mahd/implementation/SCARA/01_kinematics/kinematics.emx

<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\01_kinematics\kinematics.emx</LibraryPath>
  <TimeStamp>2020-7-10 15:12:13</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Differentiate 432 256
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Differentiate.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:9:46</TimeStamp>
</Description>';
    type 'Differentiate-Default'
     ports
      signal in input;
      signal out output;
    end;
    icon bg bottom
     figures
      group
       rectangle 416 240 448 272 color 0 fill 15132390;
       text 'd/dt' 432 256 color 16711680 13 bold;
      end;
    end;
    implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = ddt (input, initial);
    implementation_end;
   Differentiate1 432 112
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Differentiate.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:9:46</TimeStamp>
</Description>';
    type 'Differentiate-Default'
     ports
      signal in input;
      signal out output;
    end;
    icon bg bottom
     figures
      group
       rectangle 416 96 448 128 color 0 fill 15132390;
       text 'd/dt' 432 112 color 16711680 13 bold;
      end;
    end;
    implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = ddt (input, initial);
    implementation_end;
   inverse_kinematics 312 184
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:26:18</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in input [2,1] {m} ;
      signal out angle1 {rad} ;
      signal out angle2 {rad} ;
      signal out a {rad} ;
      signal out b {rad} ;
      signal out c {rad} ;
      signal out phi {rad} ;
    end;
    implementation eq
parameters
	real global A_length; // length of first arm
	real global B_length; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
   kinematics 536 184
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in angle1;
      signal in angle2;
    end;
    implementation eq
parameters
	real global A_length = 0.065;
	real global B_length = 0.05;
variables
	real joint1[2]{m};
	real joint2[2]{m};
	real end_effector[2]{m};
equations
	joint1 = A_length*[cos(angle1);sin(angle1)];
	joint2 = B_length*[cos(angle2);sin(angle2)];
	end_effector = joint1 + joint2;
	implementation_end;
   rectanglepath 136 184
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:30:38</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal out output [2,1];
    end;
    implementation eq
/* 
This will generate coordinates for the box that has to be drawn
*/
parameters
	real w = 0.07{m} ;
	real h = 0.05 {m};
	real t  = 1 {s};
	real origin[2] = [0.01;0.03] {m};
variables
	real v {m/s};
	real t_w {s};
	real t_h {s};
	real period {s};
	real test1, test2, test3;
initialequations
	v = (2*w + 2*h)/t;
	t_w = w / v;
	t_h = h / v;
equations
	period = floor(time / t) * t;
	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];
	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];
implementation_end;
   Splitter1 432 200
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 428.8 196.8 435.2 203.2 color -1 fill 0;
      ellipse 427.7 195.7 436.3 204.3 color -1;
     terminals
      input 432 200 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 432 176
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 428.8 172.8 435.2 179.2 color -1 fill 0;
      ellipse 427.7 171.7 436.3 180.3 color -1;
     terminals
      input 432 176 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
  end;
  connections
   inverse_kinematics\angle1 -> Splitter1\input;
   inverse_kinematics\angle2 -> Splitter2\input;
   rectanglepath\output -> inverse_kinematics\input;
   Splitter1\output -> Differentiate\input;
   Splitter1\output -> kinematics\angle1;
   Splitter2\output -> Differentiate1\input;
   Splitter2\output -> kinematics\angle2;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
  </ModelProperties>
  <Variables>
   <Constants>
   </Constants>
   <Parameters>
   </Parameters>
   <Initials>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>kinematics\end_effector[2]</VarName>
    <VarName>kinematics\joint1[2]</VarName>
    <VarName>kinematics\end_effector[1]</VarName>
    <VarName>kinematics\joint1[1]</VarName>
    <VarName>rectanglepath\output[1]</VarName>
    <VarName>rectanglepath\output[2]</VarName>
    <VarName>rectanglepath\test1</VarName>
    <VarName>rectanglepath\test2</VarName>
    <VarName>rectanglepath\test3</VarName>
    <VarName>Constant\output[1]</VarName>
    <VarName>Constant\output[2]</VarName>
    <VarName>rectanglepath\origin[1]</VarName>
    <VarName>rectanglepath\origin[2]</VarName>
    <VarName>rectanglepath\w</VarName>
    <VarName>rectanglepath\h</VarName>
    <VarName>inverse_kinematics\angle1</VarName>
    <VarName>inverse_kinematics\angle2</VarName>
    <VarName>Differentiate\output</VarName>
    <VarName>Differentiate1\output</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>-0.03999969673692048</Minimum>
       <Maximum>0.08000000000000007</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>end_effector[1]</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>0.009999999999999992</Minimum>
       <Maximum>0.10999999999999999</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>end_effector[2]</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>5.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>joint1[2]</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>5.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[2]</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>kinematics\end_effector[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>kinematics\end_effector[2]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>kinematics\joint1[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>kinematics\joint1[2]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Constant\output[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Constant\output[2]</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(1)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>1.2</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-3.469446951953614e-18</Minimum>
       <Maximum>0.09999999999999999</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[1]</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[2]</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test1</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test2</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test3</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\output[1]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\output[2]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\test1</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>15086320</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>15086320</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\test2</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>15790150</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>15790150</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\test3</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>D3DPlot</PlotType>
     <BasePlot>
       <PlotId>3</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <PlotTitle>3D Animation</PlotTitle>
     <RenderQuality>137</RenderQuality>
     <ShowGrid>true</ShowGrid>
     <ShowFPS>false</ShowFPS>
     <BackgroundColor>4294967295</BackgroundColor>
     <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>
     <ApplyTextureBackground>true</ApplyTextureBackground>
     <FrameScale>1.0</FrameScale>
     <FrameThickness>1.0</FrameThickness>
     <MainFrame>
      <Frame>
       <ScaleValue>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </ScaleValue>
       <ShowReferenceFrame>true</ShowReferenceFrame>
       <Name>Reference Frame</Name>
       <Position>
       </Position>
       <Orientation>
        <Angles>
        </Angles>
        <OrientationType>Bryant</OrientationType>
       </Orientation>
       <LockX>false</LockX>
       <LockY>false</LockY>
       <LockZ>false</LockZ>
       <LockXPitch>false</LockXPitch>
       <LockYYaw>false</LockYYaw>
       <LockZRoll>false</LockZRoll>
       <Childs>
        <Frame>
         <ScaleValue>
     <X>
      <Value>1</Value>
     </X>
     <Y>
      <Value>1</Value>
     </Y>
     <Z>
      <Value>1</Value>
     </Z>
         </ScaleValue>
         <ShowReferenceFrame>false</ShowReferenceFrame>
         <Name>Default Lights and Cameras</Name>
         <Position>
         </Position>
         <Orientation>
     <Angles>
     </Angles>
     <OrientationType>Bryant</OrientationType>
         </Orientation>
         <LockX>false</LockX>
         <LockY>false</LockY>
         <LockZ>false</LockZ>
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