diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
index 862cd928ceb24b45ead631aa46099b48f836d8d0..c386d1b81a4a3863c0744446e73655c88c1384aa 100644
--- a/data/RobotAPI/robots/MMM/mmm.xml
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -12,11 +12,11 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='22' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='22' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Sensor type='position' name='MARKER_C7'>
<Transform>
@@ -25,7 +25,7 @@
<row2 c1='0' c2='1' c3='0' c4='-38.9454' />
<row3 c1='0' c2='0' c3='1' c4='-0.688374' />
<row4 c1='0' c2='0' c3='0' c4='1' />
- </Matrix4x4>BLNsegment_joint
+ </Matrix4x4>
</Transform>
</Sensor>
<Sensor type='position' name='MARKER_CLAV'>
@@ -38,53 +38,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='BLNx_joint'/>
+ <Child name='BLNx_joint' />
</RobotNode>
<RobotNode name='BLNx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BLNz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNz_joint' />
</RobotNode>
<RobotNode name='BLNy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BUNsegment_joint'/>
+ <Child name='BUNsegment_joint' />
</RobotNode>
<RobotNode name='BLNz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BLNy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNy_joint' />
</RobotNode>
@@ -98,19 +98,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='40' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='40' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.11'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-35.8'/>
+ <Mass unit='kg' value='0.11' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-35.8' />
<InertiaMatrix>
- <row1 c1='0.000454' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0003637' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0004191'/>
+ <row1 c1='0.000454' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0003637' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0004191' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_L3'>
@@ -123,53 +123,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='BPx_joint'/>
+ <Child name='BPx_joint' />
</RobotNode>
<RobotNode name='BPx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='0.610865' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='0.610865' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BPz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPz_joint' />
</RobotNode>
<RobotNode name='BPy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BTSegment_joint'/>
+ <Child name='BTSegment_joint' />
</RobotNode>
<RobotNode name='BPz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BPy_joint'/>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPy_joint' />
</RobotNode>
@@ -183,76 +183,77 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='60' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='60' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.1'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-33.6'/>
+ <Mass unit='kg' value='0.1' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.6' />
<InertiaMatrix>
- <row1 c1='1.024' c2='0' c3='0'/>
- <row2 c1='0' c2='0.81796' c3='0'/>
- <row3 c1='0' c2='0' c3='0.676'/>
+ <row1 c1='1.024' c2='0' c3='0' />
+ <row2 c1='0' c2='0.81796' c3='0' />
+ <row3 c1='0' c2='0' c3='0.676' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/BTSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='BTx_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='BTx_joint' />
</RobotNode>
<RobotNode name='BTx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.610865' hi='0.471239' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.610865' hi='0.471239' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BTz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTz_joint' />
</RobotNode>
<RobotNode name='BTy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='collarSegment_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='collarSegment_joint' />
</RobotNode>
<RobotNode name='BTz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.628319' hi='0.628319' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.628319' hi='0.628319' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BTy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTy_joint' />
</RobotNode>
@@ -266,72 +267,73 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.024'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-15'/>
+ <Mass unit='kg' value='0.024' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-15' />
<InertiaMatrix>
- <row1 c1='0.0287585' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0287585' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0139392'/>
+ <row1 c1='0.0287585' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0287585' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0139392' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/BUNsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='BUNx_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='BUNx_joint' />
</RobotNode>
<RobotNode name='BUNx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.349066' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.349066' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BUNz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNz_joint' />
</RobotNode>
<RobotNode name='BUNy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='MidHeadSegment_joint'/>
- <Child name='HeadSegment_joint'/>
+ <Child name='MidHeadSegment_joint' />
+ <Child name='HeadSegment_joint' />
</RobotNode>
<RobotNode name='BUNz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='BUNy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNy_joint' />
</RobotNode>
@@ -345,24 +347,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='130' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='130' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.07'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-65'/>
+ <Mass unit='kg' value='0.07' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-65' />
<InertiaMatrix>
- <row1 c1='0.612157' c2='0' c3='0'/>
- <row2 c1='0' c2='0.5733' c3='0'/>
- <row3 c1='0' c2='0' c3='0.430612'/>
+ <row1 c1='0.612157' c2='0' c3='0' />
+ <row2 c1='0' c2='0.5733' c3='0' />
+ <row3 c1='0' c2='0' c3='0.430612' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/HeadSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LBHD'>
<Transform>
<Matrix4x4 units='mm'>
@@ -416,24 +419,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='246' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='246' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.04'/>
- <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5'/>
+ <Mass unit='kg' value='0.04' />
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5' />
<InertiaMatrix>
- <row1 c1='0.237419' c2='0' c3='0'/>
- <row2 c1='0' c2='0.256481' c3='0'/>
- <row3 c1='0' c2='0' c3='0.040572'/>
+ <row1 c1='0.237419' c2='0' c3='0' />
+ <row2 c1='0' c2='0.256481' c3='0' />
+ <row3 c1='0' c2='0' c3='0.040572' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LAsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LTIP'>
<Transform>
<Matrix4x4 units='mm'>
@@ -444,38 +448,39 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LAx_joint'/>
+ <Child name='LAx_joint' />
</RobotNode>
<RobotNode name='LAx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.698132' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.698132' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LAz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAz_joint' />
</RobotNode>
<RobotNode name='LAy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LAy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LANK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -496,25 +501,25 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LeftFootHeight_joint'/>
- <Child name='LMrot_joint'/>
+ <Child name='LeftFootHeight_joint' />
+ <Child name='LMrot_joint' />
</RobotNode>
<RobotNode name='LAz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.523599' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.523599' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LAy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAy_joint' />
</RobotNode>
@@ -528,24 +533,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.027'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106'/>
+ <Mass unit='kg' value='0.027' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106' />
<InertiaMatrix>
- <row1 c1='0.0837755' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0940772' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0287506'/>
+ <row1 c1='0.0837755' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0940772' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0287506' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LEsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LAEL'>
<Transform>
<Matrix4x4 units='mm'>
@@ -576,36 +582,36 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LEx_joint'/>
+ <Child name='LEx_joint' />
</RobotNode>
<RobotNode name='LEx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LEz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LEz_joint' />
</RobotNode>
<RobotNode name='LEz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.5708' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.5708' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LWsegment_joint'/>
+ <Child name='LWsegment_joint' />
</RobotNode>
@@ -619,15 +625,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LFx_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LTOE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -651,15 +658,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='52' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='52' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LHsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LASI'>
<Transform>
<Matrix4x4 units='mm'>
@@ -690,53 +698,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LHx_joint'/>
+ <Child name='LHx_joint' />
</RobotNode>
<RobotNode name='LHx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='1.65806' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='1.65806' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LHz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHz_joint' />
</RobotNode>
<RobotNode name='LHy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='1.13446' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='1.13446' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LKsegment_joint'/>
+ <Child name='LKsegment_joint' />
</RobotNode>
<RobotNode name='LHz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LHy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHy_joint' />
</RobotNode>
@@ -750,24 +758,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='245' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='245' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.14'/>
- <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6'/>
+ <Mass unit='kg' value='0.14' />
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6' />
<InertiaMatrix>
- <row1 c1='3.0625' c2='0' c3='0'/>
- <row2 c1='0' c2='3.0625' c3='0'/>
- <row3 c1='0' c2='0' c3='0.636804'/>
+ <row1 c1='3.0625' c2='0' c3='0' />
+ <row2 c1='0' c2='3.0625' c3='0' />
+ <row3 c1='0' c2='0' c3='0.636804' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LKsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LKNE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -788,19 +797,19 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LKx_joint'/>
+ <Child name='LKx_joint' />
</RobotNode>
<RobotNode name='LKx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-2.26893' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-2.26893' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LAsegment_joint'/>
+ <Child name='LAsegment_joint' />
</RobotNode>
@@ -814,15 +823,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LMrot_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LMT1'>
<Transform>
<Matrix4x4 units='mm'>
@@ -843,7 +853,7 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LFx_joint'/>
+ <Child name='LFx_joint' />
</RobotNode>
@@ -857,15 +867,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='87' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='87' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LSCsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LBAK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -876,53 +887,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSCx_joint'/>
+ <Child name='LSCx_joint' />
</RobotNode>
<RobotNode name='LSCx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSCz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCz_joint' />
</RobotNode>
<RobotNode name='LSCy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LSsegment_joint'/>
+ <Child name='LSsegment_joint' />
</RobotNode>
<RobotNode name='LSCz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSCy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCy_joint' />
</RobotNode>
@@ -936,24 +947,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='23' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='23' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.021'/>
- <CoM location='Custom' x='10' y='4.16334e-14' z='0'/>
+ <Mass unit='kg' value='0.021' />
+ <CoM location='Custom' x='10' y='4.16334e-14' z='0' />
<InertiaMatrix>
- <row1 c1='0.0298116' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0063504' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0298116'/>
+ <row1 c1='0.0298116' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0063504' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0298116' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LSsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LSHO'>
<Transform>
<Matrix4x4 units='mm'>
@@ -964,53 +976,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSx_joint'/>
+ <Child name='LSx_joint' />
</RobotNode>
<RobotNode name='LSx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-1.22173' hi='3.31613' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-1.22173' hi='3.31613' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSz_joint' />
</RobotNode>
<RobotNode name='LSy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LEsegment_joint'/>
+ <Child name='LEsegment_joint' />
</RobotNode>
<RobotNode name='LSz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.22173' hi='1.0472' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.22173' hi='1.0472' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LSy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSy_joint' />
</RobotNode>
@@ -1024,24 +1036,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='145' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='145' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.016'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6'/>
+ <Mass unit='kg' value='0.016' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6' />
<InertiaMatrix>
- <row1 c1='0.0319821' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0340787' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0065229'/>
+ <row1 c1='0.0319821' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0340787' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0065229' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LWsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LFRA'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1072,44 +1085,45 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LWx_joint'/>
+ <Child name='LWx_joint' />
</RobotNode>
<RobotNode name='LWx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.523599' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.523599' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='LWy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='LWy_joint' />
</RobotNode>
<RobotNode name='LWy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.22173' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.22173' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LWy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftHandSegment_joint'/>
- <Child name='LeftFingerJoint50y_joint'/>
- <Child name='LeftFingerJoint31x_joint'/>
- <Child name='LeftFingerJoint21x_joint'/>
- <Child name='LeftFingerJoint11z_joint'/>
- <Child name='LeftFingerJoint40y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftHandSegment_joint' />
+ <Child name='LeftFingerJoint50y_joint' />
+ <Child name='LeftFingerJoint31x_joint' />
+ <Child name='LeftFingerJoint21x_joint' />
+ <Child name='LeftFingerJoint11z_joint' />
+ <Child name='LeftFingerJoint40y_joint' />
</RobotNode>
@@ -1123,13 +1137,13 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='-1' y='0' z='0'/>
- <limits lo='0' hi='15' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='-1' y='0' z='0' />
+ <limits lo='0' hi='15' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftEyeSegmentY_joint'/>
+ <Child name='LeftEyeSegmentY_joint' />
</RobotNode>
@@ -1143,15 +1157,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftEyeSegmentY_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1165,16 +1180,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint11y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint12y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint12y_joint' />
</RobotNode>
@@ -1188,13 +1204,13 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint11y_joint'/>
+ <Child name='LeftFingerJoint11y_joint' />
</RobotNode>
@@ -1208,16 +1224,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint12y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint13y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint13y_joint' />
</RobotNode>
@@ -1231,15 +1248,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint13y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1253,28 +1271,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint21y_joint'/>
+ <Child name='LeftFingerJoint21y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint21y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint21y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint22y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint22y_joint' />
</RobotNode>
@@ -1288,16 +1307,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint22y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint23y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint23y_joint' />
</RobotNode>
@@ -1311,15 +1331,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint23y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1333,28 +1354,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint31y_joint'/>
+ <Child name='LeftFingerJoint31y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint31y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint31y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint32y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint32y_joint' />
</RobotNode>
@@ -1368,16 +1390,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint32y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint33y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint33y_joint' />
</RobotNode>
@@ -1391,15 +1414,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint33y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1413,16 +1437,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.0872665' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.0872665' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint40y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint41x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint41x_joint' />
</RobotNode>
@@ -1436,28 +1461,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint41y_joint'/>
+ <Child name='LeftFingerJoint41y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint41y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint41y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint42y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint42y_joint' />
</RobotNode>
@@ -1471,16 +1497,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint42y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint43y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint43y_joint' />
</RobotNode>
@@ -1494,15 +1521,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint43y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1516,16 +1544,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.174533' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.174533' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint50y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint51x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint51x_joint' />
</RobotNode>
@@ -1539,28 +1568,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftFingerJoint51y_joint'/>
+ <Child name='LeftFingerJoint51y_joint' />
</RobotNode>
<RobotNode name='LeftFingerJoint51y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint51y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint52y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint52y_joint' />
</RobotNode>
@@ -1574,16 +1604,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint52y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='LeftFingerJoint53y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='LeftFingerJoint53y_joint' />
</RobotNode>
@@ -1597,15 +1628,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/LeftFingerJoint53y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -1619,19 +1651,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='39' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='39' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.013'/>
- <CoM location='Custom' x='-8.35798e-08' y='25.225' z='19'/>
+ <Mass unit='kg' value='0.013' />
+ <CoM location='Custom' x='-8.35798e-08' y='25.225' z='19' />
<InertiaMatrix>
- <row1 c1='0.0036504' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0111794' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0096393'/>
+ <row1 c1='0.0036504' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0111794' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0096393' />
</InertiaMatrix>
</Physics>
</RobotNode>
@@ -1647,24 +1679,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='108' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='108' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.006'/>
- <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4'/>
+ <Mass unit='kg' value='0.006' />
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4' />
<InertiaMatrix>
- <row1 c1='0.0021869' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0033304' c3='0'/>
- <row3 c1='0' c2='0' c3='0.001283'/>
+ <row1 c1='0.0021869' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0033304' c3='0' />
+ <row3 c1='0' c2='0' c3='0.001283' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/LeftHandSegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_LHPS'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1708,14 +1741,14 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='66' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='66' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='LeftEyeSegmentX_joint'/>
- <Child name='RightEyeSegmentX_joint'/>
+ <Child name='LeftEyeSegmentX_joint' />
+ <Child name='RightEyeSegmentX_joint' />
</RobotNode>
@@ -1729,24 +1762,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='246' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='246' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.04'/>
- <CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5'/>
+ <Mass unit='kg' value='0.04' />
+ <CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5' />
<InertiaMatrix>
- <row1 c1='0.237419' c2='0' c3='0'/>
- <row2 c1='0' c2='0.256481' c3='0'/>
- <row3 c1='0' c2='0' c3='0.040572'/>
+ <row1 c1='0.237419' c2='0' c3='0' />
+ <row2 c1='0' c2='0.256481' c3='0' />
+ <row3 c1='0' c2='0' c3='0.040572' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RAsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RTIP'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1757,38 +1791,39 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RAx_joint'/>
+ <Child name='RAx_joint' />
</RobotNode>
<RobotNode name='RAx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.698132' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.698132' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RAz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAz_joint' />
</RobotNode>
<RobotNode name='RAy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RAy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RANK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1809,25 +1844,25 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RightFootHeight_joint'/>
- <Child name='RMrot_joint'/>
+ <Child name='RightFootHeight_joint' />
+ <Child name='RMrot_joint' />
</RobotNode>
<RobotNode name='RAz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.523599' hi='0.523599' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.523599' hi='0.523599' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RAy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAy_joint' />
</RobotNode>
@@ -1841,24 +1876,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.027'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106'/>
+ <Mass unit='kg' value='0.027' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106' />
<InertiaMatrix>
- <row1 c1='0.0837755' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0940772' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0287506'/>
+ <row1 c1='0.0837755' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0940772' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0287506' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/REsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RAEL'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1889,36 +1925,36 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='REx_joint'/>
+ <Child name='REx_joint' />
</RobotNode>
<RobotNode name='REx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='2.79253' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='2.79253' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='REz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='REz_joint' />
</RobotNode>
<RobotNode name='REz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.5708' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.5708' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RWsegment_joint'/>
+ <Child name='RWsegment_joint' />
</RobotNode>
@@ -1932,15 +1968,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RFx_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RTOE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -1964,15 +2001,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='52' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='52' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RHsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RASI'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2003,53 +2041,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RHx_joint'/>
+ <Child name='RHx_joint' />
</RobotNode>
<RobotNode name='RHx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.872665' hi='1.65806' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.872665' hi='1.65806' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RHz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHz_joint' />
</RobotNode>
<RobotNode name='RHy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.13446' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.13446' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RKsegment_joint'/>
+ <Child name='RKsegment_joint' />
</RobotNode>
<RobotNode name='RHz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RHy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHy_joint' />
</RobotNode>
@@ -2063,24 +2101,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='245' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='245' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.14'/>
- <CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6'/>
+ <Mass unit='kg' value='0.14' />
+ <CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6' />
<InertiaMatrix>
- <row1 c1='3.0625' c2='0' c3='0'/>
- <row2 c1='0' c2='3.0625' c3='0'/>
- <row3 c1='0' c2='0' c3='0.636804'/>
+ <row1 c1='3.0625' c2='0' c3='0' />
+ <row2 c1='0' c2='3.0625' c3='0' />
+ <row3 c1='0' c2='0' c3='0.636804' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RKsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RKNE'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2101,19 +2140,19 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RKx_joint'/>
+ <Child name='RKx_joint' />
</RobotNode>
<RobotNode name='RKx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-2.26893' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-2.26893' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RAsegment_joint'/>
+ <Child name='RAsegment_joint' />
</RobotNode>
@@ -2127,15 +2166,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.261799' hi='0.261799' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.261799' hi='0.261799' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RMrot_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RMT1'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2156,7 +2196,7 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RFx_joint'/>
+ <Child name='RFx_joint' />
</RobotNode>
@@ -2170,15 +2210,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='87' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='87' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RSCsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RBAK'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2189,53 +2230,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RSCx_joint'/>
+ <Child name='RSCx_joint' />
</RobotNode>
<RobotNode name='RSCx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSCz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCz_joint' />
</RobotNode>
<RobotNode name='RSCy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RSsegment_joint'/>
+ <Child name='RSsegment_joint' />
</RobotNode>
<RobotNode name='RSCz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-0.349066' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-0.349066' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSCy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCy_joint' />
</RobotNode>
@@ -2249,24 +2290,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='23' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='23' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.021'/>
- <CoM location='Custom' x='-10' y='4.16334e-14' z='0'/>
+ <Mass unit='kg' value='0.021' />
+ <CoM location='Custom' x='-10' y='4.16334e-14' z='0' />
<InertiaMatrix>
- <row1 c1='0.0298116' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0063504' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0298116'/>
+ <row1 c1='0.0298116' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0063504' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0298116' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RSsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RSHO'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2277,53 +2319,53 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RSx_joint'/>
+ <Child name='RSx_joint' />
</RobotNode>
<RobotNode name='RSx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-1.22173' hi='3.31613' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-1.22173' hi='3.31613' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSz_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSz_joint' />
</RobotNode>
<RobotNode name='RSy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-2.79253' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-2.79253' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='REsegment_joint'/>
+ <Child name='REsegment_joint' />
</RobotNode>
<RobotNode name='RSz_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='-1.0472' hi='1.22173' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='-1.0472' hi='1.22173' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RSy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSy_joint' />
</RobotNode>
@@ -2337,24 +2379,25 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='145' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='145' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.016'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6'/>
+ <Mass unit='kg' value='0.016' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6' />
<InertiaMatrix>
- <row1 c1='0.0319821' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0340787' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0065229'/>
+ <row1 c1='0.0319821' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0340787' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0065229' />
</InertiaMatrix>
</Physics>
<Visualization>
<File type='inventor'>./models/RWsegment_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
<Sensor type='position' name='MARKER_RFRA'>
<Transform>
<Matrix4x4 units='mm'>
@@ -2385,44 +2428,45 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='RWx_joint'/>
+ <Child name='RWx_joint' />
</RobotNode>
<RobotNode name='RWx_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.523599' hi='0.349066' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.523599' hi='0.349066' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<CollisionModel>
- <Primitives>
- <Box width="10" height="10" depth="10"/>
- </Primitives>
- </CollisionModel>
- <Child name='RWy_joint'/>
+ <Primitives>
+ <Box width="10" height="10" depth="10" />
+ </Primitives>
+ </CollisionModel>
+ <Child name='RWy_joint' />
</RobotNode>
<RobotNode name='RWy_joint'>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-1.5708' hi='1.22173' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-1.5708' hi='1.22173' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RWy_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint21x_joint'/>
- <Child name='RightHandSegment_joint'/>
- <Child name='RightFingerJoint11z_joint'/>
- <Child name='RightFingerJoint31x_joint'/>
- <Child name='RightFingerJoint40y_joint'/>
- <Child name='RightFingerJoint50y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint21x_joint' />
+ <Child name='RightHandSegment_joint' />
+ <Child name='RightFingerJoint11z_joint' />
+ <Child name='RightFingerJoint31x_joint' />
+ <Child name='RightFingerJoint40y_joint' />
+ <Child name='RightFingerJoint50y_joint' />
</RobotNode>
@@ -2436,13 +2480,13 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='1' y='0' z='0'/>
- <limits lo='0' hi='15' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='1' y='0' z='0' />
+ <limits lo='0' hi='15' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightEyeSegmentY_joint'/>
+ <Child name='RightEyeSegmentY_joint' />
</RobotNode>
@@ -2456,15 +2500,16 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='30' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='30' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightEyeSegmentY_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2478,16 +2523,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint11y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint12y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint12y_joint' />
</RobotNode>
@@ -2501,13 +2547,13 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint11y_joint'/>
+ <Child name='RightFingerJoint11y_joint' />
</RobotNode>
@@ -2521,16 +2567,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint12y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint13y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint13y_joint' />
</RobotNode>
@@ -2544,15 +2591,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint13y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2566,28 +2614,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint21y_joint'/>
+ <Child name='RightFingerJoint21y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint21y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint21y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint22y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint22y_joint' />
</RobotNode>
@@ -2601,16 +2650,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint22y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint23y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint23y_joint' />
</RobotNode>
@@ -2624,15 +2674,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint23y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2646,28 +2697,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint31y_joint'/>
+ <Child name='RightFingerJoint31y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint31y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint31y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint32y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint32y_joint' />
</RobotNode>
@@ -2681,16 +2733,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint32y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint33y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint33y_joint' />
</RobotNode>
@@ -2704,15 +2757,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint33y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2726,16 +2780,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.0872665' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.0872665' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint40y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint41x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint41x_joint' />
</RobotNode>
@@ -2749,28 +2804,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint41y_joint'/>
+ <Child name='RightFingerJoint41y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint41y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint41y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint42y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint42y_joint' />
</RobotNode>
@@ -2784,16 +2840,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint42y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint43y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint43y_joint' />
</RobotNode>
@@ -2807,15 +2864,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint43y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2829,16 +2887,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='0.174533' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='0.174533' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint50y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint51x_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint51x_joint' />
</RobotNode>
@@ -2852,28 +2911,29 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='0' y='1' z='0'/>
- <limits lo='-0.785398' hi='0.785398' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='1' z='0' />
+ <limits lo='-0.785398' hi='0.785398' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='RightFingerJoint51y_joint'/>
+ <Child name='RightFingerJoint51y_joint' />
</RobotNode>
<RobotNode name='RightFingerJoint51y_joint'>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint51y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint52y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint52y_joint' />
</RobotNode>
@@ -2887,16 +2947,17 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint52y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
- <Child name='RightFingerJoint53y_joint'/>
+ <UseAsCollisionModel />
+ </Visualization>
+ <Child name='RightFingerJoint53y_joint' />
</RobotNode>
@@ -2910,15 +2971,16 @@
</Matrix4x4>
</Transform>
<Joint type='revolute'>
- <axis x='1' y='0' z='0'/>
- <limits lo='0' hi='1.5708' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='1' y='0' z='0' />
+ <limits lo='0' hi='1.5708' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Visualization>
<File type='inventor'>./models/RightFingerJoint53y_joint_visu.wrl</File>
- <UseAsCollisionModel/></Visualization>
+ <UseAsCollisionModel />
+ </Visualization>
</RobotNode>
@@ -2932,22 +2994,22 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='39' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='39' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.013'/>
- <CoM location='Custom' x='-8.35776e-08' y='25.225' z='19'/>
+ <Mass unit='kg' value='0.013' />
+ <CoM location='Custom' x='-8.35776e-08' y='25.225' z='19' />
<InertiaMatrix>
- <row1 c1='0.0036504' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0111794' c3='0'/>
- <row3 c1='0' c2='0' c3='0.0096393'/>
+ <row1 c1='0.0036504' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0111794' c3='0' />
+ <row3 c1='0' c2='0' c3='0.0096393' />
</InertiaMatrix>
</Physics>
- <Child name='RightFootLength_joint'/>
+ <Child name='RightFootLength_joint' />
</RobotNode>
@@ -2961,11 +3023,11 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='1' z='0'/>
- <limits lo='0' hi='68' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='1' z='0' />
+ <limits lo='0' hi='68' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
</RobotNode>
@@ -2980,19 +3042,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='-1'/>
- <limits lo='0' hi='108' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='-1' />
+ <limits lo='0' hi='108' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.006'/>
- <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4'/>
+ <Mass unit='kg' value='0.006' />
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4' />
<InertiaMatrix>
- <row1 c1='0.0021869' c2='0' c3='0'/>
- <row2 c1='0' c2='0.0033304' c3='0'/>
- <row3 c1='0' c2='0' c3='0.001283'/>
+ <row1 c1='0.0021869' c2='0' c3='0' />
+ <row2 c1='0' c2='0.0033304' c3='0' />
+ <row3 c1='0' c2='0' c3='0.001283' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_RHPS'>
@@ -3038,19 +3100,19 @@
</Matrix4x4>
</Transform>
<Joint type='prismatic'>
- <translationdirection x='0' y='0' z='1'/>
- <limits lo='0' hi='188' units='mm'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <translationdirection x='0' y='0' z='1' />
+ <limits lo='0' hi='188' units='mm' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
<Physics>
- <Mass unit='kg' value='0.17'/>
- <CoM location='Custom' x='0' y='3.33729e-08' z='-33.84'/>
+ <Mass unit='kg' value='0.17' />
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.84' />
<InertiaMatrix>
- <row1 c1='6.37245' c2='0' c3='0'/>
- <row2 c1='0' c2='5.09635' c3='0'/>
- <row3 c1='0' c2='0' c3='4.22532'/>
+ <row1 c1='6.37245' c2='0' c3='0' />
+ <row2 c1='0' c2='5.09635' c3='0' />
+ <row3 c1='0' c2='0' c3='4.22532' />
</InertiaMatrix>
</Physics>
<Sensor type='position' name='MARKER_STRN'>
@@ -3073,504 +3135,501 @@
</Matrix4x4>
</Transform>
</Sensor>
- <Child name='LSCsegment_joint'/>
- <Child name='RSCsegment_joint'/>
- <Child name='BLNsegment_joint'/>
+ <Child name='LSCsegment_joint' />
+ <Child name='RSCsegment_joint' />
+ <Child name='BLNsegment_joint' />
</RobotNode>
<RobotNode name='root_joint'>
<Joint type='revolute'>
- <axis x='0' y='0' z='1'/>
- <limits lo='0' hi='0' units='radian'/>
- <MaxAcceleration value='-1'/>
- <MaxVelocity value='-1'/>
- <MaxTorque value='-1'/>
+ <axis x='0' y='0' z='1' />
+ <limits lo='0' hi='0' units='radian' />
+ <MaxAcceleration value='-1' />
+ <MaxVelocity value='-1' />
+ <MaxTorque value='-1' />
</Joint>
- <Child name='BPSegment_joint'/>
- <Child name='LHsegment_joint'/>
- <Child name='RHsegment_joint'/>
+ <Child name='BPSegment_joint' />
+ <Child name='LHsegment_joint' />
+ <Child name='RHsegment_joint' />
</RobotNode>
-
<RobotNodeSet name='All'>
- <Node name='root_joint'/>
- <Node name='BPSegment_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTSegment_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='collarSegment_joint'/>
- <Node name='LSCsegment_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSsegment_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEsegment_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWsegment_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='LeftHandSegment_joint'/>
- <Node name='LeftFingerJoint50y_joint'/>
- <Node name='LeftFingerJoint51x_joint'/>
- <Node name='LeftFingerJoint51y_joint'/>
- <Node name='LeftFingerJoint52y_joint'/>
- <Node name='LeftFingerJoint53y_joint'/>
- <Node name='LeftFingerJoint31x_joint'/>
- <Node name='LeftFingerJoint31y_joint'/>
- <Node name='LeftFingerJoint32y_joint'/>
- <Node name='LeftFingerJoint33y_joint'/>
- <Node name='LeftFingerJoint21x_joint'/>
- <Node name='LeftFingerJoint21y_joint'/>
- <Node name='LeftFingerJoint22y_joint'/>
- <Node name='LeftFingerJoint23y_joint'/>
- <Node name='LeftFingerJoint11z_joint'/>
- <Node name='LeftFingerJoint11y_joint'/>
- <Node name='LeftFingerJoint12y_joint'/>
- <Node name='LeftFingerJoint13y_joint'/>
- <Node name='LeftFingerJoint40y_joint'/>
- <Node name='LeftFingerJoint41x_joint'/>
- <Node name='LeftFingerJoint41y_joint'/>
- <Node name='LeftFingerJoint42y_joint'/>
- <Node name='LeftFingerJoint43y_joint'/>
- <Node name='RSCsegment_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSsegment_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REsegment_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWsegment_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='RightFingerJoint21x_joint'/>
- <Node name='RightFingerJoint21y_joint'/>
- <Node name='RightFingerJoint22y_joint'/>
- <Node name='RightFingerJoint23y_joint'/>
- <Node name='RightHandSegment_joint'/>
- <Node name='RightFingerJoint11z_joint'/>
- <Node name='RightFingerJoint11y_joint'/>
- <Node name='RightFingerJoint12y_joint'/>
- <Node name='RightFingerJoint13y_joint'/>
- <Node name='RightFingerJoint31x_joint'/>
- <Node name='RightFingerJoint31y_joint'/>
- <Node name='RightFingerJoint32y_joint'/>
- <Node name='RightFingerJoint33y_joint'/>
- <Node name='RightFingerJoint40y_joint'/>
- <Node name='RightFingerJoint41x_joint'/>
- <Node name='RightFingerJoint41y_joint'/>
- <Node name='RightFingerJoint42y_joint'/>
- <Node name='RightFingerJoint43y_joint'/>
- <Node name='RightFingerJoint50y_joint'/>
- <Node name='RightFingerJoint51x_joint'/>
- <Node name='RightFingerJoint51y_joint'/>
- <Node name='RightFingerJoint52y_joint'/>
- <Node name='RightFingerJoint53y_joint'/>
- <Node name='BLNsegment_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNsegment_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='MidHeadSegment_joint'/>
- <Node name='LeftEyeSegmentX_joint'/>
- <Node name='LeftEyeSegmentY_joint'/>
- <Node name='RightEyeSegmentX_joint'/>
- <Node name='RightEyeSegmentY_joint'/>
- <Node name='HeadSegment_joint'/>
- <Node name='LHsegment_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKsegment_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAsegment_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LeftFootHeight_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHsegment_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKsegment_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAsegment_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RightFootHeight_joint'/>
- <Node name='RightFootLength_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
+ <Node name='root_joint' />
+ <Node name='BPSegment_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTSegment_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='collarSegment_joint' />
+ <Node name='LSCsegment_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSsegment_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEsegment_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWsegment_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='LeftHandSegment_joint' />
+ <Node name='LeftFingerJoint50y_joint' />
+ <Node name='LeftFingerJoint51x_joint' />
+ <Node name='LeftFingerJoint51y_joint' />
+ <Node name='LeftFingerJoint52y_joint' />
+ <Node name='LeftFingerJoint53y_joint' />
+ <Node name='LeftFingerJoint31x_joint' />
+ <Node name='LeftFingerJoint31y_joint' />
+ <Node name='LeftFingerJoint32y_joint' />
+ <Node name='LeftFingerJoint33y_joint' />
+ <Node name='LeftFingerJoint21x_joint' />
+ <Node name='LeftFingerJoint21y_joint' />
+ <Node name='LeftFingerJoint22y_joint' />
+ <Node name='LeftFingerJoint23y_joint' />
+ <Node name='LeftFingerJoint11z_joint' />
+ <Node name='LeftFingerJoint11y_joint' />
+ <Node name='LeftFingerJoint12y_joint' />
+ <Node name='LeftFingerJoint13y_joint' />
+ <Node name='LeftFingerJoint40y_joint' />
+ <Node name='LeftFingerJoint41x_joint' />
+ <Node name='LeftFingerJoint41y_joint' />
+ <Node name='LeftFingerJoint42y_joint' />
+ <Node name='LeftFingerJoint43y_joint' />
+ <Node name='RSCsegment_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSsegment_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REsegment_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWsegment_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='RightFingerJoint21x_joint' />
+ <Node name='RightFingerJoint21y_joint' />
+ <Node name='RightFingerJoint22y_joint' />
+ <Node name='RightFingerJoint23y_joint' />
+ <Node name='RightHandSegment_joint' />
+ <Node name='RightFingerJoint11z_joint' />
+ <Node name='RightFingerJoint11y_joint' />
+ <Node name='RightFingerJoint12y_joint' />
+ <Node name='RightFingerJoint13y_joint' />
+ <Node name='RightFingerJoint31x_joint' />
+ <Node name='RightFingerJoint31y_joint' />
+ <Node name='RightFingerJoint32y_joint' />
+ <Node name='RightFingerJoint33y_joint' />
+ <Node name='RightFingerJoint40y_joint' />
+ <Node name='RightFingerJoint41x_joint' />
+ <Node name='RightFingerJoint41y_joint' />
+ <Node name='RightFingerJoint42y_joint' />
+ <Node name='RightFingerJoint43y_joint' />
+ <Node name='RightFingerJoint50y_joint' />
+ <Node name='RightFingerJoint51x_joint' />
+ <Node name='RightFingerJoint51y_joint' />
+ <Node name='RightFingerJoint52y_joint' />
+ <Node name='RightFingerJoint53y_joint' />
+ <Node name='BLNsegment_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNsegment_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='MidHeadSegment_joint' />
+ <Node name='LeftEyeSegmentX_joint' />
+ <Node name='LeftEyeSegmentY_joint' />
+ <Node name='RightEyeSegmentX_joint' />
+ <Node name='RightEyeSegmentY_joint' />
+ <Node name='HeadSegment_joint' />
+ <Node name='LHsegment_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKsegment_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAsegment_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LeftFootHeight_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHsegment_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKsegment_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAsegment_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RightFootHeight_joint' />
+ <Node name='RightFootLength_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
</RobotNodeSet>
<RobotNodeSet name='Joints_Prismatic'>
- <Node name='BPSegment_joint'/>
- <Node name='BTSegment_joint'/>
- <Node name='collarSegment_joint'/>
- <Node name='LSCsegment_joint'/>
- <Node name='LSsegment_joint'/>
- <Node name='LEsegment_joint'/>
- <Node name='LWsegment_joint'/>
- <Node name='LeftHandSegment_joint'/>
- <Node name='RSCsegment_joint'/>
- <Node name='RSsegment_joint'/>
- <Node name='REsegment_joint'/>
- <Node name='RWsegment_joint'/>
- <Node name='RightHandSegment_joint'/>
- <Node name='BLNsegment_joint'/>
- <Node name='BUNsegment_joint'/>
- <Node name='MidHeadSegment_joint'/>
- <Node name='LeftEyeSegmentX_joint'/>
- <Node name='LeftEyeSegmentY_joint'/>
- <Node name='RightEyeSegmentX_joint'/>
- <Node name='RightEyeSegmentY_joint'/>
- <Node name='HeadSegment_joint'/>
- <Node name='LHsegment_joint'/>
- <Node name='LKsegment_joint'/>
- <Node name='LAsegment_joint'/>
- <Node name='LeftFootHeight_joint'/>
- <Node name='RHsegment_joint'/>
- <Node name='RKsegment_joint'/>
- <Node name='RAsegment_joint'/>
- <Node name='RightFootHeight_joint'/>
- <Node name='RightFootLength_joint'/>
+ <Node name='BPSegment_joint' />
+ <Node name='BTSegment_joint' />
+ <Node name='collarSegment_joint' />
+ <Node name='LSCsegment_joint' />
+ <Node name='LSsegment_joint' />
+ <Node name='LEsegment_joint' />
+ <Node name='LWsegment_joint' />
+ <Node name='LeftHandSegment_joint' />
+ <Node name='RSCsegment_joint' />
+ <Node name='RSsegment_joint' />
+ <Node name='REsegment_joint' />
+ <Node name='RWsegment_joint' />
+ <Node name='RightHandSegment_joint' />
+ <Node name='BLNsegment_joint' />
+ <Node name='BUNsegment_joint' />
+ <Node name='MidHeadSegment_joint' />
+ <Node name='LeftEyeSegmentX_joint' />
+ <Node name='LeftEyeSegmentY_joint' />
+ <Node name='RightEyeSegmentX_joint' />
+ <Node name='RightEyeSegmentY_joint' />
+ <Node name='HeadSegment_joint' />
+ <Node name='LHsegment_joint' />
+ <Node name='LKsegment_joint' />
+ <Node name='LAsegment_joint' />
+ <Node name='LeftFootHeight_joint' />
+ <Node name='RHsegment_joint' />
+ <Node name='RKsegment_joint' />
+ <Node name='RAsegment_joint' />
+ <Node name='RightFootHeight_joint' />
+ <Node name='RightFootLength_joint' />
</RobotNodeSet>
<RobotNodeSet name='Joints_Revolute'>
- <Node name='root_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='LeftFingerJoint50y_joint'/>
- <Node name='LeftFingerJoint51x_joint'/>
- <Node name='LeftFingerJoint51y_joint'/>
- <Node name='LeftFingerJoint52y_joint'/>
- <Node name='LeftFingerJoint53y_joint'/>
- <Node name='LeftFingerJoint31x_joint'/>
- <Node name='LeftFingerJoint31y_joint'/>
- <Node name='LeftFingerJoint32y_joint'/>
- <Node name='LeftFingerJoint33y_joint'/>
- <Node name='LeftFingerJoint21x_joint'/>
- <Node name='LeftFingerJoint21y_joint'/>
- <Node name='LeftFingerJoint22y_joint'/>
- <Node name='LeftFingerJoint23y_joint'/>
- <Node name='LeftFingerJoint11z_joint'/>
- <Node name='LeftFingerJoint11y_joint'/>
- <Node name='LeftFingerJoint12y_joint'/>
- <Node name='LeftFingerJoint13y_joint'/>
- <Node name='LeftFingerJoint40y_joint'/>
- <Node name='LeftFingerJoint41x_joint'/>
- <Node name='LeftFingerJoint41y_joint'/>
- <Node name='LeftFingerJoint42y_joint'/>
- <Node name='LeftFingerJoint43y_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='RightFingerJoint21x_joint'/>
- <Node name='RightFingerJoint21y_joint'/>
- <Node name='RightFingerJoint22y_joint'/>
- <Node name='RightFingerJoint23y_joint'/>
- <Node name='RightFingerJoint11z_joint'/>
- <Node name='RightFingerJoint11y_joint'/>
- <Node name='RightFingerJoint12y_joint'/>
- <Node name='RightFingerJoint13y_joint'/>
- <Node name='RightFingerJoint31x_joint'/>
- <Node name='RightFingerJoint31y_joint'/>
- <Node name='RightFingerJoint32y_joint'/>
- <Node name='RightFingerJoint33y_joint'/>
- <Node name='RightFingerJoint40y_joint'/>
- <Node name='RightFingerJoint41x_joint'/>
- <Node name='RightFingerJoint41y_joint'/>
- <Node name='RightFingerJoint42y_joint'/>
- <Node name='RightFingerJoint43y_joint'/>
- <Node name='RightFingerJoint50y_joint'/>
- <Node name='RightFingerJoint51x_joint'/>
- <Node name='RightFingerJoint51y_joint'/>
- <Node name='RightFingerJoint52y_joint'/>
- <Node name='RightFingerJoint53y_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
+ <Node name='root_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='LeftFingerJoint50y_joint' />
+ <Node name='LeftFingerJoint51x_joint' />
+ <Node name='LeftFingerJoint51y_joint' />
+ <Node name='LeftFingerJoint52y_joint' />
+ <Node name='LeftFingerJoint53y_joint' />
+ <Node name='LeftFingerJoint31x_joint' />
+ <Node name='LeftFingerJoint31y_joint' />
+ <Node name='LeftFingerJoint32y_joint' />
+ <Node name='LeftFingerJoint33y_joint' />
+ <Node name='LeftFingerJoint21x_joint' />
+ <Node name='LeftFingerJoint21y_joint' />
+ <Node name='LeftFingerJoint22y_joint' />
+ <Node name='LeftFingerJoint23y_joint' />
+ <Node name='LeftFingerJoint11z_joint' />
+ <Node name='LeftFingerJoint11y_joint' />
+ <Node name='LeftFingerJoint12y_joint' />
+ <Node name='LeftFingerJoint13y_joint' />
+ <Node name='LeftFingerJoint40y_joint' />
+ <Node name='LeftFingerJoint41x_joint' />
+ <Node name='LeftFingerJoint41y_joint' />
+ <Node name='LeftFingerJoint42y_joint' />
+ <Node name='LeftFingerJoint43y_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='RightFingerJoint21x_joint' />
+ <Node name='RightFingerJoint21y_joint' />
+ <Node name='RightFingerJoint22y_joint' />
+ <Node name='RightFingerJoint23y_joint' />
+ <Node name='RightFingerJoint11z_joint' />
+ <Node name='RightFingerJoint11y_joint' />
+ <Node name='RightFingerJoint12y_joint' />
+ <Node name='RightFingerJoint13y_joint' />
+ <Node name='RightFingerJoint31x_joint' />
+ <Node name='RightFingerJoint31y_joint' />
+ <Node name='RightFingerJoint32y_joint' />
+ <Node name='RightFingerJoint33y_joint' />
+ <Node name='RightFingerJoint40y_joint' />
+ <Node name='RightFingerJoint41x_joint' />
+ <Node name='RightFingerJoint41y_joint' />
+ <Node name='RightFingerJoint42y_joint' />
+ <Node name='RightFingerJoint43y_joint' />
+ <Node name='RightFingerJoint50y_joint' />
+ <Node name='RightFingerJoint51x_joint' />
+ <Node name='RightFingerJoint51y_joint' />
+ <Node name='RightFingerJoint52y_joint' />
+ <Node name='RightFingerJoint53y_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
</RobotNodeSet>
+ <RobotNodeSet name='MMMJoints'>
+ <Node name='root_joint' />
+ <Node name='BPx_joint' />
+ <Node name='BPz_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ <Node name='BLNx_joint' />
+ <Node name='BLNz_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BUNx_joint' />
+ <Node name='BUNz_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='LHx_joint' />
+ <Node name='LHz_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LKx_joint' />
+ <Node name='LAx_joint' />
+ <Node name='LAz_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LMrot_joint' />
+ <Node name='LFx_joint' />
+ <Node name='RHx_joint' />
+ <Node name='RHz_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RKx_joint' />
+ <Node name='RAx_joint' />
+ <Node name='RAz_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RMrot_joint' />
+ <Node name='RFx_joint' />
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
- <RobotNodeSet name='MMMJoints'>
- <Node name='root_joint'/>
- <Node name='BPx_joint'/>
- <Node name='BPz_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- <Node name='BLNx_joint'/>
- <Node name='BLNz_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BUNx_joint'/>
- <Node name='BUNz_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='LHx_joint'/>
- <Node name='LHz_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LKx_joint'/>
- <Node name='LAx_joint'/>
- <Node name='LAz_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LMrot_joint'/>
- <Node name='LFx_joint'/>
- <Node name='RHx_joint'/>
- <Node name='RHz_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RKx_joint'/>
- <Node name='RAx_joint'/>
- <Node name='RAz_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RMrot_joint'/>
- <Node name='RFx_joint'/>
- </RobotNodeSet>
-
-
- <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- </RobotNodeSet>
-
-
-
- <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
- <Node name='LSCx_joint'/>
- <Node name='LSCz_joint'/>
- <Node name='LSCy_joint'/>
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
- </RobotNodeSet>
+
+ <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
+ <Node name='LSCx_joint' />
+ <Node name='LSCz_joint' />
+ <Node name='LSCy_joint' />
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
<RobotNodeSet name="LeftArm-7dof" kinematicRoot="LSsegment_joint" tcp="LeftHandSegment_joint">
- <Node name='LSx_joint'/>
- <Node name='LSz_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
+ <Node name='LSx_joint' />
+ <Node name='LSz_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+ </RobotNodeSet>
+
+ <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
+ <Node name='BTx_joint' />
+ <Node name='BTz_joint' />
+ <Node name='BTy_joint' />
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
</RobotNodeSet>
- <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
- <Node name='BTx_joint'/>
- <Node name='BTz_joint'/>
- <Node name='BTy_joint'/>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- </RobotNodeSet>
-
- <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
- <Node name='RSCx_joint'/>
- <Node name='RSCz_joint'/>
- <Node name='RSCy_joint'/>
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
- </RobotNodeSet>
+ <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
+ <Node name='RSCx_joint' />
+ <Node name='RSCz_joint' />
+ <Node name='RSCy_joint' />
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+ </RobotNodeSet>
<RobotNodeSet name="RightArm-7dof" kinematicRoot="RSsegment_joint" tcp="RightHandSegment_joint">
- <Node name='RSx_joint'/>
- <Node name='RSz_joint'/>
- <Node name='RSy_joint'/>
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
+ <Node name='RSx_joint' />
+ <Node name='RSz_joint' />
+ <Node name='RSy_joint' />
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
</RobotNodeSet>
- <RobotNodeSet name='Optimization'>
- <!-- Neck -->
- <Node name='BLNx_joint'/>
- <Node name='BLNy_joint'/>
- <Node name='BLNz_joint'/>
-
- <!-- Pelvis -->
- <Node name='BPx_joint'/>
- <Node name='BPy_joint'/>
- <Node name='BPz_joint'/>
-
- <!-- Torso -->
- <Node name='BTx_joint'/>
- <Node name='BTy_joint'/>
- <Node name='BTz_joint'/>
-
- <!-- Head -->
- <Node name='BUNx_joint'/>
- <Node name='BUNy_joint'/>
- <Node name='BUNz_joint'/>
-
- <!-- Left Ankle -->
- <Node name='LAx_joint'/>
- <Node name='LAy_joint'/>
- <Node name='LAz_joint'/>
-
- <!-- Left Elbow -->
- <Node name='LEx_joint'/>
- <Node name='LEz_joint'/>
-
- <!-- Left Hip -->
- <Node name='LHx_joint'/>
- <Node name='LHy_joint'/>
- <Node name='LHz_joint'/>
-
- <!-- Left Knee -->
- <Node name='LKx_joint'/>
-
- <!-- Left Shoulder Outer -->
- <Node name='LSx_joint'/>
- <Node name='LSy_joint'/>
- <Node name='LSz_joint'/>
-
- <!-- Left Wrist -->
- <Node name='LWx_joint'/>
- <Node name='LWy_joint'/>
-
- <!-- Left Foot -->
- <Node name='LFx_joint'/>
- <Node name='LMrot_joint'/>
-
- <!-- Right Ankle -->
- <Node name='RAx_joint'/>
- <Node name='RAy_joint'/>
- <Node name='RAz_joint'/>
-
- <!-- Right Elbow -->
- <Node name='REx_joint'/>
- <Node name='REz_joint'/>
-
- <!-- Right Hip -->
- <Node name='RHx_joint'/>
- <Node name='RHy_joint'/>
- <Node name='RHz_joint'/>
-
- <!-- Right Knee -->
- <Node name='RKx_joint'/>
-
- <!-- Right Shoulder Outer -->
- <Node name='RSx_joint'/>
- <Node name='RSy_joint'/>
- <Node name='RSz_joint'/>
-
- <!-- Right Wrist -->
- <Node name='RWx_joint'/>
- <Node name='RWy_joint'/>
-
- <!-- Right Foot -->
- <Node name='RFx_joint'/>
- <Node name='RMrot_joint'/>
- </RobotNodeSet>
+ <RobotNodeSet name='Optimization'>
+ <!-- Neck -->
+ <Node name='BLNx_joint' />
+ <Node name='BLNy_joint' />
+ <Node name='BLNz_joint' />
+
+ <!-- Pelvis -->
+ <Node name='BPx_joint' />
+ <Node name='BPy_joint' />
+ <Node name='BPz_joint' />
+
+ <!-- Torso -->
+ <Node name='BTx_joint' />
+ <Node name='BTy_joint' />
+ <Node name='BTz_joint' />
+
+ <!-- Head -->
+ <Node name='BUNx_joint' />
+ <Node name='BUNy_joint' />
+ <Node name='BUNz_joint' />
+
+ <!-- Left Ankle -->
+ <Node name='LAx_joint' />
+ <Node name='LAy_joint' />
+ <Node name='LAz_joint' />
+
+ <!-- Left Elbow -->
+ <Node name='LEx_joint' />
+ <Node name='LEz_joint' />
+
+ <!-- Left Hip -->
+ <Node name='LHx_joint' />
+ <Node name='LHy_joint' />
+ <Node name='LHz_joint' />
+
+ <!-- Left Knee -->
+ <Node name='LKx_joint' />
+
+ <!-- Left Shoulder Outer -->
+ <Node name='LSx_joint' />
+ <Node name='LSy_joint' />
+ <Node name='LSz_joint' />
+
+ <!-- Left Wrist -->
+ <Node name='LWx_joint' />
+ <Node name='LWy_joint' />
+
+ <!-- Left Foot -->
+ <Node name='LFx_joint' />
+ <Node name='LMrot_joint' />
+
+ <!-- Right Ankle -->
+ <Node name='RAx_joint' />
+ <Node name='RAy_joint' />
+ <Node name='RAz_joint' />
+
+ <!-- Right Elbow -->
+ <Node name='REx_joint' />
+ <Node name='REz_joint' />
+
+ <!-- Right Hip -->
+ <Node name='RHx_joint' />
+ <Node name='RHy_joint' />
+ <Node name='RHz_joint' />
+
+ <!-- Right Knee -->
+ <Node name='RKx_joint' />
+
+ <!-- Right Shoulder Outer -->
+ <Node name='RSx_joint' />
+ <Node name='RSy_joint' />
+ <Node name='RSz_joint' />
+
+ <!-- Right Wrist -->
+ <Node name='RWx_joint' />
+ <Node name='RWy_joint' />
+
+ <!-- Right Foot -->
+ <Node name='RFx_joint' />
+ <Node name='RMrot_joint' />
+ </RobotNodeSet>
</Robot>
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 7fea318b5249b557e92cb1e207f3f04e0de70321..f4854b20d1f62ffff23e7f441d24a736f90ec8c9 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -31,6 +31,7 @@
#include <opencv2/imgproc.hpp>
#include <opencv2/opencv.hpp>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/color/cmaps.h>
#include <SimoxUtility/math/pose/pose.h>
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
index c5e6486e7ded27538c715f1ba48531a1fd552b1f..ca3344af472d7fc3ee8b4b2e02a9134d5a05c892 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
@@ -22,6 +22,8 @@
#pragma once
+#include <mutex>
+
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/time/Frequency.h>
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
index 6dcea52a55191f03716aea507d13cd6c831d8d87..4b3e23d3e5c4c24224d44893ee446b8d5f833f1c 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
@@ -1,5 +1,6 @@
#include "Callback.h"
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/String.h"
namespace armarx::skills::provider
{
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
index 1fdaaa9630a09ab4a73f83fc05fa065fd0663e4d..7ba61b702daed837495375e5afeeec47b695cda9 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/EditMatrixWidget.h
@@ -6,6 +6,7 @@
#include <QObject>
#include <QTreeWidgetItem>
#include <QVBoxLayout>
+#include <SimoxUtility/algorithm/string/string_conversion.h>
#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp
index bfe1be2bf154768ae5ff49eff04d13caf492d133..768d907b7bb7e81576a5a50c9e9bfe5e353383e1 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/IntEnumWidget.cpp
@@ -1,6 +1,7 @@
#include "IntEnumWidget.h"
#include <QHBoxLayout>
+#include <SimoxUtility/algorithm/string/string_conversion.h>
#include "RobotAPI/libraries/aron/core/type/variant/All.h"
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
index b1d6fa3b946a704b180109c2598b663e2ba03bad..7ba00d9da9f38fa7975ff67cd2096e30b30cbbbc 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.cpp
@@ -3,6 +3,8 @@
#include <QHBoxLayout>
#include <QLabel>
#include <QLineEdit>
+#include <RobotAPI/interface/aron/Aron.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include "../../ColorPalettes.h"
#include "NDArrayHelper.h"
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
index d55d2bba35e2712d1d161c83ed86b06b300bcf2d..e1fca223ef52042b8174231d2d0eaf320efcf158 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/QuaternionWidget.h
@@ -1,11 +1,14 @@
#pragma once
+
+#include <cmath>
#include <vector>
#include <QLineEdit>
#include <QObject>
#include <QVBoxLayout>
-
-#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
+#include <SimoxUtility/algorithm/string/string_conversion.h>
+#include <SimoxUtility/error/SimoxError.h>
+#include <RobotAPI/interface/aron/Aron.h>
#include "CustomWidget.h"
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
index 036e0530c19328397c13f6a1e4b6975047cfd71b..c67e2f98dbdaf9c555890be875b4624075428fa4 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
@@ -1,5 +1,6 @@
#include "RequestedObjects.h"
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -24,8 +25,11 @@ namespace armarx::objpose
void RequestedObjects::requestObjects(
const std::vector<armarx::ObjectID>& objectIDs, IceUtil::Time relativeTimeout)
{
+ ARMARX_INFO << VAROUT(relativeTimeout.toMilliSeconds());
+
if (relativeTimeout.toMilliSeconds() < 0)
{
+ ARMARX_INFO << "Infite localization request for object ids :" << objectIDs;
for (const auto& id : objectIDs)
{
infiniteRequests.push_back(id);
@@ -33,6 +37,8 @@ namespace armarx::objpose
}
else
{
+ ARMARX_INFO << "Localization request for " << relativeTimeout << " for object ids :" << objectIDs;
+
IceUtil::Time absoluteTimeout = TimeUtil::GetTime() + relativeTimeout;
Request req;
req.objectIDs = objectIDs;
@@ -48,8 +54,19 @@ namespace armarx::objpose
RequestedObjects::Update RequestedObjects::updateRequestedObjects(IceUtil::Time now)
{
// Remove requests with timeout.
- while (currentRequests.size() > 0 && currentRequests.begin()->first <= now)
+
+ if(not currentRequests.empty())
{
+ ARMARX_INFO << currentRequests.begin()->first - now;
+ }
+
+ while (not currentRequests.empty() and currentRequests.begin()->first <= now)
+ {
+ ARMARX_INFO << "No longer localizing objects: ";
+ for (const Request& request : currentRequests.begin()->second)
+ {
+ ARMARX_INFO << request.objectIDs;
+ }
currentRequests.erase(currentRequests.begin());
}
@@ -83,4 +100,3 @@ namespace armarx::objpose
}
}
-
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index d476b25ef2003edeeb183fbe4e74bcd70a6176c0..cffe940bcead2f2875ac88c9daa9ba5abb715c52 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -2,7 +2,6 @@
// STD/STL
-#include <mutex>
#include <optional>
#include <vector>
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryToDebugObserver.cpp b/source/RobotAPI/libraries/armem/client/util/MemoryToDebugObserver.cpp
index 89e2cf20cb7d5786458ed5453ece73749e4783bd..ecad82410f820bcf6c4fbafa67440e9cb4abbaed 100644
--- a/source/RobotAPI/libraries/armem/client/util/MemoryToDebugObserver.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryToDebugObserver.cpp
@@ -21,6 +21,7 @@
*/
#include "MemoryToDebugObserver.h"
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <RobotAPI/libraries/armem/core/error/mns.h>
#include <RobotAPI/libraries/armem/core/json_conversions.h>
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 4950280b340f15c293fdd84d9c9fe25e7b19bf9d..1672554850925c164226123396fd28d681cc9687 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -21,8 +21,6 @@
#pragma once
-#include <mutex>
-
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp b/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
index b0302a5cef0178acec1b539500bb591c9eb684f2..ce8932e546b096d2ee30bdc47244fcb59b77f920 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
@@ -2,8 +2,7 @@
#include "EntityInstance.h"
// STD / STL
-#include <fstream>
-#include <iostream>
+#include <SimoxUtility/algorithm/string/string_tools.h>
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/EntitySnapshot.cpp
index 2f974697368c5a375dd9a27715f06cd1cc49dfaa..175840a0c29a0b2ab96b24172c4b92ddf289a234 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/EntitySnapshot.cpp
@@ -1,10 +1,6 @@
// Header
#include "EntitySnapshot.h"
-// STD / STL
-#include <fstream>
-#include <iostream>
-
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 3450eaaf7fa4ec6bbbc4736cf021fe275354a25a..708926591ad0bc91eec9b259100dad43eba08dee 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -13,6 +13,7 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/LoggingUtil.h>
#include <ArmarXCore/core/time.h>
+#include <ArmarXCore/interface/core/UserException.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/operations.h>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/mongodb.cpp b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/mongodb.cpp
index e1024a0f6333dd1919f9cf2dd7f66336b293b906..08d4b7a5111d33a6c54bd2afb8ab14c85526a535 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/mongodb.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/mongodb.cpp
@@ -1,6 +1,7 @@
#include "mongodb.h"
// Simox
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/json.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
index 00568c75b2d8e69eabd2d56d27a0b99e1744bcd6..83413578f58480e7d19517980623c88159b5985f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
@@ -1,6 +1,7 @@
#include "Processors.h"
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/interface/core/UserException.h>
#include "converter/data/image/exr/ExrConverter.h"
#include "converter/data/image/png/PngConverter.h"
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
index ab4750e34435213bd5db7541012fe8e21a7bb2bb..9cf9edee2467c7950002397cd6d5304cc47a462f 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
@@ -1,8 +1,9 @@
#include "KnownGraspCandidateReader.h"
-#include <mutex>
#include <optional>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/logging/Logging.h>
@@ -13,9 +14,6 @@
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-// #include <RobotAPI/libraries/armem_robot_state/aron/Robot.aron.generated.h>
-// #include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
-// #include <RobotAPI/libraries/armem_robot_state/robot_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
namespace armarx::armem::grasping::known_grasps
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index bfa97db1e1afe59d2bd03bc47af21ea60fe3968f..fc6c74049d6768053daa7eb8cec2a8553bb0cd9f 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -15,6 +15,7 @@
#include <Ice/Exception.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index 868c315ad5922061332ef323cc2aa0bb346e9958..0b7b737f03b2fd65f11f498f41c5e47c2e7dc5e9 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -8,6 +8,8 @@
#include <QPushButton>
#include <QSpacerItem>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/armem/server/ltm/Memory.h>
diff --git a/source/RobotAPI/libraries/armem_locations/client/Reader.cpp b/source/RobotAPI/libraries/armem_locations/client/Reader.cpp
index 13cc8ff5a3e515e79e80838a875acad24a6186cd..a9bb3a1b19012fdfefd724d4cf65b0eaad7736bb 100644
--- a/source/RobotAPI/libraries/armem_locations/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_locations/client/Reader.cpp
@@ -1,5 +1,7 @@
#include "Reader.h"
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 0085fd3fade1e29d046b22b62887196584332508..764cbdcc8e3a0cbeab1b6dd7b0027f1fcc30f2e9 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -4,6 +4,7 @@
#include <Eigen/Geometry>
#include <VirtualRobot/Robot.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index ac40111242347fc16a1e3557c02206a18377f27b..55a10158299de3cd3a64883ea44fb957bd0c355a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -1,15 +1,15 @@
#include "Reader.h"
-#include <mutex>
#include <optional>
#include <Eigen/Geometry>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include "RobotAPI/libraries/armem/core/Commit.h"
#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
index 184fae2481188bbcc6e6f73a72c1dc47fa42d647..884d85255c22a19d84f72e2041b6134fa06573c9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
@@ -22,6 +22,8 @@
#pragma once
+#include <mutex>
+
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
index 532676cb549e96707873ea36b7646cdec2d724c6..8a6af77010b1105ae66fc81a03a35cbdc1b87cdb 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
@@ -7,6 +7,7 @@
#include <Eigen/Geometry>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/math/pose.h>
#include <SimoxUtility/math/rescale.h>
#include <VirtualRobot/XML/RobotIO.h>
diff --git a/source/RobotAPI/libraries/aron/common/rw/eigen.h b/source/RobotAPI/libraries/aron/common/rw/eigen.h
index fee5d0f9f2e3e2b3f645b1192024f0bb3e8cc18b..848c5e36c950184161fc6c674a5208cfb3825ee9 100644
--- a/source/RobotAPI/libraries/aron/common/rw/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/rw/eigen.h
@@ -1,12 +1,16 @@
#pragma once
+#include <Eigen/Core>
+#include <Eigen/Geometry> // for Quaternion
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include <RobotAPI/libraries/aron/codegeneration_util/TypeName.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/data/rw/Reader.h>
#include <RobotAPI/libraries/aron/core/data/rw/Writer.h>
#include <RobotAPI/libraries/aron/core/type/rw/Writer.h>
-#include "../aron_conversions/eigen.h"
namespace armarx
{
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
index 1e9044cb3beea01195c87629e6464169ed392f43..2f4f97e8c8d1a7cea6a0b84f1408da63d23ee9d5 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
@@ -1,28 +1,11 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <numeric>
-#include <string>
-
-// Memory
-#include <RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h>
-#include <RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h>
-#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>
-#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
-#include <RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <RobotAPI/libraries/aron/core/type/converter/nlohmannJSON/NlohmannJSONConverter.h>
-#include <RobotAPI/libraries/aron/core/type/converter/variant/VariantConverter.h>
-#include <RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/type/rw/reader/variant/VariantReader.h>
-#include <RobotAPI/libraries/aron/core/type/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
-#include <RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>
-
-// JSON
#include <SimoxUtility/json/json.hpp>
+#include <RobotAPI/libraries/aron/core/Path.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/type/variant/forward_declarations.h>
+
namespace armarx::aron::data::converter
{
class AronNlohmannJSONConverter
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
index 957003a9eb4770c896b14439f171f1dfbaa81c75..5ba8c77e0633349727639816d2afa978342d570c 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
@@ -21,11 +21,11 @@
* GNU General Public License
*/
-// STD/STL
+#include "OpenCVConverter.h"
+
#include <numeric>
-// Header
-#include "OpenCVConverter.h"
+#include "RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h"
namespace armarx::aron::data::converter
{
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
index 9b3dcc79cb8a9c82c8e588b332a52d8e742e53f0..a43b018193a146e1bba88d1228d20f3eb584ce23 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
@@ -20,18 +20,14 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-
-// OpenCV
#include <opencv2/core/core.hpp>
-// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/libraries/aron/core/Path.h>
#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
namespace armarx::aron::data::converter
{
diff --git a/source/RobotAPI/libraries/aron/converter/pcl/PCLConverter.h b/source/RobotAPI/libraries/aron/converter/pcl/PCLConverter.h
index 77498aaf815ce7ae3f7736ac4831059bd2adcde2..eae562bf48482e583d9c175a09125a52f9c7225b 100644
--- a/source/RobotAPI/libraries/aron/converter/pcl/PCLConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/pcl/PCLConverter.h
@@ -20,16 +20,12 @@
#pragma once
-// STD/STL
-#include <memory>
#include <numeric>
#include <string>
-// Eigen
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
-// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/interface/aron.h>
diff --git a/source/RobotAPI/libraries/aron/converter/stdstl/StdVectorConverter.h b/source/RobotAPI/libraries/aron/converter/stdstl/StdVectorConverter.h
index 2bc52d046af1186142195bcbc7223a848fa1ecd7..9ed4eb1c30c60ac867a8573b4efd6f1d968a879c 100644
--- a/source/RobotAPI/libraries/aron/converter/stdstl/StdVectorConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/stdstl/StdVectorConverter.h
@@ -21,12 +21,7 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <numeric>
-#include <string>
-// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/interface/aron.h>
diff --git a/source/RobotAPI/libraries/aron/core/Descriptor.h b/source/RobotAPI/libraries/aron/core/Descriptor.h
index 5b386f58376492253e8d7387c0a384def4ffeac6..e2228b3b547c34a8881d8203d7f2db1f7eefb870 100644
--- a/source/RobotAPI/libraries/aron/core/Descriptor.h
+++ b/source/RobotAPI/libraries/aron/core/Descriptor.h
@@ -23,17 +23,10 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <typeindex>
#include <typeinfo>
#include <map>
#include <string>
-// Simox
-#include <SimoxUtility/algorithm/string.h>
-
-// ArmarX
#include <RobotAPI/interface/aron.h>
namespace armarx::aron::conversion::util
diff --git a/source/RobotAPI/libraries/aron/core/Exception.cpp b/source/RobotAPI/libraries/aron/core/Exception.cpp
index c27cbdfd59b8b16efa2f56570e4e98d3a80391a4..7b11ca07ce2bf2df347be03e5bd1a22c722b93ee 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.cpp
+++ b/source/RobotAPI/libraries/aron/core/Exception.cpp
@@ -22,3 +22,107 @@
*/
#include "Exception.h"
+
+armarx::aron::error::AronException::AronException(const std::string& prettymethod,
+ const std::string& reason) :
+ LocalException(prettymethod + ": " + reason + ".")
+{
+}
+
+armarx::aron::error::AronException::AronException(const std::string& prettymethod,
+ const std::string& reason,
+ const Path& path) :
+ LocalException(prettymethod + ": " + reason + ". The path was: " + path.toString())
+{
+}
+
+armarx::aron::error::AronException&
+armarx::aron::error::AronException::operator()(const std::string& additionalMessage)
+{
+ auto currentReason = getReason();
+ if (not additionalMessage.empty())
+ {
+ setReason(currentReason + ". Additional Message: " + additionalMessage);
+ }
+ return *this;
+}
+
+armarx::aron::error::AronEOFException::AronEOFException(const std::string& prettymethod) :
+ AronException(prettymethod,
+ "REACHED THE END OF A NON VOID METHOD. PERHAPS YOU FORGOT TO ADD A VALUE "
+ "TO SOME SWITCH-CASE STATEMEMT?.")
+{
+}
+
+armarx::aron::error::NotImplementedYetException::NotImplementedYetException(
+ const std::string& prettymethod) :
+ AronException(prettymethod, "This method is not yet implemented!")
+{
+}
+
+armarx::aron::error::AronNotValidException::AronNotValidException(
+ const std::string& prettymethod,
+ const std::string& reason,
+ const data::dto::GenericDataPtr& data) :
+ AronException(prettymethod, reason + ". The ice_id of the data was: " + data->ice_id())
+{
+}
+
+armarx::aron::error::AronNotValidException::AronNotValidException(
+ const std::string& prettymethod,
+ const std::string& reason,
+ const data::dto::GenericDataPtr& data,
+ const Path& path) :
+ AronException(prettymethod, reason + ". The ice_id of the data was: " + data->ice_id(), path)
+{
+}
+
+armarx::aron::error::AronNotValidException::AronNotValidException(
+ const std::string& prettymethod,
+ const std::string& reason,
+ const type::dto::GenericTypePtr& type) :
+ AronException(prettymethod, reason + ". The ice_id of the type was: " + type->ice_id())
+{
+}
+
+armarx::aron::error::AronNotValidException::AronNotValidException(
+ const std::string& prettymethod,
+ const std::string& reason,
+ const type::dto::GenericTypePtr& type,
+ const Path& path) :
+ AronException(prettymethod, reason + ". The ice_id of the type was: " + type->ice_id(), path)
+{
+}
+
+armarx::aron::error::ValueNotValidException::ValueNotValidException(const std::string& prettymethod,
+ const std::string& reason,
+ const std::string& input) :
+ AronException(prettymethod, reason + ". Got: " + input)
+{
+}
+
+armarx::aron::error::ValueNotValidException::ValueNotValidException(const std::string& prettymethod,
+ const std::string& reason,
+ const std::string& input,
+ const Path& path) :
+ AronException(prettymethod, reason + ". Got: " + input, path)
+{
+}
+
+armarx::aron::error::ValueNotValidException::ValueNotValidException(
+ const std::string& prettymethod,
+ const std::string& reason,
+ const std::string& input,
+ const std::string& expectation) :
+ AronException(prettymethod, reason + ". Got: " + input + ". Expected: " + expectation)
+{
+}
+
+armarx::aron::error::ValueNotValidException::ValueNotValidException(const std::string& prettymethod,
+ const std::string& reason,
+ const std::string& input,
+ const std::string& expectation,
+ const Path& path) :
+ AronException(prettymethod, reason + ". Got: " + input + ". Expected: " + expectation, path)
+{
+}
diff --git a/source/RobotAPI/libraries/aron/core/Exception.h b/source/RobotAPI/libraries/aron/core/Exception.h
index 49e7ad4444286b115f71f199c553359b97dcdfe4..ef0d2fa2e32567ad3d2fcc56768aa4bdf1c71098 100644
--- a/source/RobotAPI/libraries/aron/core/Exception.h
+++ b/source/RobotAPI/libraries/aron/core/Exception.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-
-// ArmarX
-#include <ArmarXCore/core/exceptions/Exception.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/Path.h>
namespace armarx::aron::error
@@ -44,29 +37,12 @@ namespace armarx::aron::error
public:
AronException() = delete;
- AronException(const std::string& prettymethod, const std::string& reason) :
- LocalException(prettymethod + ": " + reason + ".")
- {
- }
+ AronException(const std::string& prettymethod, const std::string& reason);
- AronException(const std::string& prettymethod,
- const std::string& reason,
- const Path& path) :
- LocalException(prettymethod + ": " + reason + ". The path was: " + path.toString())
- {
- }
+ AronException(const std::string& prettymethod, const std::string& reason, const Path& path);
/// call operator to append a message to the exception. Used by ARMARX_CHECK_AND_THROW
- AronException&
- operator()(const std::string& additionalMessage = "")
- {
- auto currentReason = getReason();
- if (not additionalMessage.empty())
- {
- setReason(currentReason + ". Additional Message: " + additionalMessage);
- }
- return *this;
- }
+ AronException& operator()(const std::string& additionalMessage = "");
};
class AronEOFException : public AronException
@@ -74,12 +50,7 @@ namespace armarx::aron::error
public:
AronEOFException() = delete;
- AronEOFException(const std::string& prettymethod) :
- AronException(prettymethod,
- "REACHED THE END OF A NON VOID METHOD. PERHAPS YOU FORGOT TO ADD A VALUE "
- "TO SOME SWITCH-CASE STATEMEMT?.")
- {
- }
+ AronEOFException(const std::string& prettymethod);
};
/**
@@ -90,10 +61,7 @@ namespace armarx::aron::error
public:
NotImplementedYetException() = delete;
- NotImplementedYetException(const std::string& prettymethod) :
- AronException(prettymethod, "This method is not yet implemented!")
- {
- }
+ NotImplementedYetException(const std::string& prettymethod);
};
/**
@@ -106,37 +74,21 @@ namespace armarx::aron::error
AronNotValidException(const std::string& prettymethod,
const std::string& reason,
- const data::dto::GenericDataPtr& data) :
- AronException(prettymethod, reason + ". The ice_id of the data was: " + data->ice_id())
- {
- }
+ const data::dto::GenericDataPtr& data);
AronNotValidException(const std::string& prettymethod,
const std::string& reason,
const data::dto::GenericDataPtr& data,
- const Path& path) :
- AronException(prettymethod,
- reason + ". The ice_id of the data was: " + data->ice_id(),
- path)
- {
- }
+ const Path& path);
AronNotValidException(const std::string& prettymethod,
const std::string& reason,
- const type::dto::GenericTypePtr& type) :
- AronException(prettymethod, reason + ". The ice_id of the type was: " + type->ice_id())
- {
- }
+ const type::dto::GenericTypePtr& type);
AronNotValidException(const std::string& prettymethod,
const std::string& reason,
const type::dto::GenericTypePtr& type,
- const Path& path) :
- AronException(prettymethod,
- reason + ". The ice_id of the type was: " + type->ice_id(),
- path)
- {
- }
+ const Path& path);
};
/**
@@ -149,36 +101,22 @@ namespace armarx::aron::error
ValueNotValidException(const std::string& prettymethod,
const std::string& reason,
- const std::string& input) :
- AronException(prettymethod, reason + ". Got: " + input)
- {
- }
+ const std::string& input);
ValueNotValidException(const std::string& prettymethod,
const std::string& reason,
const std::string& input,
- const Path& path) :
- AronException(prettymethod, reason + ". Got: " + input, path)
- {
- }
+ const Path& path);
ValueNotValidException(const std::string& prettymethod,
const std::string& reason,
const std::string& input,
- const std::string& expectation) :
- AronException(prettymethod, reason + ". Got: " + input + ". Expected: " + expectation)
- {
- }
+ const std::string& expectation);
ValueNotValidException(const std::string& prettymethod,
const std::string& reason,
const std::string& input,
const std::string& expectation,
- const Path& path) :
- AronException(prettymethod,
- reason + ". Got: " + input + ". Expected: " + expectation,
- path)
- {
- }
+ const Path& path);
};
} // namespace armarx::aron::error
diff --git a/source/RobotAPI/libraries/aron/core/Path.cpp b/source/RobotAPI/libraries/aron/core/Path.cpp
index c80e00f53c989b8aadd4618757aaa3c6a588dc4a..ac91613ddb4dfc1dcae0f4fd09571783bd72d625 100644
--- a/source/RobotAPI/libraries/aron/core/Path.cpp
+++ b/source/RobotAPI/libraries/aron/core/Path.cpp
@@ -23,6 +23,7 @@
// Header
#include "Path.h"
+#include <SimoxUtility/algorithm/string/string_tools.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
diff --git a/source/RobotAPI/libraries/aron/core/Path.h b/source/RobotAPI/libraries/aron/core/Path.h
index 888327fd929309cde7575133be27649b1a57bcd9..b39ef1c46cb7eca071f694f3506003d228633de9 100644
--- a/source/RobotAPI/libraries/aron/core/Path.h
+++ b/source/RobotAPI/libraries/aron/core/Path.h
@@ -23,7 +23,6 @@
#pragma once
-// STD/STL
#include <string>
#include <vector>
diff --git a/source/RobotAPI/libraries/aron/core/aron_conversions.h b/source/RobotAPI/libraries/aron/core/aron_conversions.h
index 30f2e949b575e22bf631abc06ca1c4ba8172efaf..cbd97326e69b9885b5b0fd31d9dde372dc266ecb 100644
--- a/source/RobotAPI/libraries/aron/core/aron_conversions.h
+++ b/source/RobotAPI/libraries/aron/core/aron_conversions.h
@@ -7,8 +7,6 @@
#include <vector>
#include <algorithm>
-#include "Path.h"
-
namespace armarx::aron
{
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
index 0195adddd9bb2f6cc116158af22b4a4a936e6da4..c5b063f3afed5dbd50cee9dddde6f408c018b3bd 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
@@ -21,12 +21,12 @@
#pragma once
// STD/STL
-#include <memory>
#include <string>
#include <optional>
// ArmarX
#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
// Known types
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
index 2e864ad7a5fc3189d79e769bb5edad4dfd4693de..e6289f74d2bc80cb1057cd329d59ac31bf9e6c95 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.cpp
@@ -18,26 +18,21 @@
* GNU General Public License
*/
-// STD/STL
+#include "NlohmannJSONReaderWithoutTypeCheck.h"
+
#include <cmath>
#include <cstdint>
#include <cstring>
-#include <memory>
-#include <numeric>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include "ArmarXCore/core/logging/Logging.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-// Header
-#include "NlohmannJSONReaderWithoutTypeCheck.h"
-
-// ArmarX
#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h>
-#include "../../json/Data.h"
namespace armarx::aron::data::reader
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h b/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
index 0be0b34898308d217d221659d3524d77b2cf8f5c..c2ee596803dde93081f3ff235f2c099a54ced113 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
@@ -20,10 +20,6 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <stack>
-
// BaseClass
#include <RobotAPI/libraries/aron/core/data/rw/Writer.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
index c03b3c37fec376834168d1795dbc6fc390874bea..5619e10ad9fba861b617006dadb2d6083d4e28c2 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Factory.cpp
@@ -25,6 +25,7 @@
// Header
#include "Factory.h"
+#include <ArmarXCore/core/logging/Logging.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
index 38de3e29214ef427687533308c06cdd46aa075f4..8bf1da973e412737f8ede1e1aa52376b8b969acc 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
@@ -26,6 +26,7 @@
// Simox
#include <SimoxUtility/algorithm/string.h>
+#include <ArmarXCore/util/CPPUtility/trace.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/data/variant/Factory.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index 19dd673bd2eeaec02f4be8fb49081d5edeb846c6..a348570cd0ded6b1003eb26bcd07453332ed4d22 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -27,6 +27,7 @@
// ArmarX
#include <SimoxUtility/algorithm/string/string_conversion.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
#include <RobotAPI/libraries/aron/core/data/variant/Factory.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
index 031d58ae16d06a2cdfefcfa180f36d753bb5030c..d2e3965595f94867f39f67cbca69f28a451bc123 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/SpecializedVariant.h
@@ -25,13 +25,12 @@
// STD/STL
#include <memory>
-#include <string>
-#include <unordered_map>
// Base class
#include "../Variant.h"
// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
namespace armarx::aron::data::detail
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
index ed29f88c343ba218155b7510c28e496882349fe2..618be3850da1674379b30f214eab5a7a7484b198 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
@@ -22,6 +22,7 @@
*/
#include "Bool.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
index 66b23d4e11892841f17fbb520a61b80e54a498e2..c118ea66dc523e5fdfe7cea68e95d38d0acca719 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
@@ -23,6 +23,7 @@
// Header
#include "Double.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
// ArmarX
#include "Float.h"
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
index 26d08b4b50d88fae2045b9b1bcbcb6ea3fb237de..6ebe3a5a42544573ba348ecee8c1768cff956c9b 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
@@ -22,6 +22,7 @@
*/
#include "Float.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
index 870cbcd22877a82237e143bc79bf1528e64d35de..18bb4ed52fd1d1bf692c7d95edb7b2da6dc19163 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
@@ -22,6 +22,7 @@
*/
#include "Int.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
#include <RobotAPI/libraries/aron/core/data/variant/Factory.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/Int.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
index 2f62027e1ca65333d48447c4490932ecc032b543..4fc08e880b209a284bd4e4461a4633a6d6ee0fc2 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
@@ -23,6 +23,7 @@
// Header
#include "Long.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
// ArmarX
#include "Int.h"
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
index 9f765ed209f40a84e6554eebb26e1671d1a04e8b..675a15cbab1c6ac2b5aec75fb742f255c7a1dd26 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
@@ -22,6 +22,7 @@
*/
#include "String.h"
+#include <ArmarXCore/util/CPPUtility/trace.h>
namespace armarx::aron::data
{
diff --git a/source/RobotAPI/libraries/aron/core/rw.h b/source/RobotAPI/libraries/aron/core/rw.h
index 7f0f69b5556b0e3c33b998a1e47457789865fef4..02673b3e8be2d01cb75618d8ca6bb66b0d10de38 100644
--- a/source/RobotAPI/libraries/aron/core/rw.h
+++ b/source/RobotAPI/libraries/aron/core/rw.h
@@ -1,14 +1,7 @@
#pragma once
-#include <map>
-#include <memory>
-#include <optional>
-#include <vector>
-
#include "aron_conversions.h"
#include "codegeneration/cpp/AronGeneratedClass.h"
-#include "data/rw/Reader.h"
-#include "data/rw/Writer.h"
namespace armarx::aron
{
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
index 9b9b5cf97723bd1b79f53775ebb7e485627c013f..bde013b6a3f6812ce4671bf161c014a011f1098f 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Reader.h
@@ -21,12 +21,12 @@
#pragma once
// STD/STL
-#include <memory>
#include <optional>
#include <string>
// ArmarX
#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
namespace armarx::aron::type
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
index 27bcfcd0da522ce9defa148017ec57f6ea28e9bb..5fef12f117e2c02d61f8dbe68688dbf4094571de 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
@@ -27,6 +27,7 @@
// ArmarX
#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
namespace armarx::aron::type
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
index 21ba5cd0984b9077f668886327b57e8722b1f553..3c32ade9fdb74f97252250d21acca0f00558acb1 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Factory.cpp
@@ -25,6 +25,7 @@
// Header
#include "Factory.h"
+#include <ArmarXCore/core/logging/Logging.h>
// ArmarX
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Factory.h b/source/RobotAPI/libraries/aron/core/type/variant/Factory.h
index 520004578707bf18aea32a34b37ed4b0b5ef8775..678e3ac70734ecc8f3504419f4424ae989f1343f 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Factory.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Factory.h
@@ -23,13 +23,11 @@
#pragma once
-// STD/STL
#include <memory>
-#include <unordered_map>
-// ArmarX
-#include <RobotAPI/libraries/aron/core/type/variant/Variant.h>
+#include <RobotAPI/libraries/aron/core/Path.h>
#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <RobotAPI/libraries/aron/core/type/variant/forward_declarations.h>
namespace armarx::aron::type
{
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Variant.cpp b/source/RobotAPI/libraries/aron/core/type/variant/Variant.cpp
index f496b4f3fa380cc60b563b4c7beae47e754a8d15..dc90127ad6fe3664bbcf09ca918238c956c2bee1 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Variant.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Variant.cpp
@@ -40,6 +40,38 @@ namespace armarx::aron::type
{
return FACTORY->create(a, path);
}
-}
+ Variant::Variant(const type::Descriptor& descriptor, const Path& path) :
+ descriptor(descriptor), path(path)
+ {
+ }
+
+ bool
+ Variant::operator==(const VariantPtr& other) const
+ {
+ if (!other)
+ {
+ return false;
+ }
+
+ return *this == *other;
+ }
+
+ type::Descriptor
+ Variant::getDescriptor() const
+ {
+ return descriptor;
+ }
+ Path
+ Variant::getPath() const
+ {
+ return path;
+ }
+
+ std::string
+ Variant::pathToString() const
+ {
+ return path.toString();
+ }
+} // namespace armarx::aron::type
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
index 6a1e2afa366ff9ae61bef7871d1ddaff9f1b070e..37c65e353c97f99554555a009c0f2f265855c741 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
@@ -23,16 +23,10 @@
#pragma once
-// STD/STL
-#include <map>
#include <memory>
#include <string>
#include <vector>
-// Simox
-// #include <SimoxUtility/algorithm/string.h>
-
-// ArmarX
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/core/Descriptor.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
@@ -63,49 +57,25 @@ namespace armarx::aron::type
public:
// constructors
- Variant(const type::Descriptor& descriptor, const Path& path = Path()) :
- descriptor(descriptor), path(path)
- {
- }
+ Variant(const type::Descriptor& descriptor, const Path& path = Path());
virtual ~Variant() = default;
// operators
virtual bool operator==(const Variant& other) const = 0;
- bool
- operator==(const VariantPtr& other) const
- {
- if (!other)
- {
- return false;
- }
-
- return *this == *other;
- }
+ bool operator==(const VariantPtr& other) const;
// static methods
/// create a variant object from an dto object
static VariantPtr FromAronDTO(const type::dto::GenericType&, const Path& = Path());
// public methods
- type::Descriptor
- getDescriptor() const
- {
- return descriptor;
- }
-
- Path
- getPath() const
- {
- return path;
- }
-
- std::string
- pathToString() const
- {
- return path.toString();
- }
+ type::Descriptor getDescriptor() const;
+
+ Path getPath() const;
+
+ std::string pathToString() const;
// virtual methods
/// naviate absolute
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
index 9ae860df56869350ba2c6e56127ce8d21d6a3b46..4b8e4dcb674164a0a74c58389580c31d5c782ef5 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
@@ -24,7 +24,6 @@
#pragma once
// STD/STL
-#include <map>
#include <string>
// Base Class
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
index ce88e8d2e9b7cd03127e431c9e2b81e305a04aa4..394cf99777eebb5399c4ae2d37b66731a3cb531b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
@@ -24,7 +24,6 @@
#pragma once
// STD/STL
-#include <map>
#include <string>
// Base Class
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
index e382cc526eb18e3859c4531b4d7814a17dfd7461..b608dce7d2c7c3ba4d0c0eb4a663e0f6ce2fc7ad 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
@@ -24,7 +24,6 @@
#pragma once
// STD/STL
-#include <map>
#include <string>
// Base Class
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/AnyVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/AnyVariant.h
index 70c9c08968cc838935343e0b7c4ca3ce8711f2e5..eb9be13f27f8691afc7a2cc5168b63a770589e22 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/AnyVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/AnyVariant.h
@@ -23,10 +23,6 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
// Base class
#include "SpecializedVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/ContainerVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/ContainerVariant.h
index 2673250f8fdda3fd234f2e7174433af45eda5bea..5e61cfac4e1e98943c0a548ff0ca8d684d1700cb 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/ContainerVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/ContainerVariant.h
@@ -23,10 +23,6 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
// Base class
#include "SpecializedVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
index 2fb240349254475021d75344a35d930c1aea09db..da38cbed4981b64c7ec68b89c42c92fef619693f 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/DtoVariant.h
@@ -23,11 +23,6 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
-
// Base class
#include "SpecializedVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/EnumVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/EnumVariant.h
index 84b1bf7821f6518498ca40554a26a16fcfaaf019..402565db02609097cfdb7dd1afc454b379a3e352 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/EnumVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/EnumVariant.h
@@ -24,9 +24,7 @@
#pragma once
// STD/STL
-#include <memory>
#include <string>
-#include <unordered_map>
// Base class
#include "SpecializedVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/NDArrayVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/NDArrayVariant.h
index 168db8b1073aee4ea767940b27933109800bd025..0c707c8def23bddc3040e0a99cfb4ac6882ed053 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/NDArrayVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/NDArrayVariant.h
@@ -24,9 +24,7 @@
#pragma once
// STD/STL
-#include <memory>
#include <string>
-#include <unordered_map>
// Base class
#include "SpecializedVariant.h"
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/PrimitiveVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/PrimitiveVariant.h
index 24dd9171d771e9957600196cf9b9171d5940f455..ecc86f798b5fc34fc1e49f613503ed6a9e58c8ca 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/PrimitiveVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/PrimitiveVariant.h
@@ -23,15 +23,9 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
-// Base class
#include "SpecializedVariant.h"
-// ArmarX
namespace armarx::aron::type::detail
{
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/detail/SpecializedVariant.h b/source/RobotAPI/libraries/aron/core/type/variant/detail/SpecializedVariant.h
index a984daed2357434ceae4650c96ad8ff4a10a2356..fdc1bcf17ce912687112c9a9beab080df68d9a59 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/detail/SpecializedVariant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/detail/SpecializedVariant.h
@@ -23,16 +23,12 @@
#pragma once
-// STD/STL
#include <memory>
-#include <optional>
-#include <string>
-#include <unordered_map>
-// Base class
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include "../Variant.h"
-// ArmarX
namespace armarx::aron::type::detail
{
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
index 941687c4861b504a6a57ad7350910af609b61034..e796bab87fd544d5bf660fd476ecd6b0c13250ab 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
@@ -24,7 +24,6 @@
#pragma once
// STD / STL
-#include <memory>
#include <string>
// Base Class
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
index b8df436d15f816c47820bed0e6b58bbe94a68dff..a217a433927d104048483117b59f439ac2f19072 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
@@ -24,7 +24,6 @@
#pragma once
// STD/STL
-#include <map>
#include <string>
// Base class
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
index 9dfe2057d41256e44c506f9b7f61fc18fa68f7b1..e8368a7dcc988aa38a4ebd0931001c5a52b02dcd 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/Visitor.h
@@ -23,10 +23,6 @@
#pragma once
-#include <map>
-#include <string>
-#include <vector>
-
#include "../../Descriptor.h"
#include "../../Exception.h"
diff --git a/source/RobotAPI/libraries/aron/filter/data/WhitelistFilter.h b/source/RobotAPI/libraries/aron/filter/data/WhitelistFilter.h
index aa43790e00befde0a269c932e6ebebafc0387d00..88a8c1f3bf1f7fa09bab560b4547838a59c0a13f 100644
--- a/source/RobotAPI/libraries/aron/filter/data/WhitelistFilter.h
+++ b/source/RobotAPI/libraries/aron/filter/data/WhitelistFilter.h
@@ -24,6 +24,7 @@
#include <algorithm>
#include <map>
#include <vector>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
diff --git a/source/RobotAPI/libraries/aron/similarity/cosine.cpp b/source/RobotAPI/libraries/aron/similarity/cosine.cpp
index 396ea66133cf66e6dc1f268c8f3c5bc89c47de05..ac9e22cf073bc56969ae6c37b58fff01f1ec9ef0 100644
--- a/source/RobotAPI/libraries/aron/similarity/cosine.cpp
+++ b/source/RobotAPI/libraries/aron/similarity/cosine.cpp
@@ -1,6 +1,7 @@
#include "cosine.h"
#include <SimoxUtility/algorithm/string.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <cmath>
namespace armarx::aron::similarity
diff --git a/source/RobotAPI/libraries/aron/similarity/data/image/NDArraySimilarity.cpp b/source/RobotAPI/libraries/aron/similarity/data/image/NDArraySimilarity.cpp
index 5fb38a7f8859e804e4ea8a71642402a08ce01e2b..467c9f1da493c54fe0de113cfa1127a6d082f37d 100644
--- a/source/RobotAPI/libraries/aron/similarity/data/image/NDArraySimilarity.cpp
+++ b/source/RobotAPI/libraries/aron/similarity/data/image/NDArraySimilarity.cpp
@@ -1,6 +1,7 @@
#include "NDArraySimilarity.h"
#include <cmath>
+#include <ArmarXCore/core/logging/Logging.h>
#include "mse.h"
#include "mae.h"
#include "chernoff.h"
diff --git a/source/RobotAPI/libraries/aron/similarity/data/image/chernoff.cpp b/source/RobotAPI/libraries/aron/similarity/data/image/chernoff.cpp
index 0b4d26bc8dd4adb15a612fcc627eed41ed392cc1..f91feb06aa18d66b7eb31800327d4dedd939938e 100644
--- a/source/RobotAPI/libraries/aron/similarity/data/image/chernoff.cpp
+++ b/source/RobotAPI/libraries/aron/similarity/data/image/chernoff.cpp
@@ -3,6 +3,7 @@
#include <cmath>
#include <Eigen/Core>
#include <Eigen/Eigenvalues>
+#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::aron::similarity::chernoff
{
diff --git a/source/RobotAPI/libraries/aron/similarity/data/image/mse.cpp b/source/RobotAPI/libraries/aron/similarity/data/image/mse.cpp
index cb9dcf9d3f7ef6ca4ee31e514e3aa7c122605dee..052cccff38bd7e9dd004a4d75efa578e01836604 100644
--- a/source/RobotAPI/libraries/aron/similarity/data/image/mse.cpp
+++ b/source/RobotAPI/libraries/aron/similarity/data/image/mse.cpp
@@ -1,6 +1,7 @@
#include "mse.h"
#include <SimoxUtility/algorithm/string.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <cmath>
namespace armarx::aron::similarity
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
index 9ed6259492303586191d67d5fdcc3aebee525bf8..7541f1ce6ca0a80ccad5482dae7c596cee09b719 100644
--- a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
@@ -22,6 +22,9 @@
#include "PropertyDefinitionVisitors.h"
+#include <SimoxUtility/algorithm/string/string_conversion_eigen.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
#include <ArmarXCore/core/application/properties/PropertyDefinition.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/PropertyUser.h>
@@ -467,4 +470,4 @@ namespace armarx::aron::component_config
}
} // namespace armarx::aron::component_config
-#undef INPUT_GUARD
\ No newline at end of file
+#undef INPUT_GUARD
diff --git a/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp
index 10e021861bbc16a6464ce29c95946dbbd3170888..797f755ead243754ad14de4c11d04d6af6d71747 100644
--- a/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp
+++ b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp
@@ -22,8 +22,11 @@
#include "VariantHelperFactory.h"
+#include <SimoxUtility/algorithm/string/string_conversion.h>
+
#include <ArmarXCore/core/application/properties/Property.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/interface/core/UserException.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
@@ -222,4 +225,4 @@ namespace armarx::aron::component_config::products
template struct products::VariantHelper<type::Descriptor::FLOAT>;
template struct products::VariantHelper<type::Descriptor::DOUBLE>;
template struct products::VariantHelper<type::Descriptor::INT_ENUM>;
-} // namespace armarx::aron::component_config::products
\ No newline at end of file
+} // namespace armarx::aron::component_config::products
diff --git a/source/RobotAPI/libraries/skills/core/CMakeLists.txt b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
index f757e4b5d8d069673c67d39e8b559250202d6c03..7e5a56debc7b98c758991bf6e3d389672f92b483 100644
--- a/source/RobotAPI/libraries/skills/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
@@ -23,8 +23,6 @@ armarx_add_library(
SkillExecutionRequest.cpp
SkillStatusUpdate.cpp
SkillExecutionID.cpp
- SkillPreparationInput.cpp
- SkillParameterization.cpp
Skill.cpp
SkillProxy.cpp
SkillDescription.cpp
@@ -36,8 +34,6 @@ armarx_add_library(
SkillExecutionRequest.h
SkillStatusUpdate.h
SkillExecutionID.h
- SkillPreparationInput.h
- SkillParameterization.h
Skill.h
SkillProxy.h
SkillDescription.h
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.h b/source/RobotAPI/libraries/skills/core/ProviderID.h
index 5687f649185fa472d0afe1b7a60e6eb2eba46d34..d7710d96e3a6a65de86c0b1c4634f0c84220c8a0 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.h
@@ -1,10 +1,7 @@
#pragma once
-#include <string>
-#include <vector>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/ProviderInfo.h b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
index 438a2cf9d894f25f97150dc10ab6c5d9538cdc1e..b4a9c0470f017b1b21d43f70674ca1ab64afc556 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderInfo.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
@@ -1,16 +1,8 @@
#pragma once
-#include <string>
-#include <vector>
-#include <SimoxUtility/algorithm/string.h>
-
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-
-#include "ProviderID.h"
-#include "SkillDescription.h"
-#include "SkillID.h"
-#include "error/Exception.h"
+#include <RobotAPI/libraries/skills/core/ProviderID.h>
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index cf6c57f98d8970194c2f362dcfa122bb19c183a0..3a279a8b8e28bb2d7e01eb5ac5b17958c5b5ed51 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -1,4 +1,5 @@
#include "Skill.h"
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
@@ -450,5 +451,46 @@ namespace armarx
<< "'. Please overwrite this method.";
return {.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
}
+
+ void
+ Skill::setProviderId(const skills::ProviderID& pid)
+ {
+ description.skillId.providerId = pid;
+ }
+
+ void
+ Skill::setCallback(const CallbackT& callback)
+ {
+ this->callback = callback;
+ }
+
+ void
+ Skill::setManager(const manager::dti::SkillManagerInterfacePrx& manager)
+ {
+ this->manager = manager;
+ }
+
+ void
+ Skill::setExecutorName(const std::string& executorName)
+ {
+ this->executorName = executorName;
+ }
+
+ SkillDescription
+ Skill::getSkillDescription() const
+ {
+ return description;
+ }
+
+ SkillID
+ Skill::getSkillId() const
+ {
+ return description.skillId;
+ }
+
+ Skill::~Skill()
+ {
+ //ARMARX_IMPORTANT << "DESTROY SKILL " << getSkillId();
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index d9edf529c300968b4b428066836ba106a39e76e8..9be47862810009ec00fb8e9b8138b9ac1e0d5df0 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -4,17 +4,12 @@
#include <mutex>
#include <thread>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/Metronome.h>
+#include <ArmarXCore/core/time/Frequency.h>
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
+#include <RobotAPI/libraries/skills/core/SkillProxy.h>
+#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
-#include "SkillDescription.h"
-#include "SkillID.h"
-#include "SkillProxy.h"
-#include "SkillStatusUpdate.h"
namespace armarx
{
@@ -61,50 +56,23 @@ namespace armarx
Skill(const SkillDescription&);
/// Virtual destructor of a skill
- virtual ~Skill()
- {
- //ARMARX_IMPORTANT << "DESTROY SKILL " << getSkillId();
- }
+ virtual ~Skill();
/// Get the id of the skill
- SkillID
- getSkillId() const
- {
- return description.skillId;
- }
+ SkillID getSkillId() const;
/// Get the description of a skill
- SkillDescription
- getSkillDescription() const
- {
- return description;
- }
+ SkillDescription getSkillDescription() const;
/// Set the provider id of the description of the skill.
/// This method is called when creating a skill in a skill provider
- void
- setProviderId(const skills::ProviderID& pid)
- {
- description.skillId.providerId = pid;
- }
+ void setProviderId(const skills::ProviderID& pid);
- void
- setCallback(const CallbackT& callback)
- {
- this->callback = callback;
- }
+ void setCallback(const CallbackT& callback);
- void
- setManager(const manager::dti::SkillManagerInterfacePrx& manager)
- {
- this->manager = manager;
- }
+ void setManager(const manager::dti::SkillManagerInterfacePrx& manager);
- void
- setExecutorName(const std::string& executorName)
- {
- this->executorName = executorName;
- }
+ void setExecutorName(const std::string& executorName);
/// Prepare a skill once. This method is called in a loop as long as it returns RUNNING
/// If the loop does not terminate with SUCCEDED the skill execution is failed.
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
index 2fa37b33ceab97b944e55644c99c530ba3f371c3..c7d5222e45de9215208c4d5547c50c4e367d3768 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
@@ -65,5 +65,14 @@ namespace armarx
.parametersType = armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
.resultType = armarx::aron::type::Object::FromAronObjectDTO(i.resultType)};
}
+
+ bool
+ SkillDescription::operator==(const SkillDescription& other) const
+ {
+ return this->skillId == other.skillId && this->description == other.description &&
+ this->rootProfileDefaults == other.rootProfileDefaults &&
+ this->timeout == other.timeout && this->parametersType == other.parametersType &&
+ this->resultType == other.resultType;
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.h b/source/RobotAPI/libraries/skills/core/SkillDescription.h
index f65ba3f45e5da2c36c223c79797bb3b27ac52450..a6f33333fb733c3ccafd6320bd03db5e89153101 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.h
@@ -30,15 +30,7 @@ namespace armarx
const std::optional<ProviderID>& = std::nullopt);
static SkillDescription FromIce(const manager::dto::SkillDescription& i);
- bool
- operator==(const SkillDescription& other) const
- {
- return this->skillId == other.skillId && this->description == other.description &&
- this->rootProfileDefaults == other.rootProfileDefaults &&
- this->timeout == other.timeout &&
- this->parametersType == other.parametersType &&
- this->resultType == other.resultType;
- }
+ bool operator==(const SkillDescription& other) const;
};
template <class T>
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
index 2bf5f3235ba19f60f4475e9fe3d126fbcfec1db9..b93ef522c7d604e2fd43870da541d4d59d74e122 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
@@ -1,5 +1,7 @@
#include "SkillExecutionID.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
namespace armarx
{
namespace skills
@@ -51,5 +53,22 @@ namespace armarx
executionStartedTime.toDateTimeString() + EXIT_SEPARATOR;
}
+ bool
+ SkillExecutionID::operator<=(const SkillExecutionID& other) const
+ {
+ return this->executionStartedTime <= other.executionStartedTime;
+ }
+
+ bool
+ SkillExecutionID::operator<(const SkillExecutionID& other) const
+ {
+ return this->executionStartedTime < other.executionStartedTime;
+ }
+
+ bool
+ SkillExecutionID::operator==(const SkillExecutionID& other) const
+ {
+ return this->toString() == other.toString();
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
index 39f3bc008324d046486d4eb1cd486ef87a1860f8..7a7d5e9e1efccf43f7dfcb3f4dce4d4655c0f395 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
@@ -1,16 +1,12 @@
#pragma once
#include <string>
-#include <vector>
#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-#include "SkillID.h"
-#include "SkillParameterization.h"
+#include <RobotAPI/libraries/skills/core/SkillID.h>
namespace armarx
{
@@ -27,23 +23,11 @@ namespace armarx
static const constexpr char* EXIT_SEPARATOR = "]";
static const constexpr char* SEPARATOR = "@";
- bool
- operator==(const SkillExecutionID& other) const
- {
- return this->toString() == other.toString();
- }
-
- bool
- operator<(const SkillExecutionID& other) const
- {
- return this->executionStartedTime < other.executionStartedTime;
- }
-
- bool
- operator<=(const SkillExecutionID& other) const
- {
- return this->executionStartedTime <= other.executionStartedTime;
- }
+ bool operator==(const SkillExecutionID& other) const;
+
+ bool operator<(const SkillExecutionID& other) const;
+
+ bool operator<=(const SkillExecutionID& other) const;
skills::manager::dto::SkillExecutionID toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
index d1f5bbcdd175f9f3516d45856186d453af2f987e..453291831f7e8e5c53d45855c51c81e04e011c70 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
@@ -1,18 +1,10 @@
#pragma once
-#include <string>
-#include <vector>
-
-#include <SimoxUtility/algorithm/string.h>
-
-#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/ice_conversions.h>
-
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-#include "SkillID.h"
-#include "error/Exception.h"
+#include <RobotAPI/libraries/skills/core/ProviderID.h>
+#include <RobotAPI/libraries/skills/core/SkillID.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.cpp b/source/RobotAPI/libraries/skills/core/SkillID.cpp
index 2bf5cb5596a89a8daab37ef8e957a8c9fcc2b532..87fa6cd75b4faf144e593f7d5702b893aa9dab4c 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillID.cpp
@@ -1,5 +1,9 @@
#include "SkillID.h"
+#include <optional>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
namespace armarx
{
namespace skills
@@ -69,6 +73,28 @@ namespace armarx
}
return NAME_SEPARATOR + skillName;
}
+
+ bool
+ SkillID::isFullySpecified() const
+ {
+ return isSkillSpecified() and isProviderSpecified();
+ }
+
+ bool
+ SkillID::isSkillSpecified() const
+ {
+ return not skillName.empty();
+ }
+
+ bool
+ SkillID::isProviderSpecified() const
+ {
+ if (not providerId.has_value())
+ {
+ return false;
+ }
+ return not providerId->providerName.empty();
+ }
} // namespace skills
std::ostream&
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index 8bf5eb0f34a4a73ef8255f1ac64e1222ca71692d..1de4e5fc764d10bb5af2324f02ce4f71b81b60ef 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -1,8 +1,7 @@
#pragma once
#include <string>
-
-#include <SimoxUtility/algorithm/string.h>
+#include <optional>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -23,27 +22,11 @@ namespace armarx
bool operator<(const SkillID& other) const;
bool operator<=(const SkillID& other) const;
- bool
- isFullySpecified() const
- {
- return isSkillSpecified() and isProviderSpecified();
- }
-
- bool
- isSkillSpecified() const
- {
- return not skillName.empty();
- }
-
- bool
- isProviderSpecified() const
- {
- if (not providerId.has_value())
- {
- return false;
- }
- return not providerId->providerName.empty();
- }
+ bool isFullySpecified() const;
+
+ bool isSkillSpecified() const;
+
+ bool isProviderSpecified() const;
manager::dto::SkillID toManagerIce() const;
provider::dto::SkillID toProviderIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp b/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp
deleted file mode 100644
index d0ec681e2b772aa773a6cc890198e24c28714207..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "SkillParameterization.h"
-
-namespace armarx
-{
- namespace skills
- {
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillParameterization.h b/source/RobotAPI/libraries/skills/core/SkillParameterization.h
deleted file mode 100644
index 9b54b3fff3bfe0aaedcb79d9c275165aefe5a37d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillParameterization.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include <RobotAPI/interface/skills/SkillProviderInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-namespace armarx
-{
- namespace skills
- {
- } // namespace skills
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp b/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp
deleted file mode 100644
index d0ec681e2b772aa773a6cc890198e24c28714207..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "SkillParameterization.h"
-
-namespace armarx
-{
- namespace skills
- {
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h b/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h
deleted file mode 100644
index b5cc2bb20c392864ccb31607e1ef02e9174fb211..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include <RobotAPI/interface/skills/SkillProviderInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-namespace armarx
-{
- namespace skills
- {
-
- } // namespace skills
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillProxy.h b/source/RobotAPI/libraries/skills/core/SkillProxy.h
index e20ca01a0bc4b6de877e34a3ad6bc0edcbaa4689..d91dc2ae633cfdbf23c4d7938e455d442892910a 100644
--- a/source/RobotAPI/libraries/skills/core/SkillProxy.h
+++ b/source/RobotAPI/libraries/skills/core/SkillProxy.h
@@ -1,5 +1,6 @@
#pragma once
+#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
index 8e5ade1866d4d71a389443c1b5ce1fc48485e9ea..2f57db3940b0d622650565951ccc04e8950d2277 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
@@ -406,5 +406,103 @@ namespace armarx
return ret;
}
+ bool
+ SkillStatusUpdate::operator<(const SkillStatusUpdate& o) const
+ {
+ if (!hasBeenConstructed() and o.hasBeenConstructed())
+ {
+ return true;
+ }
+ if (!hasBeenInitialized() and o.hasBeenInitialized())
+ {
+ return true;
+ }
+ if (!hasBeenPrepared() and o.hasBeenPrepared())
+ {
+ return true;
+ }
+ if (!hasBeenRunning() and o.hasBeenRunning())
+ {
+ return true;
+ }
+ if (!hasBeenTerminated() and o.hasBeenTerminated())
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ SkillStatusUpdate::operator<=(const SkillStatusUpdate& o) const
+ {
+ if (status == o.status)
+ {
+ return true;
+ }
+ return *this < o;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenConstructed() const
+ {
+ return status != SkillStatus::Constructing;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenInitialized() const
+ {
+ return status != SkillStatus::Initializing && hasBeenConstructed();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenPrepared() const
+ {
+ return status != SkillStatus::Preparing && hasBeenInitialized();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenRunning() const
+ {
+ return status != SkillStatus::Running || hasBeenPrepared();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenTerminated() const
+ {
+ return status == SkillStatus::Succeeded || status == SkillStatus::Failed ||
+ status == SkillStatus::Aborted;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == SkillStatus::Succeeded;
+ }
+
+ bool
+ ActiveOrTerminatedSkillStatusUpdate::hasBeenTerminated() const
+ {
+ return status == ActiveOrTerminatedSkillStatus::Succeeded ||
+ status == ActiveOrTerminatedSkillStatus::Failed ||
+ status == ActiveOrTerminatedSkillStatus::Aborted;
+ }
+
+ bool
+ ActiveOrTerminatedSkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == ActiveOrTerminatedSkillStatus::Succeeded;
+ }
+
+ bool
+ TerminatedSkillStatusUpdate::hasBeenTerminated() const
+ {
+ return true;
+ }
+
+ bool
+ TerminatedSkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == TerminatedSkillStatus::Succeeded;
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
index f6318d5c1993fd94d17a6a5e5e16086794d1f34d..4ce5cba6afad707bac55c6155b64cb44115819b7 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
@@ -75,17 +75,9 @@ namespace armarx
{
TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
- bool
- hasBeenTerminated() const
- {
- return true;
- }
-
- bool
- hasBeenSucceeded() const
- {
- return status == TerminatedSkillStatus::Succeeded;
- }
+ bool hasBeenTerminated() const;
+
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
@@ -104,19 +96,9 @@ namespace armarx
{
ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
- bool
- hasBeenTerminated() const
- {
- return status == ActiveOrTerminatedSkillStatus::Succeeded ||
- status == ActiveOrTerminatedSkillStatus::Failed ||
- status == ActiveOrTerminatedSkillStatus::Aborted;
- }
+ bool hasBeenTerminated() const;
- bool
- hasBeenSucceeded() const
- {
- return status == ActiveOrTerminatedSkillStatus::Succeeded;
- }
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
@@ -135,78 +117,21 @@ namespace armarx
{
SkillStatus status = SkillStatus::Constructing;
- bool
- operator<(const SkillStatusUpdate& o) const
- {
- if (!hasBeenConstructed() and o.hasBeenConstructed())
- {
- return true;
- }
- if (!hasBeenInitialized() and o.hasBeenInitialized())
- {
- return true;
- }
- if (!hasBeenPrepared() and o.hasBeenPrepared())
- {
- return true;
- }
- if (!hasBeenRunning() and o.hasBeenRunning())
- {
- return true;
- }
- if (!hasBeenTerminated() and o.hasBeenTerminated())
- {
- return true;
- }
- return false;
- }
-
- bool
- operator<=(const SkillStatusUpdate& o) const
- {
- if (status == o.status)
- {
- return true;
- }
- return *this < o;
- }
-
- bool
- hasBeenConstructed() const
- {
- return status != SkillStatus::Constructing;
- }
-
- bool
- hasBeenInitialized() const
- {
- return status != SkillStatus::Initializing && hasBeenConstructed();
- }
-
- bool
- hasBeenPrepared() const
- {
- return status != SkillStatus::Preparing && hasBeenInitialized();
- }
-
- bool
- hasBeenRunning() const
- {
- return status != SkillStatus::Running || hasBeenPrepared();
- }
-
- bool
- hasBeenTerminated() const
- {
- return status == SkillStatus::Succeeded || status == SkillStatus::Failed ||
- status == SkillStatus::Aborted;
- }
-
- bool
- hasBeenSucceeded() const
- {
- return status == SkillStatus::Succeeded;
- }
+ bool operator<(const SkillStatusUpdate& o) const;
+
+ bool operator<=(const SkillStatusUpdate& o) const;
+
+ bool hasBeenConstructed() const;
+
+ bool hasBeenInitialized() const;
+
+ bool hasBeenPrepared() const;
+
+ bool hasBeenRunning() const;
+
+ bool hasBeenTerminated() const;
+
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/error/Exception.cpp b/source/RobotAPI/libraries/skills/core/error/Exception.cpp
index 32521fedeb0428e384897ce88e2f9f42ebb57a71..c2668867df8b5f5e5ea0f703582f0c92f14c4587 100644
--- a/source/RobotAPI/libraries/skills/core/error/Exception.cpp
+++ b/source/RobotAPI/libraries/skills/core/error/Exception.cpp
@@ -1,2 +1,33 @@
#include "Exception.h"
+
+armarx::skills::error::SkillException::SkillException(const std::string& prettymethod,
+ const std::string& reason) :
+ LocalException(prettymethod + ": " + reason + ".")
+{
+}
+
+armarx::skills::error::SkillNotFoundException::SkillNotFoundException(
+ const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::SkillAbortedException::SkillAbortedException(const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::SkillFailedException::SkillFailedException(const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::NotImplementedYetException::NotImplementedYetException(
+ const std::string& prettymethod) :
+ SkillException(prettymethod, "This method is not yet implemented!")
+{
+}
diff --git a/source/RobotAPI/libraries/skills/core/error/Exception.h b/source/RobotAPI/libraries/skills/core/error/Exception.h
index d9107d8213b9d5d2b1e70f578ee7b376be0f102a..66e72e418d51ffb1555498741cf928d1e417e497 100644
--- a/source/RobotAPI/libraries/skills/core/error/Exception.h
+++ b/source/RobotAPI/libraries/skills/core/error/Exception.h
@@ -23,12 +23,10 @@
#pragma once
-// STD/STL
+
#include <string>
-// ArmarX
-#include <ArmarXCore/core/exceptions/Exception.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
namespace armarx::skills::error
{
@@ -40,10 +38,7 @@ namespace armarx::skills::error
public:
SkillException() = delete;
- SkillException(const std::string& prettymethod, const std::string& reason) :
- LocalException(prettymethod + ": " + reason + ".")
- {
- }
+ SkillException(const std::string& prettymethod, const std::string& reason);
};
/**
@@ -54,10 +49,7 @@ namespace armarx::skills::error
public:
SkillNotFoundException() = delete;
- SkillNotFoundException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillNotFoundException(const std::string& prettymethod, const std::string& reason);
};
class SkillAbortedException : public SkillException
@@ -65,10 +57,7 @@ namespace armarx::skills::error
public:
SkillAbortedException() = delete;
- SkillAbortedException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillAbortedException(const std::string& prettymethod, const std::string& reason);
};
class SkillFailedException : public SkillException
@@ -76,10 +65,7 @@ namespace armarx::skills::error
public:
SkillFailedException() = delete;
- SkillFailedException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillFailedException(const std::string& prettymethod, const std::string& reason);
};
/**
@@ -90,9 +76,6 @@ namespace armarx::skills::error
public:
NotImplementedYetException() = delete;
- NotImplementedYetException(const std::string& prettymethod) :
- SkillException(prettymethod, "This method is not yet implemented!")
- {
- }
+ NotImplementedYetException(const std::string& prettymethod);
};
} // namespace armarx::skills::error
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
index db3c05d511872e082bf4b2bb3a01a1293f7468af..68b1fb7e137bbf33045cc320100de697e7ab52e5 100644
--- a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
@@ -1,4 +1,5 @@
#include "SimplePeriodicSkill.h"
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
index c0f8b7ebd23df0d41429b2e9c7ddd3a7b0f66e94..37d1e6084e81f99dd59973e9d22df022df509fb0 100644
--- a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
@@ -1,5 +1,6 @@
#pragma once
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
#include "PeriodicSkill.h"
#include "SimpleSpecializedSkill.h"
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 858ee511de6fa042e257b202b6cee3bf94a446a1..21e0d6d97ecb7841237b4ed495355531c38d1972 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -1,11 +1,7 @@
#pragma once
#include <experimental/memory>
-#include <functional>
-#include <queue>
#include <shared_mutex>
-#include <thread>
-#include <type_traits>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -14,20 +10,13 @@
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-// Include all types of skills
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
-#include <RobotAPI/libraries/skills/core/SkillPreparationInput.h>
-#include "LambdaSkill.h"
-#include "PeriodicSkill.h"
-#include "PeriodicSpecializedSkill.h"
-#include "SkillFactory.h"
-#include "SpecializedSkill.h"
-
-// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
+#include "LambdaSkill.h"
+
namespace armarx
{
class SkillProviderComponentPluginUser; // forward declaration
diff --git a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
index db852e076274c6f8b479a25d4b7d65c474912fae..6a6802204822692867f0a9c5545359d4a0fc77bb 100644
--- a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
+++ b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
@@ -22,6 +22,8 @@
#pragma once
+#include <atomic>
+
#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
namespace armarx
@@ -79,4 +81,4 @@ namespace armarx
ContextT context_;
};
} // namespace skills
-} // namespace armarx
\ No newline at end of file
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 0e1515343b7cf9bf84daa949eb70d2035f35e751..35fc69ddd8a073f3b78ae008a67466dddc36ce68 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -4,6 +4,8 @@
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/aron/SkillErrorResult.aron.generated.h>
+
+
namespace armarx
{
namespace skills::detail
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 935fa227bf13831d3bcc789a124b36d12f1ba423..8b3f51277fe351229dbbb4f00eab72655cc724ea 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -1,12 +1,10 @@
#pragma once
#include <experimental/memory>
-#include <shared_mutex>
+#include <mutex>
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/skills/core/Skill.h>
-#include <RobotAPI/libraries/skills/core/SkillDescription.h>
-#include <RobotAPI/libraries/skills/core/SkillPreparationInput.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h
index 9d0c8cbfbd9463ab37d8498410381aebd54c6956..e179a85936904abd6ceb96749663252ef939767e 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/EditMatrixWidget.h
@@ -6,6 +6,7 @@
#include <QObject>
#include <QTreeWidgetItem>
#include <QVBoxLayout>
+#include <SimoxUtility/algorithm/string/string_conversion.h>
#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp
index bbbee283d5aee3f75a0ce77b07a3e5dbca18eab7..458aa39b9d02ee7cae71bb274a51ba15d3452cae 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/IntEnumWidget.cpp
@@ -2,7 +2,8 @@
#include <QHBoxLayout>
-#include "RobotAPI/libraries/aron/core/type/variant/All.h"
+#include <SimoxUtility/algorithm/string/string_conversion.h>
+#include <SimoxUtility/error/SimoxError.h>
#include "../ColorPalettes.h"
#include "../visitors/AronTreeWidgetConverter.h"
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp
index e8a48aa71942e5f86e837a8fc516e7d475615f66..f6d123b7621f051eb21e39dd8d01965e84e66636 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.cpp
@@ -7,6 +7,8 @@
#include "../ColorPalettes.h"
#include "NDArrayHelper.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
namespace armarx::skills::gui
{
diff --git a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h
index f743e3acf3a2eafdfd03f3eb35bddb48b49cfbb4..c256f0a224acd64f4824f6b46cfcb77cc97d1880 100644
--- a/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h
+++ b/source/RobotAPI/libraries/skills_gui/aron_tree_widget/widgets/QuaternionWidget.h
@@ -1,11 +1,14 @@
#pragma once
+
+#include <cmath>
#include <vector>
#include <QLineEdit>
#include <QObject>
#include <QVBoxLayout>
-
-#include "RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h"
+#include <SimoxUtility/algorithm/string/string_conversion.h>
+#include <SimoxUtility/error/SimoxError.h>
+#include <RobotAPI/interface/aron/Aron.h>
#include "CustomWidget.h"
diff --git a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
index 780c2bb728874f9865d7147ee2a17be55e925527..87a254728e4479584bc23d6b66959162363c2c24 100644
--- a/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
+++ b/source/RobotAPI/libraries/skills_gui/executions/SkillExecutionTreeWidget.cpp
@@ -4,6 +4,7 @@
#include <QMenu>
#include <QTreeWidgetItem>
+#include <ArmarXCore/core/logging/Logging.h>
#include "SkillExecutionTreeWidgetItem.h"
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index 4ff646277634467ae9cc7d58bd5e29ef40cc9099..cc72d4565872bf8367c67cdc89ddf9af8381b4df 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -1,6 +1,8 @@
#include "SkillManagerWrapper.h"
#include <mutex>
+#include <SimoxUtility/algorithm/string/string_tools.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include "RobotAPI/libraries/skills/core/SkillExecutionRequest.h"