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carlRobot.xml
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carlRobot.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<driveEngine>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>WalkingDriveEngine.groovy</file>
</driveEngine>
<name>CarlTheWalkingRobot</name>
<leg>
<name>Carl_One</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.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>133.7089552238806</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</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>50.0</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>93.74626865671641</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</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>50.0</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>15.223880597014928</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>87.01481398975272</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</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>70.0</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>-55.000000000000014</x>
<y>-49.999999999999986</y>
<z>70.0</z>
<rotw>0.38268343236509234</rotw>
<rotx>-1.2443977214448087E-17</rotx>
<roty>2.1758644300923683E-16</roty>
<rotz>-0.9238795325112857</rotz>
</baseToZframe>
</leg>
<leg>
<name>Carl_Two</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>3</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>133.2089552238806</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>162.25373134328353</staticOffset>
<isLatch>true</isLatch>
<indexLatch>171</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>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>4</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>116.0820895522388</staticOffset>
<isLatch>true</isLatch>
<indexLatch>148</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>50.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>5</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>30.44776119402985</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>96.30251726442415</staticOffset>
<isLatch>true</isLatch>
<indexLatch>120</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>70.0</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>-1.5543122344752195E-14</x>
<y>-59.999999999999986</y>
<z>70.00000000000001</z>
<rotw>0.7372773350054744</rotw>
<rotx>1.9333260774629754E-5</rotx>
<roty>-2.374412832471669E-4</roty>
<rotz>-0.6755901675831936</rotz>
</baseToZframe>
</leg>
<leg>
<name>Carl_Three</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>6</index>
<scale>0.33</scale>
<upperLimit>194.1044776119403</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>144.84283804856315</staticOffset>
<isLatch>true</isLatch>
<indexLatch>124</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>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>7</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>91</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>50.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>8</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>74.21641791044776</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>115.85781911338827</staticOffset>
<isLatch>true</isLatch>
<indexLatch>139</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>70.0</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>54.999999999999986</x>
<y>-49.999999999999986</y>
<z>70.00000000000003</z>
<rotw>0.9762960071199334</rotw>
<rotx>-2.5493781137848553E-16</rotx>
<roty>-4.713185234563371E-17</roty>
<rotz>-0.21643961393810307</rotz>
</baseToZframe>
</leg>
<leg>
<name>Carl_Four</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>9</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>55.18656716417911</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>109.22577411450214</staticOffset>
<isLatch>true</isLatch>
<indexLatch>133</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>50.0</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>82.32835820895522</staticOffset>
<isLatch>true</isLatch>
<indexLatch>137</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>50.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>11</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>70.41044776119404</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.09940966807753</staticOffset>
<isLatch>true</isLatch>
<indexLatch>131</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>70.0</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>54.999999999999986</x>
<y>50.000000000000014</y>
<z>70.0</z>
<rotw>0.9762960071199335</rotw>
<rotx>-6.134658610118171E-17</rotx>
<roty>-7.014627255636142E-17</roty>
<rotz>0.2164396139381027</rotz>
</baseToZframe>
</leg>
<leg>
<name>Carl_Five</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>12</index>
<scale>0.33</scale>
<upperLimit>157.94776119402985</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>122.2910447761194</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>0.0</Theta>
<Radius>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>13</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>126.09701492537313</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>0.0</Theta>
<Radius>50.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>14</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>81.82835820895522</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>148.3079750501225</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>70.0</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>-1.5543122344752188E-14</x>
<y>60.000000000000014</y>
<z>69.99999999999999</z>
<rotw>0.7372773368101241</rotw>
<rotx>-4.1568795806038953E-17</rotx>
<roty>-4.2141814069759455E-17</roty>
<rotz>0.6755902076156602</rotz>
</baseToZframe>
</leg>
<leg>
<name>Carl_Six</name>
<cadEngine>
<git>https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git</git>
<file>LinkedCadEngine.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/bcb4760a449190206170.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>15</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>120.38805970149252</staticOffset>
<isLatch>true</isLatch>
<indexLatch>135</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>50.0</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>16</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>108.97014925373135</staticOffset>
<isLatch>true</isLatch>
<indexLatch>120</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>50.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>17</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>58.992537313432834</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>124.79048785921142</staticOffset>
<isLatch>true</isLatch>
<indexLatch>141</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>70.0</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>-55.000000000000014</x>
<y>50.000000000000014</y>
<z>69.99999999999997</z>
<rotw>0.38268343236507774</rotw>
<rotx>-7.252881433641008E-17</rotx>
<roty>-1.5750160588727942E-16</roty>
<rotz>0.9238795325112916</rotz>
</baseToZframe>
</leg>
<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>99</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>