{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "base",
      "op": {
        "type": "Cylinder",
        "radius": 30,
        "height": 20,
        "segments": 32
      }
    },
    "2": {
      "id": 2,
      "name": "link1_cube",
      "op": {
        "type": "Cube",
        "size": {
          "x": 150,
          "y": 18,
          "z": 18
        }
      }
    },
    "3": {
      "id": 3,
      "name": "link1_geom",
      "op": {
        "type": "Translate",
        "child": 2,
        "offset": {
          "x": 0,
          "y": -9,
          "z": -9
        }
      }
    },
    "4": {
      "id": 4,
      "name": "link2_cube",
      "op": {
        "type": "Cube",
        "size": {
          "x": 140,
          "y": 16,
          "z": 16
        }
      }
    },
    "5": {
      "id": 5,
      "name": "link2_geom",
      "op": {
        "type": "Translate",
        "child": 4,
        "offset": {
          "x": 0,
          "y": -8,
          "z": -8
        }
      }
    },
    "6": {
      "id": 6,
      "name": "tip",
      "op": {
        "type": "Sphere",
        "radius": 5,
        "segments": 32
      }
    },
    "7": {
      "id": 7,
      "name": "tip_pos",
      "op": {
        "type": "Translate",
        "child": 6,
        "offset": {
          "x": 140,
          "y": 0,
          "z": 0
        }
      }
    },
    "8": {
      "id": 8,
      "name": "link2_with_tip",
      "op": {
        "type": "Union",
        "left": 5,
        "right": 7
      }
    },
    "9": {
      "id": 9,
      "name": "joint2_rev_y torque_limit=5",
      "op": {
        "type": "Rotate",
        "child": 8,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "10": {
      "id": 10,
      "name": "joint2_mount",
      "op": {
        "type": "Translate",
        "child": 9,
        "offset": {
          "x": 150,
          "y": 0,
          "z": 0
        }
      }
    },
    "11": {
      "id": 11,
      "name": "link1_union",
      "op": {
        "type": "Union",
        "left": 3,
        "right": 10
      }
    },
    "12": {
      "id": 12,
      "name": "joint1_rev_y torque_limit=5",
      "op": {
        "type": "Rotate",
        "child": 11,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "13": {
      "id": 13,
      "name": "arm_mount",
      "op": {
        "type": "Translate",
        "child": 12,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 29
        }
      }
    },
    "14": {
      "id": 14,
      "name": "assembly_root",
      "op": {
        "type": "Union",
        "left": 1,
        "right": 13
      }
    }
  },
  "materials": {},
  "part_materials": {},
  "roots": [
    {
      "root": 14,
      "material": "default"
    }
  ]
}