Robotics Environment Simulator.xml

<?xml version='1.0' standalone='yes' ?>
<LVData xmlns="http://www.ni.com/LVData">
<Version>18.0.1f2</Version>
<Object>
<Name>SimEngine out</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Engine.lvclass</Class>
<Version>1.0.0.29</Version>
<Cluster>
<Name>ODESimulator_Engine.lvclass</Name>
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<Refnum>
<Name>World</Name>
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<RefType>LVODE</RefType>
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<Name>Space</Name>
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<Val>0x00000000</Val>
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<Refnum>
<Name>JointGroupID</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
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<Refnum>
<Name>Scene</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xD4800004</Val>
</Refnum>
<Object>
<Name>NISAST Event</Name>
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<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Event.lvclass</Class>
<Version>0.0.0.0</Version>
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<Object>
<Name>Environment</Name>
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<Class>NI_Robotics_Simulator.lvlib:3D_Physics_Plane.lvclass</Class>
<Version>1.0.0.1</Version>
<Version>1.0.0.16</Version>
<Cluster>
<Name>3D_Physics_Base.lvclass</Name>
<NumElts>18</NumElts>
<String>
<Name>ID</Name>
<Val>Robot Scene</Val>
</String>
<Cluster>
<Name>Position</Name>
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<Name>X</Name>
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</SGL>
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<Name>Mass</Name>
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<Name>Mass Center</Name>
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<SGL>
<Name>num</Name>
<Val></Val>
</SGL>
</Array>
<Array>
<Name>Inertia Matrix</Name>
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<Dimsize>3</Dimsize>
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<Name></Name>
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<Name>Material</Name>
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<Name>Color</Name>
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<Name>Red</Name>
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<Name>Green</Name>
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<SGL>
<Name>Blue</Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name>Alpha</Name>
<Val>1.00000</Val>
</SGL>
</Cluster>
<Path>
<Name>Model File (.ive)</Name>
<Val>Robotics Environment SimulatorRSC\ive\robot scene.ive</Val>
</Path>
<Path>
<Name>Model File (.stl)</Name>
<Val>Robotics Environment SimulatorRSC\stl\robot scene.stl</Val>
</Path>
<Path>
<Name>Texture File (.png)</Name>
<Val></Val>
</Path>
<String>
<Name>Sub-Space</Name>
<Val></Val>
</String>
<Boolean>
<Name>Kinematic</Name>
<Val>0</Val>
</Boolean>
<Boolean>
<Name>Visible</Name>
<Val>1</Val>
</Boolean>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
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<Name>3D Object</Name>
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<Name>ODE Body</Name>
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<Array>
<Name>Visual Model Offset</Name>
<Dimsize>4</Dimsize>
<Dimsize>4</Dimsize>
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<Name></Name>
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<Cluster>
</Cluster>
</Object>
<Array>
<Name>Robots</Name>
<Dimsize>1</Dimsize>
<Object>
<Name>ODESimulator.lvlib:NI_Robotics_ODESim_Base Robot.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Base_Robot.lvclass</Class>
<Version>1.0.0.17</Version>
<Cluster>
<Name>ODESimulator_Base_Robot.lvclass</Name>
<NumElts>12</NumElts>
<String>
<Name>ID</Name>
<Val>Starter Kit 2.0_R0</Val>
</String>
<String>
<Name>Type</Name>
<Val>NI Robot</Val>
</String>
<Cluster>
<Name>Position</Name>
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<Name>X</Name>
<Val>0.50000</Val>
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<Name>Y</Name>
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<Name>Z</Name>
<Val>0.10000</Val>
</SGL>
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<SGL>
<Name>Z</Name>
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</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>1.64493E-2</Val>
</SGL>
</Cluster>
<Array>
<Name>Sensors</Name>
<Dimsize>2</Dimsize>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Base_Sensor.lvclass</Name>
<NumLevels>2</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Distance.lvclass</Class>
<Version>1.0.0.4</Version>
<Version>1.0.0.8</Version>
<Cluster>
<Name>ODESimulator_Base_Sensor.lvclass</Name>
<NumElts>10</NumElts>
<String>
<Name>ID</Name>
<Val>Parallax PING)))_S0</Val>
</String>
<String>
<Name>Type</Name>
<Val>Sonar</Val>
</String>
<String>
<Name>Owner ID</Name>
<Val>Starter Kit 2.0_R0</Val>
</String>
<String>
<Name>Servo ID</Name>
<Val></Val>
</String>
<Object>
<Name>Base Prop</Name>
<NumLevels>2</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:3D_Physics_Box.lvclass</Class>
<Version>1.0.0.1</Version>
<Version>1.0.0.16</Version>
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<String>
<Name>ID</Name>
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<Name>Z</Name>
<Val>6.00000E-3</Val>
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<Name>num</Name>
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<Name>Alpha</Name>
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<Name>Model File (.stl)</Name>
<Val></Val>
</Path>
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<Name>Texture File (.png)</Name>
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<Name>Sub-Space</Name>
<Val></Val>
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<Name>Kinematic</Name>
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<Name>Visible</Name>
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<Name>Model File (.ive)</Name>
<Val>Robotics Environment SimulatorRSC\ive\Rear Wheel Cylinder.ive</Val>
</Path>
<Path>
<Name>Model File (.stl)</Name>
<Val></Val>
</Path>
<Path>
<Name>Texture File (.png)</Name>
<Val></Val>
</Path>
<String>
<Name>Sub-Space</Name>
<Val></Val>
</String>
<Boolean>
<Name>Kinematic</Name>
<Val>0</Val>
</Boolean>
<Boolean>
<Name>Visible</Name>
<Val>1</Val>
</Boolean>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xEA9000A7</Val>
</Refnum>
<Refnum>
<Name>ODE Body</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Array>
<Name>Visual Model Offset</Name>
<Dimsize>4</Dimsize>
<Dimsize>4</Dimsize>
<SGL>
<Name></Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name></Name>
<Val>1.00000</Val>
</SGL>
</Array>
</Cluster>
<Cluster>
<Name>3D_Physics_Cylinder.lvclass</Name>
<NumElts>3</NumElts>
<SGL>
<Name>Height</Name>
<Val>2.00000E-2</Val>
</SGL>
<SGL>
<Name>Radius</Name>
<Val>7.20000E-3</Val>
</SGL>
<Refnum>
<Name>ODE Geometry</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Object>
</Array>
<I8>
<Name>Roller Number</Name>
<Val>20</Val>
</I8>
<DBL>
<Name>Radius Offset</Name>
<Val>4.40000000000000E-3</Val>
</DBL>
<Array>
<Name>Inner Joints</Name>
<Dimsize>0</Dimsize>
<Refnum>
<Name>Joint</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val></Val>
</Refnum>
</Array>
</Cluster>
<Cluster>
<Name>Omni Wheel.lvclass</Name>
<NumElts>2</NumElts>
<EW>
<Name>Row Number</Name>
<Choice>3</Choice>
<Choice>2</Choice>
<Choice>1</Choice>
<Val>1</Val>
</EW>
<DBL>
<Name>Height Offset</Name>
<Val>7.50000000000000E-3</Val>
</DBL>
</Cluster>
</Object>
</Array>
<Array>
<Name>Motors</Name>
<Dimsize>3</Dimsize>
<Object>
<Name>ODE Simulator.lvlib:Motor.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Motor.lvclass</Class>
<Version>1.0.0.9</Version>
<Cluster>
<Name>ODESimulator_Motor.lvclass</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Left Motor</Val>
</String>
<Array>
<Name>Joints</Name>
<Dimsize>1</Dimsize>
<Cluster>
<Name>Rate Joint</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Left Joint</Val>
</String>
<DBL>
<Name>Rate</Name>
<Val>1.00000000000000</Val>
</DBL>
<EW>
<Name>Axis</Name>
<Choice>Axis1</Choice>
<Choice>Axis2</Choice>
<Choice>Axis3</Choice>
<Val>0</Val>
</EW>
<Refnum>
<Name>LVODE Joint</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Array>
<Refnum>
<Name>Motor Controller</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>Encoder</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Object>
<Object>
<Name>ODE Simulator.lvlib:Motor.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Motor.lvclass</Class>
<Version>1.0.0.9</Version>
<Cluster>
<Name>ODESimulator_Motor.lvclass</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Right Motor</Val>
</String>
<Array>
<Name>Joints</Name>
<Dimsize>1</Dimsize>
<Cluster>
<Name>Rate Joint</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Right Joint</Val>
</String>
<DBL>
<Name>Rate</Name>
<Val>1.00000000000000</Val>
</DBL>
<EW>
<Name>Axis</Name>
<Choice>Axis1</Choice>
<Choice>Axis2</Choice>
<Choice>Axis3</Choice>
<Val>0</Val>
</EW>
<Refnum>
<Name>LVODE Joint</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Array>
<Refnum>
<Name>Motor Controller</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>Encoder</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Object>
<Object>
<Name>ODE Simulator.lvlib:Motor.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Motor.lvclass</Class>
<Version>1.0.0.9</Version>
<Cluster>
<Name>ODESimulator_Motor.lvclass</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Servo</Val>
</String>
<Array>
<Name>Joints</Name>
<Dimsize>1</Dimsize>
<Cluster>
<Name>Rate Joint</Name>
<NumElts>4</NumElts>
<String>
<Name>ID</Name>
<Val>Servo Joint</Val>
</String>
<DBL>
<Name>Rate</Name>
<Val>1.00000000000000</Val>
</DBL>
<EW>
<Name>Axis</Name>
<Choice>Axis1</Choice>
<Choice>Axis2</Choice>
<Choice>Axis3</Choice>
<Val>0</Val>
</EW>
<Refnum>
<Name>LVODE Joint</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Array>
<Refnum>
<Name>Motor Controller</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>Encoder</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Object>
</Array>
<Array>
<Name>Joints</Name>
<Dimsize>5</Dimsize>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Class>
<Version>1.0.0.19</Version>
<Cluster>
<Name>ODESimulator_Joint.lvclass</Name>
<NumElts>13</NumElts>
<String>
<Name>ID</Name>
<Val>Left Joint</Val>
</String>
<EW>
<Name>Type</Name>
<Choice>Ball</Choice>
<Choice>Hinge</Choice>
<Choice>Slider</Choice>
<Choice>Universal</Choice>
<Choice>Hinge2</Choice>
<Choice>PR</Choice>
<Choice>PU</Choice>
<Choice>Piston</Choice>
<Choice>Fixed</Choice>
<Choice>Null</Choice>
<Val>1</Val>
</EW>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>-0.16900</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>4.06000E-2</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>-3.75000E-2</Val>
</SGL>
</Cluster>
<Cluster>
<Name>Rotation</Name>
<NumElts>2</NumElts>
<Cluster>
<Name>Axis</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>2.20153E-22</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>2.20153E-22</Val>
</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>1.57080</Val>
</SGL>
</Cluster>
<DBL>
<Name>Scale</Name>
<Val>0.60000000000000</Val>
</DBL>
<Array>
<Name>Components ID</Name>
<Dimsize>2</Dimsize>
<String>
<Name>String</Name>
<Val>Body Frame</Val>
</String>
<String>
<Name>String</Name>
<Val>Left Wheel</Val>
</String>
</Array>
<String>
<Name>Parameters</Name>
<Val>[FMax]	2.5
[Fudge Factor]	0.1
[Bounce]	0
[CFM]	0.001
[Lo Stop]	-Inf
[Hi Stop]	Inf
[Stop ERP]	0.8
[Stop CFM]	0.001
</Val>
</String>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xEBC000B1</Val>
</Refnum>
<Refnum>
<Name>LVODE Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Boolean>
<Name>Feedback</Name>
<Val>0</Val>
</Boolean>
<Refnum>
<Name>LVODE ForceSensor Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>ExtendType</Name>
<Val>0</Val>
</U16>
</Cluster>
</Object>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Class>
<Version>1.0.0.19</Version>
<Cluster>
<Name>ODESimulator_Joint.lvclass</Name>
<NumElts>13</NumElts>
<String>
<Name>ID</Name>
<Val>Right Joint</Val>
</String>
<EW>
<Name>Type</Name>
<Choice>Ball</Choice>
<Choice>Hinge</Choice>
<Choice>Slider</Choice>
<Choice>Universal</Choice>
<Choice>Hinge2</Choice>
<Choice>PR</Choice>
<Choice>PU</Choice>
<Choice>Piston</Choice>
<Choice>Fixed</Choice>
<Choice>Null</Choice>
<Val>1</Val>
</EW>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.16900</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>4.06000E-2</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>-3.75000E-2</Val>
</SGL>
</Cluster>
<Cluster>
<Name>Rotation</Name>
<NumElts>2</NumElts>
<Cluster>
<Name>Axis</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>1.22464E-16</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>1.22464E-16</Val>
</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>-1.57080</Val>
</SGL>
</Cluster>
<DBL>
<Name>Scale</Name>
<Val>0.60000000000000</Val>
</DBL>
<Array>
<Name>Components ID</Name>
<Dimsize>2</Dimsize>
<String>
<Name>String</Name>
<Val>Body Frame</Val>
</String>
<String>
<Name>String</Name>
<Val>Right Wheel</Val>
</String>
</Array>
<String>
<Name>Parameters</Name>
<Val>[FMax]	2.5
[Fudge Factor]	0.1
[Bounce]	0
[CFM]	0.001
[Lo Stop]	-Inf
[Hi Stop]	Inf
[Stop ERP]	0.8
[Stop CFM]	0.001
</Val>
</String>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xEC4000B0</Val>
</Refnum>
<Refnum>
<Name>LVODE Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Boolean>
<Name>Feedback</Name>
<Val>0</Val>
</Boolean>
<Refnum>
<Name>LVODE ForceSensor Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>ExtendType</Name>
<Val>0</Val>
</U16>
</Cluster>
</Object>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Class>
<Version>1.0.0.19</Version>
<Cluster>
<Name>ODESimulator_Joint.lvclass</Name>
<NumElts>13</NumElts>
<String>
<Name>ID</Name>
<Val>Omni Joint</Val>
</String>
<EW>
<Name>Type</Name>
<Choice>Ball</Choice>
<Choice>Hinge</Choice>
<Choice>Slider</Choice>
<Choice>Universal</Choice>
<Choice>Hinge2</Choice>
<Choice>PR</Choice>
<Choice>PU</Choice>
<Choice>Piston</Choice>
<Choice>Fixed</Choice>
<Choice>Null</Choice>
<Val>1</Val>
</EW>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>-0.15490</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>-3.10000E-2</Val>
</SGL>
</Cluster>
<Cluster>
<Name>Rotation</Name>
<NumElts>2</NumElts>
<Cluster>
<Name>Axis</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>1.22464E-16</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>1.22464E-16</Val>
</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>1.57080</Val>
</SGL>
</Cluster>
<DBL>
<Name>Scale</Name>
<Val>0.51200000000000</Val>
</DBL>
<Array>
<Name>Components ID</Name>
<Dimsize>2</Dimsize>
<String>
<Name>String</Name>
<Val>Body Frame</Val>
</String>
<String>
<Name>String</Name>
<Val>Omni Wheel</Val>
</String>
</Array>
<String>
<Name>Parameters</Name>
<Val>[FMax]	0
[Fudge Factor]	0.1
[Bounce]	0
[CFM]	0.001
[Lo Stop]	-Inf
[Hi Stop]	Inf
[Stop ERP]	0.8
[Stop CFM]	0.001
</Val>
</String>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xECC000AE</Val>
</Refnum>
<Refnum>
<Name>LVODE Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Boolean>
<Name>Feedback</Name>
<Val>0</Val>
</Boolean>
<Refnum>
<Name>LVODE ForceSensor Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>ExtendType</Name>
<Val>0</Val>
</U16>
</Cluster>
</Object>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Class>
<Version>1.0.0.19</Version>
<Cluster>
<Name>ODESimulator_Joint.lvclass</Name>
<NumElts>13</NumElts>
<String>
<Name>ID</Name>
<Val>Servo Joint</Val>
</String>
<EW>
<Name>Type</Name>
<Choice>Ball</Choice>
<Choice>Hinge</Choice>
<Choice>Slider</Choice>
<Choice>Universal</Choice>
<Choice>Hinge2</Choice>
<Choice>PR</Choice>
<Choice>PU</Choice>
<Choice>Piston</Choice>
<Choice>Fixed</Choice>
<Choice>Null</Choice>
<Val>1</Val>
</EW>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>0.17200</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>6.00000E-3</Val>
</SGL>
</Cluster>
<Cluster>
<Name>Rotation</Name>
<NumElts>2</NumElts>
<Cluster>
<Name>Axis</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>1.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>0.00000</Val>
</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>3.14159</Val>
</SGL>
</Cluster>
<DBL>
<Name>Scale</Name>
<Val>0.20000000000000</Val>
</DBL>
<Array>
<Name>Components ID</Name>
<Dimsize>2</Dimsize>
<String>
<Name>String</Name>
<Val>Body Frame</Val>
</String>
<String>
<Name>String</Name>
<Val>Parallax PING)))_S0</Val>
</String>
</Array>
<String>
<Name>Parameters</Name>
<Val>[FMax]	2.5
[Fudge Factor]	0.1
[Bounce]	0
[CFM]	0.001
[Lo Stop]	-Inf
[Hi Stop]	Inf
[Stop ERP]	0.8
[Stop CFM]	0.001
</Val>
</String>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xED4000B4</Val>
</Refnum>
<Refnum>
<Name>LVODE Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Boolean>
<Name>Feedback</Name>
<Val>0</Val>
</Boolean>
<Refnum>
<Name>LVODE ForceSensor Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>ExtendType</Name>
<Val>0</Val>
</U16>
</Cluster>
</Object>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Name>
<NumLevels>1</NumLevels>
<Class>NI_Robotics_Simulator.lvlib:ODESimulator_Joint.lvclass</Class>
<Version>1.0.0.19</Version>
<Cluster>
<Name>ODESimulator_Joint.lvclass</Name>
<NumElts>13</NumElts>
<String>
<Name>ID</Name>
<Val>Joint</Val>
</String>
<EW>
<Name>Type</Name>
<Choice>Ball</Choice>
<Choice>Hinge</Choice>
<Choice>Slider</Choice>
<Choice>Universal</Choice>
<Choice>Hinge2</Choice>
<Choice>PR</Choice>
<Choice>PU</Choice>
<Choice>Piston</Choice>
<Choice>Fixed</Choice>
<Choice>Null</Choice>
<Val>8</Val>
</EW>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>0.00000</Val>
</SGL>
</Cluster>
<Cluster>
<Name>Rotation</Name>
<NumElts>2</NumElts>
<Cluster>
<Name>Axis</Name>
<NumElts>3</NumElts>
<SGL>
<Name>X</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Y</Name>
<Val>0.00000</Val>
</SGL>
<SGL>
<Name>Z</Name>
<Val>1.00000</Val>
</SGL>
</Cluster>
<SGL>
<Name>Angle</Name>
<Val>0.00000</Val>
</SGL>
</Cluster>
<DBL>
<Name>Scale</Name>
<Val>1.00000000000000</Val>
</DBL>
<Array>
<Name>Components ID</Name>
<Dimsize>2</Dimsize>
<String>
<Name>String</Name>
<Val>Body Frame</Val>
</String>
<String>
<Name>String</Name>
<Val>Parallax PING)))_S1</Val>
</String>
</Array>
<String>
<Name>Parameters</Name>
<Val>[CFM]	0,00001
</Val>
</String>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>LVODE Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<Boolean>
<Name>Feedback</Name>
<Val>0</Val>
</Boolean>
<Refnum>
<Name>LVODE ForceSensor Refnum</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>ExtendType</Name>
<Val>0</Val>
</U16>
</Cluster>
</Object>
</Array>
<Refnum>
<Name>3D Object</Name>
<RefKind>LV Object</RefKind>
<RefType>Scene</RefType>
<Val>0xD5800007</Val>
</Refnum>
<Refnum>
<Name>Body</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val>0x00000000</Val>
</Refnum>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<Array>
<Name>Conveyors</Name>
<Dimsize>0</Dimsize>
<Object>
<Name>NI_Robotics_Simulator.lvlib:ODESimulator_Base_Conveyor.lvclass</Name>
</Object>
</Array>
</Cluster>
</Object>
</Array>
<Array>
<Name>Obstacles</Name>
<Dimsize>0</Dimsize>
<Object>
<Name>Base.lvclass</Name>
</Object>
</Array>
<String>
<Name>Simulation Instance GUID</Name>
<Val>Return a GUID</Val>
</String>
<Cluster>
<Name>Position</Name>
<NumElts>3</NumElts>
<DBL>
<Name>Longitude (deg)</Name>
<Val>37.80000000000000</Val>
</DBL>
<DBL>
<Name>Latitude (deg)</Name>
<Val>-122.31000000000000</Val>
</DBL>
<DBL>
<Name>Altitude (m)</Name>
<Val>220.00000000000000</Val>
</DBL>
</Cluster>
<Cluster>
<Name>Gravity</Name>
<NumElts>3</NumElts>
<DBL>
<Name>X</Name>
<Val>0.00000000000000</Val>
</DBL>
<DBL>
<Name>Y</Name>
<Val>0.00000000000000</Val>
</DBL>
<DBL>
<Name>Z</Name>
<Val>-9.80000000000000</Val>
</DBL>
</Cluster>
<Array>
<Name>Sub-Space</Name>
<Dimsize>0</Dimsize>
<Cluster>
<Name>Sub-Space</Name>
<NumElts>2</NumElts>
<String>
<Name>ID</Name>
<Val></Val>
</String>
<Refnum>
<Name>Space</Name>
<RefKind>Generic</RefKind>
<RefType>LVODE</RefType>
<Val></Val>
</Refnum>
</Cluster>
</Array>
<U16>
<Name>Draw Mode</Name>
<Val>1</Val>
</U16>
<EW>
<Name>Status</Name>
<Choice>Running</Choice>
<Choice>Pause</Choice>
<Choice>Reset</Choice>
<Choice>Stop</Choice>
<Val>0</Val>
</EW>
<Refnum>
<Name>Status Notifier</Name>
<RefKind>Notifier</RefKind>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>Sync Notifier</Name>
<RefKind>Notifier</RefKind>
<Val>0x00000000</Val>
</Refnum>
<Refnum>
<Name>Sync Queue</Name>
<RefKind>Queue</RefKind>
<Val>0x00000000</Val>
</Refnum>
</Cluster>
</Object>
</LVData>