diff --git a/python/hemisphere-joint-demo/CMakeLists.txt b/python/hemisphere-joint-demo/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/python/hemisphere-joint-demo/README.rst b/python/hemisphere-joint-demo/README.rst
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/python/hemisphere-joint-demo/hemisphere-joint-demo/__init__.py b/python/hemisphere-joint-demo/hemisphere-joint-demo/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/python/hemisphere-joint-demo/hemisphere-joint-demo/cornelius_joint_mecha_demo.py b/python/hemisphere-joint-demo/hemisphere-joint-demo/cornelius_joint_mecha_demo.py
new file mode 100755
index 0000000000000000000000000000000000000000..5121adce413d8b9187a98331d4760d6cd7d47ea6
--- /dev/null
+++ b/python/hemisphere-joint-demo/hemisphere-joint-demo/cornelius_joint_mecha_demo.py
@@ -0,0 +1,131 @@
+import os
+import numpy as np
+import transforms3d as tf3d
+
+from typing import Optional
+
+from armarx import arviz as viz
+from armarx import remote_gui as rg
+
+from armarx.remote_gui.widgets.ndarray import NdArrayWidget
+
+
+class Data:
+
+ def __init__(self):
+ super().__init__()
+
+ self.linear_joints = np.zeros(2)
+ self.eef_pos = np.zeros(3)
+
+ self.links = np.array([
+ [0, 0, 5],
+ [0, 0, 5],
+ ])
+
+ self.fk()
+
+ def fk(self):
+ # Dummy.
+ if False:
+ eef = np.zeros(3)
+
+ eef += tf3d.axangles.axangle2mat((1, 0, 0), self.linear_joints[0]) @ self.links[0]
+ eef += tf3d.axangles.axangle2mat((1, 0, 0), self.linear_joints[1]) @ self.links[1]
+
+ self.eef_pos = eef
+ self.eef_pos[:] = [result[PE_xs], result[PE_ys], result[PE_zs]]
+
+ def ik(self):
+ pass
+
+
+class Visu:
+
+ def __init__(self, data: Data):
+ self.data = data
+
+ def visualize(self, stage: viz.Stage):
+ self.vis_linear_joints(stage.layer("Linear Joints"))
+ self.vis_eef_pos(stage.layer("EEF Pos"))
+ stage.origin_layer(scale=1e-3)
+
+ def vis_linear_joints(self, layer: viz.Layer):
+ ground_radius = 5
+ for i, value in enumerate(self.data.linear_joints):
+ angle = i * np.pi/2
+ start = ground_radius * np.array([np.cos(angle), np.sin(angle), 0])
+ if value == 0:
+ value = 1e-3
+ end = start + value * 10 * np.array([0, 0, 1])
+ layer.add(viz.Arrow(f"linear joint {i}", from_to=(start, end),
+ width=0.2, color=(255, 192, 0)))
+
+ def vis_eef_pos(self, layer: viz.Layer):
+ layer.add(viz.Sphere("eef pos", position=self.data.eef_pos, radius=1, color=(0, 0, 255)))
+ layer.add(viz.Pose("eef pose", position=self.data.eef_pos, scale=1e-3))
+
+
+class WidgetsTab(rg.Tab):
+
+ def __init__(
+ self,
+ data: Data,
+ visu: Visu,
+ tag=None,
+ arviz: Optional[viz.Client] = None):
+ super().__init__(tag or TAG)
+
+ self.data = data
+ self.visu = visu
+ self.arviz = arviz or viz.Client(tag)
+
+ self.linear_joints = NdArrayWidget(data.linear_joints, row_vector=True, range_min=0, range_max=10)
+ self.eef_pos = NdArrayWidget(data.eef_pos, row_vector=True, range_min=-100, range_max=100)
+
+ def create_widget_tree(self) -> rg.GridLayout:
+ layout = rg.GridLayout()
+ row = 0
+
+ layout.add(rg.Label("Linear Joints:"), (row, 0))
+ layout.add(self.linear_joints.create_tree(), (row, 1))
+ row += 1
+
+ layout.add(rg.Label("EEF Pos:"), (row, 0))
+ layout.add(self.eef_pos.create_tree(), (row, 1))
+ row += 1
+
+ return layout
+
+ def update(self):
+
+ if self.linear_joints.has_any_changed():
+ self.data.linear_joints = self.linear_joints.get_array()
+ self.data.fk()
+
+ if self.eef_pos.has_any_changed():
+ self.data.eef_pos = self.eef_pos.get_array()
+ self.data.ik()
+
+ with self.arviz.begin_stage(commit_on_exit=True) as stage:
+ self.visu.visualize(stage)
+
+
+if __name__ == "__main__":
+ TAG = os.path.basename(__file__)
+
+ data = Data()
+ visu = Visu(data)
+ arviz = viz.Client(TAG)
+
+ with arviz.begin_stage(commit_on_exit=True) as stage:
+ visu.visualize(stage)
+
+ rg_client = rg.Client()
+
+ widgets_tab = WidgetsTab(data=data, visu=visu, tag=TAG)
+ rg_client.add_tab(widgets_tab)
+ rg_client.receive_updates()
+ rg_client.receive_updates()
+
+ rg_client.update_loop(lambda: widgets_tab.update(), block=False)
diff --git a/python/hemisphere-joint-demo/poetry.toml b/python/hemisphere-joint-demo/poetry.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ab1033bd37224ee84b5862fb25f094db73809b74
--- /dev/null
+++ b/python/hemisphere-joint-demo/poetry.toml
@@ -0,0 +1,2 @@
+[virtualenvs]
+in-project = true
diff --git a/python/hemisphere-joint-demo/pyproject.toml b/python/hemisphere-joint-demo/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..7c9d0cb1f97dbfac02f0f0582db2d24838296793
--- /dev/null
+++ b/python/hemisphere-joint-demo/pyproject.toml
@@ -0,0 +1,25 @@
+[tool.poetry]
+name = "hemisphere-joint-demo"
+version = "0.1.0"
+description = ""
+authors = ["Rainer Kartmann <rainer dot kartmann at kit dot edu>"]
+
+[tool.poetry.dependencies]
+python = "^3.6"
+armarx-dev = { path = "../../../armarx/python3-armarx/", develop=true} # "^0.16.4"
+zeroc-ice = "3.7.0"
+numpy = "^1.19.5"
+jupyter = "^1.0.0"
+
+[tool.poetry.dev-dependencies]
+pytest = "^5.2"
+ipython = "5.5"
+
+[build-system]
+requires = ["poetry-core@https://github.com/python-poetry/poetry-core/archive/325312c016d69189ac93c945ba0c1b69296c5e54.zip"]
+build-backend = "poetry.core.masonry.api"
+
+[[tool.poetry.source]]
+name = "h2t"
+url = "https://pypi.humanoids.kit.edu/simple/"
+
diff --git a/python/hemisphere-joint-demo/tests/__init__.py b/python/hemisphere-joint-demo/tests/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391