##040003166011537800005
*
* Compile mechanism for irb1010_1_5kg_370_01
*
begin COMPONENT irb1010_1_5kg_370_01
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		link6
	user_TCP :
0	-1	0.0075	1.724984	
0	0.0075	1	229.993546	
-1	0	0	375	
0	0	0	1	
	inverse_family	-1
	base_name		link0

	begin LINK link1
		joint_from	link0
		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 1000
		param_index	0
		joint_type	rot
		user_value	0
		range		-170 170
		max_speed	320
		max_acceleration	90
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	0 0 190 , -999.972168 7.499932 190
		param_index	1
		joint_type	rot
		user_value	0
		range		-75 125
		max_speed	320
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	0 0 375 , -999.972168 7.499932 375
		param_index	2
		joint_type	rot
		user_value	0
		range		-180 50
		max_speed	375
		max_acceleration	90
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	0 0 375 , 0.437246 58.298378 375
		param_index	3
		joint_type	rot
		user_value	0
		range		-170 170
		max_speed	500
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1.387488 184.994873 375 , -998.584558 192.494766 375
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		max_speed	470
		max_acceleration	90
	end;

	begin LINK link6
		joint_from	link5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	1.499986 199.994415 375 , 1.724984 229.993607 375
		param_index	5
		joint_type	rot
		user_value	0
		range		-360 360
		max_speed	500
		max_acceleration	90
	end

end
