diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index 42d78f288c255ddc226ab07255b336332ad7ff8e..3701d0770ec1e78b1dccf4e8a64a011260635b03 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -93,12 +93,15 @@ namespace VirtualRobot
c[i]->initialize(shared_from_this());
}
+ Eigen::Matrix4f m = Eigen::Matrix4f::Identity();
+
if (parent)
{
- updatePose(parent->getGlobalPose());
+ m = parent->getGlobalPose();
}
initialized = true;
+ updatePose(m);
return initializePhysics();
}
diff --git a/VirtualRobot/XML/ObjectIO.cpp b/VirtualRobot/XML/ObjectIO.cpp
index b0537a604250994991736b94a4f3314477cc019e..7a2c973c56af5d10218dc62bb0efbe12a57838fa 100644
--- a/VirtualRobot/XML/ObjectIO.cpp
+++ b/VirtualRobot/XML/ObjectIO.cpp
@@ -1,7 +1,6 @@
#include "ObjectIO.h"
#include "../VirtualRobotException.h"
-#include "VirtualRobot.h"
#include "rapidxml.hpp"
@@ -253,15 +252,7 @@ namespace VirtualRobot
// get name
std::string objName = processNameAttribute(objectXMLNode);
-
- // update global pose
- rapidxml::xml_node<>* poseNode = objectXMLNode->first_node("globalpose", 0, false);
- if (poseNode != nullptr)
- {
- processTransformNode(poseNode, objName, globalPose);
- }
-
- // Check if there is an xml file to load
+ // first check if there is an xml file to load
rapidxml::xml_node<>* xmlFileNode = objectXMLNode->first_node("file", 0, false);
if (xmlFileNode)
@@ -279,13 +270,20 @@ namespace VirtualRobot
result->setName(objName);
}
- // update global pose
- result->setGlobalPose(globalPose);
+ // update global pose
+ rapidxml::xml_node<>* poseNode = objectXMLNode->first_node("globalpose", 0, false);
+
+ if (poseNode)
+ {
+ processTransformNode(poseNode, objName, globalPose);
+ result->setGlobalPose(globalPose);
+ }
return result;
}
+
THROW_VR_EXCEPTION_IF(objName.empty(), "ManipulationObject definition expects attribute 'name'");
rapidxml::xml_node<>* node = objectXMLNode->first_node();
diff --git a/VirtualRobot/data/objects/tests/pipe.wrl b/VirtualRobot/data/objects/tests/pipe.wrl
deleted file mode 100644
index 9701f7e3688ef6dc070839e00be5b3f1e9631dc7..0000000000000000000000000000000000000000
--- a/VirtualRobot/data/objects/tests/pipe.wrl
+++ /dev/null
@@ -1,8022 +0,0 @@
-#VRML V2.0 utf8
-
-
-Group {
- children
- DEF _+0 Group {
- children
- DEF _+1 Transform {
- scale 1 1 1
- children
- DEF _+2 Transform {
- translation 0 0 0
- rotation 0 0 1 0
- scale 1 1 1
- scaleOrientation 0 0 1 0
- children
- DEF _+3 Group {
- children
- DEF _+4 Transform {
- scale 0.001 0.001 0.001
- children
- DEF _+5 Shape {
- appearance
- Appearance {
- material
- Material {
-
- }
-
- }
- geometry
- IndexedFaceSet {
- coord
- Coordinate {
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- 1591, 1580, 1492, -1, 1591, 1581, 1580, -1,
- 1591, 1589, 1581, -1, 1138, 325, 322, -1,
- 785, 322, 324, -1, 1562, 765, 766, -1,
- 759, 765, 1562, -1, 1221, 793, 792, -1,
- 759, 763, 765, -1, 1153, 125, 956, -1,
- 122, 125, 1153, -1, 67, 1191, 1401, -1,
- 67, 1401, 1045, -1, 1201, 18, 638, -1,
- 1201, 1200, 18, -1, 1583, 1457, 834, -1,
- 906, 895, 894, -1, 906, 1358, 895, -1,
- 1353, 896, 1385, -1, 1353, 1385, 1592, -1,
- 892, 1438, 1383, -1, 1384, 1383, 1438, -1,
- 894, 896, 1353, -1, 920, 1354, 1470, -1,
- 898, 1384, 920, -1, 1080, 1354, 283, -1,
- 905, 897, 1367, -1, 905, 1593, 897, -1,
- 897, 1593, 898, -1, 1367, 897, 900, -1,
- 910, 909, 1557, -1, 910, 1557, 1267, -1,
- 905, 1352, 1592, -1, 1353, 1592, 1352, -1,
- 898, 1593, 1384, -1, 1593, 1382, 1384, -1,
- 1592, 1385, 1382, -1, 1592, 1382, 1593, -1,
- 1497, 834, 247, -1, 1385, 896, 1383, -1,
- 905, 1592, 1593, -1, 1583, 1497, 1337, -1,
- 1583, 834, 1497, -1, 834, 412, 383, -1,
- 352, 95, 32, -1, 12, 14, 344, -1,
- 31, 1463, 252, -1, 31, 46, 1463, -1,
- 252, 1463, 164, -1, 240, 74, 329, -1,
- 546, 74, 240, -1, 549, 513, 511, -1,
- 548, 513, 549, -1, 567, 513, 548, -1,
- 674, 569, 621, -1, 568, 621, 569, -1,
- 318, 1588, 545, -1, 545, 1588, 546, -1,
- 240, 545, 546, -1, 730, 1312, 1148, -1,
- 1312, 1313, 1148, -1, 644, 1148, 1313, -1,
- 644, 1313, 1089, -1, 642, 644, 1089, -1,
- 642, 532, 643, -1, 532, 47, 643, -1,
- 602, 1085, 1548, -1, 602, 1548, 927, -1,
- 1167, 936, 1172, -1, 34, 992, 1085, -1,
- 34, 1085, 1084, -1, 992, 1547, 1548, -1,
- 992, 485, 1547, -1, 1547, 485, 1166, -1,
- 308, 488, 486, -1, 761, 1521, 760, -1,
- 1523, 1521, 761, -1, 316, 318, 476, -1,
- 1133, 1136, 1340, -1, 1516, 1340, 1136, -1,
- 508, 1516, 1136, -1, 508, 467, 1516, -1,
- 1201, 1272, 1203, -1, 1240, 1338, 467, -1,
- 1240, 1519, 1338, -1, 1506, 1133, 1513, -1,
- 1094, 1093, 1133, -1, 1094, 1133, 1506, -1,
- 1338, 1519, 1339, -1, 1339, 1239, 1513, -1,
- 1339, 1518, 1239, -1, 1170, 1374, 1171, -1,
- 1572, 1208, 1169, -1, 1572, 1154, 1208, -1,
- 1169, 1172, 1409, -1, 1169, 1409, 1572, -1,
- 1328, 1098, 1206, -1, 1328, 1206, 1274, -1,
- 1572, 487, 1154, -1, 1328, 576, 1098, -1,
- 1274, 1170, 1212, -1, 1210, 1328, 1274, -1,
- 618, 1209, 1212, -1, 616, 618, 1212, -1,
- 1154, 741, 1184, -1, 741, 748, 742, -1,
- 1269, 1544, 867, -1, 867, 1544, 710, -1,
- 749, 748, 741, -1, 741, 1154, 749, -1,
- 1549, 230, 1032, -1, 1549, 857, 230, -1,
- 268, 1545, 1196, -1, 517, 65, 649, -1,
- 1424, 269, 699, -1, 267, 269, 1424, -1,
- 473, 699, 269, -1, 268, 267, 1545, -1,
- 553, 1372, 1426, -1, 265, 514, 555, -1,
- 554, 265, 555, -1, 1426, 1502, 1424, -1,
- 516, 267, 1502, -1, 1372, 516, 1502, -1,
- 553, 557, 554, -1, 557, 266, 554, -1,
- 265, 554, 266, -1, 65, 514, 265, -1,
- 1405, 1404, 1443, -1, 1174, 1443, 1404, -1,
- 1476, 1174, 1404, -1, 725, 1174, 1476, -1,
- 864, 1476, 1404, -1, 864, 1404, 963, -1,
- 1574, 723, 863, -1, 1574, 863, 862, -1 ]
- normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
- 2, 2, 2, -1, 3, 3, 3, -1,
- 4, 4, 4, -1, 5, 5, 5, -1,
- 6, 6, 6, -1, 7, 7, 7, -1,
- 8, 8, 8, -1, 9, 9, 9, -1,
- 10, 10, 10, -1, 11, 11, 11, -1,
- 12, 12, 12, -1, 13, 13, 13, -1,
- 14, 14, 14, -1, 15, 15, 15, -1,
- 16, 16, 16, -1, 17, 17, 17, -1,
- 18, 18, 18, -1, 19, 19, 19, -1,
- 20, 20, 20, -1, 21, 21, 21, -1,
- 22, 22, 22, -1, 23, 23, 23, -1,
- 24, 24, 24, -1, 25, 25, 25, -1,
- 26, 26, 26, -1, 27, 27, 27, -1,
- 28, 28, 28, -1, 29, 29, 29, -1,
- 30, 30, 30, -1, 31, 31, 31, -1,
- 32, 32, 32, -1, 33, 33, 33, -1,
- 34, 34, 34, -1, 35, 35, 35, -1,
- 36, 36, 36, -1, 37, 37, 37, -1,
- 38, 38, 38, -1, 39, 39, 39, -1,
- 40, 40, 40, -1, 41, 41, 41, -1,
- 42, 42, 42, -1, 43, 43, 43, -1,
- 44, 44, 44, -1, 45, 45, 45, -1,
- 46, 46, 46, -1, 47, 47, 47, -1,
- 48, 48, 48, -1, 49, 49, 49, -1,
- 50, 50, 50, -1, 51, 51, 51, -1,
- 52, 52, 52, -1, 53, 53, 53, -1,
- 54, 54, 54, -1, 55, 55, 55, -1,
- 56, 56, 56, -1, 57, 57, 57, -1,
- 58, 58, 58, -1, 59, 59, 59, -1,
- 60, 60, 60, -1, 61, 61, 61, -1,
- 62, 62, 62, -1, 63, 63, 63, -1,
- 64, 64, 64, -1, 65, 65, 65, -1,
- 66, 66, 66, -1, 67, 67, 67, -1,
- 68, 68, 68, -1, 69, 69, 69, -1,
- 70, 70, 70, -1, 71, 71, 71, -1,
- 72, 72, 72, -1, 73, 73, 73, -1,
- 74, 74, 74, -1, 75, 75, 75, -1,
- 76, 76, 76, -1, 77, 77, 77, -1,
- 78, 78, 78, -1, 79, 79, 79, -1,
- 80, 80, 80, -1, 81, 81, 81, -1,
- 82, 82, 82, -1, 83, 83, 83, -1,
- 84, 84, 84, -1, 85, 85, 85, -1,
- 86, 86, 86, -1, 87, 87, 87, -1,
- 88, 88, 88, -1, 89, 89, 89, -1,
- 90, 90, 90, -1, 91, 91, 91, -1,
- 92, 92, 92, -1, 93, 93, 93, -1,
- 94, 94, 94, -1, 95, 95, 95, -1,
- 96, 96, 96, -1, 97, 97, 97, -1,
- 98, 98, 98, -1, 99, 99, 99, -1,
- 100, 100, 100, -1, 101, 101, 101, -1,
- 102, 102, 102, -1, 103, 103, 103, -1,
- 104, 104, 104, -1, 105, 105, 105, -1,
- 106, 106, 106, -1, 107, 107, 107, -1,
- 108, 108, 108, -1, 109, 109, 109, -1,
- 110, 110, 110, -1, 111, 111, 111, -1,
- 112, 112, 112, -1, 113, 113, 113, -1,
- 114, 114, 114, -1, 115, 115, 115, -1,
- 116, 116, 116, -1, 117, 117, 117, -1,
- 118, 118, 118, -1, 119, 119, 119, -1,
- 120, 120, 120, -1, 121, 121, 121, -1,
- 122, 122, 122, -1, 123, 123, 123, -1,
- 124, 124, 124, -1, 125, 125, 125, -1,
- 126, 126, 126, -1, 127, 127, 127, -1,
- 128, 128, 128, -1, 129, 129, 129, -1,
- 130, 130, 130, -1, 131, 131, 131, -1,
- 132, 132, 132, -1, 133, 133, 133, -1,
- 134, 134, 134, -1, 135, 135, 135, -1,
- 136, 136, 136, -1, 137, 137, 137, -1,
- 138, 138, 138, -1, 139, 139, 139, -1,
- 140, 140, 140, -1, 141, 141, 141, -1,
- 142, 142, 142, -1, 143, 143, 143, -1,
- 144, 144, 144, -1, 145, 145, 145, -1,
- 146, 146, 146, -1, 147, 147, 147, -1,
- 148, 148, 148, -1, 149, 149, 149, -1,
- 150, 150, 150, -1, 151, 151, 151, -1,
- 152, 152, 152, -1, 153, 153, 153, -1,
- 154, 154, 154, -1, 155, 155, 155, -1,
- 156, 156, 156, -1, 157, 157, 157, -1,
- 158, 158, 158, -1, 159, 159, 159, -1,
- 160, 160, 160, -1, 161, 161, 161, -1,
- 162, 162, 162, -1, 163, 163, 163, -1,
- 164, 164, 164, -1, 165, 165, 165, -1,
- 166, 166, 166, -1, 167, 167, 167, -1,
- 168, 168, 168, -1, 169, 169, 169, -1,
- 170, 170, 170, -1, 171, 171, 171, -1,
- 172, 172, 172, -1, 173, 173, 173, -1,
- 174, 174, 174, -1, 175, 175, 175, -1,
- 176, 176, 176, -1, 177, 177, 177, -1,
- 178, 178, 178, -1, 179, 179, 179, -1,
- 180, 180, 180, -1, 181, 181, 181, -1,
- 182, 182, 182, -1, 183, 183, 183, -1,
- 184, 184, 184, -1, 185, 185, 185, -1,
- 186, 186, 186, -1, 187, 187, 187, -1,
- 188, 188, 188, -1, 189, 189, 189, -1,
- 190, 190, 190, -1, 191, 191, 191, -1,
- 192, 192, 192, -1, 193, 193, 193, -1,
- 194, 194, 194, -1, 195, 195, 195, -1,
- 196, 196, 196, -1, 197, 197, 197, -1,
- 198, 198, 198, -1, 199, 199, 199, -1,
- 200, 200, 200, -1, 201, 201, 201, -1,
- 202, 202, 202, -1, 203, 203, 203, -1,
- 204, 204, 204, -1, 205, 205, 205, -1,
- 206, 206, 206, -1, 207, 207, 207, -1,
- 208, 208, 208, -1, 209, 209, 209, -1,
- 210, 210, 210, -1, 211, 211, 211, -1,
- 212, 212, 212, -1, 213, 213, 213, -1,
- 214, 214, 214, -1, 215, 215, 215, -1,
- 216, 216, 216, -1, 217, 217, 217, -1,
- 218, 218, 218, -1, 219, 219, 219, -1,
- 220, 220, 220, -1, 221, 221, 221, -1,
- 222, 222, 222, -1, 223, 223, 223, -1,
- 224, 224, 224, -1, 225, 225, 225, -1,
- 226, 226, 226, -1, 227, 227, 227, -1,
- 228, 228, 228, -1, 229, 229, 229, -1,
- 230, 230, 230, -1, 231, 231, 231, -1,
- 232, 232, 232, -1, 233, 233, 233, -1,
- 234, 234, 234, -1, 235, 235, 235, -1,
- 236, 236, 236, -1, 237, 237, 237, -1,
- 238, 238, 238, -1, 239, 239, 239, -1,
- 240, 240, 240, -1, 241, 241, 241, -1,
- 242, 242, 242, -1, 243, 243, 243, -1,
- 244, 244, 244, -1, 245, 245, 245, -1,
- 246, 246, 246, -1, 247, 247, 247, -1,
- 248, 248, 248, -1, 249, 249, 249, -1,
- 250, 250, 250, -1, 251, 251, 251, -1,
- 252, 252, 252, -1, 253, 253, 253, -1,
- 254, 254, 254, -1, 255, 255, 255, -1,
- 256, 256, 256, -1, 257, 257, 257, -1,
- 258, 258, 258, -1, 259, 259, 259, -1,
- 260, 260, 260, -1, 261, 261, 261, -1,
- 262, 262, 262, -1, 263, 263, 263, -1,
- 264, 264, 264, -1, 265, 265, 265, -1,
- 266, 266, 266, -1, 267, 267, 267, -1,
- 268, 268, 268, -1, 269, 269, 269, -1,
- 270, 270, 270, -1, 271, 271, 271, -1,
- 272, 272, 272, -1, 273, 273, 273, -1,
- 274, 274, 274, -1, 275, 275, 275, -1,
- 276, 276, 276, -1, 277, 277, 277, -1,
- 278, 278, 278, -1, 279, 279, 279, -1,
- 280, 280, 280, -1, 281, 281, 281, -1,
- 282, 282, 282, -1, 283, 283, 283, -1,
- 284, 284, 284, -1, 285, 285, 285, -1,
- 286, 286, 286, -1, 287, 287, 287, -1,
- 288, 288, 288, -1, 289, 289, 289, -1,
- 290, 290, 290, -1, 291, 291, 291, -1,
- 292, 292, 292, -1, 293, 293, 293, -1,
- 294, 294, 294, -1, 295, 295, 295, -1,
- 296, 296, 296, -1, 297, 297, 297, -1,
- 298, 298, 298, -1, 299, 299, 299, -1,
- 300, 300, 300, -1, 301, 301, 301, -1,
- 302, 302, 302, -1, 303, 303, 303, -1,
- 304, 304, 304, -1, 305, 305, 305, -1,
- 306, 306, 306, -1, 307, 307, 307, -1,
- 308, 308, 308, -1, 309, 309, 309, -1,
- 310, 310, 310, -1, 311, 311, 311, -1,
- 312, 312, 312, -1, 313, 313, 313, -1,
- 314, 314, 314, -1, 315, 315, 315, -1,
- 316, 316, 316, -1, 317, 317, 317, -1,
- 318, 318, 318, -1, 319, 319, 319, -1,
- 320, 320, 320, -1, 321, 321, 321, -1,
- 322, 322, 322, -1, 323, 323, 323, -1,
- 324, 324, 324, -1, 325, 325, 325, -1,
- 326, 326, 326, -1, 327, 327, 327, -1,
- 328, 328, 328, -1, 329, 329, 329, -1,
- 330, 330, 330, -1, 331, 331, 331, -1,
- 332, 332, 332, -1, 333, 333, 333, -1,
- 334, 334, 334, -1, 335, 335, 335, -1,
- 336, 336, 336, -1, 337, 337, 337, -1,
- 338, 338, 338, -1, 339, 339, 339, -1,
- 340, 340, 340, -1, 341, 341, 341, -1,
- 342, 342, 342, -1, 343, 343, 343, -1,
- 344, 344, 344, -1, 345, 345, 345, -1,
- 346, 346, 346, -1, 347, 347, 347, -1,
- 348, 348, 348, -1, 349, 349, 349, -1,
- 350, 350, 350, -1, 351, 351, 351, -1,
- 352, 352, 352, -1, 353, 353, 353, -1,
- 354, 354, 354, -1, 355, 355, 355, -1,
- 356, 356, 356, -1, 357, 357, 357, -1,
- 358, 358, 358, -1, 359, 359, 359, -1,
- 360, 360, 360, -1, 361, 361, 361, -1,
- 362, 362, 362, -1, 363, 363, 363, -1,
- 364, 364, 364, -1, 365, 365, 365, -1,
- 366, 366, 366, -1, 367, 367, 367, -1,
- 368, 368, 368, -1, 369, 369, 369, -1,
- 370, 370, 370, -1, 371, 371, 371, -1,
- 372, 372, 372, -1, 373, 373, 373, -1,
- 374, 374, 374, -1, 375, 375, 375, -1,
- 376, 376, 376, -1, 377, 377, 377, -1,
- 378, 378, 378, -1, 379, 379, 379, -1,
- 380, 380, 380, -1, 381, 381, 381, -1,
- 382, 382, 382, -1, 383, 383, 383, -1,
- 384, 384, 384, -1, 385, 385, 385, -1,
- 386, 386, 386, -1, 387, 387, 387, -1,
- 388, 388, 388, -1, 389, 389, 389, -1,
- 390, 390, 390, -1, 391, 391, 391, -1,
- 392, 392, 392, -1, 393, 393, 393, -1,
- 394, 394, 394, -1, 395, 395, 395, -1,
- 396, 396, 396, -1, 397, 397, 397, -1,
- 398, 398, 398, -1, 399, 399, 399, -1,
- 400, 400, 400, -1, 401, 401, 401, -1,
- 402, 402, 402, -1, 403, 403, 403, -1,
- 404, 404, 404, -1, 405, 405, 405, -1,
- 406, 406, 406, -1, 407, 407, 407, -1,
- 408, 408, 408, -1, 409, 409, 409, -1,
- 410, 410, 410, -1, 411, 411, 411, -1,
- 412, 412, 412, -1, 413, 413, 413, -1,
- 414, 414, 414, -1, 415, 415, 415, -1,
- 416, 416, 416, -1, 417, 417, 417, -1,
- 418, 418, 418, -1, 419, 419, 419, -1,
- 420, 420, 420, -1, 421, 421, 421, -1,
- 422, 422, 422, -1, 423, 423, 423, -1,
- 424, 424, 424, -1, 425, 425, 425, -1,
- 426, 426, 426, -1, 427, 427, 427, -1,
- 428, 428, 428, -1, 429, 429, 429, -1,
- 430, 430, 430, -1, 431, 431, 431, -1,
- 432, 432, 432, -1, 433, 433, 433, -1,
- 434, 434, 434, -1, 435, 435, 435, -1,
- 436, 436, 436, -1, 437, 437, 437, -1,
- 438, 438, 438, -1, 439, 439, 439, -1,
- 440, 440, 440, -1, 441, 441, 441, -1,
- 442, 442, 442, -1, 443, 443, 443, -1,
- 444, 444, 444, -1, 445, 445, 445, -1,
- 446, 446, 446, -1, 447, 447, 447, -1,
- 448, 448, 448, -1, 449, 449, 449, -1,
- 450, 450, 450, -1, 451, 451, 451, -1,
- 452, 452, 452, -1, 453, 453, 453, -1,
- 454, 454, 454, -1, 455, 455, 455, -1,
- 456, 456, 456, -1, 457, 457, 457, -1,
- 458, 458, 458, -1, 459, 459, 459, -1,
- 460, 460, 460, -1, 461, 461, 461, -1,
- 462, 462, 462, -1, 463, 463, 463, -1,
- 464, 464, 464, -1, 465, 465, 465, -1,
- 466, 466, 466, -1, 467, 467, 467, -1,
- 468, 468, 468, -1, 469, 469, 469, -1,
- 470, 470, 470, -1, 471, 471, 471, -1,
- 472, 472, 472, -1, 473, 473, 473, -1,
- 474, 474, 474, -1, 475, 475, 475, -1,
- 476, 476, 476, -1, 477, 477, 477, -1,
- 478, 478, 478, -1, 479, 479, 479, -1,
- 480, 480, 480, -1, 481, 481, 481, -1,
- 482, 482, 482, -1, 483, 483, 483, -1,
- 484, 484, 484, -1, 485, 485, 485, -1,
- 486, 486, 486, -1, 487, 487, 487, -1,
- 488, 488, 488, -1, 489, 489, 489, -1,
- 490, 490, 490, -1, 491, 491, 491, -1,
- 492, 492, 492, -1, 493, 493, 493, -1,
- 494, 494, 494, -1, 495, 495, 495, -1,
- 496, 496, 496, -1, 497, 497, 497, -1,
- 498, 498, 498, -1, 499, 499, 499, -1,
- 500, 500, 500, -1, 501, 501, 501, -1,
- 502, 502, 502, -1, 503, 503, 503, -1,
- 504, 504, 504, -1, 505, 505, 505, -1,
- 506, 506, 506, -1, 507, 507, 507, -1,
- 508, 508, 508, -1, 509, 509, 509, -1,
- 510, 510, 510, -1, 511, 511, 511, -1,
- 512, 512, 512, -1, 513, 513, 513, -1,
- 514, 514, 514, -1, 515, 515, 515, -1,
- 516, 516, 516, -1, 517, 517, 517, -1,
- 518, 518, 518, -1, 519, 519, 519, -1,
- 520, 520, 520, -1, 521, 521, 521, -1,
- 522, 522, 522, -1, 523, 523, 523, -1,
- 524, 524, 524, -1, 525, 525, 525, -1,
- 526, 526, 526, -1, 527, 527, 527, -1,
- 528, 528, 528, -1, 529, 529, 529, -1,
- 530, 530, 530, -1, 531, 531, 531, -1,
- 532, 532, 532, -1, 533, 533, 533, -1,
- 534, 534, 534, -1, 535, 535, 535, -1,
- 536, 536, 536, -1, 537, 537, 537, -1,
- 538, 538, 538, -1, 539, 539, 539, -1,
- 540, 540, 540, -1, 541, 541, 541, -1,
- 542, 542, 542, -1, 543, 543, 543, -1,
- 544, 544, 544, -1, 545, 545, 545, -1,
- 546, 546, 546, -1, 547, 547, 547, -1,
- 548, 548, 548, -1, 549, 549, 549, -1,
- 550, 550, 550, -1, 551, 551, 551, -1,
- 552, 552, 552, -1, 553, 553, 553, -1,
- 554, 554, 554, -1, 555, 555, 555, -1,
- 556, 556, 556, -1, 557, 557, 557, -1,
- 558, 558, 558, -1, 559, 559, 559, -1,
- 560, 560, 560, -1, 561, 561, 561, -1,
- 562, 562, 562, -1, 563, 563, 563, -1,
- 564, 564, 564, -1, 565, 565, 565, -1,
- 566, 566, 566, -1, 567, 567, 567, -1,
- 568, 568, 568, -1, 569, 569, 569, -1,
- 570, 570, 570, -1, 571, 571, 571, -1,
- 572, 572, 572, -1, 573, 573, 573, -1,
- 574, 574, 574, -1, 575, 575, 575, -1,
- 576, 576, 576, -1, 577, 577, 577, -1,
- 578, 578, 578, -1, 579, 579, 579, -1,
- 580, 580, 580, -1, 581, 581, 581, -1,
- 582, 582, 582, -1, 583, 583, 583, -1,
- 584, 584, 584, -1, 585, 585, 585, -1,
- 586, 586, 586, -1, 587, 587, 587, -1,
- 588, 588, 588, -1, 589, 589, 589, -1,
- 590, 590, 590, -1, 591, 591, 591, -1,
- 592, 592, 592, -1, 593, 593, 593, -1,
- 594, 594, 594, -1, 595, 595, 595, -1,
- 596, 596, 596, -1, 597, 597, 597, -1,
- 598, 598, 598, -1, 599, 599, 599, -1,
- 600, 600, 600, -1, 601, 601, 601, -1,
- 602, 602, 602, -1, 603, 603, 603, -1,
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- 3060, 3060, 3060, -1, 3061, 3061, 3061, -1,
- 3062, 3062, 3062, -1, 3063, 3063, 3063, -1,
- 3064, 3064, 3064, -1, 3065, 3065, 3065, -1,
- 3066, 3066, 3066, -1, 3067, 3067, 3067, -1,
- 3068, 3068, 3068, -1, 3069, 3069, 3069, -1,
- 3070, 3070, 3070, -1, 3071, 3071, 3071, -1,
- 3072, 3072, 3072, -1, 3073, 3073, 3073, -1,
- 3074, 3074, 3074, -1, 3075, 3075, 3075, -1,
- 3076, 3076, 3076, -1, 3077, 3077, 3077, -1,
- 3078, 3078, 3078, -1, 3079, 3079, 3079, -1,
- 3080, 3080, 3080, -1, 3081, 3081, 3081, -1,
- 3082, 3082, 3082, -1, 3083, 3083, 3083, -1,
- 3084, 3084, 3084, -1, 3085, 3085, 3085, -1,
- 3086, 3086, 3086, -1, 3087, 3087, 3087, -1,
- 3088, 3088, 3088, -1, 3089, 3089, 3089, -1,
- 3090, 3090, 3090, -1, 3091, 3091, 3091, -1,
- 3092, 3092, 3092, -1, 3093, 3093, 3093, -1,
- 3094, 3094, 3094, -1, 3095, 3095, 3095, -1,
- 3096, 3096, 3096, -1, 3097, 3097, 3097, -1,
- 3098, 3098, 3098, -1, 3099, 3099, 3099, -1,
- 3100, 3100, 3100, -1, 3101, 3101, 3101, -1,
- 3102, 3102, 3102, -1, 3103, 3103, 3103, -1,
- 3104, 3104, 3104, -1, 3105, 3105, 3105, -1,
- 3106, 3106, 3106, -1, 3107, 3107, 3107, -1,
- 3108, 3108, 3108, -1, 3109, 3109, 3109, -1,
- 3110, 3110, 3110, -1, 3111, 3111, 3111, -1,
- 3112, 3112, 3112, -1, 3113, 3113, 3113, -1,
- 3114, 3114, 3114, -1, 3115, 3115, 3115, -1,
- 3116, 3116, 3116, -1, 3117, 3117, 3117, -1,
- 3118, 3118, 3118, -1, 3119, 3119, 3119, -1,
- 3120, 3120, 3120, -1, 3121, 3121, 3121, -1,
- 3122, 3122, 3122, -1, 3123, 3123, 3123, -1,
- 3124, 3124, 3124, -1, 3125, 3125, 3125, -1,
- 3126, 3126, 3126, -1, 3127, 3127, 3127, -1,
- 3128, 3128, 3128, -1, 3129, 3129, 3129, -1,
- 3130, 3130, 3130, -1, 3131, 3131, 3131, -1,
- 3132, 3132, 3132, -1, 3133, 3133, 3133, -1,
- 3134, 3134, 3134, -1, 3135, 3135, 3135, -1,
- 3136, 3136, 3136, -1, 3137, 3137, 3137, -1,
- 3138, 3138, 3138, -1, 3139, 3139, 3139, -1,
- 3140, 3140, 3140, -1, 3141, 3141, 3141, -1,
- 3142, 3142, 3142, -1, 3143, 3143, 3143, -1,
- 3144, 3144, 3144, -1, 3145, 3145, 3145, -1,
- 3146, 3146, 3146, -1, 3147, 3147, 3147, -1,
- 3148, 3148, 3148, -1, 3149, 3149, 3149, -1,
- 3150, 3150, 3150, -1, 3151, 3151, 3151, -1,
- 3152, 3152, 3152, -1, 3153, 3153, 3153, -1,
- 3154, 3154, 3154, -1, 3155, 3155, 3155, -1,
- 3156, 3156, 3156, -1, 3157, 3157, 3157, -1,
- 3158, 3158, 3158, -1, 3159, 3159, 3159, -1,
- 3160, 3160, 3160, -1, 3161, 3161, 3161, -1,
- 3162, 3162, 3162, -1, 3163, 3163, 3163, -1,
- 3164, 3164, 3164, -1, 3165, 3165, 3165, -1,
- 3166, 3166, 3166, -1, 3167, 3167, 3167, -1,
- 3168, 3168, 3168, -1, 3169, 3169, 3169, -1,
- 3170, 3170, 3170, -1, 3171, 3171, 3171, -1,
- 3172, 3172, 3172, -1, 3173, 3173, 3173, -1,
- 3174, 3174, 3174, -1, 3175, 3175, 3175, -1,
- 3176, 3176, 3176, -1, 3177, 3177, 3177, -1,
- 3178, 3178, 3178, -1, 3179, 3179, 3179, -1,
- 3180, 3180, 3180, -1, 3181, 3181, 3181, -1,
- 3182, 3182, 3182, -1, 3183, 3183, 3183, -1 ]
- ccw TRUE
- solid FALSE
- convex TRUE
- creaseAngle 0
-
- }
-
- }
-
- }
-
- }
-
- }
-
- }
-
- }
-
-}
diff --git a/VirtualRobot/data/objects/tests/pipe.xml b/VirtualRobot/data/objects/tests/pipe.xml
deleted file mode 100644
index 266b17b62a63b7037ac6042bb23f59199066b10c..0000000000000000000000000000000000000000
--- a/VirtualRobot/data/objects/tests/pipe.xml
+++ /dev/null
@@ -1,2702 +0,0 @@
-<ManipulationObject name='pipe'>
- <Visualization>
- <File type='inventor'>pipe.wrl</File>
- </Visualization>
- <CollisionModel>
- <File type='inventor'>pipe.wrl</File>
- </CollisionModel>
- <GlobalPose>
- <Transform>
- <Matrix4x4>
- <row1 c1='1' c2='-0' c3='0' c4='2697.64'/>
- <row2 c1='-0' c2='1' c3='-0' c4='5225.85'/>
- <row3 c1='-0' c2='-0' c3='1' c4='750.395'/>
- <row4 c1='-0' c2='0' c3='-0' c4='1'/>
- </Matrix4x4>
- </Transform>
- </GlobalPose>
- <GraspSet name='Grasp Planner - Hand_L_EEF' RobotType='Armar6' EndEffector='Hand_L_EEF'>
- <Grasp name='Grasp 34' quality='0.357827' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.0966334' c2='0.0705813' c3='-0.992814' c4='15.2369'/>
- <row2 c1='0.41377' c2='0.910054' c3='0.0244243' c4='-5.02544'/>
- <row3 c1='0.905238' c2='-0.408436' c3='-0.117146' c4='19.8899'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 34'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.56'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.6'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.5'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 18' quality='0.335448' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.133198' c2='0.0891456' c3='-0.987072' c4='13.271'/>
- <row2 c1='0.419463' c2='0.907419' c3='0.0253485' c4='-169.26'/>
- <row3 c1='0.897947' c2='-0.410664' c3='-0.158259' c4='16.635'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 18'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.56'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.6'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.64'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.56'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.54'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.56'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.5'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 29' quality='0.334662' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.165558' c2='0.102845' c3='-0.980823' c4='15.5097'/>
- <row2 c1='0.412209' c2='0.910721' c3='0.0259156' c4='-41.9017'/>
- <row3 c1='0.895921' c2='-0.400014' c3='-0.19317' c4='15.8251'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 29'>
- <Node name='Index L 1 Joint' unit='radian' value='0.56'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.54'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.54'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.44'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.56'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.56'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.6'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.5'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.52'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 7' quality='0.32791' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.148614' c2='0.130057' c3='-0.980306' c4='3.04073'/>
- <row2 c1='0.416713' c2='0.907237' c3='0.0571897' c4='-284.206'/>
- <row3 c1='0.896808' c2='-0.400007' c3='-0.189025' c4='9.6404'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 7'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.68'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.7'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.68'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.46'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 33' quality='0.316543' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.905238' c2='-0.408436' c3='-0.117149' c4='29.8899'/>
- <row2 c1='-0.413769' c2='-0.910054' c3='-0.0244228' c4='-44.9745'/>
- <row3 c1='-0.0966369' c2='0.070581' c3='-0.992814' c4='5.23651'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 33'>
- <Node name='Index L 1 Joint' unit='radian' value='0.56'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.54'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.64'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.7'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.38'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.36'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.4'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.64'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.52'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 45' quality='0.312301' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.215979' c2='0.103527' c3='-0.970894' c4='12.5011'/>
- <row2 c1='0.444916' c2='0.895565' c3='-0.00347842' c4='105.76'/>
- <row3 c1='0.869139' c2='-0.432718' c3='-0.239485' c4='9.07449'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 45'>
- <Node name='Index L 1 Joint' unit='radian' value='0.6'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.66'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.68'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.66'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.48'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.66'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.48'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 35' quality='0.308779' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.896513' c2='0.427325' c3='0.116871' c4='57.2809'/>
- <row2 c1='-0.431534' c2='-0.902015' c3='-0.0121695' c4='-80.1691'/>
- <row3 c1='0.100219' c2='-0.061344' c3='0.993073' c4='61.3738'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 35'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.64'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.62'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.44'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.5'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 14' quality='0.308338' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.121046' c2='0.091308' c3='-0.988439' c4='10.4936'/>
- <row2 c1='0.418406' c2='0.907675' c3='0.0326084' c4='-207.776'/>
- <row3 c1='0.900158' c2='-0.409621' c3='-0.148074' c4='15.2243'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 14'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.66'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.44'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.46'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 38' quality='0.306625' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.100219' c2='0.0613444' c3='-0.993073' c4='14.6894'/>
- <row2 c1='0.431534' c2='0.902015' c3='0.0121699' c4='30.169'/>
- <row3 c1='0.896512' c2='-0.427325' c3='-0.116871' c4='18.7824'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 38'>
- <Node name='Index L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.62'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.6'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.48'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.56'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.56'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.5'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.5'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 36' quality='0.304796' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.100219' c2='-0.0613441' c3='0.993073' c4='71.3729'/>
- <row2 c1='0.431534' c2='0.902015' c3='0.0121695' c4='30.1691'/>
- <row3 c1='-0.896513' c2='0.427325' c3='0.116871' c4='47.28'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 36'>
- <Node name='Index L 1 Joint' unit='radian' value='0.66'/>
- <Node name='Index L 2 Joint' unit='radian' value='0.68'/>
- <Node name='Index L 3 Joint' unit='radian' value='0.68'/>
- <Node name='Middle L 1 Joint' unit='radian' value='0.7'/>
- <Node name='Middle L 2 Joint' unit='radian' value='0.7'/>
- <Node name='Middle L 3 Joint' unit='radian' value='0.7'/>
- <Node name='Pinky L 1 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky L 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky L 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring L 1 Joint' unit='radian' value='0.64'/>
- <Node name='Ring L 2 Joint' unit='radian' value='0.64'/>
- <Node name='Ring L 3 Joint' unit='radian' value='0.68'/>
- <Node name='Thumb L 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb L 2 Joint' unit='radian' value='0.54'/>
- </Configuration>
- </Grasp>
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- </Grasp>
- </GraspSet>
-
- <GraspSet name='Grasp Planner - Hand_R_EEF' RobotType='Armar6' EndEffector='Hand_R_EEF'>
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- <Node name='Pinky R 3 Joint' unit='radian' value='0.5'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.58'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.48'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 27' quality='0.259078' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.894142' c2='-0.397539' c3='-0.206088' c4='-59.3157'/>
- <row2 c1='0.411282' c2='0.911111' c3='0.0268961' c4='-81.8659'/>
- <row3 c1='0.177077' c2='-0.108809' c3='0.978164' c4='58.862'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 27'>
- <Node name='Index R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.6'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.7'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.48'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.6'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.46'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 25' quality='0.25665' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.896034' c2='0.398549' c3='0.195659' c4='-25.6817'/>
- <row2 c1='0.411169' c2='0.91116' c3='0.026982' c4='-121.141'/>
- <row3 c1='-0.167523' c2='0.104625' c3='-0.980301' c4='5.53489'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 25'>
- <Node name='Index R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.66'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.42'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.42'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.44'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.56'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.58'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.54'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 49' quality='0.253966' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.873724' c2='-0.428796' c3='-0.229653' c4='-62.7003'/>
- <row2 c1='0.439565' c2='0.898199' c3='-0.00472962' c4='183.259'/>
- <row3 c1='0.208302' c2='-0.096815' c3='0.973261' c4='61.5339'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 49'>
- <Node name='Index R 1 Joint' unit='radian' value='0.62'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.66'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.68'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.68'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.5'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.6'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.48'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 7' quality='0.251967' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.896808' c2='-0.400007' c3='-0.189026' c4='-61.4724'/>
- <row2 c1='0.416713' c2='0.907238' c3='0.0571883' c4='-284.206'/>
- <row3 c1='0.148616' c2='-0.130056' c3='0.980306' c4='68.0715'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 7'>
- <Node name='Index R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.6'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.66'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.66'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.5'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.46'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.46'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 2' quality='0.250519' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.0982015' c2='0.118402' c3='-0.988098' c4='-79.8679'/>
- <row2 c1='-0.426444' c2='-0.902124' c3='-0.0657177' c4='270.635'/>
- <row3 c1='-0.899167' c2='0.414915' c3='0.139082' c4='44.5477'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 2'>
- <Node name='Index R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.66'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.72'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.72'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.66'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.7'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.54'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.56'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 16' quality='0.249969' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.900158' c2='0.40962' c3='0.148076' c4='-25.2243'/>
- <row2 c1='0.418405' c2='0.907675' c3='0.0326068' c4='-207.776'/>
- <row3 c1='-0.121049' c2='0.0913071' c3='-0.988438' c4='0.494111'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 16'>
- <Node name='Index R 1 Joint' unit='radian' value='0.58'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.62'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.42'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.46'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.58'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.58'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.56'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.54'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 22' quality='0.248873' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.167522' c2='0.104625' c3='-0.980301' c4='-69.112'/>
- <row2 c1='-0.411169' c2='-0.91116' c3='-0.0269823' c4='71.1408'/>
- <row3 c1='-0.896034' c2='0.398549' c3='0.195658' c4='48.9653'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 22'>
- <Node name='Index R 1 Joint' unit='radian' value='0.66'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.68'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.68'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.5'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.68'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.54'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 48' quality='0.2488' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.861494' c2='0.42875' c3='0.272032' c4='-16.5767'/>
- <row2 c1='0.444631' c2='0.895707' c3='-0.00363202' c4='142.611'/>
- <row3 c1='-0.245218' c2='0.117825' c3='-0.962281' c4='1.98195'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 48'>
- <Node name='Index R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.68'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.72'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.7'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.44'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.48'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.66'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.52'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.56'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 55' quality='0.248623' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.803167' c2='-0.425684' c3='-0.416794' c4='-281.316'/>
- <row2 c1='-0.56175' c2='0.308152' c3='0.767776' c4='23.9003'/>
- <row3 c1='-0.198394' c2='0.850786' c3='-0.486625' c4='240.245'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 55'>
- <Node name='Index R 1 Joint' unit='radian' value='0.54'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.56'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.56'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.58'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.58'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.56'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='1.56'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='1.56'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='1.56'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.72'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.72'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.76'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.56'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.54'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 6' quality='0.239688' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='-0.148615' c2='0.130056' c3='-0.980306' c4='-75.9448'/>
- <row2 c1='-0.416713' c2='-0.907238' c3='-0.0571886' c4='234.206'/>
- <row3 c1='-0.896808' c2='0.400007' c3='0.189025' c4='49.3454'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 6'>
- <Node name='Index R 1 Joint' unit='radian' value='0.66'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.7'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.74'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.46'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.5'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.66'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.54'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.56'/>
- </Configuration>
- </Grasp>
- <Grasp name='Grasp 3' quality='0.230273' Creation='Simox - SkeletonGraspPlanner - GraspWrenchSpace' Preshape='Power Preshape'>
- <Transform>
- <Matrix4x4>
- <row1 c1='0.899167' c2='-0.414915' c3='-0.139082' c4='-56.6748'/>
- <row2 c1='0.426444' c2='0.902123' c3='0.0657176' c4='-320.635'/>
- <row3 c1='0.0982019' c2='-0.118402' c3='0.988098' c4='71.995'/>
- <row4 c1='0' c2='0' c3='0' c4='1'/>
- </Matrix4x4>
- </Transform>
- <Configuration name='Grasp 3'>
- <Node name='Index R 1 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 2 Joint' unit='radian' value='0.6'/>
- <Node name='Index R 3 Joint' unit='radian' value='0.58'/>
- <Node name='Middle R 1 Joint' unit='radian' value='0.68'/>
- <Node name='Middle R 2 Joint' unit='radian' value='0.66'/>
- <Node name='Middle R 3 Joint' unit='radian' value='0.68'/>
- <Node name='Pinky R 1 Joint' unit='radian' value='0.5'/>
- <Node name='Pinky R 2 Joint' unit='radian' value='0.48'/>
- <Node name='Pinky R 3 Joint' unit='radian' value='0.52'/>
- <Node name='Ring R 1 Joint' unit='radian' value='0.64'/>
- <Node name='Ring R 2 Joint' unit='radian' value='0.62'/>
- <Node name='Ring R 3 Joint' unit='radian' value='0.64'/>
- <Node name='Thumb R 1 Joint' unit='radian' value='0.5'/>
- <Node name='Thumb R 2 Joint' unit='radian' value='0.5'/>
- </Configuration>
- </Grasp>
- </GraspSet>
-
-</ManipulationObject>
diff --git a/VirtualRobot/tests/CMakeLists.txt b/VirtualRobot/tests/CMakeLists.txt
index cb3677b7344a62c59b3f593e88feb974bac50c27..d102bca0f691ca0fdd2417e818b988094adf3e58 100644
--- a/VirtualRobot/tests/CMakeLists.txt
+++ b/VirtualRobot/tests/CMakeLists.txt
@@ -29,8 +29,6 @@ ADD_VR_TEST( VirtualRobotIOTest )
ADD_VR_TEST( VirtualRobotGazeIKTest )
ADD_VR_TEST( VirtualRobotMeshImportTest )
-ADD_VR_TEST( ManipulationObjectGlobalPoseTest )
-
ADD_VR_TEST( VirtualRobotTimeOptimalTrajectoryTest )
ADD_VR_TEST( VirtualRobotRuntimeEnvironmentTest )
diff --git a/VirtualRobot/tests/ManipulationObjectGlobalPoseTest.cpp b/VirtualRobot/tests/ManipulationObjectGlobalPoseTest.cpp
deleted file mode 100644
index 4eeef4bf1f445c057c06e294a2cde0da98185c51..0000000000000000000000000000000000000000
--- a/VirtualRobot/tests/ManipulationObjectGlobalPoseTest.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
-* @package VirtualRobot
-* @author Nikolaus Vahrenkamp
-* @copyright 2013 Nikolaus Vahrenkamp
-*/
-
-#include "VirtualRobot.h"
-#include <boost/test/tools/old/interface.hpp>
-#define BOOST_TEST_MODULE VirtualRobot_VirtualRobotIOTest
-
-#include <string>
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
-#include <VirtualRobot/ManipulationObject.h>
-#include <VirtualRobot/Nodes/PositionSensor.h>
-#include <VirtualRobot/Nodes/Sensor.h>
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/RuntimeEnvironment.h>
-#include <VirtualRobot/VirtualRobotException.h>
-#include <VirtualRobot/VirtualRobotTest.h>
-#include <VirtualRobot/XML/ObjectIO.h>
-#include <VirtualRobot/XML/RobotIO.h>
-
-BOOST_AUTO_TEST_SUITE(VirtualRobotIO)
-
-BOOST_AUTO_TEST_CASE(testLoadManipulationObjectGlobalPose)
-{
- std::string filename = "objects/tests/pipe.xml";
- const bool fileOK = VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filename);
- BOOST_REQUIRE(fileOK);
-
- VirtualRobot::ManipulationObjectPtr object;
-
- VirtualRobot::RobotPtr r;
- BOOST_REQUIRE_NO_THROW(object =
- VirtualRobot::ObjectIO::loadManipulationObject(filename););
- BOOST_REQUIRE(object);
-
- Eigen::Vector3f gtPosition{2697.64, 5225.85, 750.395};
-
- BOOST_REQUIRE_MESSAGE((gtPosition - object->getGlobalPosition()).norm() < 0.1,
- "Position is " << object->getGlobalPosition()
- << " but should be " << gtPosition);
-}
-
-BOOST_AUTO_TEST_SUITE_END()