Commit 330dc202 authored by Olivier Stasse's avatar Olivier Stasse

[srdf] Add a group of joints to map from URDF to OpenHRP.

The usual alphabetical order from URDF is mapped to one defined in OpenHRP.
parent 2422ba1f
......@@ -44,6 +44,43 @@
</group>
-->
<group name="mapURDFToOpenHRP">
<joint name="RLEG_HIP_R"/>
<joint name="RLEG_HIP_P" />
<joint name="RLEG_HIP_Y" />
<joint name="RLEG_KNEE" />
<joint name="RLEG_ANKLE_P" />
<joint name="RLEG_ANKLE_R" />
<joint name="LLEG_HIP_R" />
<joint name="LLEG_HIP_P" />
<joint name="LLEG_HIP_Y" />
<joint name="LLEG_KNEE" />
<joint name="LLEG_ANKLE_P" />
<joint name="LLEG_ANKLE_R" />
<joint name="WAIST_P" />
<joint name="WAIST_R" />
<joint name="CHEST" />
<joint name="RARM_SHOULDER_P" />
<joint name="RARM_SHOULDER_R" />
<joint name="RARM_SHOULDER_Y" />
<joint name="RARM_ELBOW" />
<joint name="RARM_WRIST_Y" />
<joint name="RARM_WRIST_P" />
<joint name="RARM_WRIST_R" />
<joint name="LARM_SHOULDER_P" />
<joint name="LARM_SHOULDER_R" />
<joint name="LARM_SHOULDER_Y" />
<joint name="LARM_ELBOW" />
<joint name="LARM_WRIST_Y" />
<joint name="LARM_WRIST_P" />
<joint name="LARM_WRIST_R" />
</group>
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
......
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