Transformations and rotations:

300030: placed on -Z side of main chassis
	trans(-4.06", 1.1", -0.5")

300020: placed on -Z side of main chassis
	rot(-180,0,0)
	trans(2.34",2.0",-0.51")

400030: trans(0,0,0)

400031: trans(1.22,1.64,0)

400032: trans(1.5,-1.6,0)

400021: trans(2.52,-0.65,0)

400020: trans(0.91,-2.19,0.36)

400010: trans(-1.1,1.4,0.45)

300010: trans(3.14,2.12,0.67)

200020: rot(-90,-90,0)
	trans(3.6,4.9,-.71)
	fastened from -Z side of main chassis

200010: rot(-90,0,0)
	trans(1.45, 4.2, 0.22) relative to 400010 coordinate frame