ensure only the SwivelBase node is selected.

1. In the Hypergraph, ensure only the SwivelBase node is selected.
2. In the view, select Panels > Orthographic > top.
3. In the view, select Shading > Smooth Shade All.
4. Dolly the top view so you can fully view the mechanical arm as shown below.

5. Using the ChannelBox, rotate SwivelBase by typing 45 in the Rotate Y channel and pressing Enter.

SwivelBase rotates in the view but the mechanical arm does not rotate. You first might think
something is wrong because SwivelBase and all of the arm's skeletons and surfaces are parented
into the same hierarchy.

Note

You may sometimes discover that something doesn't work in the manner you originally anticipated
when setting up an IK system. When this occurs, it's useful to stop and diagnose why something is
working the way it is (or not working the way it should). In that way you can retrace your actions to
determine where the problem resides.

ArmControl and IK Handle are not parented into the SwivelBase hierarchy. Because ArmControl and IK
Handle control the movements of the mechanical arm, they must be parented into the SwivelBase
hierarchy in order for the arm to rotate when SwivelBase is rotated.

To parent the IK Handle into the skeleton hierarchy

1. In the Hypergraph, select the SwivelBase node.
2. In the ChannelBox, reset the Rotate Y channel for SwivelBase to 0.
Setting any previous transformations to zero is necessary before parenting the IK Handle beneath
SwivelBase in the hierarchy.
3. Unselect the SwivelBase node before performing the following steps.
4. In the Hypergraph menu, select View > Frame All.
The Hypergraph displays all the nodes for the scene.
5. In the Hypergraph, shift-select the nodes named ikHandle1, ArmControl, and SwivelBase.
The order of selection is important. You want to shift-select the items that will be the child nodes
first, and then shift-select the item that will be the parent node last.

6. In the main menu, select Edit > Parent (Hotkey p).
In the Hypergraph, IKHandle and ArmControl are now child nodes for the SwivelBase node in the
skeleton hierarchy.

7. In the Hypergraph, select only SwivelBase.

8. Using the ChannelBox, set Rotate Y for SwivelBase to 45.

When SwivelBase is rotated, the mechanical arm rotates because of its relationship within the
hierarchy.
9. Reset the Rotate Y value for SwivelBase back to 0.
Finally, you want to limit how far Arm Control can translate away from the base of the model so the arm
does not extend to a fully straightened position.

To determine the settings for the translation limits you need to examine the position of the mechanical
arm in various positions while simultaneously viewing the translation values in the ChannelBox.

To determine translation limits for the Arm Control
1. In the Hypergraph, select ArmControl.
2. Ensure the Channel Box is open so you can view the translate channels for ArmControl.
3. In the view, select Panels > Orthographic > side.
4. Dolly the side view so you can fully view the mechanical arm.
5. Select the Move Tool.
6. In the side view, press the middle mouse button and drag the mouse diagonally until the
mechanical arm is fully extended as shown below.

7. In the Channel Box, observe the number that displays in the Translate Y and Z channels.
When the arm is diagonally articulated above the cargo box, it is almost fully extended when the
translation values are roughly as follows:
o Translate Y: 7.5
o Translate Z: 1
8. In the side view, press the middle mouse button and drag the mouse in a diagonally until the
mechanical arm is almost fully compressed as shown below.