NotOctogonapus
NotOctogonapus
/ DefaultDhSolver.groovy
Created
August 19, 2019 17:18
HephaestusWorkCell_copy copy of HephaestusWorkCell
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| 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() { |
NotOctogonapus
/ cube.groovy
Created
August 2, 2019 16:14
— forked from madhephaestus/cube.groovy
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| return new Cube( 40,// X dimention | |
| 60,// Y dimention | |
| 80// Z dimention | |
| ).toCSG()// this converts from the geometry to an object we can work with |
NotOctogonapus
/ DefaultDhSolver.groovy
Last active
June 10, 2019 14:59
HephaestusWorkCell_copy copy of HephaestusWorkCell
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| 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() { |
NotOctogonapus
/ test_cad_engine.kts
Last active
June 10, 2019 21:06
— forked from Octogonapus/test_cad_engine.kts
testing using the CadEngine from a kotlin script
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| /* | |
| * This file is part of BowlerBuilder. | |
| * | |
| * BowlerBuilder is free software: you can redistribute it and/or modify | |
| * it under the terms of the GNU Lesser General Public License as published by | |
| * the Free Software Foundation, either version 3 of the License, or | |
| * (at your option) any later version. | |
| * | |
| * BowlerBuilder is distributed in the hope that it will be useful, | |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
NotOctogonapus
/ BNO055Visualizer.groovy
Created
December 30, 2018 21:24
— forked from madhephaestus/BNO055Visualizer.groovy
BNO055 Visualizer
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| import javafx.scene.transform.Affine; | |
| import javafx.application.Platform; | |
| def field = ScriptingEngine.gitScriptRun( | |
| "https://github.com/WPIRoboticsEngineering/RBELabCustomParts.git", // git location of the library | |
| "2002/2002 Field/2002 Field STL.STL" , // file to load | |
| null | |
| ) | |
| .rotx(-90) | |
| .toXMin() |
NotOctogonapus
/ DefaultDhSolver.groovy
Last active
December 21, 2018 05:23
HephaestusWorkCell_copy copy of HephaestusWorkCell
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| 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() { |
NotOctogonapus
/ MoveLimb.groovy
Created
December 13, 2018 21:14
— forked from madhephaestus/.gitignore
Move a limb attached to a MobileBase
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| import org.apache.commons.io.IOUtils; | |
| import com.neuronrobotics.bowlerstudio.physics.*; | |
| import com.neuronrobotics.bowlerstudio.threed.*; | |
| def base = ScriptingEngine.gitScriptRun( | |
| "https://gist.github.com/NotOctogonapus/c3fc39308a506d4cb1cd7297193c41e7", | |
| "InputArmBase_copy.xml", | |
| null | |
| ) | |
| //base.appendages[0].setDesiredTaskSpaceTransform() |
NotOctogonapus
/ moveDh.groovy
Created
December 13, 2018 21:13
— forked from madhephaestus/moveDh.groovy
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| import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; | |
| 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.bowlerstudio.creature.CreatureLab; | |
| import org.apache.commons.io.IOUtils; | |
| //Create the kinematics model from the xml file describing the D-H compliant parameters. | |
| String xmlContent = ScriptingEngine.codeFromGistID("2b0cff20ccee085c9c36","TrobotLinks.xml")[0]; |
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| def out = new Cube(5).toCSG() | |
| out.name = "out cube" | |
| return out |
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| test 5 |
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