Move a limb attached to a MobileBase

.gitignore

/.settings
/.project
/.classpath
/.cproject
/cache/
/*.class

MoveLimb.groovy

import org.apache.commons.io.IOUtils;
import  com.neuronrobotics.bowlerstudio.physics.*;
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine
import com.neuronrobotics.bowlerstudio.threed.*;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
import com.neuronrobotics.sdk.addons.kinematics.MobileBase
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR
import com.neuronrobotics.sdk.common.DeviceManager
import com.neuronrobotics.sdk.util.ThreadUtil
MobileBase base;
//Check if the device already exists in the device Manager
if(args==null){
	base=DeviceManager.getSpecificDevice( "MediumKat",{ScriptingEngine.gitScriptRun(	"https://github.com/OperationSmallKat/SmallKat_V2.git", "loadRobot.groovy", [ "https://github.com/OperationSmallKat/greycat.git", "MediumKat.xml","GameController_22"] )})
}else
	base=args.get(0)


println "Now we will move just one leg"
DHParameterKinematics leg0 = base.getAllDHChains().get(1)
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

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

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

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

return null;