATCH] adapted preshapes --- .../robots/Armar3/ArmarIII-RightHand.xml | 40 +++++++------------ 1 file changed, 15 insertions(+), 25 deletions(-) diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml index 204c04237..af334dba7 100644 --- a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml +++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml @@ -451,7 +451,7 @@ <Node name="Pinky R J1"/> </RobotNodeSet> - <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R"> + <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R"> <Preshape name="Open Preshape"> <Node name="Thumb R J0" unit="radian" value="0"/> <Node name="Thumb R J1" unit="radian" value="0"/> @@ -463,31 +463,21 @@ <Node name="Ring R J1" unit="radian" value="0"/> <Node name="Pinky R J0" unit="radian" value="0"/> <Node name="Pinky R J1" unit="radian" value="0"/> + <Node name="Hand Palm 2 R" unit="radian" value="0"/> </Preshape> - <Preshape name="Close Preshape"> - <Node name="Thumb R J0" unit="radian" value="1"/> - <Node name="Thumb R J1" unit="radian" value="1"/> - <Node name="Index R J0" unit="radian" value="1"/> - <Node name="Index R J1" unit="radian" value="1"/> - <Node name="Middle R J0" unit="radian" value="1"/> - <Node name="Middle R J1" unit="radian" value="1"/> - <Node name="Ring R J0" unit="radian" value="1"/> - <Node name="Ring R J1" unit="radian" value="1"/> - <Node name="Pinky R J0" unit="radian" value="1"/> - <Node name="Pinky R J1" unit="radian" value="1"/> - </Preshape> - <Preshape name="Julia Preshape"> - <Node name="Thumb R J0" unit="radian" value="0"/> - <Node name="Thumb R J1" unit="radian" value="0"/> - <Node name="Index R J0" unit="radian" value="0"/> - <Node name="Index R J1" unit="radian" value="0"/> - <Node name="Middle R J0" unit="radian" value="1.5"/> - <Node name="Middle R J1" unit="radian" value="1.5"/> - <Node name="Ring R J0" unit="radian" value="1.5"/> - <Node name="Ring R J1" unit="radian" value="1.5"/> - <Node name="Pinky R J0" unit="radian" value="0"/> - <Node name="Pinky R J1" unit="radian" value="0"/> - </Preshape> + <Preshape name="Close Preshape"> + <Node name="Thumb R J0" unit="radian" value="1"/> + <Node name="Thumb R J1" unit="radian" value="1"/> + <Node name="Index R J0" unit="radian" value="1"/> + <Node name="Index R J1" unit="radian" value="1"/> + <Node name="Middle R J0" unit="radian" value="1"/> + <Node name="Middle R J1" unit="radian" value="1"/> + <Node name="Ring R J0" unit="radian" value="1"/> + <Node name="Ring R J1" unit="radian" value="1"/> + <Node name="Pinky R J0" unit="radian" value="1"/> + <Node name="Pinky R J1" unit="radian" value="1"/> + <Node name="Hand Palm 2 R" unit="radian" value="0"/> + </Preshape> <Static> -- GitLab