Move a limb attached to a MobileBase

MoveLimb.groovy

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()
println "Now we will move just one leg"
DHParameterKinematics leg0 = base.getAllDHChains().get(0)

println "Move home"
leg0.setDesiredTaskSpaceTransform(leg0.calcHome(), 2.0)
ThreadUtil.wait(5000);

println "Start from where the arm already is and move it from there with absolute location"
TransformNR current = leg0.getCurrentPoseTarget();
current.translateX(10);
leg0.setDesiredTaskSpaceTransform(current,  2.0);
ThreadUtil.wait(50000)// wait for the legs to fully arrive

println "and reset it"
current.translateX(-10);
leg0.setDesiredTaskSpaceTransform(current,  2.0);
ThreadUtil.wait(5000)// wait for the legs to fully arrive

current.translateX(-10);
leg0.setDesiredTaskSpaceTransform(current,  2.0);
ThreadUtil.wait(5000)
println "wait for the legs to fully arrive"
println "and reset it"
current.translateX(10);
leg0.setDesiredTaskSpaceTransform(current,  2.0);
ThreadUtil.wait(2000)
println " wait for the legs to fully arrive"

return null;