{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "base",
      "op": {
        "type": "Cylinder",
        "radius": 40,
        "height": 20,
        "segments": 32
      }
    },
    "2": {
      "id": 2,
      "name": "assembly_offset_to_base_top",
      "op": {
        "type": "Translate",
        "child": 3,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 20
        }
      }
    },
    "3": {
      "id": 3,
      "name": "joint1_rev_z torque=5Nm (actuated)",
      "op": {
        "type": "Rotate",
        "child": 4,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "4": {
      "id": 4,
      "name": "link1_and_joint2_subassembly",
      "op": {
        "type": "Union",
        "left": 5,
        "right": 6
      }
    },
    "5": {
      "id": 5,
      "name": "link1 (shoulder link)",
      "op": {
        "type": "Translate",
        "child": 7,
        "offset": {
          "x": 0,
          "y": -5,
          "z": -5
        }
      }
    },
    "7": {
      "id": 7,
      "name": "link1_geom",
      "op": {
        "type": "Cube",
        "size": {
          "x": 140,
          "y": 10,
          "z": 10
        }
      }
    },
    "6": {
      "id": 6,
      "name": "joint2_position_at_link1_end",
      "op": {
        "type": "Translate",
        "child": 8,
        "offset": {
          "x": 140,
          "y": 0,
          "z": 0
        }
      }
    },
    "8": {
      "id": 8,
      "name": "joint2_rev_y torque=5Nm (actuated)",
      "op": {
        "type": "Rotate",
        "child": 9,
        "angles": {
          "x": 0,
          "y": 35.695,
          "z": 0
        }
      }
    },
    "9": {
      "id": 9,
      "name": "link2_and_tip_subassembly",
      "op": {
        "type": "Union",
        "left": 10,
        "right": 11
      }
    },
    "10": {
      "id": 10,
      "name": "link2 (forearm)",
      "op": {
        "type": "Translate",
        "child": 12,
        "offset": {
          "x": 0,
          "y": -3,
          "z": -3
        }
      }
    },
    "12": {
      "id": 12,
      "name": "link2_geom",
      "op": {
        "type": "Cube",
        "size": {
          "x": 120,
          "y": 6,
          "z": 6
        }
      }
    },
    "11": {
      "id": 11,
      "name": "end_effector_tip_position",
      "op": {
        "type": "Translate",
        "child": 13,
        "offset": {
          "x": 120,
          "y": 0,
          "z": 0
        }
      }
    },
    "13": {
      "id": 13,
      "name": "tip",
      "op": {
        "type": "Sphere",
        "radius": 4,
        "segments": 32
      }
    },
    "100": {
      "id": 100,
      "name": "root_union_base_and_arm",
      "op": {
        "type": "Union",
        "left": 1,
        "right": 2
      }
    }
  },
  "materials": {},
  "part_materials": {},
  "roots": [
    {
      "root": 100,
      "material": "default"
    }
  ]
}