customRoverdh.groovy

//new Thread(){
//	
//	public void run(){
//		ThreadUtil.wait(2000);
//		TransformNR start = model.getCurrentTaskSpaceTransform();
//		double x= start.getX();
//		double y=start.getY();
//		double z=start.getZ();
//		for(int i=-1;i< 1;i++){
//			for(int j=-1;j<1;j++){
//				TransformNR tr = new TransformNR(
//					x+(50*i)+(50*j),
//					 y+(50*i)+(50*j),
//					z,
//					new RotationNR());
//				println(tr)
//				model.setDesiredTaskSpaceTransform(tr, 2);
//				ThreadUtil.wait(3000);
//			}
//		}
//		for(int i=-1;i< 1;i++){
//			TransformNR tr = new TransformNR(
//				x,
//				 y,
//				z+(100*i),
//				new RotationNR());
//			println(tr)
//			model.setDesiredTaskSpaceTransform(tr, 2);
//			ThreadUtil.wait(4000);
//			
//		}
//		model.setDesiredTaskSpaceTransform(start, 2);
//	}
//}.start();
// 

return links;

rover.xml

<root>
  <link>
    <name>RotToFirst</name>
    <deviceName>bowlerBoard</deviceName>
    <type>pid</type>
    <index>6</index>
    <scale>.088</scale>
    <upperLimit>4096</upperLimit>
    <lowerLimit>-4096</lowerLimit>
    <isLatch>true</isLatch>
    <indexLatch>0</indexLatch>
    <isStopOnLatch>false</isStopOnLatch>
    <homingTPS>500</homingTPS>
    <DHParameters>
      <Delta>106.36</Delta>
      <Theta>180</Theta>
      <!--<Radius>12.7</Radius>  -->
      <Radius>0</Radius>
      <Alpha>90</Alpha>
    </DHParameters>
  </link>
  <link>
    <name>FirstToSecond</name>
    <deviceName>bowlerBoard</deviceName>
    <type>pid</type>
    <index>4</index>
    <scale>-.088</scale>
    <upperLimit>4096</upperLimit>
    <lowerLimit>-4096</lowerLimit>
    <isLatch>true</isLatch>
    <indexLatch>0</indexLatch>
    <isStopOnLatch>false</isStopOnLatch>
    <homingTPS>500</homingTPS>
    <DHParameters>
      <Delta>0</Delta>
      <Theta>90</Theta>
      <Radius>476.25</Radius>
      <Alpha>0</Alpha>
    </DHParameters>
  </link>
  <link>
    <name>SecondToBend</name>
    <deviceName>bowlerBoard</deviceName>
    <type>pid</type>
    <index>5</index>
    <scale>-.088</scale>
    <upperLimit>4096</upperLimit>
    <lowerLimit>-4096</lowerLimit>
    <isLatch>true</isLatch>
    <indexLatch>0</indexLatch>
    <isStopOnLatch>false</isStopOnLatch>
    <homingTPS>500</homingTPS>
    <DHParameters>
      <Delta>0</Delta>
      <Theta>111.9</Theta>
      <Radius>452</Radius>
      <Alpha>0</Alpha>
    </DHParameters>
  </link>
  <link>
    <name>BendToTwist</name>
    <deviceName>dyio</deviceName>
    <type>servo-rotory</type>
    <index>9</index>
    <scale>-.42</scale>
    <upperLimit>255</upperLimit>
    <lowerLimit>0</lowerLimit>
    <isLatch>true</isLatch>
    <indexLatch>41</indexLatch>
    <isStopOnLatch>false</isStopOnLatch>
    <homingTPS>500</homingTPS>
    <DHParameters>
      <Delta>0</Delta>
      <Theta>158.1</Theta>
      <Radius>0</Radius>
      <Alpha>90</Alpha>
    </DHParameters>
  </link>
  <link>
    <name>TwistToCam</name>
    <deviceName>dyio</deviceName>
    <type>servo-rotory</type>
    <index>11</index>
    <scale>0.5725</scale>
    <upperLimit>255</upperLimit>
    <lowerLimit>0</lowerLimit>
    <isLatch>true</isLatch>
    <indexLatch>124</indexLatch>
    <isStopOnLatch>false</isStopOnLatch>
    <homingTPS>500</homingTPS>
    <DHParameters>
      <Delta>0</Delta>
      <Theta>0</Theta>
      <Radius>0</Radius>
      <Alpha>90</Alpha>
    </DHParameters>
  </link>
</root>