diff --git a/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp b/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp
index 6cfdd31f6308864540f2cc4f13a2056d832bc4d3..6eabfa7f98e69d5bdb841c8072a676d545d6b70e 100644
--- a/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp
+++ b/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp
@@ -46,6 +46,13 @@ namespace VirtualRobot::hemisphere
};
}
+ Eigen::Vector3d Joint::getCorrectedEndEffectorTranslation() const
+ {
+ Eigen::Vector3d translation = getEndEffectorTranslation();
+ translation = translation.normalized() * radius;
+ return translation;
+ }
+
Eigen::Matrix3d Joint::getEndEffectorRotation() const
{
diff --git a/VirtualRobot/Nodes/HemisphereJoint/Joint.h b/VirtualRobot/Nodes/HemisphereJoint/Joint.h
index f9a8bcf4eeda9030231580d238a9ad54a8db6c94..e2b8fb8b17ba385cd2718cd3890d8e1e0fa4e22b 100644
--- a/VirtualRobot/Nodes/HemisphereJoint/Joint.h
+++ b/VirtualRobot/Nodes/HemisphereJoint/Joint.h
@@ -27,6 +27,7 @@ namespace VirtualRobot::hemisphere
Eigen::Vector3d getEndEffectorTranslation() const;
+ Eigen::Vector3d getCorrectedEndEffectorTranslation() const;
Eigen::Matrix3d getEndEffectorRotation() const;
Eigen::Matrix4d getEndEffectorTransform() const;
Jacobian getJacobian() const;
diff --git a/VirtualRobot/Nodes/RobotNodeHemisphere.cpp b/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
index f824e9d437c41f17b32a003d0aee83672c4a1f5b..9b05217244099de29e3f146bb85ec43d01ac7de9 100644
--- a/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
+++ b/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
@@ -9,6 +9,7 @@
#include <Eigen/Geometry>
#include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/meta/enum/EnumNames.hpp>
namespace VirtualRobot
@@ -16,11 +17,21 @@ namespace VirtualRobot
static const float limit = 1.0;
+ extern const simox::meta::EnumNames<RobotNodeHemisphere::Role> RoleNames =
+ {
+ { RobotNodeHemisphere::Role::FIRST, "first" },
+ { RobotNodeHemisphere::Role::SECOND, "second" },
+ };
VirtualRobot::RobotNodeHemisphere::RobotNodeHemisphere()
{
}
+ RobotNodeHemisphere::Role RobotNodeHemisphere::RoleFromString(const std::string& string)
+ {
+ return RoleNames.from_name(string);
+ }
+
RobotNodeHemisphere::RobotNodeHemisphere(
RobotWeakPtr rob,
const std::string& name,
@@ -33,8 +44,7 @@ namespace VirtualRobot
float jointValueOffset,
const SceneObject::Physics& physics,
CollisionCheckerPtr colChecker,
- RobotNodeType type,
- bool isTail
+ RobotNodeType type
) :
RobotNode(rob, name, -limit, limit, visualization, collisionModel,
jointValueOffset, physics, colChecker, type)
@@ -42,15 +52,6 @@ namespace VirtualRobot
(void) axis;
(void) jointLimitLo, (void) jointLimitHi;
- if (isTail)
- {
- tail.emplace(Tail{});
- }
- else
- {
- head.emplace(Head{});
- }
-
initialized = false;
optionalDHParameter.isSet = false;
localTransformation = preJointTransform;
@@ -72,8 +73,7 @@ namespace VirtualRobot
RobotNodeType type
) :
RobotNode(rob, name, jointLimitLo, jointLimitHi, visualization, collisionModel,
- jointValueOffset, physics, colChecker, type),
- tail(Tail{})
+ jointValueOffset, physics, colChecker, type)
{
initialized = false;
optionalDHParameter.isSet = true;
@@ -103,83 +103,91 @@ namespace VirtualRobot
}
- RobotNodeHemispherePtr RobotNodeHemisphere::MakeHead(
- RobotWeakPtr robot, const std::string& name, RobotNodeType type)
- {
- bool isTail = false;
- return std::make_shared<RobotNodeHemisphere>(
- robot, name, -limit, limit,
- Eigen::Matrix4f::Identity(), Eigen::Vector3f::Zero(),
- nullptr, nullptr, 0.0, Physics{}, nullptr, type,
- isTail);
- }
-
-
RobotNodeHemisphere::~RobotNodeHemisphere()
= default;
+ void RobotNodeHemisphere::setXmlInfo(const XmlInfo& info)
+ {
+ VR_ASSERT(second.has_value());
+ switch (info.role)
+ {
+ case Role::FIRST:
+ first.emplace(First{});
+ first->math.joint.setConstants(info.lever, info.theta0);
+ break;
+
+ case Role::SECOND:
+ second.emplace(Second{});
+ break;
+ }
+ }
+
+
bool RobotNodeHemisphere::initialize(
SceneObjectPtr parent,
- const std::vector<SceneObjectPtr>& _children)
+ const std::vector<SceneObjectPtr>& children)
{
- (void) _children;
- VR_ASSERT_MESSAGE(head xor sub, head.has_value() << " / " sub.has_value());
+ VR_ASSERT_MESSAGE(first xor sub, first.has_value() << " / " sub.has_value());
- if (tail)
+ // The second node needs to store a reference to the first node.
+ if (second)
{
- if (not tail->head)
+ VR_ASSERT_MESSAGE(not second->first, "Second must not be initialized yet.");
+
+ RobotNodeHemisphere* firstNode = dynamic_cast<RobotNodeHemisphere*>(parent.get());
+ RobotNodeHemisphere* secondNode = this;
+
+ if (not (firstNode and firstNode->first))
{
- // Create a head joint as a child of parent.
- RobotNodeHemispherePtr headNode = RobotNodeHemisphere::MakeHead(
- robot, name + "_head", nodeType
- );
-
- // Move robot node up parameters.
- {
- headNode->setLocalTransformation(this->localTransformation);
- this->localTransformation.setIdentity();
- }
-
- // Set robot node up parameters.
- {
- const hemisphere::Joint& joint = tail->joint;
-
- // (actuator + offset) must be in [-1, 1]
- // => low: actuator = -1 - offset
- // => hi: actuator = 1 - offset
- double lo = -1 - joint.actuatorOffset;
- double hi = +1 - joint.actuatorOffset;
-
- this->jointLimitLo = lo;
- headNode->jointLimitLo = lo;
-
- this->jointLimitHi = hi;
- headNode->jointLimitHi = hi;
- }
-
- // Start: parent -> tail
- // Goal: parent -> head -> tail
- SceneObjectPtr tailNode = shared_from_this();
- parent->detachChild(tailNode);
- headNode->attachChild(tailNode);
- parent->attachChild(headNode);
-
- tail->head = headNode;
-
- headNode->initialize(parent, {tailNode});
- // Stop here, recurse when the head node initializes this node (its child).
- return true;
+ std::stringstream ss;
+ ss << "The parent of a hemisphere joint with role '" << RoleNames.to_name(Role::SECOND) << "' "
+ << "must have be a hemisphere joint with role '" << RoleNames.to_name(Role::FIRST) << "' ";
+ THROW_VR_EXCEPTION(ss.str());
}
- else
+
+ // Save pointer to firstNode
+ second->first = firstNode;
+
+ // Set up robot node parameters.
{
- // Recurse.
- return RobotNode::initialize(parent, children);
+ const hemisphere::Joint& joint = second->math().joint;
+
+ // (actuator + offset) must be in [-1, 1]
+ // => low: actuator = -1 - offset
+ // => hi: actuator = 1 - offset
+ double lo = -1 - joint.actuatorOffset;
+ double hi = +1 - joint.actuatorOffset;
+
+ firstNode->jointLimitLo = lo;
+ secondNode->jointLimitLo = lo;
+
+ firstNode->jointLimitHi = hi;
+ secondNode->jointLimitHi = hi;
}
}
- else
+
+ return RobotNode::initialize(parent, children);
+ }
+
+
+ void RobotNodeHemisphere::JointMath::update(const Eigen::Vector2f& actuators)
+ {
+ const double maxNorm = 1;
+
+ if (actuators != this->actuators)
{
- return RobotNode::initialize(parent, children);
+ Eigen::Vector2f a = actuators;
+ a = a.array() + joint.actuatorOffset;
+
+ double norm = a.norm();
+ if (norm > maxNorm)
+ {
+ a *= (maxNorm / norm);
+ }
+
+ this->actuators = actuators;
+ joint.computeFK(a(0), a(1));
}
}
@@ -187,47 +195,43 @@ namespace VirtualRobot
void RobotNodeHemisphere::updateTransformationMatrices(
const Eigen::Matrix4f& parentPose)
{
- VR_ASSERT_MESSAGE(head xor sub, head.has_value() << " / " sub.has_value());
+ VR_ASSERT_MESSAGE(first xor sub, first.has_value() << " / " sub.has_value());
- const double maxNorm = 1;
-
- if (head)
+ if (first)
{
globalPose = parentPose * localTransformation;
}
- else if (tail)
+ else if (second)
{
- Eigen::Vector2d a(tail->head->getJointValue(), this->getJointValue());
- a = a.array() + tail->joint.actuatorOffset;
+ VR_ASSERT_MESSAGE(second->first, "First node must be known to second node.");
- double norm = a.norm();
- if (norm > maxNorm)
- {
- a *= (maxNorm / norm);
- }
+ JointMath& math = second->math();
+ Eigen::Vector2f actuators(second->first->getJointValue(), this->getJointValue());
- tail->joint.computeFK(a(0), a(1));
+ math.update(actuators);
- Eigen::Vector3d translation = tail->joint.getEndEffectorTranslation();
- translation = translation.normalized() * tail->joint.radius;
- const Eigen::Matrix3d rotation = tail->joint.getEndEffectorRotation();
+ Eigen::Vector3d translation = math.joint.getCorrectedEndEffectorTranslation();
+ const Eigen::Matrix3d rotation = math.joint.getEndEffectorRotation();
const Eigen::Matrix4d transform = simox::math::pose(translation, rotation);
- globalPose = parentPose * localTransformation * transform.cast<float>();
-
- Eigen::IOFormat iof(5, 0, " ", "\n", " [", "]");
- std::cout << __FUNCTION__ << "() with "
- << "\n lever = " << tail->joint.lever
- << "\n theta0 = " << tail->joint.theta0
- << "\n radius = " << tail->joint.radius
- << "\n actuator offset = " << tail->joint.actuatorOffset
- << "\n joint value = " << jointValue
- << "\n joint value offset = " << jointValueOffset
- << "\n actuator = \n" << a.transpose().format(iof)
- << "\n actuator + offset = \n" << (a.array() + tail->joint.actuatorOffset).transpose().format(iof)
- << "\n local transform = \n" << localTransformation.format(iof)
- << "\n transform = \n" << transform.format(iof)
- << std::endl;
+ // Update Second
+ {
+ this->globalPose = parentPose * localTransformation * transform.cast<float>();
+
+ Eigen::IOFormat iof(5, 0, " ", "\n", " [", "]");
+ std::cout << __FUNCTION__ << "() of second actuator with "
+ << "\n lever = " << math.joint.lever
+ << "\n theta0 = " << math.joint.theta0
+ << "\n radius = " << math.joint.radius
+ << "\n actuator offset = " << math.joint.actuatorOffset
+ << "\n joint value = " << jointValue
+ << "\n joint value offset = " << jointValueOffset
+ << "\n actuator = \n" << actuators.transpose().format(iof)
+ << "\n actuator + offset = \n" << (actuators.array() + math.joint.actuatorOffset).transpose().format(iof)
+ << "\n local transform = \n" << localTransformation.format(iof)
+ << "\n joint transform = \n" << transform.format(iof)
+ << std::endl;
+ }
}
}
@@ -235,7 +239,7 @@ namespace VirtualRobot
void RobotNodeHemisphere::print(bool printChildren, bool printDecoration) const
{
ReadLockPtr lock = getRobot()->getReadLock();
- VR_ASSERT_MESSAGE(head xor sub, head.has_value() << " / " sub.has_value());
+ VR_ASSERT_MESSAGE(first xor sub, first.has_value() << " / " sub.has_value());
if (printDecoration)
{
@@ -244,14 +248,14 @@ namespace VirtualRobot
RobotNode::print(false, false);
- if (head)
+ if (first)
{
- std::cout << "* Hemisphere joint head node";
+ std::cout << "* Hemisphere joint first node";
}
- else if (tail)
+ else if (second)
{
- std::cout << "* Hemisphere joint tail node";
- std::cout << "* Transform: \n" << tail->joint.getEndEffectorTransform() << std::endl;
+ std::cout << "* Hemisphere joint second node";
+ std::cout << "* Transform: \n" << second->math().joint.getEndEffectorTransform() << std::endl;
}
if (printDecoration)
@@ -306,11 +310,6 @@ namespace VirtualRobot
return true;
}
- void RobotNodeHemisphere::setConstants(double lever, double theta0)
- {
- VR_ASSERT(tail);
- tail->joint.setConstants(lever, theta0);
- }
void RobotNodeHemisphere::checkValidRobotNodeType()
{
@@ -321,18 +320,20 @@ namespace VirtualRobot
std::string RobotNodeHemisphere::_toXML(const std::string& /*modelPath*/)
{
- VR_ASSERT_MESSAGE(head xor sub, head.has_value() << " / " sub.has_value());
+ VR_ASSERT_MESSAGE(first xor sub, first.has_value() << " / " sub.has_value());
- if (head)
+ if (first)
{
- // Hidden, not part of xml.
+ // TODO
return "";
}
else
{
+ JointMath& math = second->math();
+
std::stringstream ss;
ss << "\t\t<Joint type='Hemisphere'>" << std::endl;
- ss << "\t\t\t<hemisphere lever='" << tail->joint.lever << "' theta0='" << tail->joint.theta0 << "' />" << std::endl;
+ ss << "\t\t\t<hemisphere lever='" << math.joint.lever << "' theta0='" << math.joint.theta0 << "' />" << std::endl;
ss << "\t\t\t<limits lo='" << jointLimitLo << "' hi='" << jointLimitHi << "' units='radian'/>" << std::endl;
ss << "\t\t\t<MaxAcceleration value='" << maxAcceleration << "'/>" << std::endl;
ss << "\t\t\t<MaxVelocity value='" << maxVelocity << "'/>" << std::endl;
@@ -350,7 +351,6 @@ namespace VirtualRobot
}
}
-
float RobotNodeHemisphere::getLMTC(float angle)
{
return std::sqrt(2 - 2 * std::cos(angle));
@@ -363,4 +363,6 @@ namespace VirtualRobot
return std::sqrt(4 * std::pow(b, 2) - std::pow(b, 4)) / (2 * b);
}
+
+
}
diff --git a/VirtualRobot/Nodes/RobotNodeHemisphere.h b/VirtualRobot/Nodes/RobotNodeHemisphere.h
index 74ca0a1d37d27ce27869802a5aff9c8fc9056189..15904d36e6dc1baa4dd523789029b5c8c93bb5da 100644
--- a/VirtualRobot/Nodes/RobotNodeHemisphere.h
+++ b/VirtualRobot/Nodes/RobotNodeHemisphere.h
@@ -41,6 +41,22 @@ namespace VirtualRobot
{
public:
+ enum class Role
+ {
+ FIRST,
+ SECOND,
+ };
+ static Role RoleFromString(const std::string& string);
+
+ struct XmlInfo
+ {
+ Role role;
+
+ // Only set for first:
+ double theta0 = -1;
+ double lever = -1;
+ };
+
friend class RobotFactory;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -58,8 +74,7 @@ namespace VirtualRobot
float jointValueOffset = 0.0f, ///< An offset that is internally added to the joint value
const SceneObject::Physics& p = {}, ///< physics information
CollisionCheckerPtr colChecker = nullptr, ///< A collision checker instance (if not set, the global col checker is used)
- RobotNodeType type = Generic,
- bool isTail = true
+ RobotNodeType type = Generic
);
RobotNodeHemisphere(
@@ -84,6 +99,8 @@ namespace VirtualRobot
~RobotNodeHemisphere() override;
+ void setXmlInfo(const XmlInfo& info);
+
bool
initialize(
SceneObjectPtr parent = nullptr,
@@ -100,8 +117,6 @@ namespace VirtualRobot
bool
isHemisphereJoint() const override;
- void setConstants(double lever, double theta0);
-
/**
* \brief getLMTC Calculates the spatial distance between the parent of a Hemisphere joint
* and a given child with the joint set to a given angle (e.g. the length of a
@@ -131,15 +146,6 @@ namespace VirtualRobot
RobotNodeHemisphere();
- // Head node constructor.
- static RobotNodeHemispherePtr MakeHead(
- RobotWeakPtr robot,
- const std::string& name,
- RobotNodeType type = Generic
- );
-
-
-
/// Derived classes add custom XML tags here
std::string
_toXML(
@@ -168,20 +174,37 @@ namespace VirtualRobot
protected:
- struct Head
+ struct JointMath
{
+ /// The actuator values that were used to compute the joint math.
+ Eigen::Vector2f actuators = Eigen::Vector2f::Constant(std::numeric_limits<float>::min());
+ /// The joint math.
+ hemisphere::Joint joint;
+
+ void update(const Eigen::Vector2f& actuators);
};
- std::optional<Head> head;
- struct Tail
+ struct First
{
- /// The second actuator node.
- RobotNodeHemispherePtr head = nullptr;
+ JointMath math;
+ };
+ std::optional<First> first;
- /// The joint math.
- hemisphere::Joint joint;
+ struct Second
+ {
+ /// The first actuator node.
+ RobotNodeHemisphere* first = nullptr;
+
+ JointMath& math()
+ {
+ return first->first->math;
+ }
+ const JointMath& math() const
+ {
+ return first->first->math;
+ }
};
- std::optional<Tail> tail;
+ std::optional<Second> second;
};
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index 5d95620dc11d027df71806d721a6398a7cd4f69f..023244cea72a650c1f6f04a7b922878355b85155 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -24,6 +24,7 @@
#include <SimoxUtility/xml/rapidxml/rapidxml_print.hpp>
#include <SimoxUtility/filesystem/remove_trailing_separator.h>
#include <SimoxUtility/math/convert/deg_to_rad.h>
+#include <SimoxUtility/algorithm/string/string_tools.h>
#include <vector>
#include <fstream>
@@ -249,12 +250,7 @@ namespace VirtualRobot
bool scaleVisu = false;
Eigen::Vector3f scaleVisuFactor = Eigen::Vector3f::Zero();
- struct Hemisphere
- {
- float lever;
- float theta0;
- };
- std::optional<Hemisphere> hemisphere;
+ std::optional<RobotNodeHemisphere::XmlInfo> hemisphere;
while (node)
{
@@ -454,10 +450,28 @@ namespace VirtualRobot
}
else if (nodeName == "hemisphere")
{
- hemisphere = Hemisphere {
- .lever = getFloatByAttributeName(node, "lever"),
- .theta0 = simox::math::deg_to_rad(getFloatByAttributeName(node, "theta0")),
- };
+ hemisphere.emplace();
+
+ std::string roleString = processStringAttribute("role", node, true);
+ roleString = simox::alg::to_lower(roleString);
+ try
+ {
+ hemisphere->role = RobotNodeHemisphere::RoleFromString(roleString);
+ }
+ catch (const std::out_of_range& e)
+ {
+ THROW_VR_EXCEPTION("Invalid role in hemisphere joint: " << e.what())
+ }
+
+ switch (hemisphere->role)
+ {
+ case RobotNodeHemisphere::Role::FIRST:
+ hemisphere->lever = getFloatByAttributeName(node, "lever");
+ hemisphere->theta0 = simox::math::deg_to_rad(getFloatByAttributeName(node, "theta0"));
+ break;
+ case RobotNodeHemisphere::Role::SECOND:
+ break;
+ }
}
else
{
@@ -570,7 +584,7 @@ namespace VirtualRobot
if (robotNode->isHemisphereJoint() and hemisphere.has_value())
{
RobotNodeHemispherePtr node = std::dynamic_pointer_cast<RobotNodeHemisphere>(robotNode);
- node->setConstants(hemisphere->lever, hemisphere->theta0);
+ node->setXmlInfo(hemisphere.value());
}
if (scaleVisu)
diff --git a/VirtualRobot/data/robots/examples/HemisphereJoint/Joint3Hemisphere.xml b/VirtualRobot/data/robots/examples/HemisphereJoint/Joint3Hemisphere.xml
index 9f402bb7b9df186406f9b0519aec56e1b2f32713..7cdabb74a2d65856611b5a7f909a84ea42811026 100644
--- a/VirtualRobot/data/robots/examples/HemisphereJoint/Joint3Hemisphere.xml
+++ b/VirtualRobot/data/robots/examples/HemisphereJoint/Joint3Hemisphere.xml
@@ -1,16 +1,16 @@
<?xml version="1.0" encoding="UTF-8" ?>
-<Robot Type="Simple3DoFRobotWithHemisphereJoint" StandardName="Simple3DoFRobotWithHemisphereJoint" RootNode="Start">
+<Robot Type="Simple3DoFRobotWithHemisphereJoint" StandardName="Simple3DoFRobotWithHemisphereJoint" RootNode="First">
- <RobotNode name="Start">
+ <RobotNode name="First">
<Visualization enable="true">
<CoordinateAxis enable="true" scaling="1" text="Root"/>
<File type="Inventor">end.iv</File>
</Visualization>
- <Child name="Joint1"/>
+ <Child name="Joint1_Revolute"/>
</RobotNode>
- <RobotNode name="Joint1">
+ <RobotNode name="Joint1_Revolute">
<Joint type="revolute">
<Limits unit="degree" lo="-90" hi="90"/>
<Axis x="1" y="0" z="0"/>
@@ -19,24 +19,35 @@
<File type="Inventor">joint_01_base.iv</File>
<UseAsCollisionModel/>
</Visualization>
- <Child name="Joint2Hemisphere"/>
+ <Child name="Joint2_Hemisphere_A"/>
</RobotNode>
- <RobotNode name="Joint2Hemisphere">
+ <RobotNode name="Joint2_Hemisphere_A">
<Transform>
<Translation x="0" y="0" z="300" />
</Transform>
<Joint type="hemisphere">
- <hemisphere lever="40" theta0="25" />
+ <hemisphere role="first" lever="40" theta0="25" />
</Joint>
<Visualization enable="true">
- <File type="Inventor">joint_02_hemisphere.iv</File>
+ <File type="Inventor">joint_02_hemisphere_a.iv</File>
<UseAsCollisionModel/>
</Visualization>
- <Child name="Joint3"/>
+ <Child name="Joint2_Hemisphere_B"/>
</RobotNode>
- <RobotNode name="Joint3">
+ <RobotNode name="Joint2_Hemisphere_B">
+ <Joint type="hemisphere">
+ <hemisphere role="second" />
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">joint_02_hemisphere_b.iv</File>
+ <UseAsCollisionModel/>
+ </Visualization>
+ <Child name="Joint3_Revolute"/>
+ </RobotNode>
+
+ <RobotNode name="Joint3_Revolute">
<Transform>
<Translation x="0" y="0" z="50" />
</Transform>
@@ -48,10 +59,10 @@
<File type="Inventor">joint_03_finger.iv</File>
<UseAsCollisionModel/>
</Visualization>
- <Child name="EndPoint"/>
+ <Child name="Last"/>
</RobotNode>
- <RobotNode name="EndPoint">
+ <RobotNode name="Last">
<Transform>
<Translation x="0" y="0" z="300" />
</Transform>
@@ -61,17 +72,20 @@
</Visualization>
</RobotNode>
- <RobotNodeSet name="AllJoints" kinematicRoot="Joint1">
- <Node name="Joint1"/>
- <Node name="Joint2Hemisphere"/>
- <Node name="Joint3"/>
+ <RobotNodeSet name="AllJoints" kinematicRoot="Joint1_Revolute">
+ <Node name="Joint1_Revolute"/>
+ <Node name="Joint2_Hemisphere_A"/>
+ <Node name="Joint2_Hemisphere_B"/>
+ <Node name="Joint3_Revolute"/>
</RobotNodeSet>
<RobotNodeSet name="CollisionModel">
- <Node name="Joint1"/>
- <Node name="Joint2Hemisphere"/>
- <Node name="Joint3"/>
- <Node name="EndPoint"/>
+ <Node name="First"/>
+ <Node name="Joint1_Revolute"/>
+ <Node name="Joint2_Hemisphere_A"/>
+ <Node name="Joint2_Hemisphere_B"/>
+ <Node name="Joint3_Revolute"/>
+ <Node name="Last"/>
</RobotNodeSet>
</Robot>
diff --git a/VirtualRobot/data/robots/examples/HemisphereJoint/joint_01_base.iv b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_01_base.iv
index 1ed4911cf36b9915d2781608b264b20f3fa7a691..c6a9a936f3d197fc11a51646da9bbf086c47f71b 100644
--- a/VirtualRobot/data/robots/examples/HemisphereJoint/joint_01_base.iv
+++ b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_01_base.iv
@@ -31,10 +31,6 @@ Separator {
Translation {
translation 0 150 0
}
- Sphere
- {
- radius 16.90475
- }
Cube
{
width 60
diff --git a/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_a.iv b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_a.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e65631a950c15eb9051b713c8ab4a42c51f2b034
--- /dev/null
+++ b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_a.iv
@@ -0,0 +1,15 @@
+#Inventor V2.0 ascii
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Material {
+ diffuseColor .5 .5 1
+ }
+ Sphere
+ {
+ radius 16.90475
+ }
+}
diff --git a/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere.iv b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_b.iv
similarity index 69%
rename from VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere.iv
rename to VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_b.iv
index 9f3a88e2ef6d595ef2bc83c3e0a41adaad384d03..e80f74c3c49b075d675cde5b4337dec56de8605e 100644
--- a/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere.iv
+++ b/VirtualRobot/data/robots/examples/HemisphereJoint/joint_02_hemisphere_b.iv
@@ -1,26 +1,33 @@
#Inventor V2.0 ascii
-Separator {
+Separator
+{
- Units {
+ Units
+ {
units MILLIMETERS
}
- Material {
+ Material {
diffuseColor .5 1 .5
}
- Sphere {
+
+ Rotation
+ {
+ rotation 1 0 0 1.57
+ }
+ Sphere
+ {
radius 16.90475
}
Cube
{
width 60
- height 60
- depth 1
+ height 1
+ depth 60
}
- Rotation {
- rotation 1 0 0 1.57
- }
- Translation {
+
+ Translation
+ {
translation 0 25 0
}
Cylinder {
@@ -28,4 +35,5 @@ Separator {
height 50
parts (SIDES | TOP | BOTTOM)
}
+
}