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madhephaestus/Paulas_Giraffe.xml

Created May 5, 2016 04:18
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Paulas_Giraffe copy of DogRobot
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Paulas_Giraffe.xml
<root>
<mobilebase>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://gist.github.com/a8423ccd585c8de046dd41636c2e8596.git</git>
<file>Walking.groovy</file>
</driveEngine>
<name>Paulas_Giraffe</name>
<leg>
<name>DefaultLeg</name>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/a8423ccd585c8de046dd41636c2e8596.git</git>
<file>DH-Solver.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>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>60.0</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</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>192.7014925373134</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>60.0</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>1</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>15.223880597014928</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>90.01</Theta>
<Radius>80.0</Radius>
<Alpha>0.01</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>-75.00000000000003</x>
<y>40.000000000000036</y>
<z>159.99999999999997</z>
<rotw>0.702661135646815</rotw>
<rotx>0.07916646039534943</rotx>
<roty>0.7026611356468148</roty>
<rotz>-0.07916646039534948</rotz>
</baseToZframe>
</leg>
<leg>
<name>DefaultLeg2</name>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/a8423ccd585c8de046dd41636c2e8596.git</git>
<file>DH-Solver.groovy</file>
</kinematics>
<link>
<name>basePan</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>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>60.0</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>5</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>211.7313432835821</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>90.73170731707317</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>6</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>15.223880597014928</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>90.01</Theta>
<Radius>100.48780487804878</Radius>
<Alpha>0.01</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>74.99999999999996</x>
<y>-59.99999999999995</y>
<z>210.00000000000003</z>
<rotw>0.0792584413287909</rotw>
<rotx>-0.7026507663684514</rotx>
<roty>0.07925844132879614</roty>
<rotz>0.7026507663684505</rotz>
</baseToZframe>
</leg>
<leg>
<name>DefaultLeg3</name>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/a8423ccd585c8de046dd41636c2e8596.git</git>
<file>DH-Solver.groovy</file>
</kinematics>
<link>
<name>basePan</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>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>60.0</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>8</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>183.18656716417908</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.01</Theta>
<Radius>90.0</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>12</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>15.223880597014928</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>90.01</Theta>
<Radius>100.0</Radius>
<Alpha>0.01</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>74.99999999999996</x>
<y>60.00000000000005</y>
<z>210.00000000000003</z>
<rotw>0.07919711968284812</rotw>
<rotx>0.7026576806910788</rotx>
<roty>0.07919711968288527</roty>
<rotz>-0.7026576806910787</rotz>
</baseToZframe>
</leg>
<leg>
<name>DefaultLeg4</name>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/a8423ccd585c8de046dd41636c2e8596.git</git>
<file>DH-Solver.groovy</file>
</kinematics>
<link>
<name>basePan</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>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>105</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>14</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>188.3955223880597</staticOffset>
<isLatch>true</isLatch>
<indexLatch>97</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>dyio</deviceName>
<type>servo-rotory</type>
<index>15</index>
<scale>0.33</scale>
<upperLimit>255.0</upperLimit>
<lowerLimit>15.223880597014928</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>145</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>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>-75.00000000000003</x>
<y>-39.999999999999964</y>
<z>159.99999999999997</z>
<rotw>0.7051320916686236</rotw>
<rotx>-0.05280845859359922</rotx>
<roty>0.7051320916686236</roty>
<rotz>0.05280845859359914</rotz>
</baseToZframe>
</leg>
<appendage>
<name>DefaultArm</name>
<cadEngine>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>ThreeDPrintCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/6ec266cd72cf57e22f9026e8c15ca636.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</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>128.43283582089552</staticOffset>
<isLatch>true</isLatch>
<indexLatch>235</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>11</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>standardMicro</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>190.3170731707317</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</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>121.0</staticOffset>
<isLatch>true</isLatch>
<indexLatch>121</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<electroMechanicalSize>standardMicro</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>134.2682926829268</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>61.90476190476187</x>
<y>5.551115123125783E-14</y>
<z>250.0</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>
</mobilebase>
</root>
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