nag92

from math import pi




def rect_interia(b,h):
	return  (1/12.0)*b*h**3 


def circ_interia(ro,ri):

nag92

import com.neuronrobotics.bowlerstudio.vitamins.Vitamins;

// Set a specific repository for the vitamins
Vitamins.setGitRepoDatabase("https://github.com/madhephaestus/Hardware-Dimensions.git")

ArrayList<String> types = Vitamins.listVitaminTypes()
println "\n\nAll availible types: "+types
CSG vitaminFromScript = Vitamins.get("hobbyServo","Dynam");

println "\n\nOptional servo sizes: "+Vitamins.listVitaminSizes("hobbyServo")

nag92

clear all
close all
clc
syms q1(t) q2(t) q3(t) q4(t) q5(t) q6(t) px py g
l = sym('l_%d', [1 7]);
m = sym('m_%d', [1 7]);
qd = sym('qd', [1 6]);
qdd = sym('qdd', [1 6]);
P = [px;py];

nag92

"""
This cacluclates the jacobian for the seires elastic arm. 
The link parameters are taken from https://github.com/nag92/SeriesElasticActuator/blob/master/walkingSEA.xml
"""
import numpy as np

def get_jacobian_matricies(theta_1,theta_2,theta_3):
    """
    :param robot:
    :return:

nag92

"""
This cacluclates the jacobian for the seires elastic arm. 
The link parameters are taken from https://github.com/nag92/SeriesElasticActuator/blob/master/walkingSEA.xml
"""
import numpy as np

def get_jacobian_matricies(theta_1,theta_2,theta_3):
    """
    :param robot:
    :return:

nag92

clear all
obj = udp('localhost',9876) ;
obj.ByteOrder = 'littleEndian';
fopen(obj)
data = zeros(15,1,'single');


time = 100;
for i = 1:2

nag92

@Grab(group='org.hid4java', module='hid4java', version='0.5.0')

import org.hid4java.*
import org.hid4java.event.*;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;

class PacketProcessor{
	HidDevice myHidDevice;
	ByteOrder be =ByteOrder.LITTLE_ENDIAN; 

nag92

@Grab(group='org.hid4java', module='hid4java', version='0.5.0')

import org.hid4java.*
import org.hid4java.event.*;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;

class PacketProcessor{
	HidDevice myHidDevice;
	ByteOrder be =ByteOrder.LITTLE_ENDIAN; 

nag92

CSG simpleSyntax =new Cylinder(10,10,40,(int)30).toCSG() // a one line Cylinder

//create a Cylinder
height = 22.5
CSG wheel_body = new Cylinder(33, // Radius at the bottom
                      		33, // Radius at the top
                      		17.6, // Height
                      		(int)30 //resolution
                      		).toCSG().movez(height/2 - 17.6/2)
CSG hub = new Cylinder(14.3, // Radius at the bottom

nag92

import com.neuronrobotics.bowlerstudio.creature.ICadGenerator;
import com.neuronrobotics.bowlerstudio.creature.CreatureLab;
import org.apache.commons.io.IOUtils;
//Create the kinematics model from the xml file describing the D-H compliant parameters. 
def file=["https://github.com/madhephaestus/carl-the-hexapod.git","CarlTheRobot.xml"]as String[]
String xmlContent = ScriptingEngine.codeFromGit(file[0],file[1])[0]

println "Loading the robot"
MobileBase base=null;
if(DeviceManager.getSpecificDevice(MobileBase.class, "CarlTheWalkingRobot")==null){