{
  "coordinateSystem": {
    "handedness": "right",
    "x": "right",
    "y": "backward",
    "z": "up"
  },
  "units": {
    "length": "mm",
    "rotation": "degree"
  },
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "renderingInfo": {
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    "height": 720,
    "cameraPosition": [-150, -400, 800],
    "cameraTarget": [230, -180, 180],
    "cameraUpVector": [0, 0, 1],
    "lightPosition": [-500, -500, 500],
    "lightTarget": [0, 0, 0],
    "lightUpVector": [0, 0, 1],
    "metric": "mm",
    "showSkeleton": true,
    "showMarkers": true,
    "backgroundColor": [0.70, 0.85, 1.0],
    "backgroundStrength": 0.20,
    "sunEnergy": 0.35,
    "areaEnergy": 120,
    "exposure": -1.5,
    "materials": {
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        "baseColor": [0.72, 0.52, 0.33],
        "roughness": 0.85,
        "metallic": 0.0
      },
      "plaWhite": {
        "baseColor": [0.95, 0.95, 0.95],
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        "metallic": 0.0
      },
      "steel": {
        "baseColor": [0.72, 0.72, 0.75],
        "roughness": 0.25,
        "metallic": 1.0
      },
      "powderCoatBlue": {
        "baseColor": [0.15, 0.25, 0.7],
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        "metallic": 0.0
      },
      "defaultPlastic": {
        "baseColor": [0.95, 0.95, 0.95],
        "roughness": 0.4,
        "metallic": 0.0
      },
      "skeletonRed": {
        "baseColor": [0.85, 0.20, 0.20],
        "roughness": 0.35,
        "metallic": 0.0
      },
      "markerBlack": {
        "baseColor": [0.04, 0.04, 0.04],
        "roughness": 0.80,
        "metallic": 0.0
      }
    },
    "skeletonDefaults": {
      "radius": 4,
      "color": [0.85, 0.20, 0.20]
    },
    "markerDefaults": {
      "size": 25,
      "thickness": 1,
      "color": [0.04, 0.04, 0.04]
    }
  },
  "defaultPosition": {
    "x": 150,
    "y": 30,
    "z": -60,
    "a": 220,
    "b": 30,
    "c": 70,
    "e": 0
  },
  "recognized": {
    "x": null,
    "y": null,
    "z": null,
    "a": null,
    "b": null,
    "c": null,
    "e": null
  },
  "movements": {
    "x": null,
    "y": null,
    "z": null,
    "a": null,
    "b": null,
    "c": null,
    "e": null
  },
  "links": {
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      "parent": null,
      "size": [1000, 200, 25],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
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        "to": [1000, 0, 16],
        "radius": 4,
        "color": [0.85, 0.20, 0.20]
      },
      "markers": [
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      "model": [
        {
          "stlFile": "surfaces/Board.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "wood"
        },
        {
          "stlFile": "surfaces/BoardRail.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "steel"
        }
      ]
    },
    "Base": {
      "parent": "Board",
      "size": [150, 200, 150],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [1, 0, 0],
        "origin": [0, 0, 16],
        "rotation": [0, 0, 0],
        "variable": "x"
      },
      "skeleton": {
        "from": [0, 108, 45],
        "to": [110, 108, 45],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers": [
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      "model": [
        {
          "stlFile": "surfaces/Base.stl",
          "originOfModel": [-30, 0, -35],
          "rotationOfModelDegree": [0, 0, 0],
          "material": "plaWhite"
        }
      ]
    },
    "Arm1": {
      "parent": "Base",
      "size": [70, 250, 70],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint1",
        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [110, 108, 45],
        "rotation": [0, 0, 0],
        "variable": "y"
      },
      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -250, 0],
        "radius": 4,
        "color": [0.20, 0.20, 0.90]
      },
      "markers": [
        {
          "id": 198,
          "name": "aruco_198",
          "position": [0, -160, 35],
          "normal": [0, 0, 1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 229,
          "name": "aruco_229",
          "position": [0, -250, 35],
          "normal": [0, 0, 1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 242,
          "name": "aruco_242",
          "position": [0, -250, -35],
          "normal": [0, 0, -1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 243,
          "name": "aruco_243",
          "position": [0, -285, 0],
          "normal": [0, -1, 0],
          "size": 25,
          "spin": 0
        }
    ],
      "model": [
        {
          "stlFile": "surfaces/Holm.stl",
          "originOfModel__": [-25,29,-28.5],
          "originOfModel": [-29,25,28.5],
          "rotationOfModelDegree__": [0, 0, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "powderCoatBlue"
        }
      ]
    },
    "Ellbow": {
      "parent": "Arm1",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint2",
        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "z"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [90, 0, 0],
        "radius": 4,
        "color": [0.90, 0.20, 0.20]
      }, 
      "model": [
        {
          "stlFile": "surfaces/Ellebogen.stl",
          "originOfModel": [90,0,0],
          "rotationOfModelDegree": [0,-90,-90],
          "material": "defaultPlastic"
        }
      ],
      "markers": [
        {
          "id": 244,
          "name": "aruco_244",
          "position": [125, 0, 0],
          "normal": [1, 0, 0],
          "size": 25,
          "spin": 0
        },
        {
          "id": 245,
          "name": "aruco_245",
          "position": [90, 0, -35],
          "normal": [0, 0, -1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 246,
          "name": "aruco_246",
          "position": [90, 0, 35],
          "normal": [0, 0, 1],
          "size": 25
        },
        {
          "id": 247,
          "name": "aruco_247",
          "position": [52.5, 0, 35],
          "normal": [0, 0, 1],
          "size": 25
        }
      ]

    },
    "Arm2": {
      "parent": "Ellbow",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [90, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "a"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -250, 0],
        "radius": 4,
        "color": [0.95, 0.85, 0.20]
      }
    },
    "Hand": {
      "parent": "Arm2",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint4",
        "type": "revolute",
        "axis": [1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "b"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -35, 0],
        "radius": 4,
        "color": [0.95, 0.55, 0.15]
      }
    },
    "Palm": {
      "parent": "Hand",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [0, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "c"
      },

      "skeleton": {
        "from": [-50, -35, 0],
        "to": [50, -35, 0],
        "radius": 7,
        "color": [0.95, 0.20, 0.20]
      }
    }
  }
}