setting body script

Author: madhephaestus

Bowler/cadEngine.groovy

@@ -4,12 +4,22 @@ import org.apache.commons.io.IOUtils;
 import com.neuronrobotics.bowlerstudio.vitamins.*;
 import java.nio.file.Paths;
 import eu.mihosoft.vrl.v3d.FileUtil;
-import javafx.scene.transform.*;
+import eu.mihosoft.vrl.v3d.Transform;
+import javafx.scene.transform.Affine;
+import com.neuronrobotics.bowlerstudio.physics.TransformFactory;
 println "Loading STL file"
 // Load an STL file from a git repo
 // Loading a local file also works here
 
 return new ICadGenerator(){
+	
+	private CSG moveDHValues(CSG incoming,DHLink dh ){
+		TransformNR step = new TransformNR(dh.DhStep(0)).inverse()
+		Transform move = TransformFactory.nrToCSG(step)
+		return incoming.transformed(move)
+		
+	}
+
 	@Override 
 	public ArrayList<CSG> generateCad(DHParameterKinematics d, int linkIndex) {
 		File legFile = null
@@ -44,7 +54,7 @@ return new ICadGenerator(){
 
 		ArrayList<CSG> allCad=new ArrayList<>();
 		// Load the .CSG from the disk and cache it in memory
-		CSG body  = Vitamins.get(legFile)
+		CSG body  = moveDHValues(Vitamins.get(legFile),dh)
 
 		body.setManipulator(manipulator);
 		body.setColor(javafx.scene.paint.Color.WHITE)
@@ -61,7 +71,7 @@ return new ICadGenerator(){
 
 		File mainBodyFile = ScriptingEngine.fileFromGit(
 			"https://github.com/keionbis/SmallKat.git",
-			"STLs/Body.STL");
+			"STLs/BodyV2.STL");
 
 		// Load the .CSG from the disk and cache it in memory
 		CSG body  = Vitamins.get(mainBodyFile)

Bowler/cat.xml

@@ -1,8 +1,8 @@
 <root>
 <mobilebase>
 	<cadEngine>
-		<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>
-		<file>LinkedCadEngine.groovy</file>
+		<git>https://github.com/keionbis/SmallKat.git</git>
+		<file>Bowler/cadEngine.groovy</file>
 	</cadEngine>
 	<driveEngine>
 		<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>

CSGdatabase.json

@@ -5,7 +5,7 @@
       "500",
       "0.01"
     ],
-    "value": 395150
+    "value": 30000
   },
   "Bolt Size": {
     "name": "Bolt Size",
@@ -160,7 +160,7 @@
       "M18",
       "Inch-1_4-20"
     ],
-    "strValue": "M3"
+    "strValue": "M5"
   },
   "lockNut Default": {
     "name": "lockNut Default",
@@ -231,7 +231,7 @@
       "180",
       "10"
     ],
-    "value": 14240
+    "value": 10000
   },
   "hobbyServo Default": {
     "name": "hobbyServo Default",