{
  "header": {
    "reference": "test",
    "odtversion": 1,
    "lastchange": "08.10.2022 21:59:54",
    "cadystem": "Unity 2021.3.4f1",
    "csys": "lefthanded"
  },
  "assembly": {
    "parts": [
      {
        "id": "39538",
        "partname": "CAD",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "",
        "kinematicreference": "",
        "materials": null,
        "transform": {
          "posx": 0.0,
          "posy": 0.0,
          "posz": 0.0,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39574",
        "partname": "BDUC00157A-0",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "",
        "materials": [
          "PlasticBlack",
          "PlasticBlack"
        ],
        "transform": {
          "posx": 0.0,
          "posy": 0.0,
          "posz": 0.0,
          "rotx": 0.0,
          "roty": 180.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39664",
        "partname": "BDUC00158A-1",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis1",
        "materials": [
          "PlasticBlack",
          "PlasticBlack",
          "PlasticYellow"
        ],
        "transform": {
          "posx": 0.0,
          "posy": 0.0,
          "posz": 0.3451501,
          "rotx": 0.0,
          "roty": 180.0,
          "rotz": 270.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39616",
        "partname": "BDUC00159A-2",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis2",
        "materials": [
          "PlasticYellow"
        ],
        "transform": {
          "posx": 0.150000036,
          "posy": -0.178050041,
          "posz": 0.550000131,
          "rotx": 270.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39654",
        "partname": "BDUC00160A-3",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis3",
        "materials": [
          "PlasticBlack",
          "PlasticBlack",
          "PlasticYellow"
        ],
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 1.37500048,
          "rotx": 0.0,
          "roty": 180.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39610",
        "partname": "BDUC00206A-4",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis4",
        "materials": [
          "PlasticYellow",
          "PlasticYellow",
          "PlasticBlack",
          "PlasticBlack",
          "PlasticBlack",
          "PlasticBlack"
        ],
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 1.51100039,
          "rotx": 0.0,
          "roty": 180.0,
          "rotz": 180.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39658",
        "partname": "BDUC00162A-5",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis5",
        "materials": [
          "PlasticBlack"
        ],
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 2.30000067,
          "rotx": 90.0,
          "roty": 270.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      },
      {
        "id": "39670",
        "partname": "BDUC00163A-6",
        "occurenceid": "",
        "partfile": "",
        "partcomponent": "",
        "lastchange": "",
        "parentid": "39538",
        "kinematicreference": "Axis6",
        "materials": [
          "PlasticBlack"
        ],
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 2.41000056,
          "rotx": 0.0,
          "roty": 180.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null,
        "behaviormodel": ""
      }
    ]
  },
  "kinematicassembly": {
    "kinematics": [
      {
        "id": "39508",
        "kinematicname": "Kinematic",
        "kinematicreference": "",
        "parentid": "",
        "transform": {
          "posx": 0.0,
          "posy": 0.0,
          "posz": 0.0,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null
      },
      {
        "id": "39578",
        "kinematicname": "Axis1",
        "kinematicreference": "Axis1",
        "parentid": "39508",
        "transform": {
          "posx": 0.0,
          "posy": 0.0,
          "posz": 0.0,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "z",
          "maxspeed": 240.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -180.0,
          "upperlimit": 180.0,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "39586",
        "kinematicname": "Axis2",
        "kinematicreference": "Axis2",
        "parentid": "39578",
        "transform": {
          "posx": 0.150000036,
          "posy": -0.178050041,
          "posz": 0.550000131,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "y",
          "maxspeed": 240.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -137.5,
          "upperlimit": 137.5,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "39602",
        "kinematicname": "Axis3",
        "kinematicreference": "Axis3",
        "parentid": "39586",
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 1.37500048,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "y",
          "maxspeed": 335.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -160.0,
          "upperlimit": 160.0,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "39582",
        "kinematicname": "Axis4",
        "kinematicreference": "Axis4",
        "parentid": "39602",
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 1.51100039,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "z",
          "maxspeed": 530.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -270.0,
          "upperlimit": 270.0,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "39598",
        "kinematicname": "Axis5",
        "kinematicreference": "Axis5",
        "parentid": "39582",
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 2.30000067,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "y",
          "maxspeed": 500.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -110.0,
          "upperlimit": 135.0,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "39594",
        "kinematicname": "Axis6",
        "kinematicreference": "Axis6",
        "parentid": "39598",
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 2.41000056,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": {
          "type": "rotation",
          "direction": "z",
          "maxspeed": 1500.0,
          "maxacceleration": 1000.0,
          "lowerlimit": -270.0,
          "upperlimit": 270.0,
          "behaviormodel": ""
        },
        "sensor": null
      },
      {
        "id": "41946",
        "kinematicname": "TCP",
        "kinematicreference": "Gripper",
        "parentid": "39594",
        "transform": {
          "posx": 0.1500001,
          "posy": 0.0,
          "posz": 2.41000056,
          "rotx": 0.0,
          "roty": 0.0,
          "rotz": 0.0
        },
        "drive": null,
        "sensor": null
      }
    ]
  },
  "signals": null
}