Hey everyone,
I unsuccessfully tried to add a hand to the kuka robot following the tutorial
http://openrave.programmingvision.com/wiki/index.php/Format:XML#Joining_A_Robot_Arm_and_Hand<Robot name="Kuka_modified">
<robot file="kuka-kr30l16.dae"/>
<robot file="endeffector_knife.dae"/>
<KinBody>
<Body name="hand_root">
<offsetfrom>L6</offsetfrom>
<RotationAxis>0 0 1 -90</RotationAxis>
<Translation>0.0 0.00 0.00</Translation>
</Body>
<Joint name="dummy" type="hinge" enable="false">
<body>L6</body>
<body>hand_root</body>
<limits>0 0</limits>
<axis>1 0 0</axis>
</Joint>
</KinBody>
<Manipulator name="new_arm">
<base>L0</base>
<effector>hand_root</effector>
<closingdirection>1 1</closingdirection>
<direction>1 0 0</direction>
<Translation>0.125 0 0</Translation>
</Manipulator>
</Robot>
I'm getting a few errors. Especially the second error seems strange. do I overlook something here?
xmlSAXUserParseFile: error parsing /.../kuka_modified.robot.xml: openrave (Assert): [/build/buildd/openrave0.8-dp-0.8.2.1/src/libopenrave-core/xmlreaders-core.cpp:2838] -> virtual bool OpenRAVEXMLParser::RobotXMLReader::endElement(const string&), expr: roottransoffset>=0&&roottransoffset<=(int)_probot->_veclinks.size()
already processed last tag for robot!
Locked
