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armtest.groovy
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| //Your code here | |
| def base=DeviceManager.getSpecificDevice( "Standard6dof",{ | |
| ScriptingEngine.gitScriptRun( | |
| "https://github.com/madhephaestus/6dofServoArm.git", "6dofServoArm.xml", | |
| null | |
| ) | |
| } | |
| ) | |
| def limb = base.getAllDHChains().get(0) | |
| double zLift=25 | |
| println "Start from where the arm already is and move it from there with absolute location" | |
| TransformNR current = leg0.getCurrentPoseTarget(); | |
| current.translateZ(zLift); | |
| leg0.setDesiredTaskSpaceTransform(current, 2.0); | |
| ThreadUtil.wait(2000)// wait for the legs to fully arrive |
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