##040003171267643000004
*
* Compile mechanism for sx_13_19
*
begin COMPONENT sx_13_19
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		lnk6
	user_TCP :
0	0	1	1312	
0	1	0	0	
-1	0	0	1434	
0	0	0	1	
	inverse_family	-1
	base_name		lnk0

	begin LINK lnk1
		joint_from	lnk0
		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 1000 , 0 0 0
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk2
		joint_from	lnk1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	150 -1000 464 , 150 1000 464
		param_index	1
		joint_type	rot
		user_value	0
		range		-90 160
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk3
		joint_from	lnk2
		transformation_to_father :
0	0	-1	1384	
0	1	0	0	
1	0	0	1084	
0	0	0	1	
		joint_name	j3
		axis_points	150 1000 1234 , 150 -1000 1234
		param_index	2
		joint_type	rot
		user_value	0
		range		-170 120
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk4
		joint_from	lnk3
		transformation_to_father :
1	0	0	0	
0	1	0	-0.000217	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	500 0 1434 , -500 0 1434
		param_index	3
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk5
		joint_from	lnk4
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j5
		axis_points	1170 -500 1434 , 1170 500 1434
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		max_speed	90
		max_acceleration	90
	end;

	begin LINK lnk6
		joint_from	lnk5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j6
		axis_points	1812 0.001343 1434.00061 , 812 0.001343 1434.00061
		param_index	5
		joint_type	rot
		user_value	0
		range		-200 200
		max_speed	90
		max_acceleration	90
	end

end
