updating the locations to ensure that objects that pulled back fromm the

edge are themselves written at the reset point

MarcosCad.groovy

@@ -265,15 +265,6 @@ class cadGenMarcos implements ICadGenerator,IgenerateBed{
 		if(d.getRobotToFiducialTransform().getX()>0) {
 			front=true;
 		}
-		TransformNR dGetRobotToFiducialTransform = d.getRobotToFiducialTransform()
-		if(!isDummyGearWrist) {
-			dGetRobotToFiducialTransform.setY(numbers.BodyServoCenterWidth/2.0*(left?1.0:-1.0))
-			dGetRobotToFiducialTransform.setX(numbers.BodyServoCenterLength/2.0*(front?1.0:-1.0))
-		}else {
-			dGetRobotToFiducialTransform.setY((numbers.BodyServoCenterWidth/2.0-6.5)*(left?1.0:-1.0))
-			dGetRobotToFiducialTransform.setX((numbers.BodyServoCenterLength/2.0+7.5)*(front?1.0:-1.0))
-		}
-		d.setRobotToFiducialTransform(dGetRobotToFiducialTransform)
 		// read motor typ information out of the link configuration
 		LinkConfiguration conf = d.getLinkConfiguration(linkIndex);
 		// load the vitamin for the servo
@@ -357,8 +348,7 @@ class cadGenMarcos implements ICadGenerator,IgenerateBed{
 		cache.clear()
 		DHParameterKinematics dh = arg0.getLegs().get(0);
 
-		TransformNR dGetRobotToFiducialTransform = dh.getRobotToFiducialTransform()
-		double zCenterLine = dGetRobotToFiducialTransform.getZ()+numbers.ServoThickness/2.0
+		double zCenterLine = dh.getRobotToFiducialTransform().getZ()+numbers.ServoThickness/2.0
 
 		CSG body  = Vitamins.get(ScriptingEngine.fileFromGit(
 				"https://github.com/OperationSmallKat/Marcos.git",
@@ -412,6 +402,40 @@ class cadGenMarcos implements ICadGenerator,IgenerateBed{
 			back.addAll([top, bottom])
 			println "ServoCover's for "+left?"Left":"Right"+front?"Front":"Back"
 		}
+		// Set the location of the limbs based on the CSV in the body loader
+		for(DHParameterKinematics d:arg0.getAllDHChains()) {
+			boolean left=false;
+			boolean front=false;
+			boolean isDummyGearWrist = false;
+			if(d.getScriptingName().startsWith("Dummy")) {
+				isDummyGearWrist=true;
+			}
+			if(d.getRobotToFiducialTransform().getY()>0) {
+				left=true;
+			}
+			if(d.getRobotToFiducialTransform().getX()>0) {
+				front=true;
+			}
+			TransformNR dGetRobotToFiducialTransform = d.getRobotToFiducialTransform()
+			def legTOSHoulderX = 7.5
+			def legTOSHoulderY = 6.5
+
+			double xval=(numbers.BodyServoCenterLength/2.0+legTOSHoulderX)*(front?1.0:-1.0)
+			if(!isDummyGearWrist) {
+				if(arg0.getLegs().contains(d)) {
+					dGetRobotToFiducialTransform.setY(numbers.BodyServoCenterWidth/2.0*(left?1.0:-1.0))
+					dGetRobotToFiducialTransform.setX(numbers.BodyServoCenterLength/2.0*(front?1.0:-1.0))
+				}
+				if(d.getScriptingName().startsWith("Head")||d.getScriptingName().startsWith("Tail")) {
+					dGetRobotToFiducialTransform.setX(xval)
+				}
+			}else {
+				dGetRobotToFiducialTransform.setY((numbers.BodyServoCenterWidth/2.0-legTOSHoulderY)*(left?1.0:-1.0))
+				dGetRobotToFiducialTransform.setX(xval)
+
+			}
+			d.setRobotToFiducialTransform(dGetRobotToFiducialTransform)
+		}
 
 		bodyCOver.setName("BodyCover")
 		bodyCOver.addAssemblyStep(2, new Transform().movez(80))

PrintBedLayout.groovy

@@ -194,6 +194,7 @@ class PrintBedObject{
 			globalPose.translateY(-maxYTest)
 		if(maxXTest>0)
 			globalPose.translateX(-maxXTest)
+		currentPose=globalPose.copy()
 		println "Update "+name+" to "+((int)globalPose.getX())+" : "+((int)globalPose.getY())
 		Platform.runLater({
 			TransformFactory.nrToAffine(globalPose,manipulator)

print_bed_location_Body.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": -30.245428686587484,
-    "y": 259.10924645417634,
+    "x": 0.0,
+    "y": 261.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 0 DummyLeftFront.json

@@ -0,0 +1,15 @@
+[
+  {
+    "x": 8.131727983645316,
+    "y": 6.0,
+    "z": 0.0,
+    "rotation": {
+      "storage": {
+        "q0": 1.0,
+        "q1": 0.0,
+        "q2": 0.0,
+        "q3": 0.0
+      }
+    }
+  }
+]

print_bed_location_Resin Horn 0 DummyLeftRear.json

@@ -0,0 +1,15 @@
+[
+  {
+    "x": 8.131727983645314,
+    "y": 6.0,
+    "z": 0.0,
+    "rotation": {
+      "storage": {
+        "q0": 1.0,
+        "q1": 0.0,
+        "q2": 0.0,
+        "q3": 0.0
+      }
+    }
+  }
+]

print_bed_location_Resin Horn 0 DummyRightFront.json

@@ -0,0 +1,15 @@
+[
+  {
+    "x": 8.131727983645298,
+    "y": 6.000000000000001,
+    "z": 0.0,
+    "rotation": {
+      "storage": {
+        "q0": 1.0,
+        "q1": 0.0,
+        "q2": 0.0,
+        "q3": 0.0
+      }
+    }
+  }
+]

print_bed_location_Resin Horn 0 DummyRightRear.json

@@ -0,0 +1,15 @@
+[
+  {
+    "x": 8.131727983645296,
+    "y": 6.0,
+    "z": 0.0,
+    "rotation": {
+      "storage": {
+        "q0": 1.0,
+        "q1": 0.0,
+        "q2": 0.0,
+        "q3": 0.0
+      }
+    }
+  }
+]

print_bed_location_Resin Horn 0 LeftFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645316,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 0 LeftRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645314,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 0 RightFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645316,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 0 RightRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645296,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 1 LeftFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645309,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 1 LeftRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645309,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 1 RightFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645305,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 1 RightRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645296,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 2 LeftFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645295,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 2 LeftRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645295,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 2 RightFront.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645295,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {

print_bed_location_Resin Horn 2 RightRear.json

@@ -1,7 +1,7 @@
 [
   {
-    "x": 0.0,
-    "y": 0.0,
+    "x": 8.131727983645296,
+    "y": 6.0,
     "z": 0.0,
     "rotation": {
       "storage": {