NegativeFeedbackRobot copy of TrobotArmGroup

BallSocketChainKinematics.groovy

import com.neuronrobotics.bowlerstudio.creature.ICadGenerator;
import com.neuronrobotics.bowlerstudio.creature.CreatureLab;
import org.apache.commons.io.IOUtils;
import com.neuronrobotics.bowlerstudio.vitamins.*;

// Load the .CSG from the disk and cache it in memory

double spindalRadius = 16;
double housingDiameter=3.7
double ballJointPinSize=8;
double ballJointBaseThickness = 5;

CSG ballJointHat = new Cylinder(	spindalRadius+	housingDiameter, // Radius at the top
                 				spindalRadius+	housingDiameter, // Radius at the bottom
                 				ballJointPinSize/2, // Height
            			         (int)30 //resolution
            			         ).toCSG()
            			         .roty(-90)
CSG ballJointBase = new Cylinder(	spindalRadius+	housingDiameter*2/3, // Radius at the top
                 				spindalRadius+	housingDiameter*2/3, // Radius at the bottom
                 				ballJointBaseThickness, // Height
            			         (int)30 //resolution
            			         ).toCSG().roty(-90)           			         
CSG ballSocket = new Sphere(ballJointPinSize).toCSG()

return new ICadGenerator(){
	@Override 
	public ArrayList<CSG> generateCad(DHParameterKinematics d, boolean toManufacture ) {
		ArrayList<DHLink> dhLinks = d.getChain().getLinks();
		ArrayList<CSG> allCad=new ArrayList<>();
		
		CSG base = ballSocket.clone()
		if(toManufacture){
			
			
		}else{
			base.setManipulator(d.getRootListener());
		}
		
		allCad.add(base)
		
		for(int i=1;i<dhLinks.size();i+=2){
			DHLink dh = dhLinks.get(i);
			CSG tmpSrv = ballJointHat.clone()
						.movex(-dh.getR())
			CSG	tmpBallSocket =ballSocket
								.clone()
								.union(
									new Cube(
										ballJointPinSize*2,
										1,
										1)
										.noCenter()
										.toCSG()
										.toXMax());			
			CSG tmpNext= ballJointBase
						.clone()
						.toXMax()
						.movex(tmpBallSocket.getMinX())
			CSG joinSection =	tmpSrv
								.union(tmpNext)
								.hull()
								.difference(tmpSrv.hull().scale(1.015),tmpNext.hull().scale(1.015))//cuts out the end section so the proper end stays on
			if(toManufacture){
			
				
			}else{
				joinSection.setManipulator(dh.getListener());
				tmpBallSocket.setManipulator(dh.getListener());
				tmpNext.setManipulator(dh.getListener());		
				tmpSrv.setManipulator(dh.getListener());
			}
			allCad.add(tmpSrv)
			allCad.add(tmpNext)
			allCad.add(tmpBallSocket)
			allCad.add(joinSection)
			println "Generating link: "+(i)
		}
		return allCad;
	}
	@Override 
	public ArrayList<CSG> generateBody(MobileBase b, boolean toManufacture ) {
		ArrayList<CSG> allCad=new ArrayList<>();
		double size =10;
		
		//Grab all of the DH chains on the base
		for(DHParameterKinematics chain:b.getAllDHChains()){
			println "Loading limb: "+chain.getScriptingName()
			// For each limb, generate its cad
			for(CSG csg: generateCad(chain,toManufacture)){
				allCad.add(csg);// add the cad objects to be passed back
			}
		}
		return allCad;
	}
};

NegativeFeedbackRobot.xml

<root>
<mobilebase>

<driveType>none</driveType>
	<cadEngine>
		<gist>687a47427c00a812e3ed</gist>
		<file>BallSocketChainKinematics.groovy</file>
	</cadEngine>
	<driveEngine>
		<gist>bcb4760a449190206170</gist>
		<file>WalkingDriveEngine.groovy</file>
	</driveEngine>

<name>NegativeFeedbackRobot</name>
<appendage>

<name>TrobotArm</name>
	<cadEngine>
		<gist>687a47427c00a812e3ed</gist>
		<file>BallSocketChainKinematics.groovy</file>
	</cadEngine>
	<kinematics>
		<gist>ff50f45a6327eccb5bf3</gist>
		<file>cleanedDHSolver.groovy</file>
	</kinematics>
<link>
	<name>basex</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>0</index>
	<scale>1.0</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>127.0</staticOffset>
	<isLatch>false</isLatch>
	<indexLatch>0</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>0.0</Radius>
		<Alpha>90.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>basey</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>1</index>
	<scale>1.0</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>127.0</staticOffset>
	<isLatch>false</isLatch>
	<indexLatch>0</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>60.0</Radius>
		<Alpha>-90.0</Alpha>
	</DHParameters>

</link>

<link>
	<name>secondx</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>2</index>
	<scale>1.0</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>127.0</staticOffset>
	<isLatch>false</isLatch>
	<indexLatch>0</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>0.0</Radius>
		<Alpha>90.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>secondy</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>3</index>
	<scale>1.0</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>127.0</staticOffset>
	<isLatch>false</isLatch>
	<indexLatch>0</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>60.0</Radius>
		<Alpha>-90.0</Alpha>
	</DHParameters>

</link>


<ZframeToRAS
>	<x>0.0</x>
	<y>0.0</y>
	<z>0.0</z>
	<rotw>1.0</rotw>
	<rotx>0.0</rotx>
	<roty>0.0</roty>
	<rotz>0.0</rotz>
</ZframeToRAS>

<baseToZframe>
	<x>0.0</x>
	<y>0.0</y>
	<z>0.0</z>
	<rotw>0.7071376338671591</rotw>
	<rotx>4.400393755887471E-17</rotx>
	<roty>-0.7070759271597045</roty>
	<rotz>2.010131832777906E-16</rotz>
</baseToZframe>

</appendage>

<ZframeToRAS>
	<x>0.0</x>
	<y>0.0</y>
	<z>0.0</z>
	<rotw>1.0</rotw>
	<rotx>0.0</rotx>
	<roty>0.0</roty>
	<rotz>0.0</rotz>
</ZframeToRAS>

<baseToZframe>
	<x>0.0</x>
	<y>0.0</y>
	<z>0.0</z>
	<rotw>1.0</rotw>
	<rotx>0.0</rotx>
	<roty>0.0</roty>
	<rotz>0.0</rotz>
</baseToZframe>

</mobilebase>

</root>

RuntimeForNegativeFeedbackRobot.groovy

import org.apache.commons.io.IOUtils;
//BowlerKernel.speak("No smiling!")

//Create the kinematics model from the xml file describing the D-H compliant parameters. 
MobileBase base=null;
String robotName = "NegativeFeedbackRobot"
if(DeviceManager.getSpecificDevice(null, robotName)==null){
	//BowlerStudio.speak("I did not fine a device called "+robotName+". "+robotName+".");
	println "Loading new robot"
	String xmlContent = ScriptingEngine.codeFromGistID("687a47427c00a812e3ed","NegativeFeedbackRobot.xml")[0];
	base = new MobileBase(IOUtils.toInputStream(xmlContent, "UTF-8"));
	DeviceManager.addConnection(base,robotName);
}else{
	println "Found robot"
	base = (MobileBase)DeviceManager.getSpecificDevice(null, robotName);
}

DHParameterKinematics DHArm = base.getAppendages().get(0); 

return null;