Claude: Findet .npz Fehler
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{
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"_comment": "Robot definition file for Blender/Robot/URDF-style kinematic rendering",
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"coordinateSystem": {
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"_comment": "Global coordinate system definition",
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"system": "right-handed",
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"axes": {
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"x": "right",
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"y": "backward",
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"z": "up"
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},
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"_important": [
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"This coordinate system is intentionally identical to Blender.",
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"All positions are expressed in millimeters.",
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"All rotations are expressed in degrees.",
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"Positive rotations follow the right-hand rule."
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]
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},
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"units": {
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"length": "mm",
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"rotation": "degree"
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},
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"renderingInfo": {
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"_comment": "Pure rendering settings. Does NOT affect robot kinematics.",
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"cameraPosition": [-400, -700, 300],
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"cameraTarget": [0, 0, 150],
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"_cameraTargetInfo": [
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"cameraTarget defines the world-space point the camera looks at.",
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"Values may also reference state variables like 'x'."
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],
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"cameraUpVector": [0, 0, 1],
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"lightPosition": [-500, -500, 500],
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"lightTarget": [0, 0, 0],
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"lightUpVector": [0, 0, 1],
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"metric": "mm",
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"materials": {
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"wood": {
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"baseColor": [0.72, 0.52, 0.33],
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"roughness": 0.85,
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"metallic": 0.0
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},
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"plaWhite": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.45,
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"metallic": 0.0
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},
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"steel": {
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"baseColor": [0.72, 0.72, 0.75],
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"roughness": 0.25,
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"metallic": 1.0
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},
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"powderCoatBlue": {
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"baseColor": [0.15, 0.25, 0.70],
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"roughness": 0.55,
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"metallic": 0.0
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},
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"defaultPlastic": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.40,
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"metallic": 0.0
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}
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}
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},
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"defaultPosition": {
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"_comment": "Robot zero/home position",
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"_important": [
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"These values define the robot's neutral pose.",
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"All joints are evaluated relative to this pose."
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],
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"x": 0,
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"y": 0,
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"z": 0,
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"a": 0,
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"b": 0,
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"c": 0,
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"e": 0
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},
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"recognized": {
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"_comment": "Pose reconstructed from machine vision / markers",
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"movements": {
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"_comment": "Current commanded movement state (e.g. from GCode)",
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"_statePriority": [
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"movements overrides recognized",
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"recognized overrides defaultPosition",
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"defaultPosition overrides zero"
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],
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"links": {
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"Board": {
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"_comment": "Static world/base object",
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"parent": null,
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"_mountPositionMeaning": [
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"Position of THIS LINK coordinate system",
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"relative to the PARENT LINK coordinate system"
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],
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"mountPosition": [0, 0, 0],
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"_mountRotationMeaning": [
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"Mechanical installation rotation",
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"Defines how the LINK coordinate system",
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"is rotated relative to its parent link",
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"This is NOT the joint movement."
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],
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"mountRotation": [0, 0, 0],
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"_modelMeaning": [
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"One link may consist of multiple STL surfaces.",
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"Each STL is positioned relative to the LINK coordinate system."
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],
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"model": [
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{
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"_comment": "Visual geometry only",
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"stlFile": "surfaces/Board.stl",
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"_originOfModelMeaning": [
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"Position of STL inside the LINK coordinate system",
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"Purely visual adjustment",
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"Used to compensate CAD export offsets"
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],
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"originOfModel": [0, 0, 0],
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"_rotationOfModelMeaning": [
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"Rotation of STL inside LINK coordinate system",
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"Purely visual adjustment",
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"Used to compensate CAD export orientation"
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],
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"rotationOfModelDegree": [0, 0, 90],
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"material": "wood"
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}
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]
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},
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"Base": {
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"_comment": "Linear axis mounted on Board",
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"parent": "Board",
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"mountPosition": [0, 0, 25],
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"mountRotation": [0, 0, 0],
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"_jointToParentMeaning": [
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"Defines the kinematic transformation",
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"between parent link and this link"
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],
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"jointToParent": {
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"name": "Slider",
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"_jointTypeMeaning": [
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"fixed = no movement",
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"linear = translational movement",
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"revolute = rotational movement"
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],
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"type": "linear",
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"_axisMeaning": [
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"Joint movement axis in LOCAL joint coordinates",
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"[1,0,0] = local X axis",
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"[0,1,0] = local Y axis",
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"[0,0,1] = local Z axis"
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],
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"axis": [1, 0, 0],
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"_originMeaning": [
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"Position of joint coordinate system",
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"inside the parent link coordinate system"
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],
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"origin": [0, 0, 0],
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"_rotationMeaning": [
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"Orientation of joint coordinate system",
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"inside the parent link coordinate system"
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],
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"rotation": [0, 0, 0],
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"_variableMeaning": [
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"Maps robot state variable",
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"to this joint"
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],
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"variable": "x"
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},
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"model": [
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{
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"stlFile": "surfaces/Base.stl",
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"originOfModel": [0, 0, 0],
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"rotationOfModelDegree": [0, 0, 0],
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"material": "plaWhite"
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}
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]
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},
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"Arm1": {
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"_comment": "Rotational arm",
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"parent": "Base",
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"mountPosition": [150, 0, 150],
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"mountRotation": [0, 0, 0],
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"jointToParent": {
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"name": "Joint1",
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"type": "revolute",
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"_important": [
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"Positive rotation follows right-hand rule."
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],
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"axis": [1, 0, 0],
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"origin": [0, 0, 0],
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"rotation": [0, 0, 0],
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"variable": "a"
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},
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"model": [
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{
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"stlFile": "surfaces/Holm.stl",
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"originOfModel": [0, 0, 0],
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"rotationOfModelDegree": [0, 0, 0],
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"material": "powderCoatBlue"
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}
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]
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}
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},
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"_kinematicStructure": {
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"_comment": "Conceptual hierarchy",
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"hierarchy": [
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"ParentLink",
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"-> JointOrigin",
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"-> JointMotion",
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"-> ChildLink",
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"-> VisualMeshes"
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],
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"_important": [
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"All children automatically inherit parent movement.",
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"This creates full forward kinematics automatically.",
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"No manual propagation of child transformations is required."
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]
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},
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"_futureExtensions": {
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"_comment": "Planned future capabilities",
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"possibleFeatures": [
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"marker definitions",
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"inverse kinematics",
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"collision geometry",
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"joint limits",
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"joint damping",
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"mass/inertia",
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"vision calibration",
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"urdf export",
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"gcode import",
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"trajectory playback"
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]
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}
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}
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