Apply data search path for robot loading.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@315 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/XML/RobotIO.cpp

@@ -11,6 +11,7 @@
 #include "../Visualization/VisualizationFactory.h"
 #include "../Visualization/TriMeshModel.h"
 #include "../RobotConfig.h"
+#include "../RuntimeEnvironment.h"
 #include "rapidxml.hpp"
 #include <boost/pointer_cast.hpp>
 #include <boost/filesystem.hpp>
@@ -1021,12 +1022,19 @@ VirtualRobot::RobotPtr RobotIO::createRobotFromString( const std::string &xmlStr
 
 VirtualRobot::RobotPtr RobotIO::loadRobot(const std::string &xmlFile, RobotDescription loadMode)
 {
+    std::string fullFile = xmlFile;
+    if (!RuntimeEnvironment::getDataFileAbsolute(fullFile))
+    {
+        VR_ERROR <<"Could not open XML file:" << xmlFile << endl;
+		return RobotPtr();
+	}
+    
 	// load file
-	std::ifstream in(xmlFile.c_str());
+	std::ifstream in(fullFile.c_str());
 
 	if (!in.is_open())
 	{
-		VR_ERROR <<"Could not open XML file:" << xmlFile << endl;
+		VR_ERROR <<"Could not open XML file:" << fullFile << endl;
 		return RobotPtr();
 	}
 
@@ -1042,7 +1050,7 @@ VirtualRobot::RobotPtr RobotIO::loadRobot(const std::string &xmlFile, RobotDescr
     VirtualRobot::RobotPtr res = createRobotFromString(robotXML, basePath, loadMode);
 	if (!res)
 	{
-		VR_ERROR << "Error while parsing file " << xmlFile << endl;
+		VR_ERROR << "Error while parsing file " << fullFile << endl;
 	}
 
 	res->applyJointValues();

VirtualRobot/data/robots/ArmarIII/ArmarIII.xml

@@ -252,6 +252,57 @@
 		<Node name="Wrist 1 R"/>
 		<Node name="Wrist 2 R"/>
 	</RobotNodeSet>	
+	
+	<RobotNodeSet name="Robot" kinematicRoot="Platform">
+		<Node name="Neck_1_Pitch"/>
+		<Node name="Neck_2_Roll"/>
+		<Node name="Neck_3_Yaw"/>
+		<Node name="Head_Tilt"/>
+		<Node name="Cameras"/>
+		<Node name="Eye_Left"/>
+		<Node name="Eye_Right"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>	
 
 	<RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
 	    <Node name="Yaw_Platform"/>
@@ -282,4 +333,4 @@
 	</RobotNodeSet>
 	
 
-</Robot>
\ No newline at end of file
+</Robot>