Changes between Version 74 and Version 75 of MURML


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Timestamp:
02/15/13 10:25:39 (7 years ago)
Author:
welberge
Comment:

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  • MURML

    v74 v75  
    470470 
    471471== !PalmOrientation Constraint == 
    472 A Hand palm orientation constraint is defined either as an absolute direction (starting with 'Dir', or using a x y z vector) or as the rotation of the left wrist around its local z (forward) axis (rotations of the right wrist are automatically mirrored). 
    473  
    474 Examples of absolute constraints: 
     472A Hand palm orientation constraint is defined either as an absolute direction of the palm in the world or as a local rotation of the wrist. 
     473 
     474=== Absolute Constraint === 
     475Absolute constraints are defined using an x y z vector, or using  
     476'Dir', followed by one or more of 'U' (up), 'D' (down), 'R' (right), 'L' (left), 'A' (forward), 'T' (backward). 
     477 
     478Examples of absolute palm rotation constraints: 
    475479{{{ 
    476480<murml-description xmlns="http://www.techfak.uni-bielefeld.de/ags/soa/murml"> 
     
    490494}}} 
    491495 
    492 Examples of relative constraints 
     496=== Relative Constraint === 
     497Relative constraints are specified either as a single number denoting the local rotation of the left wrist (right wrist rotations are automatically mirrored) around the forward axis in degrees or as a symbolic string.  
     498The symbolic string maps to a rotation in degrees via the hns xml; by convention these rotations are of the form 'Palm' followed by one or more of 'U', 'D', 'R', 'L', 'A', 'T'. 
     499 
     500Definition of some relative palm orientations in the hns xml. 
     501{{{ 
     502<hns> 
     503<symbols> 
     504  ... 
     505  <symbol class="palmOrientations" name="PalmL" value="180.0"/> 
     506  <symbol class="palmOrientations" name="PalmLU" value="-135.0"/> 
     507  <symbol class="palmOrientations" name="PalmLD" value="135"/> 
     508  <symbol class="palmOrientations" name="PalmR" value="0.0"/> 
     509  <symbol class="palmOrientations" name="PalmRU" value="-45.0"/> 
     510  <symbol class="palmOrientations" name="PalmRD" value="45.0"/> 
     511  <symbol class="palmOrientations" name="PalmU" value="-90.0"/> 
     512  <symbol class="palmOrientations" name="PalmD" value="90"/> 
     513</symbols> 
     514</hns> 
     515}}} 
     516 
     517Examples of relative palm rotation constraints 
    493518{{{ 
    494519<murml-description xmlns="http://www.techfak.uni-bielefeld.de/ags/soa/murml">