private void _setRootJoint(GrxModelItem robot) {
Transform3D t3d = new Transform3D();
from_.tg_.getTransform(t3d);
Transform3D t3dFromNew = new Transform3D();
from_.tg_.getLocalToVworld(t3dFromNew);
t3dFromNew.mul(t3d);
t3dFromNew.invert();
Transform3D t3dRoot = new Transform3D();
robot.getTransformGroupRoot().getTransform(t3dRoot);
t3d.mul(trFrom_, t3dFromNew);
t3d.mul(t3dRoot);
Matrix3d rot = new Matrix3d();
Vector3d pos = new Vector3d();
t3d.get(rot, pos);
robot.setTransformRoot(pos, rot);
robot.updateInitialTransformRoot();
/*
AxisAngle4d a4d = new AxisAngle4d();
a4d.set(rot);
robot.setProperty(robot_.lInfo_[0].name+".rotation", +a4d.angle+" "+a4d.x+" "+a4d.y+" "+a4d.z);
robot.setProperty(robot_.lInfo_[0].name+".translation", pos.x+" "+pos.y+" "+pos.z);*/
}
