Trobot Arm

TrobotLinks.xml

<root>
<mobilebase>
	<cadEngine>
		<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
		<file>LinkedCadEngine.groovy</file>
	</cadEngine>
	<driveEngine>
		<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
		<file>WalkingDriveEngine.groovy</file>
	</driveEngine>

<name>TrobotArmGroup</name>
<appendage>

<name>TrobotArm</name>
	<cadEngine>
		<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
		<file>LinkedCadEngine.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>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>128.43283582089552</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>235</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>60.0</Radius>
		<Alpha>-90.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>baseTilt</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>10</index>
	<scale>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>128.0</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>128</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>-90.0</Theta>
		<Radius>93.0</Radius>
		<Alpha>0.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>elbow</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>9</index>
	<scale>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>121.0</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>121</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>90.0</Theta>
		<Radius>131.0</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>80.9523809523809</y>
	<z>-1.7975039446312048E-14</z>
	<rotw>1.0</rotw>
	<rotx>-2.7755575615628907E-17</rotx>
	<roty>-2.775557561562889E-17</roty>
	<rotz>8.326672684688674E-17</rotz>
</baseToZframe>

</appendage>
<appendage>

<name>DefaultArm2</name>
	<cadEngine>
		<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
		<file>LinkedCadEngine.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>0</index>
	<scale>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>128.43283582089552</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>235</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>60.0</Radius>
		<Alpha>-90.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>baseTilt</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>1</index>
	<scale>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>128.0</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>128</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>-90.0</Theta>
		<Radius>93.0</Radius>
		<Alpha>0.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>elbow</name>
	<deviceName>dyio</deviceName>
	<type>servo-rotory</type>
	<index>2</index>
	<scale>0.33</scale>
	<upperLimit>255.0</upperLimit>
	<lowerLimit>0.0</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>121.0</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>121</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>
	<electroMechanicalSize>towerProMG91</electroMechanicalSize>
	<electroMechanicalType>hobbyServo</electroMechanicalType>
	<shaftSize>standardMicro1</shaftSize>
	<shaftType>hobbyServoHorn</shaftType>
	<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>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>90.0</Theta>
		<Radius>131.0</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>-85.71428571428572</y>
	<z>1.9032394707859828E-14</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>

</mobilebase>

</root>