From 46028e485d50e3993fd23bbf0e38199e0f94ca5a Mon Sep 17 00:00:00 2001
From: SecondHandsIntegrationAccount <NotAvailable@secondhands.eu>
Date: Fri, 10 Jun 2016 15:10:32 +0200
Subject: [PATCH] added kinematic chain for Armar3 for head without eye
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 43a789173..d05be6fed 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -484,6 +484,17 @@
</RobotNodeSet>
+
+
+ <RobotNodeSet name="IKVirtualGazeNoEyes" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="VirtualCentralGaze"/>
+ </RobotNodeSet>
+
+
+
<RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_3_Yaw"/>
--
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