-
Notifications
You must be signed in to change notification settings - Fork 0
/
defaultFixed.xml
121 lines (108 loc) · 2.23 KB
/
defaultFixed.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
<root>
<appendage>
<name>wheel</name>
<cadEngine>
<git>https://github.com/madhephaestus/VexVitaminsRobot.git</git>
<file>VexVitaminsRobotCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>wheel</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>1000000.0</upperLimit>
<lowerLimit>-1000000.0</lowerLimit>
<upperVelocity>328.0</upperVelocity>
<lowerVelocity>-328.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>2.147483647E9</deviceTheoreticalMax>
<deviceTheoreticalMin>-2.147483648E9</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>shaft</name>
<type>vexWheels</type>
<id>4inchSmooth</id>
<pose>
<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>
</pose>
<frame>origin</frame>
</vitamin>
<vitamin>
<name>electroMechanical</name>
<type>vexMotor</type>
<id>393</id>
<pose>
<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>
</pose>
<frame>lastlink</frame>
</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>52.0</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>58.2</x>
<y>-12.599999999999998</y>
<z>12.6</z>
<rotw>0.5048458934646433</rotw>
<rotx>0.5048458934646445</rotx>
<roty>0.49510667926406</roty>
<rotz>-0.4951066792640614</rotz>
</baseToZframe>
</appendage>
</root>