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Commit c2ccac6f authored by Simon Ottenhaus's avatar Simon Ottenhaus
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adapted preshapes

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data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
+ 15
− 25
View file @ c2ccac6f
......@@ -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>
......
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