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TendyTheTankEngine.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://github.com/TechnocopiaPlant/TendyTheTankEngine.git</git>
<file>TendyTheTankEngineCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/TechnocopiaPlant/TendyTheTankEngine.git</git>
<file>TendyTheTankEngineWalk.groovy</file>
</driveEngine>
<name>TendyTheTankEngine</name>
<appendage>
<name>DriveCarrage</name>
<cadEngine>
<git>https://github.com/TechnocopiaPlant/TendyTheTankEngine.git</git>
<file>TendyTheTankEngineCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/TechnocopiaPlant/TendyTheTankEngine.git</git>
<file>TendyTheTankEngineKinematics.groovy</file>
</kinematics>
<link>
<name>Motor</name>
<deviceName>exampleDevice</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>1.0E8</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</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>0.01</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>100.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>Link_1</name>
<deviceName>exampleDevice</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>1.0E8</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</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>0.01</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>100.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<link>
<name>Link_2</name>
<deviceName>exampleDevice</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>180.0</upperLimit>
<lowerLimit>0.0</lowerLimit>
<upperVelocity>1.0E8</upperVelocity>
<lowerVelocity>-1.0E8</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>1.0E8</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</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>0.01</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>100.0</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>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</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>0.5</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>
<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>
<vitamins>
</vitamins>
</mobilebase>
</root>