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Commit f2e36ee0 authored by Andre Meixner's avatar Andre Meixner :camera:
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Added additional robot node sets to MMM model

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data/RobotAPI/robots/MMM/mmm.xml
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View file @ f2e36ee0
......@@ -3441,6 +3441,15 @@
<Node name='LWy_joint'/>
</RobotNodeSet>
<RobotNodeSet name="LeftArm-7dof" kinematicRoot="LSsegment_joint" tcp="LeftHandSegment_joint">
<Node name='LSx_joint'/>
<Node name='LSz_joint'/>
<Node name='LSy_joint'/>
<Node name='LEx_joint'/>
<Node name='LEz_joint'/>
<Node name='LWx_joint'/>
<Node name='LWy_joint'/>
</RobotNodeSet>
<RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
<Node name='BTx_joint'/>
......@@ -3471,4 +3480,97 @@
<Node name='RWy_joint'/>
</RobotNodeSet>
<RobotNodeSet name="RightArm-7dof" kinematicRoot="RSsegment_joint" tcp="RightHandSegment_joint">
<Node name='RSx_joint'/>
<Node name='RSz_joint'/>
<Node name='RSy_joint'/>
<Node name='REx_joint'/>
<Node name='REz_joint'/>
<Node name='RWx_joint'/>
<Node name='RWy_joint'/>
</RobotNodeSet>
<RobotNodeSet name='Optimization'>
<!-- Neck -->
<Node name='BLNx_joint'/>
<Node name='BLNy_joint'/>
<Node name='BLNz_joint'/>
<!-- Pelvis -->
<Node name='BPx_joint'/>
<Node name='BPy_joint'/>
<Node name='BPz_joint'/>
<!-- Torso -->
<Node name='BTx_joint'/>
<Node name='BTy_joint'/>
<Node name='BTz_joint'/>
<!-- Head -->
<Node name='BUNx_joint'/>
<Node name='BUNy_joint'/>
<Node name='BUNz_joint'/>
<!-- Left Ankle -->
<Node name='LAx_joint'/>
<Node name='LAy_joint'/>
<Node name='LAz_joint'/>
<!-- Left Elbow -->
<Node name='LEx_joint'/>
<Node name='LEz_joint'/>
<!-- Left Hip -->
<Node name='LHx_joint'/>
<Node name='LHy_joint'/>
<Node name='LHz_joint'/>
<!-- Left Knee -->
<Node name='LKx_joint'/>
<!-- Left Shoulder Outer -->
<Node name='LSx_joint'/>
<Node name='LSy_joint'/>
<Node name='LSz_joint'/>
<!-- Left Wrist -->
<Node name='LWx_joint'/>
<Node name='LWy_joint'/>
<!-- Left Foot -->
<Node name='LFx_joint'/>
<Node name='LMrot_joint'/>
<!-- Right Ankle -->
<Node name='RAx_joint'/>
<Node name='RAy_joint'/>
<Node name='RAz_joint'/>
<!-- Right Elbow -->
<Node name='REx_joint'/>
<Node name='REz_joint'/>
<!-- Right Hip -->
<Node name='RHx_joint'/>
<Node name='RHy_joint'/>
<Node name='RHz_joint'/>
<!-- Right Knee -->
<Node name='RKx_joint'/>
<!-- Right Shoulder Outer -->
<Node name='RSx_joint'/>
<Node name='RSy_joint'/>
<Node name='RSz_joint'/>
<!-- Right Wrist -->
<Node name='RWx_joint'/>
<Node name='RWy_joint'/>
<!-- Right Foot -->
<Node name='RFx_joint'/>
<Node name='RMrot_joint'/>
</RobotNodeSet>
</Robot>
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