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Commit 8f3650db authored by Nikolaus Vahrenkamp's avatar Nikolaus Vahrenkamp
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adding precision and power preshapes

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VirtualRobot/data/robots/ArmarIII/ArmarIII-RightHand.xml
+ 29
− 1
View file @ 8f3650db
......@@ -5,6 +5,8 @@
<RobotNode name="Hand R Base">
<Child name="TCP R"/>
<Child name="GCP R"/>
<Child name="TCP R Precision"/>
<Child name="TCP R Power"/>
<Child name="Hand Palm 1 R"/>
</RobotNode>
......@@ -21,6 +23,19 @@
</Transform>
</RobotNode>
<RobotNode name="TCP R Precision">
<Transform>
<Translation X="-84" Y="0" Z="144" units='mm'/>
<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
</Transform>
</RobotNode>
<RobotNode name="TCP R Power">
<Transform>
<Translation X="-50" Y="16" Z="115" units='mm'/>
<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
</Transform>
</RobotNode>
<RobotNode name="Hand Palm 1 R">
<Transform>
......@@ -375,7 +390,7 @@
</RobotNodeSet>
<Endeffector name="Hand R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
<Preshape name="Grasp Preshape">
<Preshape name="Power Preshape" tcp="TCP R Power">
<Node name="Thumb R J0" unit="radian" value="0"/>
<Node name="Thumb R J1" unit="radian" value="0"/>
<Node name="Index R J0" unit="radian" value="0"/>
......@@ -388,6 +403,19 @@
<Node name="Pinky R J1" unit="radian" value="0"/>
</Preshape>
<Preshape name="Precision Preshape" tcp="TCP R Precision">
<Node name="Thumb R J0" unit="radian" value="0"/>
<Node name="Thumb R J1" unit="radian" value="0"/>
<Node name="Index R J0" unit="radian" value="0"/>
<Node name="Index R J1" unit="radian" value="0"/>
<Node name="Middle R J0" unit="radian" value="0"/>
<Node name="Middle R J1" unit="radian" value="0"/>
<Node name="Ring R J0" unit="radian" value="1"/>
<Node name="Ring R J1" unit="radian" value="2"/>
<Node name="Pinky R J0" unit="radian" value="1"/>
<Node name="Pinky R J1" unit="radian" value="2"/>
</Preshape>
<Static>
<Node name="Hand Palm 1 R"/>
......
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