Created
April 8, 2016 01:22
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jimmy copy of CarlTheWalkingRobot
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<root> | |
<mobilebase> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<driveEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>WalkingDriveEngine.groovy</file> | |
</driveEngine> | |
<name>jimmy</name> | |
<leg> | |
<name>Carl_One</name> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>-55.0</x> | |
<y>-50.0</y> | |
<z>1.9984014443252818E-15</z> | |
<rotw>0.3826834323650933</rotw> | |
<rotx>2.3820429953758186E-17</rotx> | |
<roty>1.813220358410302E-16</roty> | |
<rotz>-0.9238795325112843</rotz> | |
</baseToZframe> | |
</leg> | |
<leg> | |
<name>Carl_Two</name> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>0.0</x> | |
<y>-60.0</y> | |
<z>4.440892098500626E-15</z> | |
<rotw>0.7072238818849061</rotw> | |
<rotx>8.997248564922612E-6</rotx> | |
<roty>-2.3805711206739314E-4</roty> | |
<rotz>-0.7069896209559978</rotz> | |
</baseToZframe> | |
</leg> | |
<leg> | |
<name>Carl_Three</name> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>55.0</x> | |
<y>-50.0</y> | |
<z>8.215650382226158E-15</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/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>55.0</x> | |
<y>50.0</y> | |
<z>-2.4424906541753444E-15</z> | |
<rotw>0.9762960071199334</rotw> | |
<rotx>-1.1820552112337377E-16</rotx> | |
<roty>-4.17168050452654E-17</roty> | |
<rotz>0.21643961393810285</rotz> | |
</baseToZframe> | |
</leg> | |
<leg> | |
<name>Carl_Five</name> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>0.0</x> | |
<y>60.0</y> | |
<z>-4.440892098500626E-15</z> | |
<rotw>0.7071067811865476</rotw> | |
<rotx>7.85046229341887E-17</rotx> | |
<roty>7.85046229341888E-17</roty> | |
<rotz>0.7071067811865475</rotz> | |
</baseToZframe> | |
</leg> | |
<leg> | |
<name>Carl_Six</name> | |
<cadEngine> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.git</git> | |
<file>ThreeDPrintCad.groovy</file> | |
</cadEngine> | |
<kinematics> | |
<git>https://gist.github.com/2e08db0887e365607fe283815284c128.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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>180.0</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>standardMicro</electroMechanicalSize> | |
<electroMechanicalType>hobbyServo</electroMechanicalType> | |
<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>-55.0</x> | |
<y>50.0</y> | |
<z>-7.771561172376096E-15</z> | |
<rotw>0.38268343236507907</rotw> | |
<rotx>-1.813220358410335E-16</rotx> | |
<roty>-2.3003042022369397E-16</roty> | |
<rotz>0.9238795325112925</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>0.5</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> |
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