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MediumKat.xml
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MediumKat.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/DynamicWalkingV2.groovy</file>
</driveEngine>
<name>MediumKat</name>
<leg>
<name>RearLeft</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>1</index>
<scale>-0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>95.14865013169447</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>119.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>2</index>
<scale>-0.512698413</scale>
<upperLimit>142.0</upperLimit>
<lowerLimit>5.625</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>99.6783088235294</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>0</index>
<scale>-0.512698413</scale>
<upperLimit>157.5</upperLimit>
<lowerLimit>7.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>82.65144863915715</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</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>90.01</Theta>
<Radius>47.86</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>-98.04</x>
<y>37.15</y>
<z>106.24</z>
<rotw>7.5577511764289E-5</rotw>
<rotx>-0.8660544878420067</rotx>
<roty>4.362883439682798E-5</roty>
<rotz>0.49994961393452864</rotz>
</baseToZframe>
</leg>
<leg>
<name>FrontRight</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>5</index>
<scale>-0.512698413</scale>
<upperLimit>120.0</upperLimit>
<lowerLimit>17.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>87.57641022827043</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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>0.01</Theta>
<Radius>28.575</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>4</index>
<scale>0.512698413</scale>
<upperLimit>178.56343283582092</upperLimit>
<lowerLimit>37.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>88.61093047711398</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>3</index>
<scale>0.512698413</scale>
<upperLimit>178.3488805970149</upperLimit>
<lowerLimit>3.6660447761194046</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>104.04693499141692</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</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>90.01</Theta>
<Radius>47.86253</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>35.31343</x>
<y>-37.1475</y>
<z>106.236</z>
<rotw>7.557497341369239E-5</rotw>
<rotx>0.8660254004868585</rotx>
<roty>4.3633231244394104E-5</roty>
<rotz>-0.4999999980961411</rotz>
</baseToZframe>
</leg>
<leg>
<name>FrontLeft</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>7</index>
<scale>-0.512698413</scale>
<upperLimit>138.75000000000003</upperLimit>
<lowerLimit>35.625</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>64.10969051799823</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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>0.01</Theta>
<Radius>28.58</Radius>
<Alpha>-89.97</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>6</index>
<scale>-0.512698413</scale>
<upperLimit>158.0</upperLimit>
<lowerLimit>3.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.9583383155557</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.01</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>15</index>
<scale>-0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>30.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>107.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</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>90.01</Theta>
<Radius>47.86253</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>35.31</x>
<y>37.1475</y>
<z>106.24</z>
<rotw>7.557497341426927E-5</rotw>
<rotx>-0.8660254004868584</rotx>
<roty>4.363323124472718E-5</roty>
<rotz>0.49999999809614115</rotz>
</baseToZframe>
</leg>
<leg>
<name>RearRight</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://gist.github.com/17f2da51abe25e043043946d91610ddd.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>8</index>
<scale>-0.512698413</scale>
<upperLimit>118.12500000000001</upperLimit>
<lowerLimit>7.5</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>79.73441615452153</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>105.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0302</mass>
<centerOfMassFromCentroid> <x>-1.5</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>28.575</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>9</index>
<scale>0.512698413</scale>
<upperLimit>146.25000000000003</upperLimit>
<lowerLimit>26.25</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>54.705882352941195</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>97.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0299</mass>
<centerOfMassFromCentroid> <x>-13.21</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>-90.0</Theta>
<Radius>50.8</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>elbow</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>10</index>
<scale>0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>7.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>128.99264705882354</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>145.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>DHV56mg_sub_Micro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>DHV56mg_sub_Micro_1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0091</mass>
<centerOfMassFromCentroid> <x>-32.31</x>
<y>-10.0</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>90.0</Theta>
<Radius>47.86</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>-98.036</x>
<y>-37.15</y>
<z>106.236</z>
<rotw>7.557497341369239E-5</rotw>
<rotx>0.8660254004868585</rotx>
<roty>4.3633231244394104E-5</roty>
<rotz>-0.4999999980961411</rotz>
</baseToZframe>
</leg>
<appendage>
<name>Head</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>11</index>
<scale>-0.512698413</scale>
<upperLimit>140.0</upperLimit>
<lowerLimit>5.624999999999999</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>89.04757462686567</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>180.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.0493</mass>
<centerOfMassFromCentroid> <x>-24.46</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>40.247804878048775</Radius>
<Alpha>-90.0</Alpha>
</DHParameters>
</link>
<link>
<name>baseTilt</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>12</index>
<scale>-0.714</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>30.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>117.87200943810359</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>128.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.059</mass>
<centerOfMassFromCentroid> <x>31.18</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>0.0</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>25.0</x>
<y>0.0</y>
<z>110.0</z>
<rotw>0.7071067811865476</rotw>
<rotx>-0.7071067811865475</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</baseToZframe>
</appendage>
<appendage>
<name>Tail</name>
<cadEngine>
<git>https://github.com/OperationSmallKat/SmallKat_V2.git</git>
<file>Bowler/MediumCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
<file>DefaultDhSolver.groovy</file>
</kinematics>
<link>
<name>basePan</name>
<deviceName>kevkat</deviceName>
<type>hidfast</type>
<index>14</index>
<scale>-0.512698413</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>90.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>true</isLatch>
<indexLatch>180.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>hobbyServo</type>
<id>standardMicro</id>
</vitamin>
<vitamin>
<name>shaft</name>
<type>hobbyServoHorn</type>
<id>standardMicro1</id>