From c4ce4a7daf7620aff7c0d220d5d5a1937a16bf30 Mon Sep 17 00:00:00 2001 From: Fabian Paus <fabian.paus@kit.edu> Date: Wed, 22 Mar 2017 11:06:17 +0100 Subject: [PATCH] Added robot nodes for laser scanners to the Armar-III model --- data/RobotAPI/robots/Armar3/ArmarIII.xml | 33 ++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml index bea24c5a2..b1b1d8e28 100644 --- a/data/RobotAPI/robots/Armar3/ArmarIII.xml +++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml @@ -70,9 +70,42 @@ <CollisionModel> <File type="Inventor">convexModel/platform.iv</File> </CollisionModel> + <Child name="Laser Scanner Front"/> + <Child name="Laser Scanner Back Left"/> + <Child name="Laser Scanner Back Right"/> <Child name="Hip Pitch"/> </RobotNode> + <RobotNode name="Laser Scanner Front"> + <Transform> + <DH a="330" d="100" theta="90" alpha="0" units="degree"/> + <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> + </Transform> + <Visualization enable="true"> + <CoordinateAxis type="Inventor" enable="false" scaling="8"/> + </Visualization> + </RobotNode> + + <RobotNode name="Laser Scanner Back Left"> + <Transform> + <DH a="320" d="100" theta="210" alpha="0" units="degree"/> + <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> + </Transform> + <Visualization enable="true"> + <CoordinateAxis type="Inventor" enable="false" scaling="8"/> + </Visualization> + </RobotNode> + + <RobotNode name="Laser Scanner Back Right"> + <Transform> + <DH a="320" d="100" theta="340" alpha="0" units="degree"/> + <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> + </Transform> + <Visualization enable="true"> + <CoordinateAxis type="Inventor" enable="false" scaling="8"/> + </Visualization> + </RobotNode> + <RobotNode name="Hip Pitch"> <Transform> <Translation x="0" y="158" z="890" units='mm'/> -- GitLab