<root>
<document scada='0' schema='103' license='10,BenR,C9TN1M' title='' description='' fcversion='655363' target='ESP.ESP32.Lolin32_Lite' >
	<config data='' clkspd='240000000' simspd='1' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug >
		<watch expr='WorkingMatrix[0]' />
		<watch expr='WorkingMatrix[1]' />
		<watch expr='WorkingMatrix[2]' />
		<watch expr='WorkingMatrix[3]' />
		<watch expr='.Index' />
		<watch expr='Rotations[0][3]' />
		<watch expr='Rotations[1][3]' />
		<watch expr='Rotations[2][3]' />
		<watch expr='Gimble' />
		<watch expr='Rotations[0][1]' />
		<watch expr='Rotations[1][1]' />
		<watch expr='Rotations[2][1]' />
	</debug>
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='1' />
			<data name='ClockPin' value='6' />
			<data name='DataPort' value='1' />
			<data name='DataPin' value='7' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='1' />
			<data name='CalculatedCommsDelay' value='1' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='0' center='0' unitscale='0' fixedscale='0' fixedx='25' fixedy='25' fixedz='25' headcode='0' />
		<definition guid='2e8c4276-d81c-4dd6-a70f-aad25e8bbf1e' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='Kinematics (Forward / Reverse)' description='Demonstrates the principals of kinematics and inverse kinematics using a user comfigurable robot arm.
Provides full simulation of the movements of the arm and the calculations of the axis.' category='Scenarios' category2='' category3='' bIs2dOnly='0' bIs3dOnly='1' catenable='1' author='Matrix TSL' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='0' embeddedCompatible='1' showmacros='1' iconpath='..\..\Icons\Components\Mechatronics.png' />
		<component class_type='root' codename='Kinematics' panelId='-1' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
			<resources />
			<properties >
				<property name='Axis' hidden='0' >
					<property name='Number of axis' target='NumberAxis' typeid='16' hidden='0' locked='0' info='' filter='0011
0022
0033
0044
0055
0066
0077
0088
0099
01010
01111
01212
01313
01414
01515
01616
01717
01818
01919
02020' />
				</property>
				<property name='Axis 0' folder='Axis0' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType0' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape0::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d0' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta0' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a0' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha0' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 1' folder='Axis1' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType1' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape1::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d1' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta1' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a1' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha1' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 2' folder='Axis2' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType2' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape2::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d2' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta2' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a2' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha2' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 3' folder='Axis3' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType3' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape3::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d3' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta3' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a3' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha3' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 4' folder='Axis4' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType4' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape4::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d4' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta4' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a4' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha4' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 5' folder='Axis5' hidden='0' layout='' >
					<property name='Axis Type' target='AxisType5' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape5::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d5' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta5' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a5' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha5' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 6' folder='Axis6' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType6' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape6::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d6' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta6' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a6' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha6' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 7' folder='Axis7' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType7' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape7::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d7' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta7' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a7' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha7' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 8' folder='Axis8' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType8' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape8::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d8' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta8' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a8' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha8' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 9' folder='Axis9' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType9' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape9::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d9' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta9' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a9' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha9' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 10' folder='Axis10' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType10' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape10::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d10' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta10' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a10' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha10' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 11' folder='Axis11' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType11' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape11::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d11' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta11' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a11' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha11' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 12' folder='Axis12' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType12' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape12::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d12' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta12' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a12' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha12' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 13' folder='Axis13' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType13' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape13::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d13' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta13' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a13' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha13' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 14' folder='Axis14' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType14' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape14::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d14' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta14' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a14' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha14' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 15' folder='Axis15' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType15' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape15::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d15' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta15' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a15' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha15' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 16' folder='Axis16' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType16' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape16::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d16' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta16' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a16' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha16' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 17' folder='Axis17' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType17' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape17::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d17' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta17' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a17' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha17' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 18' folder='Axis18' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType18' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape18::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d18' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta18' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a18' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha18' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Axis 19' folder='Axis19' hidden='1' layout='' >
					<property name='Axis Type' target='AxisType19' typeid='16' hidden='0' locked='0' info='Sets the movement type of the axis' filter='000Revolute
001Prismatic' />
					<property name='Colour' target='shape19::Color' typeid='2' hidden='0' locked='0' info='Specifies the fill colour of the shape' />
					<property name='DH Parameters' hidden='0' >
						<property name='d' target='d19' typeid='15' hidden='0' locked='0' info='the distance between the previous x-axis and the current x-axis, along the previous z-axis' />
						<property name='Theta' target='theta19' typeid='15' hidden='0' locked='0' info='the angle around the z-axis between the previous x-axis and the current x-axis' />
						<property name='a / r' target='a19' typeid='15' hidden='0' locked='0' info='the length of the common normal, which is the distance between the previous z-axis and the current z-axis' />
						<property name='alpha' target='alpha19' typeid='15' hidden='0' locked='0' info='the angle around the common normal to between the previous z-axis and current z-axis' />
					</property>
				</property>
				<property name='Gripper' hidden='0' >
					<property name='Show Gripper' target='ShowGripper' typeid='7' hidden='0' locked='0' info='' />
					<property name='Colour' target='ColourGripper' typeid='1' hidden='0' locked='0' info='' />
				</property>
				<property name='Link Mechanics' hidden='0' >
					<property name='Show Links' target='ShowLinks' typeid='7' hidden='0' locked='0' info='Determines if the links between axis are shown.' />
					<property name='Link Colour' target='LinkColour' typeid='2' hidden='0' locked='0' info='' />
				</property>
			</properties>
			<values >
				<value target='NumberAxis' data='006' />
				<value target='AxisType0' data='000' />
				<value target='shape0::Color' data='12566527' />
				<value target='d0' data='100' />
				<value target='theta0' data='0' />
				<value target='a0' data='0' />
				<value target='alpha0' data='-90' />
				<value target='AxisType1' data='000' />
				<value target='shape1::Color' data='10878885' />
				<value target='d1' data='0' />
				<value target='theta1' data='-90' />
				<value target='a1' data='70' />
				<value target='alpha1' data='0' />
				<value target='AxisType2' data='000' />
				<value target='shape2::Color' data='16751001' />
				<value target='d2' data='0' />
				<value target='theta2' data='180' />
				<value target='a2' data='-70' />
				<value target='alpha2' data='90' />
				<value target='AxisType3' data='000' />
				<value target='shape3::Color' data='10092542' />
				<value target='d3' data='120' />
				<value target='theta3' data='0' />
				<value target='a3' data='0' />
				<value target='alpha3' data='-90' />
				<value target='AxisType4' data='000' />
				<value target='shape4::Color' data='16687615' />
				<value target='d4' data='0' />
				<value target='theta4' data='0' />
				<value target='a4' data='90' />
				<value target='alpha4' data='0' />
				<value target='AxisType5' data='000' />
				<value target='shape5::Color' data='16711316' />
				<value target='d5' data='72' />
				<value target='theta5' data='0' />
				<value target='a5' data='0' />
				<value target='alpha5' data='0' />
				<value target='AxisType6' data='' />
				<value target='shape6::Color' data='' />
				<value target='d6' data='' />
				<value target='theta6' data='' />
				<value target='a6' data='' />
				<value target='alpha6' data='' />
				<value target='AxisType7' data='' />
				<value target='shape7::Color' data='' />
				<value target='d7' data='' />
				<value target='theta7' data='' />
				<value target='a7' data='' />
				<value target='alpha7' data='' />
				<value target='AxisType8' data='' />
				<value target='shape8::Color' data='' />
				<value target='d8' data='' />
				<value target='theta8' data='' />
				<value target='a8' data='' />
				<value target='alpha8' data='' />
				<value target='AxisType9' data='' />
				<value target='shape9::Color' data='' />
				<value target='d9' data='' />
				<value target='theta9' data='' />
				<value target='a9' data='' />
				<value target='alpha9' data='' />
				<value target='AxisType10' data='' />
				<value target='shape10::Color' data='' />
				<value target='d10' data='' />
				<value target='theta10' data='' />
				<value target='a10' data='' />
				<value target='alpha10' data='' />
				<value target='AxisType11' data='' />
				<value target='shape11::Color' data='' />
				<value target='d11' data='' />
				<value target='theta11' data='' />
				<value target='a11' data='' />
				<value target='alpha11' data='' />
				<value target='AxisType12' data='' />
				<value target='shape12::Color' data='' />
				<value target='d12' data='' />
				<value target='theta12' data='' />
				<value target='a12' data='' />
				<value target='alpha12' data='' />
				<value target='AxisType13' data='' />
				<value target='shape13::Color' data='' />
				<value target='d13' data='' />
				<value target='theta13' data='' />
				<value target='a13' data='' />
				<value target='alpha13' data='' />
				<value target='AxisType14' data='' />
				<value target='shape14::Color' data='' />
				<value target='d14' data='' />
				<value target='theta14' data='' />
				<value target='a14' data='' />
				<value target='alpha14' data='' />
				<value target='AxisType15' data='' />
				<value target='shape15::Color' data='' />
				<value target='d15' data='' />
				<value target='theta15' data='' />
				<value target='a15' data='' />
				<value target='alpha15' data='' />
				<value target='AxisType16' data='' />
				<value target='shape16::Color' data='' />
				<value target='d16' data='' />
				<value target='theta16' data='' />
				<value target='a16' data='' />
				<value target='alpha16' data='' />
				<value target='AxisType17' data='' />
				<value target='shape17::Color' data='' />
				<value target='d17' data='' />
				<value target='theta17' data='' />
				<value target='a17' data='' />
				<value target='alpha17' data='' />
				<value target='AxisType18' data='' />
				<value target='shape18::Color' data='' />
				<value target='d18' data='' />
				<value target='theta18' data='' />
				<value target='a18' data='' />
				<value target='alpha18' data='' />
				<value target='AxisType19' data='' />
				<value target='shape19::Color' data='' />
				<value target='d19' data='' />
				<value target='theta19' data='' />
				<value target='a19' data='' />
				<value target='alpha19' data='' />
				<value target='ShowGripper' data='1' />
				<value target='ColourGripper' data='7895160' />
				<value target='ShowLinks' data='1' />
				<value target='LinkColour' data='11842740' />
			</values>
			<events >
				<event class='Components' event='Property' target='Ev_Property' />
				<event class='Simulation' event='Start' target='Ev_Start' />
				<event class='Components' event='PropertyEx' target='Ev_PropertyEx' />
			</events>
			<apis >
				<api name='ForwardKinematics' alt='' type='1' proto='1' />
			</apis>
			<variables >
				<variable public='0' >
					<def class_type='variable' name='PI' type='f32' description='' isconst='1' isHidden='0' isinit='1' usrinit='3.141590118408203125' setinit='3.14159' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Position' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='20' />
						<array size='3' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Rotation' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='20' />
						<array size='3' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='LinkBarHandle' type='h32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' >
						<array size='20' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='WorkingMatrix' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='4' />
						<array size='4' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Gimble' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' >
						<array size='20' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MatrixStep' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='4' />
						<array size='4' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MAX_AXIS' type='u8' description='' isconst='1' isHidden='0' isinit='1' usrinit='20' setinit='20' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='JointValue' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}' >
						<array size='20' />
					</def>
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='SetGripper' description='Open or close the gripper' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Position' type='u8' description='0=Fully Closed, 255=Fully Open' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='PosHandle' type='h32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Div' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='1.0' setinit='1.0' />
						<local name='GripperPos' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.Get' >
							<return exp='.PosHandle' />
							<argument exp='Grip' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='.GripperPos = FLOAT .Position / 255.0' />
							<exp exp='.GripperPos = .GripperPos * 12.0' />
							<exp exp='.GripperPos = .GripperPos + 4.0' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.MoveAlong' >
							<argument exp='.PosHandle' />
							<argument exp='.PosHandle' />
							<argument exp='-.GripperPos / .Div' />
							<argument exp='0' />
							<argument exp='16.0 / .Div' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.SetCoords' >
							<argument exp='GripL' />
							<argument exp='.PosHandle' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.MoveAlong' >
							<argument exp='.PosHandle' />
							<argument exp='.PosHandle' />
							<argument exp='(2.0 * .GripperPos) / .Div' />
							<argument exp='0' />
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.SetCoords' >
							<argument exp='GripR' />
							<argument exp='.PosHandle' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='SetJoint' description='Sets the angle or translation of the specified joint axis. ' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Axis' type='u8' description='Range: 0 to NumAxis -1' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Value' type='f32' description='Angle or dimension' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<param name='Type' type='b1' description='0=Absolute, 1=Incremental' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Axis &lt; NumberAxis' swap='0' >
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Type' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='JointValue[.Axis] = JointValue[.Axis] + .Value' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='JointValue[.Axis] = .Value' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='MatrixMultiply' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Index' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Column' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Row' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='CalcMatrix' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='4' />
							<array size='4' />
						</local>
						<local name='ix' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='DotProduct' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='decision' title='Initial joints - setup the start conditions' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Index = 0' swap='0' >
							<flowline >
								<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Row' exp='4' >
									<flowline >
										<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Column' exp='4' >
											<flowline >
												<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Row = .Column' swap='0' >
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='WorkingMatrix[.Row][.Column] = 1.0' />
														</command>
													</flowline>
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='WorkingMatrix[.Row][.Column] = 0.0' />
														</command>
													</flowline>
												</command>
											</flowline>
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Row' exp='4' >
							<flowline >
								<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Column' exp='4' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.CalcMatrix[.Row][.Column] = 0' />
										</command>
										<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.ix' exp='4' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='.DotProduct = MatrixStep[.ix][.Column] * WorkingMatrix[.Row][.ix]' />
												</command>
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='.CalcMatrix[.Row][.Column] = .CalcMatrix[.Row][.Column] + .DotProduct' />
												</command>
											</flowline>
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Row' exp='4' >
							<flowline >
								<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Column' exp='4' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='WorkingMatrix[.Row][.Column] = .CalcMatrix[.Row][.Column]' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='ForwardKinematics' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='Axis' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='TempStr' type='T8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
						<local name='AxisType' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='ShapeHandle' type='h32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='theta' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='alpha' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='d' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='a' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='Rotations' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='3' />
						</local>
						<local name='Y' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='2' />
						</local>
						<local name='calc' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='ShapeHandleOld' type='h32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Quat' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='4' />
						</local>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Axis' exp='NumberAxis' >
							<flowline >
								<command class_type='calculation' title='Build Axis Type Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;d&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Read Axis Type' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
									<return exp='.TempStr' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.d = StringToFloat$ (.TempStr)' />
								</command>
								<command class_type='calculation' title='Build Axis Type Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;theta&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Read Axis Type' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
									<return exp='.TempStr' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.theta = StringToFloat$ (.TempStr)' />
								</command>
								<command class_type='calculation' title='Build Axis Type Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;a&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Read Axis Type' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
									<return exp='.TempStr' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.a = StringToFloat$ (.TempStr)' />
								</command>
								<command class_type='calculation' title='Build Axis Type Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;alpha&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Read Axis Type' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
									<return exp='.TempStr' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.alpha = StringToFloat$ (.TempStr)' />
								</command>
								<command class_type='calculation' title='Build Shape Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;shape&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.FindChild' >
									<return exp='.ShapeHandle' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Build Axis Type Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.TempStr = &quot;AxisType&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='sim' title='Read Axis Type' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
									<return exp='.AxisType' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.AxisType' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.d = .d + JointValue[.Axis]' />
										</command>
										<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
											<argument exp='.ShapeHandle' />
											<argument exp='&quot;Shape&quot;' />
											<argument exp='0' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.theta = .theta + JointValue[.Axis]' />
										</command>
										<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
											<argument exp='.ShapeHandle' />
											<argument exp='&quot;Shape&quot;' />
											<argument exp='4' />
										</command>
									</flowline>
								</command>
								<command class_type='calculation' title='Convert angles to radians' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.theta = .theta * 0.0174533' />
									<exp exp='.alpha = .alpha * 0.0174533' />
								</command>
								<command class_type='calculation' title='Create joint angle matrix' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='MatrixStep[0][0] = cos (.theta)' />
									<exp exp='MatrixStep[0][1] = -sin (.theta) * cos (.alpha)' />
									<exp exp='MatrixStep[0][2] = sin (.theta) * sin (.alpha)' />
									<exp exp='MatrixStep[0][3] = .a * cos (.theta)' />
									<exp exp='' />
									<exp exp='MatrixStep[1][0] = sin (.theta)' />
									<exp exp='MatrixStep[1][1] = cos (.theta) * cos (.alpha)' />
									<exp exp='MatrixStep[1][2] = -cos (.theta) * sin (.alpha)' />
									<exp exp='MatrixStep[1][3] = .a * sin (.theta)' />
									<exp exp='' />
									<exp exp='MatrixStep[2][0] = 0' />
									<exp exp='MatrixStep[2][1] = sin (.alpha)' />
									<exp exp='MatrixStep[2][2] = cos (.alpha)' />
									<exp exp='MatrixStep[2][3] = .d' />
									<exp exp='' />
									<exp exp='MatrixStep[3][0] = 0' />
									<exp exp='MatrixStep[3][1] = 0' />
									<exp exp='MatrixStep[3][2] = 0' />
									<exp exp='MatrixStep[3][3] = 1' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='MatrixMultiply' >
									<argument exp='.Axis' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.ShapeHandleOld = .ShapeHandle' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='(.Axis + 1) = NumberAxis' swap='0' >
									<flowline >
										<command class_type='calculation' title='Build Shape Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.TempStr = &quot;Gripper&quot;' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Build Shape Index String' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.TempStr = &quot;shape&quot; + ToString$ (.Axis + 1)' />
										</command>
									</flowline>
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.FindChild' >
									<return exp='.ShapeHandle' />
									<argument exp='this' />
									<argument exp='.TempStr' />
								</command>
								<command class_type='calculation' title='Collect axis XYZ coordinates' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='Position[.axis][0] = WorkingMatrix[0][3]' />
									<exp exp='Position[.axis][1] = WorkingMatrix[1][3]' />
									<exp exp='Position[.axis][2] = WorkingMatrix[2][3]' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.MoveTo' >
									<argument exp='.ShapeHandle' />
									<argument exp='WorkingMatrix[0][3]' />
									<argument exp='WorkingMatrix[1][3]' />
									<argument exp='WorkingMatrix[2][3]' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='(WorkingMatrix[2][0] = 1.0) || (WorkingMatrix[2][0] = -1.0)' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.Rotations[2] = 0.0' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='(WorkingMatrix[2][0] = -1.0)' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='.Rotations[1] = PI / 2.0' />
													<exp exp='.Rotations[0] = atan2 (WorkingMatrix[0][1],WorkingMatrix[0][2])' />
												</command>
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='.Rotations[1] = -PI / 2.0' />
													<exp exp='.Rotations[0] = atan2 (-WorkingMatrix[0][1], -WorkingMatrix[0][2])' />
												</command>
											</flowline>
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='.Rotations[1] = -asin (WorkingMatrix[2][0])' />
											<exp exp='.calc = cos (.Rotations[1])' />
											<exp exp='.Rotations[0] = atan2 ((WorkingMatrix[2][1] / .calc), (WorkingMatrix[2][2] / .calc))' />
											<exp exp='.Rotations[2] = atan2 ((WorkingMatrix[1][0] / .calc), (WorkingMatrix[0][0] / .calc))' />
										</command>
									</flowline>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.Quat[0] = sin (.Rotations[0] / 2.0) * cos (.Rotations[1] / 2.0) * cos (.Rotations[2] / 2.0) - cos (.Rotations[0] / 2.0) * sin (.Rotations[1] / 2.0) * sin (.Rotations[2] / 2.0)' />
									<exp exp='.Quat[1] = cos (.Rotations[0] / 2.0) * sin (.Rotations[1] / 2.0) * cos (.Rotations[2] / 2.0) + sin (.Rotations[0] / 2.0) * cos (.Rotations[1] / 2.0) * sin (.Rotations[2] / 2.0)' />
									<exp exp='.Quat[2] = cos (.Rotations[0] / 2.0) * cos (.Rotations[1] / 2.0) * sin (.Rotations[2] / 2.0) - sin (.Rotations[0] / 2.0) * sin (.Rotations[1] / 2.0) * cos (.Rotations[2] / 2.0)' />
									<exp exp='.Quat[3] = cos (.Rotations[0] / 2.0) * cos (.Rotations[1] / 2.0) * cos (.Rotations[2] / 2.0) + sin (.Rotations[0] / 2.0) * sin (.Rotations[1] / 2.0) * sin (.Rotations[2] / 2.0)' />
									<exp exp='' />
								</command>
								<command class_type='calculation' title='Collect axis XYZ coordinates' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='Rotation[.axis][0] = .Rotations[0]' />
									<exp exp='Rotation[.axis][1] = .Rotations[1]' />
									<exp exp='Rotation[.axis][2] = .Rotations[2]' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
									<argument exp='.ShapeHandle' />
									<argument exp='&quot;%Quaternion%X%&quot;' />
									<argument exp='.Quat[0]' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
									<argument exp='.ShapeHandle' />
									<argument exp='&quot;%Quaternion%Y%&quot;' />
									<argument exp='.Quat[1]' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
									<argument exp='.ShapeHandle' />
									<argument exp='&quot;%Quaternion%Z%&quot;' />
									<argument exp='.Quat[2]' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
									<argument exp='.ShapeHandle' />
									<argument exp='&quot;%Quaternion%W%&quot;' />
									<argument exp='.Quat[3]' />
								</command>
								<command class_type='decision' title='' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='ShowLinks' swap='0' >
									<flowline >
										<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.LinkBar.Create' >
											<return exp='LinkBarHandle[.Axis]' />
											<argument exp='.ShapeHandleOld' />
											<argument exp='.ShapeHandle' />
										</command>
										<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.LinkBar.SetBarGfx' >
											<argument exp='LinkBarHandle[.Axis]' />
											<argument exp='3' />
											<argument exp='LinkColour' />
											<argument exp='20' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='LinkBarHandle[.Axis] = 0' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='SetXYZ' description='Set the XYZ location of the selected joint or gripper.
Uses inverse kinematics to orient the underlying joints in a way to acheive the desired position.' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Axis' type='u8' description='Range: 0 to NumAxis, NumAxis = Tool Location' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='XYZ' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='3' />
						</param>
					</flowline>
				</macro>
				<macro >
					<flowline name='Ev_Property' description='Sent when a property has been changed by the User' statediag='0' >
						<return name='Return' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Axis' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='PropStr' type='T8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
						<local name='ObjStr' type='T8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
						<local name='ObjHandle' type='h32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='NumberAxis &gt; MAX_AXIS' swap='0' >
							<flowline >
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
									<argument exp='this' />
									<argument exp='&quot;NumberAxis&quot;' />
									<argument exp='MAX_AXIS' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='2' forvar='.Axis' exp='MAX_AXIS' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.PropStr = &quot;Axis&quot; + ToString$ (.Axis)' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.ObjStr = &quot;shape&quot; + ToString$ (.Axis + 1)' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.FindChild' >
									<return exp='.ObjHandle' />
									<argument exp='this' />
									<argument exp='.ObjStr' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='NumberAxis &gt; .Axis' swap='0' >
									<flowline >
										<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetVisible' >
											<argument exp='this' />
											<argument exp='.PropStr' />
											<argument exp='1' />
										</command>
									</flowline>
									<flowline >
										<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetVisible' >
											<argument exp='this' />
											<argument exp='.PropStr' />
											<argument exp='0' />
										</command>
										<command class_type='calculation' title='Destroy link bar handle' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='LinkBarHandle[.Axis] = 0' />
										</command>
									</flowline>
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='NumberAxis &gt; (.Axis + 1)' swap='0' >
									<flowline >
										<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.SetVisible' >
											<argument exp='.ObjHandle' />
											<argument exp='1' />
										</command>
									</flowline>
									<flowline >
										<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.SetVisible' >
											<argument exp='.ObjHandle' />
											<argument exp='0' />
										</command>
										<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Panel.Position.Set' >
											<argument exp='.ObjHandle' />
											<argument exp='shape0' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.SetVisible' >
							<argument exp='Gripper' />
							<argument exp='ShowGripper' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.GetValue' >
							<return exp='.PropStr' />
							<argument exp='this' />
							<argument exp='&quot;ColourGripper&quot;' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
							<argument exp='GripL' />
							<argument exp='&quot;Color&quot;' />
							<argument exp='.PropStr' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
							<argument exp='GripR' />
							<argument exp='&quot;Color&quot;' />
							<argument exp='.PropStr' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Component.Property.SetValue' >
							<argument exp='Grip' />
							<argument exp='&quot;Color&quot;' />
							<argument exp='.PropStr' />
						</command>
						<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='ForwardKinematics' />
					</flowline>
				</macro>
				<macro >
					<flowline name='GetJointPosition' description='Gets the XYZ position of the selected joint axis.' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Axis' type='u8' description='Range: 0 to NumAxis where NumAxis = end tool location' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='XYZ' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='3' />
						</param>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Axis &lt;= NumberAxis' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.XYZ = Position[.Axis]' />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Ev_PropertyEx' description='Sent when a property has been changed by the User (specific property and value identified)' statediag='0' >
						<return name='Return' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='Property' type='T8' description='The name of the property being changed' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</param>
						<param name='Value' type='T8' description='The new value for the property' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</param>
						<local name='SubString' type='T8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
					</flowline>
				</macro>
				<macro >
					<flowline name='GetJointRotation' description='Gets the XYZ rotation of the selected joint axis.' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Axis' type='u8' description='Range: 0 to NumAxis where NumAxis = End tool' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<param name='XYZ' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='3' />
						</param>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' exp='.Axis &lt;= NumberAxis' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='.XYZ = Rotation[.Axis]' />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Ev_Start' description='Broadcast to all components that simulation is starting' statediag='0' >
						<return name='Return' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='ForwardKinematics' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider1' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider2' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider3' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider4' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider5' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider6' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='LinearSlider7' macro='SetValue' >
							<argument exp='0' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='0' exp='1' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='100' type='1' />
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='0' />
									<argument exp='LinearSlider1::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='1' />
									<argument exp='LinearSlider2::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='2' />
									<argument exp='LinearSlider3::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='3' />
									<argument exp='LinearSlider4::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='4' />
									<argument exp='LinearSlider5::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetJoint' >
									<argument exp='5' />
									<argument exp='LinearSlider6::GetValue()' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='SetGripper' >
									<argument exp='LinearSlider7::GetValue()' />
								</command>
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='ForwardKinematics' />
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='0' cmdgradient='4' cmdopacity='0.64' type='0' exp='1' >
							<flowline />
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='shape' codename='shape1' panelId='-1' x='0' y='0' z='100' xsz='32' ysz='32' zsz='64' xang='-90.0015' yang='0' zang='0' xquat='-0.707116' yquat='0' zquat='0' wquat='0.707098' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='10878885' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape2' panelId='-1' x='-4.4783e-05' y='4.4783e-05' z='170' xsz='32' ysz='32' zsz='64' xang='16.2593' yang='-89.7522' zang='-106.203' xquat='-0.498412' yquat='-0.499509' zquat='-0.501093' wquat='0.500981' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='16751001' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape0' panelId='-1' x='0' y='0' z='0' xsz='32' ysz='32' zsz='64' xang='1' yang='-6.28593e-07' zang='-6.39661e-07' xquat='0.00872654' yquat='-5.53401e-09' zquat='-5.53401e-09' wquat='0.999962' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='12566527' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape3' panelId='-1' x='0' y='8.95661e-05' z='240' xsz='32' ysz='32' zsz='64' xang='180' yang='89.9814' zang='180' xquat='0' yquat='0.707222' zquat='0' wquat='0.706992' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='10092542' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape4' panelId='-1' x='120' y='1.27951e-05' z='240' xsz='32' ysz='32' zsz='64' xang='-158.089' yang='89.9791' zang='-68.0747' xquat='-0.50018' yquat='0.499989' zquat='0.499943' wquat='0.499888' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='16687615' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape5' panelId='-1' x='120' y='-4.47831e-05' z='150' xsz='32' ysz='32' zsz='64' xang='-158.089' yang='89.9791' zang='-68.0747' xquat='-0.50018' yquat='0.499989' zquat='0.499943' wquat='0.499888' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='16711316' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='shape' codename='shape6' panelId='-1' x='0' y='0' z='0' xsz='32' ysz='32' zsz='64' xang='1' yang='-6.28593e-07' zang='-6.39661e-07' xquat='0.00872654' yquat='-5.53401e-09' zquat='-5.53401e-09' wquat='0.999962' visible='0' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Shape' data='4' />
					<value target='Color' data='16711680' />
					<value target='Outline' data='0' />
					<value target='Thickness' data='0' />
					<value target='Image' data='' />
					<value target='Model' data='' />
					<value target='Unit' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='group' codename='Gripper' panelId='-1' x='120' y='72' z='150' xsz='1' ysz='1' zsz='1' xang='15.9916' yang='89.654' zang='105.92' xquat='-0.497819' yquat='0.499273' zquat='0.501552' wquat='0.501346' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values />
				<events />
				<apis />
				<variables />
				<macros />
				<component class_type='shape' codename='Grip' panelId='-1' x='0' y='0' z='-14' xsz='32' ysz='16' zsz='8' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
					<resources />
					<properties />
					<values >
						<value target='Shape' data='  0' />
						<value target='Color' data='7895160' />
						<value target='Outline' data='0' />
						<value target='Thickness' data='0' />
						<value target='Image' data='' />
						<value target='Model' data='' />
						<value target='Unit' data='' />
					</values>
					<events />
					<apis />
					<variables />
					<macros />
				</component>
				<component class_type='shape' codename='GripL' panelId='-1' x='-4' y='-1.38778e-14' z='2' xsz='8' ysz='16' zsz='32' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
					<resources />
					<properties />
					<values >
						<value target='Shape' data='0' />
						<value target='Color' data='7895160' />
						<value target='Outline' data='0' />
						<value target='Thickness' data='0' />
						<value target='Image' data='' />
						<value target='Model' data='' />
						<value target='Unit' data='' />
					</values>
					<events />
					<apis />
					<variables />
					<macros />
				</component>
				<component class_type='shape' codename='GripR' panelId='-1' x='4' y='2.66454e-15' z='2' xsz='8' ysz='16' zsz='32' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
					<resources />
					<properties />
					<values >
						<value target='Shape' data='0' />
						<value target='Color' data='7895160' />
						<value target='Outline' data='0' />
						<value target='Thickness' data='0' />
						<value target='Image' data='' />
						<value target='Model' data='' />
						<value target='Unit' data='' />
					</values>
					<events />
					<apis />
					<variables />
					<macros />
				</component>
			</component>
			<component class_type='ref' guid='b6909b43-7bfb-433f-8fdb-3b7d457ea73d' vmin='0' vmaj='1' codename='LinearSlider1' panelId='1' x='73' y='-210' z='0' xsz='41.9048' ysz='36.4583' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='8' comp2dType='47' >
				<resources />
				<properties />
				<values >
					<value target='Base2dGauge::dValue' data='4.6017' />
					<value target='Base2dGauge::nStyle' data='  0' />
					<value target='Base2dGauge::nOrientation' data='  1' />
					<value target='Base2dGauge::nPointerLinear' data='0' />
					<value target='Base2dGauge::nFontScale' data='1.200000' />
					<value target='Base2dGauge::dLowerBound' data='-180' />
					<value target='Base2dGauge::dUpperBound' data='180' />
					<value target='Base2dGauge::dMajorTickStep' data='4' />
					<value target='Base2dGauge::dMinorTickStep' data='5' />
					<value target='Base2dGauge::bDiscrete' data='0' />
					<value target='Base2dGauge::sLabelFormat' data='%0.1f' />
					<value target='Base2dGauge::brFill' data='71776119061217280' />
					<value target='Base2dGauge::colFrameOutline' data='16777215' />
					<value target='Base2dGauge::brFrameFill' data='251262225375821824' />
					<value target='Base2dGauge::colPointerOutline' data='16777215' />
					<value target='Base2dGauge::brPointerFill' data='251262225375821824' />
					<value target='Base2dGauge::colText' data='16777215' />
					<value target='Base2dGauge::colTickMarkOutline' data='16777215' />
					<value target='Base2dGauge::brTickMarkFill' data='288090190566653952' />
					<value target='Base2dGauge::colCapOutline' data='16777215' />
					<value target='Base2dGauge::brCapFill' data='288090190566653952' />
					<value target='Base2dGauge::sMainImage' data='' />
					<value target='Base2dGauge::sCapImage' data='' />
				</values>
				<events />
				<apis />
				<variables />
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