From f2e36ee0c27241091ec83cd562de1cf50de3f4ac Mon Sep 17 00:00:00 2001
From: Meixner <andre.meixner@kit.edu>
Date: Wed, 24 Aug 2022 11:23:59 +0200
Subject: [PATCH] Added additional robot node sets to MMM model
---
data/RobotAPI/robots/MMM/mmm.xml | 102 +++++++++++++++++++++++++++++++
1 file changed, 102 insertions(+)
diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
index a5a3c7019..862cd928c 100644
--- a/data/RobotAPI/robots/MMM/mmm.xml
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -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>
--
GitLab