##040003091805943600002
*
* Compile mechanism for s430iw
*
begin COMPONENT s430iw
	no_of_joints		12
	no_of_loops		2
	TCP_link_name		k7
	user_TCP :
0	0	1	1820	
0	-1	0	0	
1	0	0	2065	
0	0	0	1	
	inverse_family	-1
	base_name		k1

	begin LINK k2
		joint_from	k1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 0 , 0 0 500
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k3
		joint_from	k2
		transformation_to_father :
1	0	0	0.000852	
0	1	0	0	
0	0	1	-0.000239	
0	0	0	1	
		joint_name	j2
		axis_points	305 -100 740 , 305 100 740
		param_index	1
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k4
		joint_from	k3
		transformation_to_father :
1	0	0	-0.002071	
0	1	0	0	
0	0	1	0.000315	
0	0	0	1	
		joint_name	j3
		axis_points	305 100 1815 , 305 -100 1815
		param_index	2
		follows j2 by 1
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		-59	-20.5 ;
		extreme		-59	215 ;
		extreme		-45	229 ;
		extreme		-34	229 ;
		extreme		28	-107.5 ;
		extreme		35	-112.5 ;
		extreme		45	-119 ;
		extreme		55	-124.699997 ;
		extreme		65	-129.300003 ;
		extreme		75	-132.5 ;
		extreme		75	120
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k5
		joint_from	k4
		transformation_to_father :
1	0	0	0.001003	
0	-1	0	0.006232	
0	0	-1	4130	
0	0	0	1	
		joint_name	j4
		axis_points	1840 0 2065 , 305 0 2065
		param_index	3
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k6
		joint_from	k5
		transformation_to_father :
1	0	0	-0.003906	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j5
		axis_points	1580 -100 2065 , 1580 100 2065
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k7
		joint_from	k6
		transformation_to_father :
1	0	0	-0.001034	
0	-1	0	0.003721	
0	0	-1	4129.998535	
0	0	0	1	
		joint_name	j6
		axis_points	1840 0 2065 , 305 0 2065
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k9
		joint_from	k3
		transformation_to_father :
1	0	0	-0.003209	
0	1	0	0	
0	0	1	0.001011	
0	0	0	1	
		joint_name	j10
		axis_points	353.936462 308.620728 1584.768311 , 353.936462 508.620728 1584.768311
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k8
		joint_from	k9
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	-0.000385	
0	0	0	1	
		joint_name	j11
		axis_points	430.280731 423 1821.982666 , 355.783264 423 1636.375366
		param_index	7
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin LINK k10
		joint_from	k2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j7
		axis_points	-375.005524 9.5 722.192688 , -375.005493 209.5 722.192627
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k11
		joint_from	k10
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j8
		axis_points	-6.892647 179 731.832092 , -206.824127 179 726.596741
		param_index	9
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin CLOSE_LOOP k4
		joint_from	k8
		transformation_to_father :
1	0	0	0.001161	
0	1	0	0	
0	0	1	-0.000311	
0	0	0	1	
		joint_name	j12
		axis_points	547.00177 373 2065 , 547.00177 473 2065
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP k3
		joint_from	k11
		transformation_to_father :
1	0	0	0.000882	
0	1	0	0	
0	0	1	-0.000255	
0	0	0	1	
		joint_name	j9
		axis_points	90.074097 123.5 734.371277 , 90.074089 323.5 734.371277
		param_index	11
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
