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6dofServoArm.xml
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6dofServoArm.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>walking.groovy</file>
</driveEngine>
<parallelCadEngine>
<parallelGroup>disneyLeg</parallelGroup>
<git>https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git</git>
<file>parallelTool.groovy</file>
</parallelCadEngine>
<name>Standard6dof</name>
<appendage>
<name>Standard6dofArm1</name>
<parallelGroup>disneyLeg</parallelGroup>
<cadEngine>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>179.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>1</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>100.0</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>2</index>
<scale>1.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>38.57</Theta>
<Radius>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist1</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>3</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>100.0</Delta>
<Theta>90.0</Theta>
<Radius>0.0</Radius>
<Alpha>90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist2</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>4</index>
<scale>2.0</scale>
<upperLimit>179.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.0</Theta>
<Radius>0.0</Radius>
<Alpha>90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist3</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>5</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>20.0</Delta>
<Theta>90.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>0.0</x>
<y>100.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</baseToZframe>
</appendage>
<appendage>
<name>Standard6dofArm2</name>
<parallelGroup>disneyLeg</parallelGroup>
<parallelGroupTipOffset>
<x>0.0</x>
<y>0.0</y>
<z>-100.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
<relativeTo>Standard6dofArm1</relativeTo>
<relativeToLink>5</relativeToLink>
</parallelGroupTipOffset>
<cadEngine>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/6dofServoArm.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>6</index>
<scale>1.0</scale>
<upperLimit>179.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>7</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>100.0</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>8</index>
<scale>1.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>towerProMG91</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>tproSG90_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>38.57</Theta>
<Radius>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist1</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>12</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>100.0</Delta>
<Theta>-90.0</Theta>
<Radius>0.0</Radius>
<Alpha>90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist2</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>13</index>
<scale>2.0</scale>
<upperLimit>179.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.0</Theta>
<Radius>0.0</Radius>
<Alpha>90.0</Alpha>
</DHParameters>
</link>
<link>
<name>wrist3</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>14</index>
<scale>2.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>20.0</Delta>
<Theta>90.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</baseToZframe>
</appendage>
<appendage>
<name>subArm1</name>
<parallelGroup>disneyLeg</parallelGroup>
<parallelGroupTipOffset>
<x>50.0</x>
<y>0.0</y>
<z>20.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
<relativeTo>Standard6dofArm1</relativeTo>
<relativeToLink>2</relativeToLink>
</parallelGroupTipOffset>
<cadEngine>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>9</index>
<scale>2.0</scale>
<upperLimit>173.43283582089552</upperLimit>
<lowerLimit>83.43283582089552</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.43283582089552</staticOffset>
<deviceTheoreticalMax>255.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>235.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>10</index>
<scale>2.0</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<deviceTheoreticalMax>255.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>128.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>-90.0</Theta>
<Radius>80.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>11</index>
<scale>2.0</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>121.0</staticOffset>
<deviceTheoreticalMax>255.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>121.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz></centerOfMassFromCentroid>
<imuFromCentroid> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz></imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>90.0</Theta>
<Radius>80.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
> <x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>0.0</x>
<y>100.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>0.0</rotx>
<roty>0.0</roty>
<rotz>0.0</rotz>
</baseToZframe>
</appendage>
<appendage>
<name>subArm2</name>
<parallelGroup>disneyLeg</parallelGroup>
<parallelGroupTipOffset>
<x>50.0</x>
<y>0.0</y>
<z>20.0</z>