From bc2f7e91489cd512dc1bcf6828e59e2b49b5d7ea Mon Sep 17 00:00:00 2001
From: indidev <indidev@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Wed, 4 Mar 2015 11:30:08 +0000
Subject: [PATCH] fixed example xml files of tutorial
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@790 042f3d55-54a8-47e9-b7fb-15903f145c44
---
doc/tutorial/robot_howto4.xml | 3 --
doc/tutorial/robot_howto5.xml | 64 ++++++++++++++++++++---------------
doc/tutorial/robot_howto6.xml | 19 +++++++----
doc/tutorial/robot_howto7.xml | 8 ++++-
doc/tutorial/robot_howto8.xml | 3 --
5 files changed, 55 insertions(+), 42 deletions(-)
diff --git a/doc/tutorial/robot_howto4.xml b/doc/tutorial/robot_howto4.xml
index 311f0fd7f..1e1f75bae 100644
--- a/doc/tutorial/robot_howto4.xml
+++ b/doc/tutorial/robot_howto4.xml
@@ -47,9 +47,6 @@
</RobotNode>
<RobotNode name="joint 3">
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
<Joint type="revolute">
<Axis x="1" y="0" z="0"/>
</Joint>
diff --git a/doc/tutorial/robot_howto5.xml b/doc/tutorial/robot_howto5.xml
index c2e44c22f..9fb5edf06 100644
--- a/doc/tutorial/robot_howto5.xml
+++ b/doc/tutorial/robot_howto5.xml
@@ -2,36 +2,44 @@
<Robot Type="DemoRobot" RootNode="root">
- <RobotNode name="root">
+ <RobotNode name="root">
<Child name="joint 1"/>
- </RobotNode>
+ </RobotNode>
- <RobotNode name="joint 1">
- <Joint type="revolute">
- <DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
- <Limits lo="0" hi="120" units="degree"/>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint2.iv</File>
- </Visualization>
- <Child name="node 1"/>
- </RobotNode>
+ <RobotNode name="joint 1">
+ <Joint type="revolute">
+ <Limits lo="0" hi="120" units="degree"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
+ </RobotNode>
- <RobotNode name="node 1">
- <Visualization>
- <File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 2"/>
- </RobotNode>
+ <RobotNode name="node 1">
+ <Transform>
+ <DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
+ </Transform>
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
+ </RobotNode>
- <RobotNode name="joint 2">
- <Joint type="revolute">
- <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
- <Limits lo="-45" hi="45" units="degree"/>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint2.iv</File>
- </Visualization>
- </RobotNode>
-
+ <RobotNode name="joint 2">
+ <Joint type="revolute">
+ <Limits lo="-45" hi="45" units="degree"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 2"/>
+ </RobotNode>
+
+ <RobotNode name="node 2">
+ <Transform>
+ <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
+ </Transform>
+ </RobotNode>
+
</Robot>
diff --git a/doc/tutorial/robot_howto6.xml b/doc/tutorial/robot_howto6.xml
index ff377a772..575a713a8 100644
--- a/doc/tutorial/robot_howto6.xml
+++ b/doc/tutorial/robot_howto6.xml
@@ -8,7 +8,6 @@
<RobotNode name="Finger Joint1">
<Joint type="revolute">
- <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
<Limits unit="degree" lo="-25" hi="25"/>
</Joint>
<Visualization enable="true">
@@ -21,15 +20,17 @@
</RobotNode>
<RobotNode name="BaseToFinger">
- <Joint type="fixed">
- <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
- </Joint>
+ <Transform>
+ <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
+ </Transform>
<Child name="Finger Joint2"/>
</RobotNode>
<RobotNode name="Finger Joint2">
+ <Transform>
+ <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
+ </Transform>
<Joint type="revolute">
- <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/>
</Joint>
<Visualization enable="true">
@@ -42,8 +43,10 @@
</RobotNode>
<RobotNode name="Finger Joint3">
+ <Transform>
+ <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
+ </Transform>
<Joint type="revolute">
- <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/>
</Joint>
<Visualization enable="true">
@@ -56,8 +59,10 @@
</RobotNode>
<RobotNode name="Finger Joint4">
+ <Transform>
+ <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
+ </Transform>
<Joint type="revolute">
- <DH a="0" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/>
</Joint>
<Visualization enable="true">
diff --git a/doc/tutorial/robot_howto7.xml b/doc/tutorial/robot_howto7.xml
index 506a992d2..9c762011f 100644
--- a/doc/tutorial/robot_howto7.xml
+++ b/doc/tutorial/robot_howto7.xml
@@ -5,12 +5,18 @@
<RobotNode name="Joint1">
<Joint type="revolute">
<Limits unit="degree" lo="-90" hi="45"/>
- <DH a="0" d="500" theta="-30" alpha="0" units="degree"/>
</Joint>
<!-- Imports the kinematic structure form otherRobot.xml and adds otherRobot's rootnode as a child to this node -->
<ChildFromRobot>
<File importEEF="true">robot_howto7b.xml</File>
</ChildFromRobot>
+ <Child name="node2.1"/>
+ </RobotNode>
+
+ <RobotNode name="node2.1">
+ <Transform>
+ <DH a="0" d="500" theta="-30" alpha="0" units="degree"/>
+ </Transform>
</RobotNode>
</Robot>
diff --git a/doc/tutorial/robot_howto8.xml b/doc/tutorial/robot_howto8.xml
index 26c83fa70..2f418bf0c 100644
--- a/doc/tutorial/robot_howto8.xml
+++ b/doc/tutorial/robot_howto8.xml
@@ -47,9 +47,6 @@
</RobotNode>
<RobotNode name="joint 3">
- <Transform>
- <Translation x="0" y="0" z="500"/>
- </Transform>
<Joint type="revolute">
<Axis x="1" y="0" z="0"/>
</Joint>
--
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