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seaArm.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://github.com/madhephaestus/SeriesElasticActuator.git</git>
<file>seaLinkGen.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>WalkingDriveEngine.groovy</file>
</driveEngine>
<name>HephaestusWorkCell</name>
<appendage>
<name>HephaestustArm</name>
<cadEngine>
<git>https://github.com/madhephaestus/SeriesElasticActuator.git</git>
<file>seaLinkGen.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>11</index>
<scale>0.1</scale>
<upperLimit>856.0</upperLimit>
<lowerLimit>-875.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>235</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>hv5932mg</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>hv6214mg_6</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>135.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>10</index>
<scale>0.1</scale>
<upperLimit>95.0</upperLimit>
<lowerLimit>-1008.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>128</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>hv5932mg</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>hv6214mg_6</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>175.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>9</index>
<scale>0.1</scale>
<upperLimit>304.0</upperLimit>
<lowerLimit>-2093.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>121</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>hv5932mg</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>hv6214mg_6</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>169.28</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>65.0</z>
<rotw>1.0</rotw>
<rotx>-2.7755575615628907E-17</rotx>
<roty>-2.775557561562889E-17</roty>
<rotz>8.326672684688674E-17</rotz>
</baseToZframe>
</appendage>
<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>
<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>
<vitamins>
</vitamins>
</mobilebase>
</root>