defaultSteerable.xml

<root>
<appendage>
<name>DefaultSteerable</name>
	<cadEngine>
		<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
		<file>ThreeDPrintCad.groovy</file>
	</cadEngine>
	<kinematics>
		<git>https://github.com/madhephaestus/carl-the-hexapod.git</git>
		<file>DefaultDhSolver.groovy</file>
	</kinematics>
<link>
	<name>steering</name>
	<deviceName>virtualDev</deviceName>
	<type>virtual</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>128</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>105</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>60.0</Radius>
		<Alpha>-90.0</Alpha>
	</DHParameters>

</link>
<link>
	<name>wheel</name>
	<deviceName>virtualDev</deviceName>
	<type>virtual</type>
	<index>0</index>
	<scale>0.33</scale>
	<upperLimit>1.0E8</upperLimit>
	<lowerLimit>-1.0E8</lowerLimit>
	<upperVelocity>1.0E8</upperVelocity>
	<lowerVelocity>-1.0E8</lowerVelocity>
	<staticOffset>128</staticOffset>
	<isLatch>true</isLatch>
	<indexLatch>145</indexLatch>
	<isStopOnLatch>false</isStopOnLatch>
	<homingTPS>10000000</homingTPS>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>90.0</Theta>
		<Radius>80</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</x>
	<y>0</y>
	<z>0.0</z>
	<rotw>1</rotw>
	<rotx>0</rotx>
	<roty>0</roty>
	<rotz>0</rotz>
</baseToZframe>

</appendage>
</root>