Robotics/Robots/SixAxisSerialManipulator.openplx
SixAxisSerialManipulator

SixAxisSerialManipulator is Robots.Robot:
    data is Robots.SerialManipulatorData
    link1 is Links.RigidLink:
        inertia.mass: data.link_data[0].inertia.mass
        start.main_axis: data.link_data[0].start_main_axis
        start.normal: data.link_data[0].start_normal
        start.position: data.link_data[0].start_position
        end.main_axis: data.link_data[0].end_main_axis
        end.normal: data.link_data[0].end_normal
        end.position: data.link_data[0].end_position
    link2 is Links.RigidLink:
        inertia.mass: data.link_data[1].inertia.mass
        start.main_axis: data.link_data[1].start_main_axis
        start.normal: data.link_data[1].start_normal
        start.position: data.link_data[1].start_position
        end.main_axis: data.link_data[1].end_main_axis
        end.normal: data.link_data[1].end_normal
        end.position: data.link_data[1].end_position
    link3 is Links.RigidLink:
        inertia.mass: data.link_data[2].inertia.mass
        start.main_axis: data.link_data[2].start_main_axis
        start.normal: data.link_data[2].start_normal
        start.position: data.link_data[2].start_position
        end.main_axis: data.link_data[2].end_main_axis
        end.normal: data.link_data[2].end_normal
        end.position: data.link_data[2].end_position
    link4 is Links.RigidLink:
        inertia.mass: data.link_data[3].inertia.mass
        start.main_axis: data.link_data[3].start_main_axis
        start.normal: data.link_data[3].start_normal
        start.position: data.link_data[3].start_position
        end.main_axis: data.link_data[3].end_main_axis
        end.normal: data.link_data[3].end_normal
        end.position: data.link_data[3].end_position
    link5 is Links.RigidLink:
        inertia.mass: data.link_data[4].inertia.mass
        start.main_axis: data.link_data[4].start_main_axis
        start.normal: data.link_data[4].start_normal
        start.position: data.link_data[4].start_position
        end.main_axis: data.link_data[4].end_main_axis
        end.normal: data.link_data[4].end_normal
        end.position: data.link_data[4].end_position
    link6 is Links.RigidLink:
        inertia.mass: data.link_data[5].inertia.mass
        start.main_axis: data.link_data[5].start_main_axis
        start.normal: data.link_data[5].start_normal
        start.position: data.link_data[5].start_position
        end.main_axis: data.link_data[5].end_main_axis
        end.normal: data.link_data[5].end_normal
        end.position: data.link_data[5].end_position

    joint1 is Joints.HingeJoint
    joint2 is Joints.HingeJoint:
        links: [link1, link2]
    joint3 is Joints.HingeJoint:
        links: [link2, link3]
    joint4 is Joints.HingeJoint:
        links: [link3, link4]
    joint5 is Joints.HingeJoint:
        links: [link4, link5]
    joint6 is Joints.HingeJoint:
        links: [link5, link6]