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keshuaixu/Elephant.xml

Forked from madhephaestus/Elephant.xml
Created January 24, 2016 15:21
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Elephant Script
Raw
Elephant.xml
<root>
<mobilebase>
<driveType>walking</driveType>
<cadEngine>
<gist>bcb4760a449190206170</gist>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<driveEngine>
<gist>aef13d65093951d13235</gist>
<file>ElephantDriveEngine.groovy</file>
</driveEngine>
<name>Elephant</name>
<leg>
<name>Elephant_One</name>
<cadEngine>
<gist>bcb4760a449190206170</gist>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<gist>bcb4760a449190206170</gist>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>0</index>
<scale>0.435</scale>
<upperLimit>152.83582089552237</upperLimit>
<lowerLimit>100.48507462686568</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>220.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>1</index>
<scale>0.435</scale>
<upperLimit>137.01492537313433</upperLimit>
<lowerLimit>30.44776119402985</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>300.0</Radius>
<Alpha>180.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>2</index>
<scale>-0.435</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>138.9179104477612</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>300.0</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>-860.0</x>
<y>-105.0</y>
<z>590.0</z>
<rotw>0.7071067811865476</rotw>
<rotx>0.0</rotx>
<roty>0.7071067811865475</roty>
<rotz>0.0</rotz>
</baseToZframe>
</leg>
<leg>
<name>Elephant_Two</name>
<cadEngine>
<gist>bcb4760a449190206170</gist>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<gist>bcb4760a449190206170</gist>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>3</index>
<scale>0.435</scale>
<upperLimit>147.12686567164178</upperLimit>
<lowerLimit>108.09701492537313</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>220.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>4</index>
<scale>-0.435</scale>
<upperLimit>232.1641791044776</upperLimit>
<lowerLimit>117.98507462686567</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>300.0</Radius>
<Alpha>180.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>5</index>
<scale>-0.435</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>300.0</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>-510.0</x>
<y>-105.0</y>
<z>590.0</z>
<rotw>0.706489444943837</rotw>
<rotx>0.0</rotx>
<roty>0.7077235789366842</roty>
<rotz>0.0</rotz>
</baseToZframe>
</leg>
<leg>
<name>Elephant_Three</name>
<cadEngine>
<gist>bcb4760a449190206170</gist>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<gist>bcb4760a449190206170</gist>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>6</index>
<scale>0.435</scale>
<upperLimit>147.12686567164178</upperLimit>
<lowerLimit>108.09701492537313</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>220.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>7</index>
<scale>-0.435</scale>
<upperLimit>234.06716417910448</upperLimit>
<lowerLimit>127.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>300.0</Radius>
<Alpha>180.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>8</index>
<scale>-0.435</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>300.0</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>-510.0</x>
<y>105.0</y>
<z>590.0</z>
<rotw>0.706489444943837</rotw>
<rotx>0.0</rotx>
<roty>0.7077235789366842</roty>
<rotz>0.0</rotz>
</baseToZframe>
</leg>
<leg>
<name>Elephant_Four</name>
<cadEngine>
<gist>bcb4760a449190206170</gist>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<gist>bcb4760a449190206170</gist>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>9</index>
<scale>0.435</scale>
<upperLimit>154.73880597014923</upperLimit>
<lowerLimit>108.09701492537313</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>220.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>10</index>
<scale>-0.435</scale>
<upperLimit>232.1641791044776</upperLimit>
<lowerLimit>107.97014925373135</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>300.0</Radius>
<Alpha>180.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>11</index>
<scale>-0.435</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>300.0</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>-860.0</x>
<y>105.0</y>
<z>590.0</z>
<rotw>0.7071067811865476</rotw>
<rotx>0.0</rotx>
<roty>0.7071067811865475</roty>
<rotz>0.0</rotz>
</baseToZframe>
</leg>
<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>
Raw
ElephantDriveEngine.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=30;
long stepOverTime=1000;
Double zLock=-120;
Closure calcHome = { DHParameterKinematics leg ->
TransformNR tr = leg.forwardOffset(new TransformNR())
tr.setZ(zLock)
return tr;
}
ArrayList<Object> args = new ArrayList<Object>();
args.add(stepOverHeight)
args.add(stepOverTime)
args.add(zLock)
args.add(calcHome)
return ScriptingEngine.inlineGistScriptRun("bcb4760a449190206170", "GenericWalkingEngine.groovy" , args);
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