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madhephaestus/DefaultDhSolver.groovy

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MediumKat_copy copy of MediumKat
Raw
DefaultDhSolver.groovy
import java.util.ArrayList;
import com.neuronrobotics.sdk.addons.kinematics.DHChain;
import com.neuronrobotics.sdk.addons.kinematics.DHLink;
import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.common.Log;
import Jama.Matrix;
return new DhInverseSolver() {
@Override
public double[] inverseKinematics(TransformNR target,
double[] jointSpaceVector,DHChain chain ) {
ArrayList<DHLink> links = chain.getLinks();
if(links.size()<3){
return jointSpaceVector
}
// THis is the jacobian for the given configuration
//Matrix jacobian = chain.getJacobian(jointSpaceVector);
Matrix taskSpacMatrix = target.getMatrixTransform();
int linkNum = jointSpaceVector.length;
double [] inv = new double[linkNum];
if(linkNum<3){
for(int i=i;i<linkNum;i++){
inv[i]=jointSpaceVector[i]+0.0001
}
}
// this is an ad-hock kinematic model for d-h parameters and only works for specific configurations
double d = links.get(1).getD()- links.get(2).getD();
double r = links.get(0).getR();
double lengthXYPlaneVect = Math.sqrt(Math.pow(target.getX(),2)+Math.pow(target.getY(),2));
double angleXYPlaneVect = Math.asin(target.getY()/lengthXYPlaneVect);
double angleRectangleAdjustedXY =Math.asin(d/lengthXYPlaneVect);
double lengthRectangleAdjustedXY = lengthXYPlaneVect* Math.cos(angleRectangleAdjustedXY)-r;
double orentation = angleXYPlaneVect-angleRectangleAdjustedXY;
if(Math.abs(Math.toDegrees(orentation))<0.01){
orentation=0;
}
double ySet = lengthRectangleAdjustedXY*Math.sin(orentation);
double xSet = lengthRectangleAdjustedXY*Math.cos(orentation);
double zSet = target.getZ() - links.get(0).getD();
if(links.size()==5){
double tipAngulationSum =Math.toDegrees( links.get(1).getTheta()+
links.get(2).getTheta()+
links.get(4).getTheta())
//println "Tip angulation orentation = "+tipAngulationSum
if(tipAngulationSum==90)
zSet+=links.get(4).getD();
else{
double tipySet = links.get(4).getR()*Math.sin(orentation);
double tipxSet = links.get(4).getR()*Math.cos(orentation);
//println "5 links back Setting tip x="+tipxSet+" y="+tipySet
xSet-=tipxSet
ySet-=tipySet
}
}
if(links.size()==4){
double tipAngulationSum =Math.toDegrees( links.get(1).getTheta()+
links.get(2).getTheta()+
links.get(3).getTheta())
//println "Tip angulation orentation = "+tipAngulationSum
if(tipAngulationSum==90)
zSet+=links.get(3).getR();
else{
double tipySet = links.get(3).getR()*Math.sin(orentation);
double tipxSet = links.get(3).getR()*Math.cos(orentation);
//println "4 links back Setting tip x="+tipxSet+" y="+tipySet
xSet-=tipxSet
ySet-=tipySet
}
}
// Actual target for anylitical solution is above the target minus the z offset
TransformNR overGripper = new TransformNR(
xSet,
ySet,
zSet,
target.getRotation());
double l1 = links.get(1).getR();// First link length
double l2 = links.get(2).getR();
double vect = Math.sqrt(xSet*xSet+ySet*ySet+zSet*zSet);
/*
println ( "TO: "+target);
println ( "Trangular TO: "+overGripper);
println ( "lengthXYPlaneVect: "+lengthXYPlaneVect);
println( "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect));
println( "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY));
println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY);
println( "r: "+r);
println( "d: "+d);
println( "x Correction: "+xSet);
println( "y Correction: "+ySet);
println( "Orentation: "+Math.toDegrees(orentation));
println( "z: "+zSet);
*/
if (vect > l1+l2 || vect<0 ||lengthRectangleAdjustedXY<0 ) {
throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2);
}
//from https://www.mathsisfun.com/algebra/trig-solving-sss-triangles.html
double a=l2;
double b=l1;
double c=vect;
double A =Math.acos((Math.pow(b,2)+ Math.pow(c,2) - Math.pow(a,2)) / (2.0*b*c));
double B =Math.acos((Math.pow(c,2)+ Math.pow(a,2) - Math.pow(b,2)) / (2.0*a*c));
double C =Math.PI-A-B;//Rule of triangles
double elevation = Math.asin(zSet/vect);
/*
println( "vect: "+vect);
println( "A: "+Math.toDegrees(A));
println( "elevation: "+Math.toDegrees(elevation));
println( "l1 from x/y plane: "+Math.toDegrees(A+elevation));
println( "l2 from l1: "+Math.toDegrees(C));
*/
inv[0] = Math.toDegrees(orentation);
inv[1] = -Math.toDegrees((A+elevation+links.get(1).getTheta()));
if((int)links.get(1).getAlpha() ==180){
inv[2] = (Math.toDegrees(C))-180-//interior angle of the triangle, map to external angle
Math.toDegrees(links.get(2).getTheta());// offset for kinematics
}
if((int)links.get(1).getAlpha() ==0){
inv[2] = -(Math.toDegrees(C))+Math.toDegrees(links.get(2).getTheta());// offset for kinematics
}
if(links.size()>3)
inv[3] =-(inv[1] + inv[2]);// keep it parallell
// We know the wrist twist will always be 0 for this model
if(links.size()>4)
inv[4] = inv[0];//keep the tool orentation paralell from the base
for(int i=0;i<inv.length;i++){
if(Math.abs(inv[i]) < 0.01){
inv[i]=0;
}
// println( "Link#"+i+" is set to "+inv[i]);
}
int i=3;
if(links.size()>3)
i=5;
//copy over remaining links so they do not move
for(;i<inv.length && i<jointSpaceVector.length ;i++){
inv[i]=jointSpaceVector[i];
}
return inv;
}
};
Raw
MediumCad.groovy
import com.neuronrobotics.bowlerstudio.creature.ICadGenerator;
import com.neuronrobotics.bowlerstudio.creature.CreatureLab;
import org.apache.commons.io.IOUtils;
import com.neuronrobotics.bowlerstudio.vitamins.*;
import com.neuronrobotics.sdk.addons.kinematics.AbstractLink
import com.neuronrobotics.sdk.addons.kinematics.DHLink
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration
import com.neuronrobotics.sdk.addons.kinematics.MobileBase
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR
import java.nio.file.Paths;
import eu.mihosoft.vrl.v3d.CSG
import eu.mihosoft.vrl.v3d.FileUtil;
import eu.mihosoft.vrl.v3d.Transform;
import javafx.scene.transform.Affine;
import com.neuronrobotics.bowlerstudio.physics.TransformFactory;
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine
println "Loading STL file"
// Load an STL file from a git repo
// Loading a local file also works here
return new ICadGenerator(){
private CSG moveDHValues(CSG incoming,DHLink dh ){
TransformNR step = new TransformNR(dh.DhStep(0)).inverse()
Transform move = TransformFactory.nrToCSG(step)
return incoming.transformed(move)
}
@Override
public ArrayList<CSG> generateCad(DHParameterKinematics d, int linkIndex) {
ArrayList<CSG> allCad=new ArrayList<>();
String limbName = d.getScriptingName()
File legFile = null
boolean mirror=true
if(limbName.contentEquals("DefaultLeg3")||limbName.contentEquals("DefaultLeg4")){
println "Mirror leg parts"
mirror=false
}
TransformNR legRoot= d.getRobotToFiducialTransform()
def leftSide=false
def rear = true
if(legRoot.getY()>0){
leftSide=true;
}
if(legRoot.getX()>0){
rear=false;
}
if(limbName.contentEquals("Tail")){
if(linkIndex >1)
return allCad;
if(linkIndex ==0){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKTailandHeadMount.stl");
}
if(linkIndex ==1){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKTail.stl");
}
}else if(limbName.contentEquals("Head")){
if(linkIndex >1)
return allCad;
if(linkIndex ==0){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKTailandHeadMount.stl");
}
if(linkIndex ==1){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKHead.stl");
}
if(linkIndex ==2)
return allCad;
}else{
if(leftSide){
if(linkIndex ==0){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Shoulder.stl");
}
if(linkIndex ==1){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Leg Mirror.stl");
}
if(linkIndex ==2){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Foot.stl");
}
}
else{
if(linkIndex ==0){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Shoulder Mirror.stl");
}
if(linkIndex ==1){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Leg.stl");
}
if(linkIndex ==2){
legFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKCat Foot Mirror.stl");
}
}
}
ArrayList<DHLink> dhLinks = d.getChain().getLinks()
DHLink dh = dhLinks.get(linkIndex)
// Hardware to engineering units configuration
LinkConfiguration conf = d.getLinkConfiguration(linkIndex);
// Engineering units to kinematics link (limits and hardware type abstraction)
AbstractLink abstractLink = d.getAbstractLink(linkIndex);// Transform used by the UI to render the location of the object
// Transform used by the UI to render the location of the object
Affine manipulator = dh.getListener();
// Load the .CSG from the disk and cache it in memory
println "Loading " +legFile
CSG body = Vitamins.get(legFile)
if(linkIndex ==0){
//body=moveDHValues(body,dh)
if(limbName.contentEquals("Head")||limbName.contentEquals("Tail")){
body=body
.rotz(90)
.rotx(180)
.movex(-41)
.movey(-21)
.movez(-22)
//.movez(-11.5)
} else{
body=body.roty(180)
.rotx(180)
//if(rear)
//body=body.rotx(180)
}
}
if(linkIndex ==1){
if(limbName.contentEquals("Head")){
body=body
.roty(180)
.movex(50)
//.movey(-18)
//.movez(-38.5)
}else if(limbName.contentEquals("Tail")){
body=body
.roty(180)
.rotz(-90)
.movey(125)
}else{
body=body.roty(180)
}
}
if(linkIndex ==2){
body=body.roty(180)
}
body.setManipulator(manipulator);
def parts = [body ] as ArrayList<CSG>
for(int i=0;i<parts.size();i++){
parts.get(i).setColor(javafx.scene.paint.Color.RED)
}
return parts;
}
@Override
public ArrayList<CSG> generateBody(MobileBase b ) {
ArrayList<CSG> allCad=new ArrayList<>();
File mainBodyFile = ScriptingEngine.fileFromGit(
"https://github.com/OperationSmallKat/SmallKat_V2.git",
"STLs/MKBody.stl");
// Load the .CSG from the disk and cache it in memory
CSG body = Vitamins.get(mainBodyFile)
body.setManipulator(b.getRootListener());
body.setColor(javafx.scene.paint.Color.WHITE)
def parts = [body ] as ArrayList<CSG>
for(int i=0;i<parts.size();i++){
parts.get(i).setColor(javafx.scene.paint.Color.GRAY)
}
return parts;
}
};
Raw
MediumKat_copy.xml
<root>
<mobilebase>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>walking.groovy</file>
</driveEngine>
<name>MediumKat_copy</name>
<leg>
<name>RearLeft</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>1</index>
<scale>-0.512698413</scale>
<upperLimit>176.0</upperLimit>
<lowerLimit>87.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>110.85134986830553</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>2</index>
<scale>-0.512698413</scale>
<upperLimit>142.0</upperLimit>
<lowerLimit>5.625</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>99.6783088235294</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>0</index>
<scale>-0.512698413</scale>
<upperLimit>157.5</upperLimit>
<lowerLimit>7.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>82.65144863915715</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.01</Theta>
<Radius>47.86</Radius>
<Alpha>0.01</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>-98.04</x>
<y>37.15</y>
<z>106.24</z>
<rotw>7.5577511764289E-5</rotw>
<rotx>-0.8660544878420067</rotx>
<roty>4.362883439682798E-5</roty>
<rotz>0.49994961393452864</rotz>
</baseToZframe>
</leg>
<leg>
<name>FrontRight</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>5</index>
<scale>-0.512698413</scale>
<upperLimit>120.0</upperLimit>
<lowerLimit>17.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>87.57641022827043</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>4</index>
<scale>0.512698413</scale>
<upperLimit>178.56343283582092</upperLimit>
<lowerLimit>37.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>88.61093047711398</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>3</index>
<scale>0.512698413</scale>
<upperLimit>178.3488805970149</upperLimit>
<lowerLimit>3.6660447761194046</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>104.04693499141692</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.01</Theta>
<Radius>47.86253</Radius>
<Alpha>0.01</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>35.31343</x>
<y>-37.1475</y>
<z>106.236</z>
<rotw>7.557497341369239E-5</rotw>
<rotx>0.8660254004868585</rotx>
<roty>4.3633231244394104E-5</roty>
<rotz>-0.4999999980961411</rotz>
</baseToZframe>
</leg>
<leg>
<name>FrontLeft</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>7</index>
<scale>-0.512698413</scale>
<upperLimit>138.75000000000003</upperLimit>
<lowerLimit>35.625</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>64.10969051799823</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.01</Theta>
<Radius>28.58</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>6</index>
<scale>-0.512698413</scale>
<upperLimit>158.0</upperLimit>
<lowerLimit>3.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.9583383155557</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>15</index>
<scale>-0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>30.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>107.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.01</Theta>
<Radius>47.86253</Radius>
<Alpha>0.01</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>35.31</x>
<y>37.1475</y>
<z>106.24</z>
<rotw>7.557497341426927E-5</rotw>
<rotx>-0.8660254004868584</rotx>
<roty>4.363323124472718E-5</roty>
<rotz>0.49999999809614115</rotz>
</baseToZframe>
</leg>
<leg>
<name>RearRight</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>8</index>
<scale>-0.512698413</scale>
<upperLimit>118.12500000000001</upperLimit>
<lowerLimit>7.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>79.73441615452153</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>28.575</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>9</index>
<scale>0.512698413</scale>
<upperLimit>146.25000000000003</upperLimit>
<lowerLimit>26.25</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>54.705882352941195</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>10</index>
<scale>0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>7.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.99264705882354</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.0</Theta>
<Radius>47.86</Radius>
<Alpha>0.0</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>-98.036</x>
<y>-37.15</y>
<z>106.236</z>
<rotw>7.557497341369239E-5</rotw>
<rotx>0.8660254004868585</rotx>
<roty>4.3633231244394104E-5</roty>
<rotz>-0.4999999980961411</rotz>
</baseToZframe>
</leg>
<appendage>
<name>Head</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>11</index>
<scale>-0.512698413</scale>
<upperLimit>140.0</upperLimit>
<lowerLimit>5.624999999999999</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>89.04757462686567</staticOffset>
<isLatch>true</isLatch>
<indexLatch>235</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0493</mass>
<centerOfMassFromCentroid> <x>-24.46</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>40.247804878048775</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>12</index>
<scale>-0.714</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>30.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>117.87200943810359</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.059</mass>
<centerOfMassFromCentroid> <x>31.18</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</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>25.0</x>
<y>0.0</y>
<z>110.0</z>
<rotw>0.7071067811865476</rotw>
<rotx>-0.7071067811865475</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</baseToZframe>
</appendage>
<appendage>
<name>Tail</name>
<cadEngine>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/fb8c93b40c1accb9a1cc6e6ece989763.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>14</index>
<scale>-0.512698413</scale>
<upperLimit>170.11753731343288</upperLimit>
<lowerLimit>3.749999999999994</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>141.88643338127187</staticOffset>
<isLatch>true</isLatch>
<indexLatch>235</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0493</mass>
<centerOfMassFromCentroid> <x>-24.46</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></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>40.5</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>hidDevice</deviceName>
<type>hidfast</type>
<index>13</index>
<scale>-0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>1.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>89.71898853242566</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0254</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>65.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <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></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</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>-96.4046556122449</x>
<y>0.0</y>
<z>113.07849494778381</z>
<rotw>6.170670739598364E-5</rotw>
<rotx>-6.170670739598362E-5</rotx>
<roty>-0.7071067784940844</roty>
<rotz>0.7071067784940845</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>
<mass>0.4157</mass>
<centerOfMassFromCentroid> <x>-44.36</x>
<y>0.0</y>
<z>115.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>120.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<vitamins>
</vitamins>
</mobilebase>
</root>
Raw
walking.groovy
import java.time.Duration;
import java.util.ArrayList;
import javafx.application.Platform;
import org.reactfx.util.FxTimer;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.util.ThreadUtil;
import com.neuronrobotics.sdk.addons.kinematics.IDriveEngine;
double stepOverHeight=7.5;
long stepOverTime=150;// Servo loop times number of points times Nyquest doubeling
Double zLock= 9;
Closure calcHome = { DHParameterKinematics leg ->
TransformNR h=leg.calcHome()
TransformNR legRoot= leg.getRobotToFiducialTransform()
TransformNR tr = leg.forwardOffset(new TransformNR())
tr.setZ(zLock)
//Bambi-on-ice the legs a bit
if(legRoot.getY()>0){
tr.translateY(10)
}else{
tr.translateY(-10)
}
if(legRoot.getX()>0){
//tr.translateX(10)
}
return tr;
}
boolean usePhysicsToMove = true;
long stepCycleTime =600
long walkingTimeout =stepCycleTime*2
int numStepCycleGroups = 2
double standardHeadTailAngle = -20
double staticPanOffset = 30
double coriolisGain = 1.1
boolean headStable = true
double maxBodyDisplacementPerStep = 40
double minBodyDisplacementPerStep = 30
def ar = [stepOverHeight,
stepOverTime,
zLock,
calcHome,
usePhysicsToMove,
stepCycleTime,
numStepCycleGroups,
standardHeadTailAngle,
staticPanOffset,
coriolisGain,
headStable,
maxBodyDisplacementPerStep,
minBodyDisplacementPerStep,
walkingTimeout]
return ScriptingEngine
.gitScriptRun(
"https://github.com/OperationSmallKat/SmallKat_V2.git", // git location of the library
"Bowler/DynamicWalking.groovy" , // file to load
ar
)
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