{
    "scenes": [
    {
        "extras": {
            "rvbust": {
                "robotics": {
                    "bodies": [
                        {
                            "active_manipulator_name": "ManipulatorName",
                            "controller_info": {
                                "analog_io": {
                                    "imax": 100,
                                    "imin": 0,
                                    "omax": 100,
                                    "omin": 0
                                },
                                "digital_io": {
                                    "imax": 100,
                                    "imin": 0,
                                    "omax": 100,
                                    "omin": 0
                                },
                                "name": "R30iB"
                            },
                            "generic_info": {
                                "boundary_area": {
                                    "height": 0.8689,
                                    "length": 0.8194,
                                    "pose": [
                                        0.103025,
                                        0.0,
                                        0.10445,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "type": 2,
                                    "width": 0.2349
                                },
                                "materials": [
                                    {
                                        "color": [
                                            0.15,
                                            0.15,
                                            0.15,
                                            1.0
                                        ],
                                        "name": "FANUC_Black",
                                        "texture_filename": ""
                                    },
                                    {
                                        "color": [
                                            1.0,
                                            1.0,
                                            1.0,
                                            1.0
                                        ],
                                        "name": "FANUC_Generic",
                                        "texture_filename": ""
                                    },
                                    {
                                        "color": [
                                            0.278,
                                            0.278,
                                            0.278,
                                            1.0
                                        ],
                                        "name": "FANUC_Grey",
                                        "texture_filename": ""
                                    },
                                    {
                                        "color": [
                                            1.0,
                                            1.0,
                                            0.0,
                                            1.0
                                        ],
                                        "name": "FANUC_Yellow",
                                        "texture_filename": ""
                                    }
                                ],
                                "path_to_image": "./LR_Mate_200iD_7L.png"
                            },
                            "joints": [
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "child": "Link1",
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 26.9,
                                        "effort": 0.0,
                                        "jerk": 224.22,
                                        "lower": -2.96,
                                        "upper": 2.96,
                                        "velocity": 6.45
                                    },
                                    "name": "Joint1",
                                    "origin": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "BaseLink",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0,
                                        0.0
                                    ],
                                    "child": "Link2",
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 22.54,
                                        "effort": 0.0,
                                        "jerk": 187.86,
                                        "lower": -1.74,
                                        "upper": 2.52,
                                        "velocity": 5.41
                                    },
                                    "name": "Joint2",
                                    "origin": [
                                        0.05,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "Link1",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        -1.0,
                                        0.0
                                    ],
                                    "child": "Link3",
                                    "couple": {
                                        "kin_lower": -1.22,
                                        "kin_upper": 3.71,
                                        "master_joint": "Joint2",
                                        "multiplier": 1.0,
                                        "offset": 0.0,
                                        "poly_boundary": [
                                            -1.745,
                                            0.524,
                                            -1.745,
                                            4.886,
                                            -1.132,
                                            4.832,
                                            2.53,
                                            1.1677,
                                            2.53067,
                                            -2.02841,
                                            1.3739,
                                            -2.574281
                                        ]
                                    },
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 29.81,
                                        "effort": 0.0,
                                        "jerk": 248.46,
                                        "lower": -2.59,
                                        "upper": 4.88,
                                        "velocity": 7.15
                                    },
                                    "name": "Joint3",
                                    "origin": [
                                        0.0,
                                        0.0,
                                        0.44,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "Link2",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        -1.0,
                                        0.0,
                                        0.0
                                    ],
                                    "child": "Link4",
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 39.99,
                                        "effort": 0.0,
                                        "jerk": 333.3,
                                        "lower": -3.31,
                                        "upper": 3.31,
                                        "velocity": 9.59
                                    },
                                    "name": "Joint4",
                                    "origin": [
                                        0.0,
                                        0.0,
                                        0.035,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "Link3",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        -1.0,
                                        0.0
                                    ],
                                    "child": "Link5",
                                    "curr_position": -1.5708,
                                    "home_position": -1.5708,
                                    "limit": {
                                        "acceleration": 39.63,
                                        "effort": 0.0,
                                        "jerk": 330.27,
                                        "lower": -2.18,
                                        "upper": 2.18,
                                        "velocity": 9.51
                                    },
                                    "name": "Joint5",
                                    "origin": [
                                        0.42,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "Link4",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        -1.0,
                                        0.0,
                                        0.0
                                    ],
                                    "child": "Link6",
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 72.72,
                                        "effort": 0.0,
                                        "jerk": 606.01,
                                        "lower": -6.28,
                                        "upper": 6.28,
                                        "velocity": 17.45
                                    },
                                    "name": "Joint6",
                                    "origin": [
                                        0.08,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        1.0
                                    ],
                                    "parent": "Link5",
                                    "type": 2
                                },
                                {
                                    "axis": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.0
                                    ],
                                    "child": "EffectorLink",
                                    "curr_position": 0.0,
                                    "home_position": 0.0,
                                    "limit": {
                                        "acceleration": 0.0,
                                        "effort": 0.0,
                                        "jerk": 0.0,
                                        "lower": 0.0,
                                        "upper": 0.0,
                                        "velocity": 0.0
                                    },
                                    "name": "JointEffector",
                                    "origin": [
                                        0.0,
                                        0.0,
                                        0.0,
                                        0.7071067811865475,
                                        0.0,
                                        0.7071067811865475,
                                        0.0
                                    ],
                                    "parent": "Link6",
                                    "type": 1
                                }
                            ],
                            "name": "FANUC_LR_Mate_200iD_7L",
                            "other": {
                                "base_transformation": [
                                    0.0,
                                    0.0,
                                    0.0,
                                    0.0,
                                    0.0,
                                    0.0,
                                    1.0
                                ]
                            },
                            "robot_generic_info": {
                                "payload": 7.0,
                                "reach": 0.911,
                                "repeat": 0.01,
                                "vendor": "FANUC",
                                "weight": 27.0
                            },
                            "rvdf_version": "0.1.0"
                        }
                    ]
                }
            }
        }
    }
    ]
}