moveDh.groovy

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;

TransformNR start = DHArm.getCurrentTaskSpaceTransform();
for(int i=-1;i< 2;i++){
	for(int j=-1;j<2;j++){
		TransformNR tr = new TransformNR(	start.getX()+(100*i)+(100*j),
			 												start.getY()+(100*i)+(100*j),
															start.getZ(),
															new RotationNR());
														println(tr)
		DHArm.setDesiredTaskSpaceTransform(tr, 2);
		ThreadUtil.wait(3000);
	}
}