moving okke robot from general package II

schpin_koke/src/Koke.hs

@@ -9,7 +9,7 @@ import           Linear.V3
 
 data LegPos = RL | RR | FR | FL deriving Eq;
 
-toteTipPos = V3 100 0 0
+kokeTipPos = V3 100 0 0
 femurOffset = V3 55 0 0
 tibiaOffset = V3 70 0 0
 legPose :: LegPos -> Pose
@@ -24,9 +24,9 @@ legPose pos = Pose (V3 (xval*20) (yval*20) 0) $ axisAngle zAxis ( angle * pi/180
             FR -> 90 - 45
 
 tibia = Part {
-        model = scadModel "tibia" [ ("tipOffset",toteTipPos) ] ["tibia.scad"],
+        model = scadModel "tibia" [ ("tipOffset",kokeTipPos) ] ["tibia.scad"],
         collision_models = [
-            scadModel "tibia_collision" [("tipOffset", toteTipPos)] ["tibia.scad"]
+            scadModel "tibia_collision" [("tipOffset", kokeTipPos)] ["tibia.scad"]
         ],
         part_weight = Nothing,
         center_of_mass = Nothing
@@ -53,7 +53,7 @@ coxa = Part {
         center_of_mass = Nothing
     }
 
-toteBody legs = Body $ Part {
+kokeBody legs = Body $ Part {
         model = scadModel "body" [("positions", map (pos.pose) legs)] ["body.scad"],
         collision_models = [
             scadModel "body_collision_a" [("positions", map (pos.pose) legs)] ["body.scad"],
@@ -78,19 +78,19 @@ leg pos = Leg {
             Link "tibia" tibiaOffset tibia yAxis (-pi) (pi/2) pi 50 100 8
         ],
         tip = Tip {
-            point = toteTipPos
+            point = kokeTipPos
         },
         pose = legPose pos
     }
 
-tote :: Walker
-tote = Walker walker_name legs (toteBody legs)
+koke :: Walker
+koke = Walker walker_name legs (kokeBody legs)
     where
         walker_name = "Tote"
         legs = [leg RR, leg RL, leg FR, leg FL]
 
 main :: IO ()
 main = do
-   mapM_ (uncurry renderSCAD) $ getSCAD tote
-   mapM_ (uncurry renderSTL) $ getSTLRenderList tote
-   writeXML (getURDF tote) "urdf/tote.urdf"
+   mapM_ (uncurry renderSCAD) $ getSCAD koke
+   mapM_ (uncurry renderSTL) $ getSTLRenderList koke
+   writeXML (getURDF koke) "urdf/koke.urdf"