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Merge pull request #6 from munozyanez/develop
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Merging....Tool Center Points fixed to a correct position
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Raúl de Santos authored Jun 30, 2017
2 parents 952a8e3 + b9b67c0 commit 767ba9a
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Showing 5 changed files with 230 additions and 184 deletions.
23 changes: 11 additions & 12 deletions openrave/teo/teo.robot.xml
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Expand Up @@ -56,51 +56,50 @@
</Manipulator>

<Manipulator name="rightArm">
<effector>r15</effector> <!-- last link where end effector is attached-->
<effector>r1Man</effector> <!-- last link where end effector is attached-->
<base>r31</base> <!-- base link-->
<!-- the id of the inverse kinematics solver, it is not necessary to-->
<!-- specify an ik solver for every robot. But if there is one,-->
<!-- use iksolver field to identity it.-->
<!-- <iksolver>MyTriDOFSolver</iksolver> -->

<Translation>0 0 -0.2</Translation>-->
<Translation>0 0 0</Translation>-->
</Manipulator>

<Manipulator name="leftArm">
<effector>r25</effector> <!-- last link where end effector is attached-->
<effector>r2Man</effector> <!-- last link where end effector is attached-->
<base>r31</base> <!-- base link-->
<!-- the id of the inverse kinematics solver, it is not necessary to-->
<!-- specify an ik solver for every robot. But if there is one,-->
<!-- use iksolver field to identity it.-->
<!-- <iksolver>MyTriDOFSolver</iksolver> -->

<Translation>0 0 -0.2</Translation>
<Translation>0 0 0</Translation>
</Manipulator>

<!--TODO: correct feet effector translation (-0.175)-->

<Manipulator name="rightLeg">
<effector>r55</effector> <!-- last link where end effector is attached-->
<effector>r5Man</effector> <!-- last link where end effector is attached-->
<base>cintura</base> <!-- base link-->
<!-- the id of the inverse kinematics solver, it is not necessary to-->
<!-- specify an ik solver for every robot. But if there is one,-->
<!-- use iksolver field to identity it.-->
<iksolver>ik/ikfast0x10000048.Transform6D.x86_64.16_17_18_19_20_21.so</iksolver>
<!--<iksolver>ik/ikfast0x10000048.Transform6D.x86_64.16_17_18_19_20_21.so</iksolver>-->

<Translation>0 0 -0.125</Translation>
<Translation>0 0 0</Translation>
</Manipulator>


<Manipulator name="leftLeg">
<effector>r65</effector> <!-- last link where end effector is attached-->
<effector>r6Man</effector> <!-- last link where end effector is attached-->
<base>cintura</base> <!-- base link-->
<!-- the id of the inverse kinematics solver, it is not necessary to-->
<!-- specify an ik solver for every robot. But if there is one,-->
<!-- use iksolver field to identity it.-->
<iksolver>ik/ikfast0x10000048.Transform6D.x86_64.22_23_24_25_26_27.so</iksolver>
<!--<iksolver>ik/ikfast0x10000048.Transform6D.x86_64.22_23_24_25_26_27.so</iksolver>-->

<Translation>0 0 -0.125</Translation>
<Translation>0 0 0</Translation>
</Manipulator>


</Robot>

21 changes: 16 additions & 5 deletions openrave/teo/teo_leftArm.kinbody.xml
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Expand Up @@ -41,7 +41,7 @@
</Mass>
</Body>

<Joint circular="true" name="q21" type="hinge">
<Joint circular="false" name="q21" type="hinge">
<Body>r20</Body>
<Body>r21</Body>
<offsetfrom>r21</offsetfrom>
Expand All @@ -65,7 +65,7 @@
</Mass>
</Body>

<Joint circular="true" name="q22" type="hinge">
<Joint circular="false" name="q22" type="hinge">
<Body>r21</Body>
<Body>r22</Body>
<offsetfrom>r22</offsetfrom>
Expand All @@ -89,7 +89,7 @@
</Mass>
</Body>

<Joint circular="true" name="q23" type="hinge">
<Joint circular="false" name="q23" type="hinge">
<Body>r22</Body>
<Body>r23</Body>
<offsetfrom>r23</offsetfrom>
Expand All @@ -113,7 +113,7 @@
</Mass>
</Body>

<Joint circular="true" name="q24" type="hinge">
<Joint circular="false" name="q24" type="hinge">
<Body>r23</Body>
<Body>r24</Body>
<offsetfrom>r24</offsetfrom>
Expand All @@ -137,7 +137,7 @@
</Mass>
</Body>

<Joint circular="true" name="q25" type="hinge">
<Joint circular="false" name="q25" type="hinge">
<Body>r24</Body>
<Body>r25</Body>
<offsetfrom>r25</offsetfrom>
Expand All @@ -148,6 +148,17 @@
<resolution>1</resolution>
</Joint>

<Body name="r2Man" type="dynamic">
<offsetfrom>r25</offsetfrom>
<Translation>0 0 -0.2</Translation>
</Body>

<Joint name="q2Man" type="hinge" enable="False">
<Body>r25</Body>
<Body>r2Man</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>

</KinBody>


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