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Commit d5c2e022 authored by armar-user's avatar armar-user
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added kinematic chain for head without roll joint

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data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
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......@@ -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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