@things-factory/figure-ui 10.1.65 → 10.1.67

package/test/fixtures/robot-arm-6dof.json

@@ -0,0 +1,2776 @@
+{
+  "version": "figure-v3-asset-1",
+  "name": "ROBOT_ARM_6DOF",
+  "document": {
+    "version": "figure-v3-prototype-1",
+    "model": {
+      "version": "r3-spatial-1",
+      "inputs": [
+        {
+          "id": "size.x",
+          "unit": "mm",
+          "min": 1,
+          "max": 6000,
+          "role": "design"
+        },
+        {
+          "id": "size.y",
+          "unit": "mm",
+          "min": 1,
+          "max": 14000,
+          "role": "design"
+        },
+        {
+          "id": "size.z",
+          "unit": "mm",
+          "min": 1,
+          "max": 6000,
+          "role": "design"
+        },
+        {
+          "id": "base-pan",
+          "unit": "deg",
+          "min": -180,
+          "max": 180,
+          "role": "state"
+        },
+        {
+          "id": "shoulder-lift",
+          "unit": "deg",
+          "min": -90,
+          "max": 90,
+          "role": "state"
+        },
+        {
+          "id": "elbow-flex",
+          "unit": "deg",
+          "min": -150,
+          "max": 150,
+          "role": "state"
+        },
+        {
+          "id": "wrist-pitch",
+          "unit": "deg",
+          "min": -120,
+          "max": 120,
+          "role": "state"
+        },
+        {
+          "id": "wrist-yaw",
+          "unit": "deg",
+          "min": -180,
+          "max": 180,
+          "role": "state"
+        },
+        {
+          "id": "tool-roll",
+          "unit": "deg",
+          "min": -360,
+          "max": 360,
+          "role": "state"
+        },
+        {
+          "id": "gripper",
+          "unit": "percent",
+          "min": 0,
+          "max": 100,
+          "role": "state"
+        }
+      ],
+      "constants": [
+        {
+          "id": "k.base.x",
+          "unit": "mm",
+          "value": 600
+        },
+        {
+          "id": "k.base.y",
+          "unit": "mm",
+          "value": 1400
+        },
+        {
+          "id": "k.pedestal.y.at",
+          "unit": "ratio",
+          "value": -0.464286
+        },
+        {
+          "id": "k.half",
+          "unit": "ratio",
+          "value": 0.5
+        },
+        {
+          "id": "k.deg.0",
+          "unit": "deg",
+          "value": 0
+        },
+        {
+          "id": "k.shoulder.y.at",
+          "unit": "ratio",
+          "value": -0.378571
+        },
+        {
+          "id": "k.upper-arm.y.at",
+          "unit": "ratio",
+          "value": -0.178571
+        },
+        {
+          "id": "k.forearm.y.at",
+          "unit": "ratio",
+          "value": 0.107143
+        },
+        {
+          "id": "k.wrist-1.y.at",
+          "unit": "ratio",
+          "value": 0.275
+        },
+        {
+          "id": "k.wrist-2.y.at",
+          "unit": "ratio",
+          "value": 0.335714
+        },
+        {
+          "id": "k.flange.y.at",
+          "unit": "ratio",
+          "value": 0.378571
+        },
+        {
+          "id": "k.finger-left.x.at",
+          "unit": "ratio",
+          "value": -0.058333
+        },
+        {
+          "id": "k.finger-left.y.at",
+          "unit": "ratio",
+          "value": 0.414286
+        },
+        {
+          "id": "k.finger-right.x.at",
+          "unit": "ratio",
+          "value": 0.058333
+        },
+        {
+          "id": "k.minusHalf",
+          "unit": "ratio",
+          "value": -0.5
+        },
+        {
+          "id": "k.zero",
+          "unit": "mm",
+          "value": 0
+        },
+        {
+          "id": "k.gripper.finger-left.translation.min",
+          "unit": "percent",
+          "value": 0
+        },
+        {
+          "id": "k.gripper.finger-left.translation.slope",
+          "unit": "mm",
+          "value": 20
+        },
+        {
+          "id": "k.gripper.finger-right.translation.slope",
+          "unit": "mm",
+          "value": -20
+        },
+        {
+          "id": "k.base-pan.base-pan.min",
+          "unit": "deg",
+          "value": 180
+        },
+        {
+          "id": "k.base-pan.base-pan.slope",
+          "unit": "ratio",
+          "value": 1
+        },
+        {
+          "id": "k.base-pan.base-pan.v0",
+          "unit": "deg",
+          "value": -180
+        },
+        {
+          "id": "k.base-pan.origin.y.offset",
+          "unit": "mm",
+          "value": 50
+        },
+        {
+          "id": "k.base-pan.axis.x",
+          "unit": "ratio",
+          "value": 0
+        },
+        {
+          "id": "k.shoulder-lift.shoulder-lift.min",
+          "unit": "deg",
+          "value": 90
+        },
+        {
+          "id": "k.shoulder-lift.shoulder-lift.v0",
+          "unit": "deg",
+          "value": -90
+        },
+        {
+          "id": "k.shoulder-lift.origin.y.offset",
+          "unit": "mm",
+          "value": 70
+        },
+        {
+          "id": "k.elbow-flex.elbow-flex.min",
+          "unit": "deg",
+          "value": 150
+        },
+        {
+          "id": "k.elbow-flex.elbow-flex.v0",
+          "unit": "deg",
+          "value": -150
+        },
+        {
+          "id": "k.elbow-flex.origin.y.offset",
+          "unit": "mm",
+          "value": 210
+        },
+        {
+          "id": "k.wrist-pitch.wrist-pitch.min",
+          "unit": "deg",
+          "value": 120
+        },
+        {
+          "id": "k.wrist-pitch.wrist-pitch.v0",
+          "unit": "deg",
+          "value": -120
+        },
+        {
+          "id": "k.wrist-pitch.origin.y.offset",
+          "unit": "mm",
+          "value": 190
+        },
+        {
+          "id": "k.wrist-yaw.origin.y.offset",
+          "unit": "mm",
+          "value": 45
+        },
+        {
+          "id": "k.tool-roll.tool-roll.min",
+          "unit": "deg",
+          "value": 360
+        },
+        {
+          "id": "k.tool-roll.tool-roll.v0",
+          "unit": "deg",
+          "value": -360
+        },
+        {
+          "id": "k.tool-roll.origin.y.offset",
+          "unit": "mm",
+          "value": 40
+        },
+        {
+          "id": "k.pedestal.dim.radiusX",
+          "unit": "mm",
+          "value": 180
+        },
+        {
+          "id": "k.pedestal.dim.y",
+          "unit": "mm",
+          "value": 100
+        },
+        {
+          "id": "k.shoulder.dim.radiusX",
+          "unit": "mm",
+          "value": 110
+        },
+        {
+          "id": "k.shoulder.dim.y",
+          "unit": "mm",
+          "value": 140
+        },
+        {
+          "id": "k.upper-arm.dim.y",
+          "unit": "mm",
+          "value": 420
+        },
+        {
+          "id": "k.forearm.dim.y",
+          "unit": "mm",
+          "value": 380
+        },
+        {
+          "id": "k.wrist-1.dim.y",
+          "unit": "mm",
+          "value": 90
+        },
+        {
+          "id": "k.wrist-2.dim.y",
+          "unit": "mm",
+          "value": 80
+        },
+        {
+          "id": "k.flange.dim.radiusX",
+          "unit": "mm",
+          "value": 35
+        },
+        {
+          "id": "k.finger-left.dim.x",
+          "unit": "mm",
+          "value": 12
+        },
+        {
+          "id": "k.finger-left.dim.y",
+          "unit": "mm",
+          "value": 60
+        },
+        {
+          "id": "k.finger-left.dim.z",
+          "unit": "mm",
+          "value": 24
+        }
+      ],
+      "nodes": [
+        {
+          "id": "scale.x",
+          "op": "div@1",
+          "args": [
+            "size.x",
+            "k.base.x"
+          ],
+          "outputs": {
+            "value": "scale.x.value"
+          }
+        },
+        {
+          "id": "scale.y",
+          "op": "div@1",
+          "args": [
+            "size.y",
+            "k.base.y"
+          ],
+          "outputs": {
+            "value": "scale.y.value"
+          }
+        },
+        {
+          "id": "pedestal.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.pedestal.y.at"
+          ],
+          "outputs": {
+            "value": "pedestal.y.centre.value"
+          }
+        },
+        {
+          "id": "scale.z",
+          "op": "div@1",
+          "args": [
+            "size.z",
+            "k.base.x"
+          ],
+          "outputs": {
+            "value": "scale.z.value"
+          }
+        },
+        {
+          "id": "pedestal.round",
+          "op": "geomean@1",
+          "args": [
+            "scale.x.value",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "pedestal.round.value"
+          }
+        },
+        {
+          "id": "pedestal.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "pedestal.y.lift.value"
+          }
+        },
+        {
+          "id": "pedestal.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "pedestal.y.centre.value",
+            "pedestal.y.lift.value"
+          ],
+          "outputs": {
+            "value": "pedestal.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "shoulder.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.shoulder.y.at"
+          ],
+          "outputs": {
+            "value": "shoulder.y.centre.value"
+          }
+        },
+        {
+          "id": "shoulder.round",
+          "op": "geomean@1",
+          "args": [
+            "scale.x.value",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "shoulder.round.value"
+          }
+        },
+        {
+          "id": "shoulder.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "shoulder.y.lift.value"
+          }
+        },
+        {
+          "id": "shoulder.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "shoulder.y.centre.value",
+            "shoulder.y.lift.value"
+          ],
+          "outputs": {
+            "value": "shoulder.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "upper-arm.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.upper-arm.y.at"
+          ],
+          "outputs": {
+            "value": "upper-arm.y.centre.value"
+          }
+        },
+        {
+          "id": "upper-arm.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "upper-arm.y.lift.value"
+          }
+        },
+        {
+          "id": "upper-arm.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "upper-arm.y.centre.value",
+            "upper-arm.y.lift.value"
+          ],
+          "outputs": {
+            "value": "upper-arm.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "forearm.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.forearm.y.at"
+          ],
+          "outputs": {
+            "value": "forearm.y.centre.value"
+          }
+        },
+        {
+          "id": "forearm.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "forearm.y.lift.value"
+          }
+        },
+        {
+          "id": "forearm.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "forearm.y.centre.value",
+            "forearm.y.lift.value"
+          ],
+          "outputs": {
+            "value": "forearm.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "wrist-1.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.wrist-1.y.at"
+          ],
+          "outputs": {
+            "value": "wrist-1.y.centre.value"
+          }
+        },
+        {
+          "id": "wrist-1.round",
+          "op": "geomean@1",
+          "args": [
+            "scale.x.value",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "wrist-1.round.value"
+          }
+        },
+        {
+          "id": "wrist-1.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "wrist-1.y.lift.value"
+          }
+        },
+        {
+          "id": "wrist-1.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "wrist-1.y.centre.value",
+            "wrist-1.y.lift.value"
+          ],
+          "outputs": {
+            "value": "wrist-1.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "wrist-2.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.wrist-2.y.at"
+          ],
+          "outputs": {
+            "value": "wrist-2.y.centre.value"
+          }
+        },
+        {
+          "id": "wrist-2.round",
+          "op": "geomean@1",
+          "args": [
+            "scale.x.value",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "wrist-2.round.value"
+          }
+        },
+        {
+          "id": "wrist-2.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "wrist-2.y.lift.value"
+          }
+        },
+        {
+          "id": "wrist-2.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "wrist-2.y.centre.value",
+            "wrist-2.y.lift.value"
+          ],
+          "outputs": {
+            "value": "wrist-2.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "flange.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.flange.y.at"
+          ],
+          "outputs": {
+            "value": "flange.y.centre.value"
+          }
+        },
+        {
+          "id": "flange.round",
+          "op": "geomean@1",
+          "args": [
+            "scale.x.value",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "flange.round.value"
+          }
+        },
+        {
+          "id": "flange.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "flange.y.lift.value"
+          }
+        },
+        {
+          "id": "flange.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "flange.y.centre.value",
+            "flange.y.lift.value"
+          ],
+          "outputs": {
+            "value": "flange.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "finger-left.x.centre",
+          "op": "mul@1",
+          "args": [
+            "size.x",
+            "k.finger-left.x.at"
+          ],
+          "outputs": {
+            "value": "finger-left.x.centre.value"
+          }
+        },
+        {
+          "id": "finger-left.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.finger-left.y.at"
+          ],
+          "outputs": {
+            "value": "finger-left.y.centre.value"
+          }
+        },
+        {
+          "id": "finger-left.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "finger-left.y.lift.value"
+          }
+        },
+        {
+          "id": "finger-left.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "finger-left.y.centre.value",
+            "finger-left.y.lift.value"
+          ],
+          "outputs": {
+            "value": "finger-left.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "finger-right.x.centre",
+          "op": "mul@1",
+          "args": [
+            "size.x",
+            "k.finger-right.x.at"
+          ],
+          "outputs": {
+            "value": "finger-right.x.centre.value"
+          }
+        },
+        {
+          "id": "finger-right.y.centre",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.finger-left.y.at"
+          ],
+          "outputs": {
+            "value": "finger-right.y.centre.value"
+          }
+        },
+        {
+          "id": "finger-right.y.lift",
+          "op": "mul@1",
+          "args": [
+            "size.y",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "finger-right.y.lift.value"
+          }
+        },
+        {
+          "id": "finger-right.y.fromBottom",
+          "op": "add@1",
+          "args": [
+            "finger-right.y.centre.value",
+            "finger-right.y.lift.value"
+          ],
+          "outputs": {
+            "value": "finger-right.y.fromBottom.value"
+          }
+        },
+        {
+          "id": "occupancy.x.min",
+          "op": "mul@1",
+          "args": [
+            "size.x",
+            "k.minusHalf"
+          ],
+          "outputs": {
+            "value": "occupancy.x.min.value"
+          }
+        },
+        {
+          "id": "occupancy.x.max",
+          "op": "mul@1",
+          "args": [
+            "size.x",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "occupancy.x.max.value"
+          }
+        },
+        {
+          "id": "occupancy.z.min",
+          "op": "mul@1",
+          "args": [
+            "size.z",
+            "k.minusHalf"
+          ],
+          "outputs": {
+            "value": "occupancy.z.min.value"
+          }
+        },
+        {
+          "id": "occupancy.z.max",
+          "op": "mul@1",
+          "args": [
+            "size.z",
+            "k.half"
+          ],
+          "outputs": {
+            "value": "occupancy.z.max.value"
+          }
+        },
+        {
+          "id": "gripper.finger-left.translation.u",
+          "op": "add@1",
+          "args": [
+            "gripper",
+            "k.gripper.finger-left.translation.min"
+          ],
+          "outputs": {
+            "value": "gripper.finger-left.translation.u.value"
+          }
+        },
+        {
+          "id": "gripper.finger-left.translation.scaled",
+          "op": "mul@1",
+          "args": [
+            "gripper.finger-left.translation.u.value",
+            "k.gripper.finger-left.translation.slope"
+          ],
+          "outputs": {
+            "value": "gripper.finger-left.translation.scaled.value"
+          }
+        },
+        {
+          "id": "gripper.finger-left.translation.q",
+          "op": "add@1",
+          "args": [
+            "gripper.finger-left.translation.scaled.value",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "gripper.finger-left.translation.q.value"
+          }
+        },
+        {
+          "id": "gripper.finger-left.shift.x",
+          "op": "mul@1",
+          "args": [
+            "gripper.finger-left.translation.q.value",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "gripper.finger-left.shift.x.value"
+          }
+        },
+        {
+          "id": "gripper.finger-right.translation.u",
+          "op": "add@1",
+          "args": [
+            "gripper",
+            "k.gripper.finger-left.translation.min"
+          ],
+          "outputs": {
+            "value": "gripper.finger-right.translation.u.value"
+          }
+        },
+        {
+          "id": "gripper.finger-right.translation.scaled",
+          "op": "mul@1",
+          "args": [
+            "gripper.finger-right.translation.u.value",
+            "k.gripper.finger-right.translation.slope"
+          ],
+          "outputs": {
+            "value": "gripper.finger-right.translation.scaled.value"
+          }
+        },
+        {
+          "id": "gripper.finger-right.translation.q",
+          "op": "add@1",
+          "args": [
+            "gripper.finger-right.translation.scaled.value",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "gripper.finger-right.translation.q.value"
+          }
+        },
+        {
+          "id": "gripper.finger-right.shift.x",
+          "op": "mul@1",
+          "args": [
+            "gripper.finger-right.translation.q.value",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "gripper.finger-right.shift.x.value"
+          }
+        },
+        {
+          "id": "base-pan.base-pan.u",
+          "op": "add@1",
+          "args": [
+            "base-pan",
+            "k.base-pan.base-pan.min"
+          ],
+          "outputs": {
+            "value": "base-pan.base-pan.u.value"
+          }
+        },
+        {
+          "id": "base-pan.base-pan.scaled",
+          "op": "mul@1",
+          "args": [
+            "base-pan.base-pan.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "base-pan.base-pan.scaled.value"
+          }
+        },
+        {
+          "id": "base-pan.base-pan.q",
+          "op": "add@1",
+          "args": [
+            "base-pan.base-pan.scaled.value",
+            "k.base-pan.base-pan.v0"
+          ],
+          "outputs": {
+            "value": "base-pan.base-pan.q.value"
+          }
+        },
+        {
+          "id": "base-pan.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "base-pan.origin.x.value"
+          }
+        },
+        {
+          "id": "base-pan.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.base-pan.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "base-pan.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "base-pan.origin.y",
+          "op": "add@1",
+          "args": [
+            "pedestal.y.fromBottom.value",
+            "base-pan.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "base-pan.origin.y.value"
+          }
+        },
+        {
+          "id": "base-pan.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "base-pan.origin.z.value"
+          }
+        },
+        {
+          "id": "base-pan.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "base-pan.origin.x.value",
+            "base-pan.origin.y.value",
+            "base-pan.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "base-pan.frameOnParent.value"
+          },
+          "params": {
+            "from": "base-pan.onParent",
+            "to": "asset"
+          }
+        },
+        {
+          "id": "base-pan.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "base-pan.origin.x.value",
+            "base-pan.origin.y.value",
+            "base-pan.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "base-pan.frameOnChild.value"
+          },
+          "params": {
+            "from": "base-pan.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "base-pan.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.axis.x",
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "base-pan.base-pan.q.value"
+          ],
+          "outputs": {
+            "pose": "base-pan.motion.value"
+          },
+          "params": {
+            "from": "base-pan.onChild",
+            "to": "base-pan.onParent"
+          }
+        },
+        {
+          "id": "base-pan.attach",
+          "op": "attach@1",
+          "args": [
+            "base-pan.frameOnParent.value",
+            "base-pan.motion.value",
+            "base-pan.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "base-pan.attach.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.shoulder-lift.u",
+          "op": "add@1",
+          "args": [
+            "shoulder-lift",
+            "k.shoulder-lift.shoulder-lift.min"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.shoulder-lift.u.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.shoulder-lift.scaled",
+          "op": "mul@1",
+          "args": [
+            "shoulder-lift.shoulder-lift.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.shoulder-lift.scaled.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.shoulder-lift.q",
+          "op": "add@1",
+          "args": [
+            "shoulder-lift.shoulder-lift.scaled.value",
+            "k.shoulder-lift.shoulder-lift.v0"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.shoulder-lift.q.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.origin.x.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder-lift.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.origin.y",
+          "op": "add@1",
+          "args": [
+            "shoulder.y.fromBottom.value",
+            "shoulder-lift.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.origin.y.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "shoulder-lift.origin.z.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "shoulder-lift.origin.x.value",
+            "shoulder-lift.origin.y.value",
+            "shoulder-lift.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "shoulder-lift.frameOnParent.value"
+          },
+          "params": {
+            "from": "shoulder-lift.onParent",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "shoulder-lift.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "shoulder-lift.origin.x.value",
+            "shoulder-lift.origin.y.value",
+            "shoulder-lift.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "shoulder-lift.frameOnChild.value"
+          },
+          "params": {
+            "from": "shoulder-lift.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "shoulder-lift.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "k.base-pan.axis.x",
+            "shoulder-lift.shoulder-lift.q.value"
+          ],
+          "outputs": {
+            "pose": "shoulder-lift.motion.value"
+          },
+          "params": {
+            "from": "shoulder-lift.onChild",
+            "to": "shoulder-lift.onParent"
+          }
+        },
+        {
+          "id": "shoulder-lift.attach",
+          "op": "attach@1",
+          "args": [
+            "shoulder-lift.frameOnParent.value",
+            "shoulder-lift.motion.value",
+            "shoulder-lift.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "shoulder-lift.attach.value"
+          }
+        },
+        {
+          "id": "shoulder-lift.chain",
+          "op": "compose@1",
+          "args": [
+            "base-pan.attach.value",
+            "shoulder-lift.attach.value"
+          ],
+          "outputs": {
+            "pose": "shoulder-lift.chain.value"
+          }
+        },
+        {
+          "id": "elbow-flex.elbow-flex.u",
+          "op": "add@1",
+          "args": [
+            "elbow-flex",
+            "k.elbow-flex.elbow-flex.min"
+          ],
+          "outputs": {
+            "value": "elbow-flex.elbow-flex.u.value"
+          }
+        },
+        {
+          "id": "elbow-flex.elbow-flex.scaled",
+          "op": "mul@1",
+          "args": [
+            "elbow-flex.elbow-flex.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "elbow-flex.elbow-flex.scaled.value"
+          }
+        },
+        {
+          "id": "elbow-flex.elbow-flex.q",
+          "op": "add@1",
+          "args": [
+            "elbow-flex.elbow-flex.scaled.value",
+            "k.elbow-flex.elbow-flex.v0"
+          ],
+          "outputs": {
+            "value": "elbow-flex.elbow-flex.q.value"
+          }
+        },
+        {
+          "id": "elbow-flex.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "elbow-flex.origin.x.value"
+          }
+        },
+        {
+          "id": "elbow-flex.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.elbow-flex.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "elbow-flex.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "elbow-flex.origin.y",
+          "op": "add@1",
+          "args": [
+            "upper-arm.y.fromBottom.value",
+            "elbow-flex.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "elbow-flex.origin.y.value"
+          }
+        },
+        {
+          "id": "elbow-flex.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "elbow-flex.origin.z.value"
+          }
+        },
+        {
+          "id": "elbow-flex.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "elbow-flex.origin.x.value",
+            "elbow-flex.origin.y.value",
+            "elbow-flex.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "elbow-flex.frameOnParent.value"
+          },
+          "params": {
+            "from": "elbow-flex.onParent",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "elbow-flex.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "elbow-flex.origin.x.value",
+            "elbow-flex.origin.y.value",
+            "elbow-flex.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "elbow-flex.frameOnChild.value"
+          },
+          "params": {
+            "from": "elbow-flex.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "elbow-flex.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "k.base-pan.axis.x",
+            "elbow-flex.elbow-flex.q.value"
+          ],
+          "outputs": {
+            "pose": "elbow-flex.motion.value"
+          },
+          "params": {
+            "from": "elbow-flex.onChild",
+            "to": "elbow-flex.onParent"
+          }
+        },
+        {
+          "id": "elbow-flex.attach",
+          "op": "attach@1",
+          "args": [
+            "elbow-flex.frameOnParent.value",
+            "elbow-flex.motion.value",
+            "elbow-flex.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "elbow-flex.attach.value"
+          }
+        },
+        {
+          "id": "elbow-flex.chain",
+          "op": "compose@1",
+          "args": [
+            "shoulder-lift.chain.value",
+            "elbow-flex.attach.value"
+          ],
+          "outputs": {
+            "pose": "elbow-flex.chain.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.wrist-pitch.u",
+          "op": "add@1",
+          "args": [
+            "wrist-pitch",
+            "k.wrist-pitch.wrist-pitch.min"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.wrist-pitch.u.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.wrist-pitch.scaled",
+          "op": "mul@1",
+          "args": [
+            "wrist-pitch.wrist-pitch.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.wrist-pitch.scaled.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.wrist-pitch.q",
+          "op": "add@1",
+          "args": [
+            "wrist-pitch.wrist-pitch.scaled.value",
+            "k.wrist-pitch.wrist-pitch.v0"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.wrist-pitch.q.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.origin.x.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-pitch.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.origin.y",
+          "op": "add@1",
+          "args": [
+            "forearm.y.fromBottom.value",
+            "wrist-pitch.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.origin.y.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "wrist-pitch.origin.z.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "wrist-pitch.origin.x.value",
+            "wrist-pitch.origin.y.value",
+            "wrist-pitch.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-pitch.frameOnParent.value"
+          },
+          "params": {
+            "from": "wrist-pitch.onParent",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-pitch.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "wrist-pitch.origin.x.value",
+            "wrist-pitch.origin.y.value",
+            "wrist-pitch.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-pitch.frameOnChild.value"
+          },
+          "params": {
+            "from": "wrist-pitch.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-pitch.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "k.base-pan.axis.x",
+            "wrist-pitch.wrist-pitch.q.value"
+          ],
+          "outputs": {
+            "pose": "wrist-pitch.motion.value"
+          },
+          "params": {
+            "from": "wrist-pitch.onChild",
+            "to": "wrist-pitch.onParent"
+          }
+        },
+        {
+          "id": "wrist-pitch.attach",
+          "op": "attach@1",
+          "args": [
+            "wrist-pitch.frameOnParent.value",
+            "wrist-pitch.motion.value",
+            "wrist-pitch.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "wrist-pitch.attach.value"
+          }
+        },
+        {
+          "id": "wrist-pitch.chain",
+          "op": "compose@1",
+          "args": [
+            "elbow-flex.chain.value",
+            "wrist-pitch.attach.value"
+          ],
+          "outputs": {
+            "pose": "wrist-pitch.chain.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.wrist-yaw.u",
+          "op": "add@1",
+          "args": [
+            "wrist-yaw",
+            "k.base-pan.base-pan.min"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.wrist-yaw.u.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.wrist-yaw.scaled",
+          "op": "mul@1",
+          "args": [
+            "wrist-yaw.wrist-yaw.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.wrist-yaw.scaled.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.wrist-yaw.q",
+          "op": "add@1",
+          "args": [
+            "wrist-yaw.wrist-yaw.scaled.value",
+            "k.base-pan.base-pan.v0"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.wrist-yaw.q.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.origin.x.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-yaw.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.origin.y",
+          "op": "add@1",
+          "args": [
+            "wrist-1.y.fromBottom.value",
+            "wrist-yaw.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.origin.y.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "wrist-yaw.origin.z.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "wrist-yaw.origin.x.value",
+            "wrist-yaw.origin.y.value",
+            "wrist-yaw.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-yaw.frameOnParent.value"
+          },
+          "params": {
+            "from": "wrist-yaw.onParent",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-yaw.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "wrist-yaw.origin.x.value",
+            "wrist-yaw.origin.y.value",
+            "wrist-yaw.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-yaw.frameOnChild.value"
+          },
+          "params": {
+            "from": "wrist-yaw.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-yaw.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.axis.x",
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "wrist-yaw.wrist-yaw.q.value"
+          ],
+          "outputs": {
+            "pose": "wrist-yaw.motion.value"
+          },
+          "params": {
+            "from": "wrist-yaw.onChild",
+            "to": "wrist-yaw.onParent"
+          }
+        },
+        {
+          "id": "wrist-yaw.attach",
+          "op": "attach@1",
+          "args": [
+            "wrist-yaw.frameOnParent.value",
+            "wrist-yaw.motion.value",
+            "wrist-yaw.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "wrist-yaw.attach.value"
+          }
+        },
+        {
+          "id": "wrist-yaw.chain",
+          "op": "compose@1",
+          "args": [
+            "wrist-pitch.chain.value",
+            "wrist-yaw.attach.value"
+          ],
+          "outputs": {
+            "pose": "wrist-yaw.chain.value"
+          }
+        },
+        {
+          "id": "tool-roll.tool-roll.u",
+          "op": "add@1",
+          "args": [
+            "tool-roll",
+            "k.tool-roll.tool-roll.min"
+          ],
+          "outputs": {
+            "value": "tool-roll.tool-roll.u.value"
+          }
+        },
+        {
+          "id": "tool-roll.tool-roll.scaled",
+          "op": "mul@1",
+          "args": [
+            "tool-roll.tool-roll.u.value",
+            "k.base-pan.base-pan.slope"
+          ],
+          "outputs": {
+            "value": "tool-roll.tool-roll.scaled.value"
+          }
+        },
+        {
+          "id": "tool-roll.tool-roll.q",
+          "op": "add@1",
+          "args": [
+            "tool-roll.tool-roll.scaled.value",
+            "k.tool-roll.tool-roll.v0"
+          ],
+          "outputs": {
+            "value": "tool-roll.tool-roll.q.value"
+          }
+        },
+        {
+          "id": "tool-roll.origin.x",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "tool-roll.origin.x.value"
+          }
+        },
+        {
+          "id": "tool-roll.origin.y.offset",
+          "op": "mul@1",
+          "args": [
+            "k.tool-roll.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "tool-roll.origin.y.offset.value"
+          }
+        },
+        {
+          "id": "tool-roll.origin.y",
+          "op": "add@1",
+          "args": [
+            "wrist-2.y.fromBottom.value",
+            "tool-roll.origin.y.offset.value"
+          ],
+          "outputs": {
+            "value": "tool-roll.origin.y.value"
+          }
+        },
+        {
+          "id": "tool-roll.origin.z",
+          "op": "add@1",
+          "args": [
+            "k.zero",
+            "k.zero"
+          ],
+          "outputs": {
+            "value": "tool-roll.origin.z.value"
+          }
+        },
+        {
+          "id": "tool-roll.frameOnParent",
+          "op": "rigid@1",
+          "args": [
+            "tool-roll.origin.x.value",
+            "tool-roll.origin.y.value",
+            "tool-roll.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "tool-roll.frameOnParent.value"
+          },
+          "params": {
+            "from": "tool-roll.onParent",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "tool-roll.frameOnChild",
+          "op": "rigid@1",
+          "args": [
+            "tool-roll.origin.x.value",
+            "tool-roll.origin.y.value",
+            "tool-roll.origin.z.value",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "tool-roll.frameOnChild.value"
+          },
+          "params": {
+            "from": "tool-roll.onChild",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "tool-roll.motion",
+          "op": "axis-turn@1",
+          "args": [
+            "k.base-pan.axis.x",
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "tool-roll.tool-roll.q.value"
+          ],
+          "outputs": {
+            "pose": "tool-roll.motion.value"
+          },
+          "params": {
+            "from": "tool-roll.onChild",
+            "to": "tool-roll.onParent"
+          }
+        },
+        {
+          "id": "tool-roll.attach",
+          "op": "attach@1",
+          "args": [
+            "tool-roll.frameOnParent.value",
+            "tool-roll.motion.value",
+            "tool-roll.frameOnChild.value"
+          ],
+          "outputs": {
+            "pose": "tool-roll.attach.value"
+          }
+        },
+        {
+          "id": "tool-roll.chain",
+          "op": "compose@1",
+          "args": [
+            "wrist-yaw.chain.value",
+            "tool-roll.attach.value"
+          ],
+          "outputs": {
+            "pose": "tool-roll.chain.value"
+          }
+        },
+        {
+          "id": "pedestal.dim.radiusX",
+          "op": "mul@1",
+          "args": [
+            "k.pedestal.dim.radiusX",
+            "pedestal.round.value"
+          ],
+          "outputs": {
+            "value": "pedestal.dim.radiusX.value"
+          }
+        },
+        {
+          "id": "pedestal.dim.radiusZ",
+          "op": "mul@1",
+          "args": [
+            "k.pedestal.dim.radiusX",
+            "pedestal.round.value"
+          ],
+          "outputs": {
+            "value": "pedestal.dim.radiusZ.value"
+          }
+        },
+        {
+          "id": "pedestal.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.pedestal.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "pedestal.dim.y.value"
+          }
+        },
+        {
+          "id": "pedestal.shape",
+          "op": "cylinder-shape@1",
+          "args": [
+            "pedestal.dim.radiusX.value",
+            "pedestal.dim.y.value"
+          ],
+          "outputs": {
+            "shape": "pedestal.shape.value"
+          },
+          "params": {
+            "frame": "pedestal.local"
+          }
+        },
+        {
+          "id": "pedestal.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "pedestal.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "pedestal.pose.value"
+          },
+          "params": {
+            "from": "pedestal.local",
+            "to": "asset"
+          }
+        },
+        {
+          "id": "pedestal",
+          "op": "place@1",
+          "args": [
+            "pedestal.shape.value",
+            "pedestal.pose.value"
+          ],
+          "outputs": {
+            "placed": "pedestal.value"
+          }
+        },
+        {
+          "id": "shoulder.dim.radiusX",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.radiusX",
+            "shoulder.round.value"
+          ],
+          "outputs": {
+            "value": "shoulder.dim.radiusX.value"
+          }
+        },
+        {
+          "id": "shoulder.dim.radiusZ",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.radiusX",
+            "shoulder.round.value"
+          ],
+          "outputs": {
+            "value": "shoulder.dim.radiusZ.value"
+          }
+        },
+        {
+          "id": "shoulder.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "shoulder.dim.y.value"
+          }
+        },
+        {
+          "id": "shoulder.shape",
+          "op": "cylinder-shape@1",
+          "args": [
+            "shoulder.dim.radiusX.value",
+            "shoulder.dim.y.value"
+          ],
+          "outputs": {
+            "shape": "shoulder.shape.value"
+          },
+          "params": {
+            "frame": "shoulder.local"
+          }
+        },
+        {
+          "id": "shoulder.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "shoulder.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "shoulder.pose.value"
+          },
+          "params": {
+            "from": "shoulder.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "shoulder.moved",
+          "op": "compose@1",
+          "args": [
+            "base-pan.attach.value",
+            "shoulder.pose.value"
+          ],
+          "outputs": {
+            "pose": "shoulder.moved.value"
+          }
+        },
+        {
+          "id": "shoulder",
+          "op": "place@1",
+          "args": [
+            "shoulder.shape.value",
+            "shoulder.moved.value"
+          ],
+          "outputs": {
+            "placed": "shoulder.value"
+          }
+        },
+        {
+          "id": "upper-arm.dim.x",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.y",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "upper-arm.dim.x.value"
+          }
+        },
+        {
+          "id": "upper-arm.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.upper-arm.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "upper-arm.dim.y.value"
+          }
+        },
+        {
+          "id": "upper-arm.dim.z",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.y",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "upper-arm.dim.z.value"
+          }
+        },
+        {
+          "id": "upper-arm.shape",
+          "op": "box-shape@1",
+          "args": [
+            "upper-arm.dim.x.value",
+            "upper-arm.dim.y.value",
+            "upper-arm.dim.z.value"
+          ],
+          "outputs": {
+            "shape": "upper-arm.shape.value"
+          },
+          "params": {
+            "frame": "upper-arm.local"
+          }
+        },
+        {
+          "id": "upper-arm.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "upper-arm.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "upper-arm.pose.value"
+          },
+          "params": {
+            "from": "upper-arm.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "upper-arm.moved",
+          "op": "compose@1",
+          "args": [
+            "shoulder-lift.chain.value",
+            "upper-arm.pose.value"
+          ],
+          "outputs": {
+            "pose": "upper-arm.moved.value"
+          }
+        },
+        {
+          "id": "upper-arm",
+          "op": "place@1",
+          "args": [
+            "upper-arm.shape.value",
+            "upper-arm.moved.value"
+          ],
+          "outputs": {
+            "placed": "upper-arm.value"
+          }
+        },
+        {
+          "id": "forearm.dim.x",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.radiusX",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "forearm.dim.x.value"
+          }
+        },
+        {
+          "id": "forearm.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.forearm.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "forearm.dim.y.value"
+          }
+        },
+        {
+          "id": "forearm.dim.z",
+          "op": "mul@1",
+          "args": [
+            "k.shoulder.dim.radiusX",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "forearm.dim.z.value"
+          }
+        },
+        {
+          "id": "forearm.shape",
+          "op": "box-shape@1",
+          "args": [
+            "forearm.dim.x.value",
+            "forearm.dim.y.value",
+            "forearm.dim.z.value"
+          ],
+          "outputs": {
+            "shape": "forearm.shape.value"
+          },
+          "params": {
+            "frame": "forearm.local"
+          }
+        },
+        {
+          "id": "forearm.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "forearm.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "forearm.pose.value"
+          },
+          "params": {
+            "from": "forearm.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "forearm.moved",
+          "op": "compose@1",
+          "args": [
+            "elbow-flex.chain.value",
+            "forearm.pose.value"
+          ],
+          "outputs": {
+            "pose": "forearm.moved.value"
+          }
+        },
+        {
+          "id": "forearm",
+          "op": "place@1",
+          "args": [
+            "forearm.shape.value",
+            "forearm.moved.value"
+          ],
+          "outputs": {
+            "placed": "forearm.value"
+          }
+        },
+        {
+          "id": "wrist-1.dim.radiusX",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-yaw.origin.y.offset",
+            "wrist-1.round.value"
+          ],
+          "outputs": {
+            "value": "wrist-1.dim.radiusX.value"
+          }
+        },
+        {
+          "id": "wrist-1.dim.radiusZ",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-yaw.origin.y.offset",
+            "wrist-1.round.value"
+          ],
+          "outputs": {
+            "value": "wrist-1.dim.radiusZ.value"
+          }
+        },
+        {
+          "id": "wrist-1.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-1.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "wrist-1.dim.y.value"
+          }
+        },
+        {
+          "id": "wrist-1.shape",
+          "op": "cylinder-shape@1",
+          "args": [
+            "wrist-1.dim.radiusX.value",
+            "wrist-1.dim.y.value"
+          ],
+          "outputs": {
+            "shape": "wrist-1.shape.value"
+          },
+          "params": {
+            "frame": "wrist-1.local"
+          }
+        },
+        {
+          "id": "wrist-1.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "wrist-1.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-1.pose.value"
+          },
+          "params": {
+            "from": "wrist-1.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-1.moved",
+          "op": "compose@1",
+          "args": [
+            "wrist-pitch.chain.value",
+            "wrist-1.pose.value"
+          ],
+          "outputs": {
+            "pose": "wrist-1.moved.value"
+          }
+        },
+        {
+          "id": "wrist-1",
+          "op": "place@1",
+          "args": [
+            "wrist-1.shape.value",
+            "wrist-1.moved.value"
+          ],
+          "outputs": {
+            "placed": "wrist-1.value"
+          }
+        },
+        {
+          "id": "wrist-2.dim.radiusX",
+          "op": "mul@1",
+          "args": [
+            "k.tool-roll.origin.y.offset",
+            "wrist-2.round.value"
+          ],
+          "outputs": {
+            "value": "wrist-2.dim.radiusX.value"
+          }
+        },
+        {
+          "id": "wrist-2.dim.radiusZ",
+          "op": "mul@1",
+          "args": [
+            "k.tool-roll.origin.y.offset",
+            "wrist-2.round.value"
+          ],
+          "outputs": {
+            "value": "wrist-2.dim.radiusZ.value"
+          }
+        },
+        {
+          "id": "wrist-2.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.wrist-2.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "wrist-2.dim.y.value"
+          }
+        },
+        {
+          "id": "wrist-2.shape",
+          "op": "cylinder-shape@1",
+          "args": [
+            "wrist-2.dim.radiusX.value",
+            "wrist-2.dim.y.value"
+          ],
+          "outputs": {
+            "shape": "wrist-2.shape.value"
+          },
+          "params": {
+            "frame": "wrist-2.local"
+          }
+        },
+        {
+          "id": "wrist-2.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "wrist-2.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "wrist-2.pose.value"
+          },
+          "params": {
+            "from": "wrist-2.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "wrist-2.moved",
+          "op": "compose@1",
+          "args": [
+            "wrist-yaw.chain.value",
+            "wrist-2.pose.value"
+          ],
+          "outputs": {
+            "pose": "wrist-2.moved.value"
+          }
+        },
+        {
+          "id": "wrist-2",
+          "op": "place@1",
+          "args": [
+            "wrist-2.shape.value",
+            "wrist-2.moved.value"
+          ],
+          "outputs": {
+            "placed": "wrist-2.value"
+          }
+        },
+        {
+          "id": "flange.dim.radiusX",
+          "op": "mul@1",
+          "args": [
+            "k.flange.dim.radiusX",
+            "flange.round.value"
+          ],
+          "outputs": {
+            "value": "flange.dim.radiusX.value"
+          }
+        },
+        {
+          "id": "flange.dim.radiusZ",
+          "op": "mul@1",
+          "args": [
+            "k.flange.dim.radiusX",
+            "flange.round.value"
+          ],
+          "outputs": {
+            "value": "flange.dim.radiusZ.value"
+          }
+        },
+        {
+          "id": "flange.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.tool-roll.origin.y.offset",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "flange.dim.y.value"
+          }
+        },
+        {
+          "id": "flange.shape",
+          "op": "cylinder-shape@1",
+          "args": [
+            "flange.dim.radiusX.value",
+            "flange.dim.y.value"
+          ],
+          "outputs": {
+            "shape": "flange.shape.value"
+          },
+          "params": {
+            "frame": "flange.local"
+          }
+        },
+        {
+          "id": "flange.pose",
+          "op": "rigid@1",
+          "args": [
+            "k.zero",
+            "flange.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "flange.pose.value"
+          },
+          "params": {
+            "from": "flange.local",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "flange.moved",
+          "op": "compose@1",
+          "args": [
+            "tool-roll.chain.value",
+            "flange.pose.value"
+          ],
+          "outputs": {
+            "pose": "flange.moved.value"
+          }
+        },
+        {
+          "id": "flange",
+          "op": "place@1",
+          "args": [
+            "flange.shape.value",
+            "flange.moved.value"
+          ],
+          "outputs": {
+            "placed": "flange.value"
+          }
+        },
+        {
+          "id": "finger-left.dim.x",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.x",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "finger-left.dim.x.value"
+          }
+        },
+        {
+          "id": "finger-left.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "finger-left.dim.y.value"
+          }
+        },
+        {
+          "id": "finger-left.dim.z",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.z",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "finger-left.dim.z.value"
+          }
+        },
+        {
+          "id": "finger-left.shape",
+          "op": "box-shape@1",
+          "args": [
+            "finger-left.dim.x.value",
+            "finger-left.dim.y.value",
+            "finger-left.dim.z.value"
+          ],
+          "outputs": {
+            "shape": "finger-left.shape.value"
+          },
+          "params": {
+            "frame": "finger-left.local"
+          }
+        },
+        {
+          "id": "finger-left.pose",
+          "op": "rigid@1",
+          "args": [
+            "finger-left.x.centre.value",
+            "finger-left.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "finger-left.pose.value"
+          },
+          "params": {
+            "from": "finger-left.local",
+            "to": "finger-left.rest0"
+          }
+        },
+        {
+          "id": "finger-left.slide0",
+          "op": "axis-slide@1",
+          "args": [
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "k.base-pan.axis.x",
+            "gripper.finger-left.shift.x.value"
+          ],
+          "outputs": {
+            "pose": "finger-left.slide0.value"
+          },
+          "params": {
+            "from": "finger-left.rest0",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "finger-left.shifted0",
+          "op": "compose@1",
+          "args": [
+            "finger-left.slide0.value",
+            "finger-left.pose.value"
+          ],
+          "outputs": {
+            "pose": "finger-left.shifted0.value"
+          }
+        },
+        {
+          "id": "finger-left.moved",
+          "op": "compose@1",
+          "args": [
+            "tool-roll.chain.value",
+            "finger-left.shifted0.value"
+          ],
+          "outputs": {
+            "pose": "finger-left.moved.value"
+          }
+        },
+        {
+          "id": "finger-left",
+          "op": "place@1",
+          "args": [
+            "finger-left.shape.value",
+            "finger-left.moved.value"
+          ],
+          "outputs": {
+            "placed": "finger-left.value"
+          }
+        },
+        {
+          "id": "finger-right.dim.x",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.x",
+            "scale.x.value"
+          ],
+          "outputs": {
+            "value": "finger-right.dim.x.value"
+          }
+        },
+        {
+          "id": "finger-right.dim.y",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.y",
+            "scale.y.value"
+          ],
+          "outputs": {
+            "value": "finger-right.dim.y.value"
+          }
+        },
+        {
+          "id": "finger-right.dim.z",
+          "op": "mul@1",
+          "args": [
+            "k.finger-left.dim.z",
+            "scale.z.value"
+          ],
+          "outputs": {
+            "value": "finger-right.dim.z.value"
+          }
+        },
+        {
+          "id": "finger-right.shape",
+          "op": "box-shape@1",
+          "args": [
+            "finger-right.dim.x.value",
+            "finger-right.dim.y.value",
+            "finger-right.dim.z.value"
+          ],
+          "outputs": {
+            "shape": "finger-right.shape.value"
+          },
+          "params": {
+            "frame": "finger-right.local"
+          }
+        },
+        {
+          "id": "finger-right.pose",
+          "op": "rigid@1",
+          "args": [
+            "finger-right.x.centre.value",
+            "finger-right.y.fromBottom.value",
+            "k.zero",
+            "k.deg.0",
+            "k.deg.0",
+            "k.deg.0"
+          ],
+          "outputs": {
+            "pose": "finger-right.pose.value"
+          },
+          "params": {
+            "from": "finger-right.local",
+            "to": "finger-right.rest0"
+          }
+        },
+        {
+          "id": "finger-right.slide0",
+          "op": "axis-slide@1",
+          "args": [
+            "k.base-pan.base-pan.slope",
+            "k.base-pan.axis.x",
+            "k.base-pan.axis.x",
+            "gripper.finger-right.shift.x.value"
+          ],
+          "outputs": {
+            "pose": "finger-right.slide0.value"
+          },
+          "params": {
+            "from": "finger-right.rest0",
+            "to": "asset.rest"
+          }
+        },
+        {
+          "id": "finger-right.shifted0",
+          "op": "compose@1",
+          "args": [
+            "finger-right.slide0.value",
+            "finger-right.pose.value"
+          ],
+          "outputs": {
+            "pose": "finger-right.shifted0.value"
+          }
+        },
+        {
+          "id": "finger-right.moved",
+          "op": "compose@1",
+          "args": [
+            "tool-roll.chain.value",
+            "finger-right.shifted0.value"
+          ],
+          "outputs": {
+            "pose": "finger-right.moved.value"
+          }
+        },
+        {
+          "id": "finger-right",
+          "op": "place@1",
+          "args": [
+            "finger-right.shape.value",
+            "finger-right.moved.value"
+          ],
+          "outputs": {
+            "placed": "finger-right.value"
+          }
+        }
+      ]
+    },
+    "capabilities": {
+      "version": "r3-capability-3",
+      "assetFrame": "asset",
+      "bindings": [],
+      "names": [
+        "Holdable"
+      ]
+    }
+  },
+  "designInputs": {
+    "size.x": 600,
+    "size.y": 1400,
+    "size.z": 600
+  },
+  "stateDefaults": {
+    "base-pan": 0,
+    "shoulder-lift": 0,
+    "elbow-flex": 0,
+    "wrist-pitch": 0,
+    "wrist-yaw": 0,
+    "tool-roll": 0,
+    "gripper": 0
+  },
+  "palette": {
+    "palette.dark": "#2b2b2b",
+    "palette.primary": "#477b9e",
+    "palette.accent": "#f79c40",
+    "palette.light": "#dddddd"
+  },
+  "appearance": [
+    {
+      "target": "pedestal",
+      "material": {
+        "token": "palette.dark",
+        "preset": "metal"
+      },
+      "segments": 12
+    },
+    {
+      "target": "shoulder",
+      "material": {
+        "token": "palette.primary",
+        "preset": "metal"
+      },
+      "segments": 12
+    },
+    {
+      "target": "upper-arm",
+      "material": {
+        "token": "palette.primary",
+        "preset": "metal"
+      }
+    },
+    {
+      "target": "forearm",
+      "material": {
+        "token": "palette.accent",
+        "preset": "metal"
+      }
+    },
+    {
+      "target": "wrist-1",
+      "material": {
+        "token": "palette.dark",
+        "preset": "metal"
+      },
+      "segments": 12
+    },
+    {
+      "target": "wrist-2",
+      "material": {
+        "token": "palette.accent",
+        "preset": "metal"
+      },
+      "segments": 12
+    },
+    {
+      "target": "flange",
+      "material": {
+        "token": "palette.light",
+        "preset": "metal"
+      },
+      "segments": 12
+    },
+    {
+      "target": "finger-left",
+      "material": {
+        "token": "palette.dark",
+        "preset": "metal"
+      }
+    },
+    {
+      "target": "finger-right",
+      "material": {
+        "token": "palette.dark",
+        "preset": "metal"
+      }
+    }
+  ],
+  "occupancy": {
+    "bounds": {
+      "x": {
+        "min": "occupancy.x.min.value",
+        "max": "occupancy.x.max.value"
+      },
+      "y": {
+        "min": "k.zero",
+        "max": "size.y"
+      },
+      "z": {
+        "min": "occupancy.z.min.value",
+        "max": "occupancy.z.max.value"
+      }
+    },
+    "placement": "floor"
+  },
+  "detailLevel": "L",
+  "stateInputs": {
+    "base-pan": {
+      "label": "Base pan (J1)",
+      "sweep": 4
+    },
+    "shoulder-lift": {
+      "label": "Shoulder lift (J2)",
+      "sweep": 3
+    },
+    "elbow-flex": {
+      "label": "Elbow flex (J3)",
+      "sweep": 3
+    },
+    "wrist-pitch": {
+      "label": "Wrist pitch (J4)",
+      "sweep": 2
+    },
+    "wrist-yaw": {
+      "label": "Wrist yaw (J5)",
+      "sweep": 2
+    },
+    "tool-roll": {
+      "label": "Tool roll (J6)",
+      "sweep": 2
+    },
+    "gripper": {
+      "label": "Gripper stroke",
+      "sweep": 1
+    }
+  }
+}