<?xml version='1.0' encoding='utf-8'?>
<robot name="Delta robot" serial_number = "example" system_version="-" datasheet ="-">
	<link name="delta_link1" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link2" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link3" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link4" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link5" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link6" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>
	<link name="delta_link7" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>

	<link name="delta_link8" type="solid">
		<inertial mass="0" pos="0 0 0" fullinertia="0" />
	</link>

	<joint name="delta_joint1" parent_link="delta_link1" child_link="delta_link2"/>
	<joint name="delta_joint2" parent_link="delta_link2" child_link="delta_link3"/>
	<joint name="delta_joint3" parent_link="delta_link3" child_link="delta_link4"/>
	<joint name="delta_joint4" parent_link="delta_link4" child_link="delta_link5"/>
	<joint name="delta_joint5" parent_link="delta_link5" child_link="delta_link6"/>
	<joint name="delta_joint6" parent_link="delta_link6" child_link="delta_link7"/>
	<joint name="delta_joint7" parent_link="delta_link7" child_link="delta_link8"/>

	<sensor name="sensor1_torque" location="delta_joint1" class="joint_torque" type="none"/>
	<sensor name="sensor2_torque" location="delta_joint2" class="joint_torque" type="none"/>
	<sensor name="sensor3_torque" location="delta_joint3" class="joint_torque" type="none"/>
	<sensor name="sensor4_torque" location="delta_joint4" class="joint_torque" type="none"/>
	<sensor name="sensor5_torque" location="delta_joint5" class="joint_torque" type="none"/>
	<sensor name="sensor6_torque" location="delta_joint6" class="joint_torque" type="none"/>
	<sensor name="sensor7_torque" location="delta_joint7" class="joint_torque" type="none"/>

	<sensor name="sensor1_touch" location="delta_link1" class="touch" type="capacitive"/>

	<sensor name="sensor1_lnkmotion" location="delta_link1" class="link_motion" type="none"/>
	<sensor name="sensor2_lnkmotion" location="delta_link2" class="link_motion" type="none"/>
	<sensor name="sensor3_lnkmotion" location="delta_link3" class="link_motion" type="none"/>
	<sensor name="sensor4_lnkmotion" location="delta_link4" class="link_motion" type="none"/>
	<sensor name="sensor5_lnkmotion" location="delta_link5" class="link_motion" type="none"/>
	<sensor name="sensor6_lnkmotion" location="delta_link6" class="link_motion" type="none"/>
	<sensor name="sensor7_lnkmotion" location="delta_link7" class="link_motion" type="none"/>
	<sensor name="sensor8_lnkmotion" location="delta_link8" class="link_motion" type="none"/>

	<sensor name="sensor1_jntmotion" location="delta_joint1" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor2_jntmotion" location="delta_joint2" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor3_jntmotion" location="delta_joint3" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor4_jntmotion" location="delta_joint4" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor5_jntmotion" location="delta_joint5" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor6_jntmotion" location="delta_joint6" class="joint_motion" type="motor_encoders"/>
	<sensor name="sensor7_jntmotion" location="delta_joint7" class="joint_motion" type="motor_encoders"/>

	<sensor name="sensor1_current" location="delta_joint1" class="current" type="hall_sensors"/>
	<sensor name="sensor2_current" location="delta_joint2" class="current" type="hall_sensors"/>
	<sensor name="sensor3_current" location="delta_joint3" class="current" type="hall_sensors"/>
	<sensor name="sensor4_current" location="delta_joint4" class="current" type="hall_sensors"/>
	<sensor name="sensor5_current" location="delta_joint5" class="current" type="hall_sensors"/>
	<sensor name="sensor6_current" location="delta_joint6" class="current" type="hall_sensors"/>
	<sensor name="sensor7_current" location="delta_joint7" class="current" type="hall_sensors"/>

	<sensor name="sensor7_wrist" location="delta_joint7" class="wrist_wrench" type="none"/>

	<actuation name="control_box" class="electronics" type="remote"/>
	<actuation name="transmission" class="transmission" type="gear"/>
	<actuation name="drive" class="drive" type="bldc_motor"/>
	<actuation name="technology" class="technology" type="electromechanical"/>

	<control name="motion" class="motion" type="?"/>
	<control name="handguiding" class="handguiding" type="none"/>
	<control name="tactile" class="tactile" type="none"/>
	

	<base type="fixed" />
	<top type="fixed" />
</robot>
