jabber.groovy

.gitignore

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

jabber.groovy

//Your code here

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.DHLink
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
import com.neuronrobotics.sdk.addons.kinematics.MobileBase
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( "HephaestusArmV2",{ScriptingEngine.gitScriptRun(	"https://github.com/Hephaestus-Arm/HephaestusArm2.git",
	"hephaestus.xml", null )})
}else
	base=args.get(0)
DHParameterKinematics leg0 = base.getAllDHChains().get(0)
DHParameterKinematics jaw = leg0.getDhLink(2).getSlaveMobileBase().getAllDHChains().get(0)
println "Now move just one link"
for(int i=0;i<leg0.getNumberOfLinks();i++){
	jaw.setDesiredJointAxisValue(0,// link index
							35, //target angle
							2.0) // 2 seconds
	leg0.setDesiredJointAxisValue(i,// link index
							15, //target angle
							2.0) // 2 seconds
	ThreadUtil.wait(200)// wait for the link to fully arrive
	leg0.setDesiredJointAxisValue(i,// link index
							0, //target angle
							2.0) // 2 seconds
	jaw.setDesiredJointAxisValue(0,// link index
		0, //target angle
		2.0) // 2 seconds
	ThreadUtil.wait(200)// wait for the link to fully arrive
}