From b7f48eefdd6b9196a7b1751b027c79854dce568e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 17 Jun 2021 11:17:14 +0000
Subject: [PATCH] Revert "Revert "Merge branch
'fix/manipulation-object-with-predefined-global-pose' into 'master'""
This reverts commit ad6270d39de1d4e50d6940762e2a8e6fa7776a1a.
---
VirtualRobot/SceneObject.cpp | 5 +-
VirtualRobot/XML/ObjectIO.cpp | 22 +-
VirtualRobot/data/objects/tests/pipe.wrl | 8022 +++++++++++++++++
VirtualRobot/data/objects/tests/pipe.xml | 2702 ++++++
VirtualRobot/tests/CMakeLists.txt | 2 +
.../ManipulationObjectGlobalPoseTest.cpp | 48 +
6 files changed, 10787 insertions(+), 14 deletions(-)
create mode 100644 VirtualRobot/data/objects/tests/pipe.wrl
create mode 100644 VirtualRobot/data/objects/tests/pipe.xml
create mode 100644 VirtualRobot/tests/ManipulationObjectGlobalPoseTest.cpp
diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index 3701d0770..42d78f288 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -93,15 +93,12 @@ namespace VirtualRobot
c[i]->initialize(shared_from_this());
}
- Eigen::Matrix4f m = Eigen::Matrix4f::Identity();
-
if (parent)
{
- m = parent->getGlobalPose();
+ updatePose(parent->getGlobalPose());
}
initialized = true;
- updatePose(m);
return initializePhysics();
}
diff --git a/VirtualRobot/XML/ObjectIO.cpp b/VirtualRobot/XML/ObjectIO.cpp
index 7a2c973c5..b0537a604 100644
--- a/VirtualRobot/XML/ObjectIO.cpp
+++ b/VirtualRobot/XML/ObjectIO.cpp
@@ -1,6 +1,7 @@
#include "ObjectIO.h"
#include "../VirtualRobotException.h"
+#include "VirtualRobot.h"
#include "rapidxml.hpp"
@@ -252,7 +253,15 @@ namespace VirtualRobot
// get name
std::string objName = processNameAttribute(objectXMLNode);
- // first check if there is an xml file to load
+
+ // 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
rapidxml::xml_node<>* xmlFileNode = objectXMLNode->first_node("file", 0, false);
if (xmlFileNode)
@@ -270,20 +279,13 @@ namespace VirtualRobot
result->setName(objName);
}
- // update global pose
- rapidxml::xml_node<>* poseNode = objectXMLNode->first_node("globalpose", 0, false);
-
- if (poseNode)
- {
- processTransformNode(poseNode, objName, globalPose);
- result->setGlobalPose(globalPose);
- }
+ // update global pose
+ 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
new file mode 100644
index 000000000..9701f7e36
--- /dev/null
+++ b/VirtualRobot/data/objects/tests/pipe.wrl
@@ -0,0 +1,8022 @@
+#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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+ 3048, 3048, 3048, -1, 3049, 3049, 3049, -1,
+ 3050, 3050, 3050, -1, 3051, 3051, 3051, -1,
+ 3052, 3052, 3052, -1, 3053, 3053, 3053, -1,
+ 3054, 3054, 3054, -1, 3055, 3055, 3055, -1,
+ 3056, 3056, 3056, -1, 3057, 3057, 3057, -1,
+ 3058, 3058, 3058, -1, 3059, 3059, 3059, -1,
+ 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
new file mode 100644
index 000000000..266b17b62
--- /dev/null
+++ b/VirtualRobot/data/objects/tests/pipe.xml
@@ -0,0 +1,2702 @@
+<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'/>
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+ <Node name='Thumb L 1 Joint' unit='radian' value='0.54'/>
+ <Node name='Thumb L 2 Joint' unit='radian' value='0.56'/>
+ </Configuration>
+ </Grasp>
+ </GraspSet>
+
+ <GraspSet name='Grasp Planner - Hand_R_EEF' RobotType='Armar6' EndEffector='Hand_R_EEF'>
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+ <Node name='Thumb R 1 Joint' unit='radian' value='0.5'/>
+ <Node name='Thumb R 2 Joint' unit='radian' value='0.5'/>
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+ </Grasp>
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+ <Node name='Thumb R 2 Joint' unit='radian' value='0.5'/>
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+ <Configuration name='Grasp 11'>
+ <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='0.62'/>
+ <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='0.68'/>
+ <Node name='Pinky R 1 Joint' unit='radian' value='0.46'/>
+ <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='0.58'/>
+ <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 d102bca0f..cb3677b73 100644
--- a/VirtualRobot/tests/CMakeLists.txt
+++ b/VirtualRobot/tests/CMakeLists.txt
@@ -29,6 +29,8 @@ 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
new file mode 100644
index 000000000..4eeef4bf1
--- /dev/null
+++ b/VirtualRobot/tests/ManipulationObjectGlobalPoseTest.cpp
@@ -0,0 +1,48 @@
+/**
+* @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()
--
GitLab