Skip to main content

YAML Specification

Overview​

This document describes the structure and format of the project.yaml file used by Resolver to define robot workcells, motion planning, and optimization scenarios.

The project.yaml file defines:

  • Robot models and their kinematics
  • Workcell objects and their positions
  • Targets for robot motion
  • Motion planning connections between targets
  • Collision rules and safety constraints

Units and Coordinate Systems​

Default Units​

  • Length: Millimeters (mm)
  • Angles: Radians
  • Time: Seconds

Supported Unit Specifications​

  • Length: "m", "meter", "meters", "cm", "centimeter", "centimeters", "mm", "millimeter", "millimeters", "ft", "foot", "feet", "in", "inch", "inches"
  • Angles: "deg" for degrees

Rotation Convention​

RPY rotations are applied in order: Rz(C) * Ry(B) * Rx(A)

Supported CAD Formats​

Primary Formats​

  • JT (.jt) - Recommended, supports B-Rep and polygonal
  • STEP (.stp, .step) - B-Rep and polygonal
  • STL (.stl) - Polygonal only, requires units specification
  • IGES (.igs, .iges) - B-Rep only

Additional Formats​

  • FBX (.fbx) - Polygonal with assembly structure
  • OBJ (.obj) - Polygonal
  • Collada (.dae) - Polygonal with materials
  • ACIS (.sat, .sab) - B-Rep
  • BRep (.brep) - B-Rep
  • IFC (.ifc) - Building information modeling
  • Para (.x_t, .x_b) - B-Rep
  • Rhino (.3dm) - B-Rep
  • U3D (.u3d) - Polygonal
  • VRML (.wrl) - Polygonal
  • X3D (.x3d) - Polygonal
  • X3MF (.3mf) - Additive manufacturing

Naming Rules​

Uniqueness​

  • All names must be globally unique within the file
  • Robot link/joint names must be unique within each robot model
  • Different robot models can use the same link/joint names

Allowed Characters​

  • Most UTF-8 characters (including Japanese)
  • Spaces allowed (but not at start/end)
  • Cannot contain invisible ASCII control characters (0x00-0x1F)
  • Cannot contain comma (,) or double quotes (")

Reserved Names​

Cannot use (case-insensitive):

  • world, origin, floor, home, null, tcp
  • Cannot start with rtr_

Length Limit​

Maximum 1024 characters per name

Specification​

File Structure​

rtr_project:
  rtr_yaml_version: 4.2.0
  project_name: "Your Project Name"
  floor:
    size: [20, 20]  # Optional: floor dimensions in meters
  workcell:
    robot_models: []
    robots: []
    objects: []
    frames: []
    targets: []
    mates: []
    joints: []
    variable_joint_limits: []  # For complex joint constraints
  roadmaps: []

Robot Models​

Define reusable robot types that can be instantiated multiple times.

Basic Robot Model​

robot_models:
  - name: "IRB6600"
    oem: "ABB"  # Supported: ABB, Fanuc, Kuka, Yaskawa, etc.
    links:
      - name: "base"
        cad_path: "robots/IRB6600/base.jt"
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
      - name: "link_1"
        cad_path: "robots/IRB6600/link_1.jt"
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
    joints:
      - name: "j1"
        parent: { link: "base" }
        child: { link: "link_1" }
        type: "revolute"
        axis: [0, 0, 1]
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
        limits:
          min_position: -3.14
          max_position: 3.14
          max_velocity: 1.57
          max_acceleration: 1.57
          max_jerk: 157
        driver_index: 0
        default_position: 0

Joint Types and Properties​

  • revolute: Rotating joints (most common)
  • prismatic: Linear/sliding joints
Joint Limits​
  • min_position/max_position: Position limits in radians (revolute) or mm (prismatic)
  • max_velocity: Maximum joint velocity in rad/s or mm/s
  • max_acceleration: Maximum joint acceleration in rad/s² or mm/s²
  • max_jerk: Maximum joint jerk in rad/s³ or mm/s³
  • driver_index: 0-based index for joint array ordering
  • default_position: Initial joint position (optional)

Advanced Joint Configurations​

Coupled Joints​

For joints that follow other joints with a scaling factor:

joints:
  - name: "j3"
    parent: { link: "link_2" }
    child: { link: "link_3" }
    type: "revolute"
    axis: [-1, 0, 0]
    coupling:
      leading_joint: "j2"
      follow_factor: -1  # j3 = -j2
Dependent Joints​

For joints controlled by mathematical functions:

joints:
  - name: "bal1"
    parent: { link: "link_1" }
    child: { link: "cyl_link2" }
    type: "revolute"
    axis: [0, 1, 0]
    joint_dependency:
      function: "atan2(270*sin(@j2), (1050-270*cos(@j2)))"
Supported Mathematical Functions​
  • Arithmetic: +, -, *, /, ^
  • Trigonometric: sin, cos, tan, asin, acos, atan, atan2
  • Hyperbolic: sinh, cosh, tanh
  • Logarithmic: sqrt, pow, exp, ln, log2, log10
  • Other: abs, sign, min, max, sum, avg
  • Logical: &&, ||, <, <=, >, >=, !=, ==

Variable Joint Limits​

For complex joint constraints that depend on other joints:

variable_joint_limits:
  - points:
      - { j3: -0.488, j2: 0.645 }
      - { j3: -0.052, j2: 0.645 }
      - { j3: 0.349066, j2: 1.0821 }
      - { j3: 1.91986, j2: 1.48353 }

Robots​

Instantiate robot models in the workcell with specific configurations.

Basic Robot Configuration​

robots:
  - name: "Robot1"
    model: "IRB6600"
    default_preset: "default"
    presets:
      - name: "default"
        tcp_frame: "tcp_frame"
        dilation: 15  # Collision padding in mm
        mates: []
        max_tcp_speed: 100000

Robot Presets​

Each robot can have multiple presets for different configurations:

presets:
  - name: "gripper_open"
    tcp_frame: "tcp"
    dilation: 15
    mates:
      - name: "robot_to_gripper"
        state: "engaged"
      - name: "robot_to_tool"
        state: "suppressed"
    max_tcp_speed: 100000
  - name: "gripper_closed"
    tcp_frame: "tcp"
    dilation: 15
    mates:
      - name: "robot_to_gripper"
        state: "suppressed"
      - name: "robot_to_tool"
        state: "engaged"

Objects​

Define static objects in the workcell.

Basic Objects​

objects:
  - name: "table"
    cad_path: "cad/table.jt"
  - name: "fixture"
    cad_path: "cad/fixture.stl"
    units: "mm"  # Required for STL files

Object Properties​

  • name: Unique object identifier
  • cad_path: Relative path to CAD file (optional for 0D objects)
  • units: Required for STL files (mm, m, cm, in, ft)

Frames​

Define coordinate systems attached to other entities.

Frame Definition​

frames:
  - name: "tcp_frame"
    parent: { link: "link_6" }
    offset_xyz: [0, 0, 200]
    offset_rpy: [0, 0, 0]

Parent Types​

  • origin: World coordinate system
  • frame: Another frame
  • object: Static object
  • link: Robot link
  • robot: Robot with specific link
# Frame attached to origin
parent: { origin: ~ }

# Frame attached to object
parent: { object: "table" }

# Frame attached to robot link
parent: { robot: "Robot1", link: "link_6" }

Targets​

Define positions for robot motion planning.

Target Definition​

targets:
  - name: "pick_position"
    parent: { origin: ~ }
    offset_xyz: [1000, 500, 1000]
    offset_rpy: [0, 0, 0]

Target Constraints​

  • Targets cannot have descendants
  • Cannot be attached to stateful mates or joints
  • Must be reachable by the robot

Mates​

Define constraints between objects in the workcell.

Single-State Mates​

mates:
  - name: "robot_to_tool"
    parent: { robot: "Robot1", link: "link_6" }
    child: { object: "tool" }
    offset_xyz: [0, 0, 0]
    offset_rpy: [0, 0, 0]

Stateful Mates​

For mates with multiple states:

mates:
  - name: "clamp"
    parent: { object: "table" }
    child: { object: "fixture" }
    default_state: "open"
    states:
      - name: "open"
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
      - name: "closed"
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0.26, 0]
      - name: "suppressed"  # Removes object from scene

Mate Rules​

  • All robots and objects must be localized through mates
  • Cannot create circular dependencies
  • Robots cannot descend from stateful mates
  • Mates cannot have robots as children

Joints (External)​

Define joints not part of robot models.

External Joint Example​

joints:
  - name: "servo_jaw"
    parent: { object: "link_1_2" }
    child: { object: "link_3" }
    type: "revolute"
    axis: [1, 0, 0]
    limits:
      min_position: 0
      max_position: 1.57
      max_velocity: 3
      max_acceleration: 30
      max_jerk: 300
    driver_index: 6

Roadmaps​

Define motion planning for robots.

Basic Roadmap​

roadmaps:
  - robot: "Robot1"
    preset: "default"
    assignments:
      - target: "pick_position"
        joint_config: [0.0, 1.57, 0.0, 0.0, 0.0, 0.0]
      - target: "place_position"
        joint_config: [0.5, 1.57, 0.0, 0.0, 0.0, 0.0]
    connections:
      - direct:
          targets: ["pick_position", "place_position"]
          type: "joint"
      - planned:
          targets: ["pick_position", "place_position"]
          planning_time: 60
          optimize: true

Target Assignments​

Each target assignment includes:

  • target: Target name
  • joint_config: Array of joint values (ordered by driver_index)
  • ignore_collision: Optional collision rules for this target
assignments:
  - target: "wp4"
    joint_config: [0.05664, 1.06681, -1.14399, -0.96407, 1.69589, 1.57525]
    ignore_collision: ["link6"]
  - target: "wp5"
    joint_config: [0.05445, 0.81293, -0.70284, -0.94047, 1.61854, 1.76925]
    ignore_collision: [["link_1_2", "plate_world"]]

Soft Joint Limits​

Override robot model joint limits for specific roadmaps:

joint_limits:
  - joint: "j1"
    min_position: -3.142
    max_position: 3.142
  - joint: "j2"
    min_position: -2.056
    max_position: 2.056

Connection Types​

Direct Connections​

Straight-line motion between targets:

direct:
  targets: ["start", "end"]
  type: "joint"  # or "cartesian"
Planned Connections​

Motion planning with obstacle avoidance:

planned:
  targets: ["start", "end"]
  planning_time: 60  # seconds (default: 100)
  dense: true  # Interconnect via points
  optimize: true  # Enable cycle time optimization
  costs:
    - name: "pathlength"
      value: 0.5
    - name: "axismobility"
      value: 0.3
    - name: "viapoints"
      value: 0.2
  robot_obstacles:
    - robot: "Robot2"
      preset: "default"
      targets: ["home"]

Cost Parameters​

For planned connections, specify optimization weights (0-1):

  • pathlength: Prefer shorter paths
  • axismobility: Minimize external axis movement
  • viapoints: Minimize number of via points

Validation Flags​

Control validation behavior:

validation_flags:
  - "all_direct_connections_valid_error"
  - "all_targets_reachable_warning"
  - "all_planned_connections_valid_warning"

Available flags:

  • Direct connections: all_direct_connections_valid_error/warning/ignore
  • Target reachability: all_targets_reachable_error/warning/ignore
  • Planned connections: all_planned_connections_valid_error/warning/ignore

Collision Rules​

Define safety constraints for motion planning.

Ignore Collision Rules​

collision_rules:
  - ignore_collision:
      between:
        first: { complete_robot: "Robot1" }
        second: { complete_world: ~ }
      for:
        complete_roadmap: "all"

Set Clearance Rules​

collision_rules:
  - set_clearance:
      value: 10  # mm
      between:
        first: { partial_robot: ["link_1", "link_2"] }
        second: { partial_world: ["table"] }
      for:
        complete_roadmap: "all"

Collision Rule Types​

  • complete_robot: All movable robot links and EOAT
  • complete_world: All static environment objects
  • partial_robot: Specific robot links
  • partial_world: Specific world objects

Rule Scope​

  • complete_roadmap: "all": Apply to all roadmap elements
  • complete_roadmap: "targets": Apply only to targets
  • partial_roadmap: Apply to specific roadmap portions

Target Sequences​

Define ordered paths through targets:

target_sequences:
  - name: "pick_and_place"
    targets: ["pick_position", "place_position"]
  - name: "inspection_sequence"
    targets: ["inspect_1", "inspect_2", "inspect_3"]

Real-World Example: Spot Welding Station​

This example shows a complex spot welding station with two ABB IRB6600 robots, external joints, and comprehensive collision rules.

Project Structure​

rtr_project:
  rtr_yaml_version: 4.2.0
  project_name: "Spotweld Station"
  workcell:
    robot_models:
      - name: "irb6600_255_175"
        oem: "Default"
        links:
          - name: "base"
            cad_path: "cad/base_089379a0_dfbf_12ce_9ad1_18649c9e6bfd.jt"
            offset_xyz: [0, 0, 0]
            offset_rpy: [0, 0, 0]
            units: "m"
          - name: "link1"
            cad_path: "cad/link1_cef99f0c_3161_d44c_d5ac_3bfdbf4f4911.jt"
            offset_xyz: [0mm, 0mm, 0mm]
            offset_rpy: [0rad, 0rad, 0rad]
            units: "m"
        joints:
          - name: "j1"
            parent: { link: "base" }
            child: { link: "link1" }
            type: "revolute"
            axis: [0, 0, 1]
            limits:
              min_position: -3.14159274101257rad
              max_position: 3.14159274101257rad
              max_velocity: 1.10220932922501rad
              max_acceleration: 1.5707963705065rad
              max_jerk: 62.5031353620533rad
            driver_index: 0
            default_position: -0.0511688020850257rad

External Joints with Dependencies​

joints:
  - name: "R003_cyl"
    parent:
      robot: "R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121"
      link: "link1"
    child:
      frame: "R003_cyl_child"
    offset_xyz: [-286mm, 500mm, 651.25mm]
    offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    type: "revolute"
    axis: [0, 0, 1]
    joint_dependency:
      function: "atan2((128.75*sin((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))),(606+(-1)*(128.75*cos((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))))))"

Complex Collision Rules​

collision_rules:
  - ignore_collision:
      between:
        first: { complete_robot: "R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121" }
        second: { complete_world: ~ }
      for:
        complete_roadmap: "all"
  - set_clearance:
      value: 10
      between:
        first:
          partial_robot:
            - "_17__FENCE_13c5726e_9136_8a05_6756_ed017f555318"
            - "_16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db"
            - "_15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05"
            - "_13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96"
            - "_14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a"
            - "_17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34"
            - "_15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732"
            - "_16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679"
            - robot: "R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906"
              link: "base"
            - "ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba"
            - "DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6"
            - "Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28"
        second:
          partial_world:
            - "link1"
            - "_17__FENCE_13c5726e_9136_8a05_6756_ed017f555318"
            - "_16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db"
            - "_15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05"
            - "_13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96"
            - "_14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a"
            - "_17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34"
            - "_15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732"
            - "_16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679"
            - robot: "R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906"
              link: "base"
            - "ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba"
            - "DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6"
            - "Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28"
            - "cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e"
            - "link2"
            - "piston_600866f0_8f5b_3143_cd05_1c216b5407e3"
            - "link3"
            - "link4"
            - "link5"
            - "link6"
            - "lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e"
            - "lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c"
            - "r872723_6e432a76_d8d8_3907_e185_f7fea84d8943"
            - "r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02"
            - "r871121_9ec9351c_d7d6_bcac_893d_0767558c281e"
            - "r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4"
            - "R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc"
      for:
        complete_roadmap: "all"

Target Sequences for Welding Operations​

target_sequences:
  - name: "R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954"
    targets: ["start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c", "wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7", "wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493", "wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c", "start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a"]

Key Features Demonstrated​

  1. Complex Joint Dependencies: Mathematical functions for external joints
  2. Detailed Collision Rules: Comprehensive safety constraints
  3. Multiple Robots: Two robots working in the same cell
  4. External Joints: Additional joints for tool positioning
  5. Target Sequences: Ordered welding operations
  6. Real-world Units: Mixed units (mm, rad, m) in the same project

Example Complete File​

rtr_project:
  rtr_yaml_version: 4.2.0
  project_name: Spotweld Station
  workcell:
    robot_models:
    - name: irb6600_255_175
      oem: Default
      links:
      - name: base
        cad_path: cad/base_089379a0_dfbf_12ce_9ad1_18649c9e6bfd.jt
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
        units: m
      - name: link1
        cad_path: cad/link1_cef99f0c_3161_d44c_d5ac_3bfdbf4f4911.jt
        offset_xyz: [0mm, 0mm, 0mm]
        offset_rpy: [0rad, 0rad, 0rad]
        units: m
      - name: link2
        cad_path: cad/link2_347d5439_504e_04b4_360e_d7e8fa3700d2.jt
        offset_xyz: [-320mm, 780mm, 500.000000000001mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link3
        cad_path: cad/link3_591bafa8_526c_92df_d2af_2471aa561f3f.jt
        offset_xyz: [-320.000000000001mm, 1855mm, 500mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link4
        cad_path: cad/link4_1b3e88b0_bd32_c378_ce62_1afcd2223691.jt
        offset_xyz: [2055mm, -4.54747350886464E-13mm, 500.000000000001mm]
        offset_rpy: [0rad, -1.5707963267949rad, 0rad]
        units: m
      - name: link5
        cad_path: cad/link5_3c014699_4b55_d4d9_0b92_96a54f91a9ed.jt
        offset_xyz: [-1462mm, 2055mm, 500mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link6
        cad_path: cad/link6_775c1f46_cae8_a66e_43ca_d41ce3b7e703.jt
        offset_xyz: [2055mm, 3.41060513164848E-13mm, 500mm]
        offset_rpy: [0rad, -1.5707963267949rad, 0rad]
        units: m
      joints:
      - name: j1
        parent:
          link: base
        child:
          link: link1
        offset_xyz: [0mm, -4.54747350886464E-13mm, 5.6843418860808E-14mm]
        offset_rpy: [0rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -3.14159274101257rad
          max_position: 3.14159274101257rad
          max_velocity: 1.10220932922501rad
          max_acceleration: 1.5707963705065rad
          max_jerk: 62.5031353620533rad
        axis: [0, 0, 1]
        driver_index: 0
        default_position: -0.0511688020850257rad
      - name: j2
        parent:
          link: link1
        child:
          link: link2
        offset_xyz: [320mm, -500mm, 780mm]
        offset_rpy: [-1.5707963267949rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -1.13446402549744rad
          max_position: 1.48352980613708rad
          max_velocity: 1.48232043991017rad
          max_acceleration: 1.57079637050916rad
          max_jerk: 62.735821572607rad
        axis: [0, 0, 1]
        driver_index: 1
        default_position: 0.0943112272800763rad
      - name: j3
        parent:
          link: link2
        child:
          link: link3
        offset_xyz: [5.11590769747272E-13mm, -1075mm, 1.70530256582424E-12mm]
        offset_rpy: [0rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -3.14159274101257rad
          max_position: 1.22173047065735rad
          max_velocity: 1.4191719887218rad
          max_acceleration: 2.17688544157746rad
          max_jerk: 62.6799094349373rad
        axis: [0, 0, 1]
        driver_index: 2
        default_position: 0.332807541774564rad
      - name: j4
        parent:
          link: link3
        child:
          link: link4
        offset_xyz: [-820mm, -200.000000000001mm, 500mm]
        offset_rpy: [1.5707963267949rad, 1.5707963267949rad, 0rad]
        type: revolute
        limits:
          min_position: -5.23598766326904rad
          max_position: 5.23598766326904rad
          max_velocity: 1.10286245404747rad
          max_acceleration: 1.57079637050694rad
          max_jerk: 62.8296977732534rad
        axis: [0, 0, 1]
        driver_index: 3
        default_position: 1.08355650459689rad
      - name: j5
        parent:
          link: link4
        child:
          link: link5
        offset_xyz: [-0.000200892535303865mm, -499.999999999999mm, 1961.99983468863mm]
        offset_rpy: [-1.5707963267949rad, 0rad, -1.5707963267949rad]
        type: revolute
        limits:
          min_position: -2.09439516067505rad
          max_position: 2.09439516067505rad
          max_velocity: 1.10131294289494rad
          max_acceleration: 1.57079637050683rad
          max_jerk: 62.0549421969652rad
        axis: [0, 0, 1]
        driver_index: 4
        default_position: 1.14677631971079rad
      - name: j6
        parent:
          link: link5
        child:
          link: link6
        offset_xyz: [-1962mm, 0.000663797619836259mm, 500.000455645238mm]
        offset_rpy: [1.5707963267949rad, 1.5707963267949rad, 0rad]
        type: revolute
        limits:
          min_position: -5.23598766326904rad
          max_position: 5.23598766326904rad
          max_velocity: 1.10272604797158rad
          max_acceleration: 1.57079637050694rad
          max_jerk: 62.7614947353139rad
        axis: [0, 0, 1]
        driver_index: 5
        default_position: -1.93848282229863rad
      variable_joint_limits: []
    - name: irb6600_255_175_
      oem: Default
      links:
      - name: base
        cad_path: cad/base_8a8e20a7_e723_6081_7d71_c7ef0a089d78.jt
        offset_xyz: [0, 0, 0]
        offset_rpy: [0, 0, 0]
        units: m
      - name: link1
        cad_path: cad/link1_677d4e90_fa7e_42bd_8b6c_5a97fbf70082.jt
        offset_xyz: [4.54747350886464E-13mm, 0mm, 0mm]
        offset_rpy: [0rad, 0rad, 0rad]
        units: m
      - name: link2
        cad_path: cad/link2_f16cc34a_33d7_c3dc_2a1f_13544cef4c73.jt
        offset_xyz: [-320mm, 779.999999999999mm, 500mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link3
        cad_path: cad/link3_7ca5b5bf_de3c_573d_0153_1d5e23e3c634.jt
        offset_xyz: [-320mm, 1855mm, 500mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link4
        cad_path: cad/link4_dd90e238_b854_d87a_08f5_2363d1d083de.jt
        offset_xyz: [2055mm, 4.54747350886464E-13mm, 500mm]
        offset_rpy: [0rad, -1.5707963267949rad, 0rad]
        units: m
      - name: link5
        cad_path: cad/link5_bf5f5102_7348_152b_82bb_2e9214af9449.jt
        offset_xyz: [-1462mm, 2055mm, 500mm]
        offset_rpy: [1.5707963267949rad, 0rad, 0rad]
        units: m
      - name: link6
        cad_path: cad/link6_2bf4fc3c_5f94_f0df_8a17_6be08a9aa43a.jt
        offset_xyz: [2055mm, 4.2632564145606E-14mm, 500.000000000001mm]
        offset_rpy: [0rad, -1.5707963267949rad, 0rad]
        units: m
      joints:
      - name: j1
        parent:
          link: base
        child:
          link: link1
        offset_xyz: [-4.54747350886464E-13mm, 2.27373675443232E-13mm, 5.6843418860808E-14mm]
        offset_rpy: [0rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -3.14159274101257rad
          max_position: 3.14159274101257rad
          max_velocity: 1.10220932922501rad
          max_acceleration: 1.5707963705065rad
          max_jerk: 62.5031353620686rad
        axis: [0, 0, 1]
        driver_index: 0
        default_position: 0.0566951707401449rad
      - name: j2
        parent:
          link: link1
        child:
          link: link2
        offset_xyz: [320.000000000001mm, -500mm, 780mm]
        offset_rpy: [-1.5707963267949rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -1.13446402549744rad
          max_position: 1.48352980613708rad
          max_velocity: 1.4931076100531rad
          max_acceleration: 3.67146567273879rad
          max_jerk: 62.8221751749479rad
        axis: [0, 0, 1]
        driver_index: 1
        default_position: 1.07697623145172rad
      - name: j3
        parent:
          link: link2
        child:
          link: link3
        offset_xyz: [1.36424205265939E-12mm, -1075mm, -1.30739863379858E-12mm]
        offset_rpy: [0rad, 0rad, 0rad]
        type: revolute
        limits:
          min_position: -3.14159274101257rad
          max_position: 1.22173047065735rad
          max_velocity: 1.57079637050629rad
          max_acceleration: 6.73577924576474rad
          max_jerk: 87.0650331090961rad
        axis: [0, 0, 1]
        driver_index: 2
        default_position: -1.17201261926428rad
      - name: j4
        parent:
          link: link3
        child:
          link: link4
        offset_xyz: [-819.999999999999mm, -200.000000000002mm, 500.000000000001mm]
        offset_rpy: [1.5707963267949rad, 1.5707963267949rad, 0rad]
        type: revolute
        limits:
          min_position: -5.23598766326904rad
          max_position: 5.23598766326904rad
          max_velocity: 1.10201884962726rad
          max_acceleration: 1.57079637050717rad
          max_jerk: 62.4078955632657rad
        axis: [0, 0, 1]
        driver_index: 3
        default_position: -0.966003235874294rad
      - name: j5
        parent:
          link: link4
        child:
          link: link5
        offset_xyz: [6.5864592215803E-05mm, -500mm, 1961.99987346703mm]
        offset_rpy: [-1.5707963267949rad, 0rad, -1.5707963267949rad]
        type: revolute
        limits:
          min_position: -2.09439516067505rad
          max_position: 2.09439516067505rad
          max_velocity: 1.10279915848368rad
          max_acceleration: 1.72615819509481rad
          max_jerk: 62.7980499842488rad
        axis: [0, 0, 1]
        driver_index: 4
        default_position: 1.70609961568422rad
      - name: j6
        parent:
          link: link5
        child:
          link: link6
        offset_xyz: [-1962mm, 0.000483239892673737mm, 499.999511744777mm]
        offset_rpy: [1.5707963267949rad, 1.5707963267949rad, 0rad]
        type: revolute
        limits:
          min_position: -5.23598766326904rad
          max_position: 5.23598766326904rad
          max_velocity: 1.1010127222479rad
          max_acceleration: 2.5523585199867rad
          max_jerk: 61.9048318735382rad
        axis: [0, 0, 1]
        driver_index: 5
        default_position: 1.56047144099202rad
      variable_joint_limits: []
    robots:
    - name: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
      model: irb6600_255_175
      default_preset: Default
      presets:
      - name: Default
        tcp_frame: R003.TCPF 3_105_2_1
        dilation: 15mm
        mates: []
      max_tcp_speed: 3008.06494707738mm
    - name: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
      model: irb6600_255_175_
      default_preset: Default
      presets:
      - name: Default
        tcp_frame: R002.TCPF 3_100_2_1
        dilation: 15mm
        mates: []
      max_tcp_speed: 2941.59076657547mm
    objects:
    - name: Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
      cad_path: cad/Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28.jt
      units: m
    - name: STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
      cad_path: cad/STATION010_b37bb71d_0039_0e59_8287_16dc4971263e.jt
      units: m
    - name: DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
      cad_path: cad/DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6.jt
      units: m
    - name: ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
      cad_path: cad/ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba.jt
      units: m
    - name: R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
      cad_path: cad/R003_baa955ad_6c67_d5e7_d62d_270957ab9db3.jt
      units: m
    - name: cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e
      cad_path: cad/cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e.jt
      units: m
    - name: piston_600866f0_8f5b_3143_cd05_1c216b5407e3
      cad_path: cad/piston_600866f0_8f5b_3143_cd05_1c216b5407e3.jt
      units: m
    - name: R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
      cad_path: cad/R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc.jt
      units: m
    - name: r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
      cad_path: cad/r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4.jt
      units: m
    - name: r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
      cad_path: cad/r871121_9ec9351c_d7d6_bcac_893d_0767558c281e.jt
      units: m
    - name: lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
      cad_path: cad/lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e.jt
      units: m
    - name: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
      cad_path: cad/lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c.jt
      units: m
    - name: r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
      cad_path: cad/r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02.jt
      units: m
    - name: r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
      cad_path: cad/r872723_6e432a76_d8d8_3907_e185_f7fea84d8943.jt
      units: m
    - name: cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3
      cad_path: cad/cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3.jt
      units: m
    - name: piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024
      cad_path: cad/piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024.jt
      units: m
    - name: R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
      cad_path: cad/R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5.jt
      units: m
    - name: r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
      cad_path: cad/r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f.jt
      units: m
    - name: r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
      cad_path: cad/r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4.jt
      units: m
    - name: lnk1_60897878_ef6d_7b76_edd4_036361ec4421
      cad_path: cad/lnk1_60897878_ef6d_7b76_edd4_036361ec4421.jt
      units: m
    - name: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
      cad_path: cad/lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b.jt
      units: m
    - name: r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
      cad_path: cad/r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d.jt
      units: m
    - name: r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
      cad_path: cad/r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13.jt
      units: m
    - name: _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
      cad_path: cad/_16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679.jt
      units: m
    - name: _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
      cad_path: cad/_15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732.jt
      units: m
    - name: _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
      cad_path: cad/_17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34.jt
      units: m
    - name: _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
      cad_path: cad/_14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a.jt
      units: m
    - name: _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
      cad_path: cad/_13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96.jt
      units: m
    - name: _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
      cad_path: cad/_15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05.jt
      units: m
    - name: _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
      cad_path: cad/_16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db.jt
      units: m
    - name: _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
      cad_path: cad/_17__FENCE_13c5726e_9136_8a05_6756_ed017f555318.jt
      units: m
    frames:
    - name: R003.TCPF 3_105_2_1
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link6
      offset_xyz: [-312.916583659752mm, 2.03125528526866mm, 3044.22965611437mm]
      offset_rpy: [-3.13891102945423rad, -0.952111618533149rad, 0.00684177854510448rad]
    - name: R002.TCPF 3_100_2_1
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link6
      offset_xyz: [-312.920681142511mm, 2.03043609441195mm, 3044.2290230684mm]
      offset_rpy: [-3.13890267445853rad, -0.952104432299123rad, 0.00685103768675102rad]
    - name: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_cyl_child
      parent:
        object: cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e
      offset_xyz: [-286mm, 500mm, 651.250000000001mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    - name: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_pist_child
      parent:
        object: piston_600866f0_8f5b_3143_cd05_1c216b5407e3
      offset_xyz: [183.059998mm, 500mm, 750.890015mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    - name: R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc_j1_child
      parent:
        object: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
      offset_xyz: [1.73723882501697E-13mm, 84.5000000000008mm, 8.81350543648398E-13mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    - name: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_cyl_child
      parent:
        object: cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3
      offset_xyz: [-286mm, 500mm, 651.25mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    - name: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_pist_child
      parent:
        object: piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024
      offset_xyz: [183.059997999999mm, 499.999999999999mm, 750.890015mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    - name: R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5_j1_child
      parent:
        object: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
      offset_xyz: [3.23404606046573E-13mm, 84.4999999999996mm, -7.91555150561743E-15mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
    joints:
    - name: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_cyl
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link1
      child:
        frame: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_cyl_child
      offset_xyz: [-286mm, 500mm, 651.25mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
      type: revolute
      axis: [0, 0, 1]
      joint_dependency:
        function: "(atan2((128.75*sin((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))),(606+(-1)*(128.75*cos((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))))))\n"
    - name: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_pist
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link2
      child:
        frame: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121_pist_child
      offset_xyz: [-136.939905740923mm, 29.1099557778056mm, 1000.00006006734mm]
      offset_rpy: [3.14159265358979rad, 0rad, 0rad]
      type: revolute
      axis: [0, 0, 1]
      joint_dependency:
        function: "(((atan2((29.11*sin((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))),(136.94+(-1)*(29.11*cos((@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2})))))))+(@{R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121}::{j2}))\n"
    - name: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_cyl
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link1
      child:
        frame: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_cyl_child
      offset_xyz: [-286mm, 500mm, 651.25mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
      type: revolute
      axis: [0, 0, 1]
      joint_dependency:
        function: "(atan2((128.75*sin((@{R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906}::{j2}))),(606+(-1)*(128.75*cos((@{R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906}::{j2}))))))\n"
    - name: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_pist
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link2
      child:
        frame: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906_pist_child
      offset_xyz: [-136.939984879592mm, 29.1098924926047mm, 1000.00006006733mm]
      offset_rpy: [3.14159265358979rad, 0rad, 0rad]
      type: revolute
      axis: [0, 0, 1]
      joint_dependency:
        function: "(((atan2((29.11*sin((@{R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906}::{j2}))),(136.94+(-1)*(29.11*cos((@{R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906}::{j2})))))))+(@{R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906}::{j2}))\n"
    - name: R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc_j1
      parent:
        object: lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
      child:
        frame: R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc_j1_child
      offset_xyz: [-5.57433122594375E-06mm, 84.4999994660022mm, -3.17566937155789E-05mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
      type: revolute
      limits:
        min_position: -0.01745329252rad
        max_position: 0.401425699998696rad
        max_velocity: 0.48886215921108rad
        max_acceleration: 1.5707959999957rad
        max_jerk: 62.8251738012925rad
      axis: [0, 0, 1]
      driver_index: 6
      default_position: 0.174532994627953rad
    - name: R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5_j1
      parent:
        object: lnk1_60897878_ef6d_7b76_edd4_036361ec4421
      child:
        frame: R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5_j1_child
      offset_xyz: [-5.57441649107204E-06mm, 84.4999994659672mm, -3.17568706122984E-05mm]
      offset_rpy: [1.5707963267949rad, 0rad, 0rad]
      type: revolute
      limits:
        min_position: -0.01745329252rad
        max_position: 0.40142572796rad
        max_velocity: 0.488860770963701rad
        max_acceleration: 1.57079599999567rad
        max_jerk: 62.824479677609rad
      axis: [0, 0, 1]
      driver_index: 6
      default_position: 0.174532994627953rad
    mates:
    - name: origin_to_Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28_Mate
      parent:
        origin: ~
      child:
        object: Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
      offset_xyz: [1588.415521mm, 25.1806590000001mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_STATION010_b37bb71d_0039_0e59_8287_16dc4971263e_Mate
      parent:
        origin: ~
      child:
        object: STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
      offset_xyz: [1588.415521mm, 25.1806590000001mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6_Mate
      parent:
        origin: ~
      child:
        object: DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
      offset_xyz: [1588.415521mm, 25.1806590000001mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba_Mate
      parent:
        origin: ~
      child:
        object: ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
      offset_xyz: [1588.415521mm, 25.1806590000001mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_R003_baa955ad_6c67_d5e7_d62d_270957ab9db3_Mate
      parent:
        origin: ~
      child:
        object: R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
      offset_xyz: [192.101462mm, 2149.513342mm, -5.99999998485146E-06mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_base_089379a0_dfbf_12ce_9ad1_18649c9e6bfd_Mate
      parent:
        origin: ~
      child:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: base
      offset_xyz: [5.04080500000009mm, 2393.050533mm, 0mm]
      offset_rpy: [0rad, 0rad, -1.5707963267949rad]
    - name: link6_775c1f46_cae8_a66e_43ca_d41ce3b7e703_to_R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc_Mate
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link6
      child:
        object: R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
      offset_xyz: [-99.0161496422297mm, 0.628850555035874mm, 2730.03253197938mm]
      offset_rpy: [-3.13249863743115rad, -0.959906081191788rad, 0.0111017881767175rad]
    - name: link6_775c1f46_cae8_a66e_43ca_d41ce3b7e703_to_r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4_Mate
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link6
      child:
        object: r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
      offset_xyz: [-99.0161496422297mm, 0.628850555035874mm, 2730.03253197938mm]
      offset_rpy: [-3.13249863743115rad, -0.959906081191788rad, 0.0111017881767175rad]
    - name: link6_775c1f46_cae8_a66e_43ca_d41ce3b7e703_to_r871121_9ec9351c_d7d6_bcac_893d_0767558c281e_Mate
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link6
      child:
        object: r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
      offset_xyz: [-99.0161496422297mm, 0.628850555035874mm, 2730.03253197938mm]
      offset_rpy: [-3.13249863743115rad, -0.959906081191788rad, 0.0111017881767175rad]
    - name: link6_775c1f46_cae8_a66e_43ca_d41ce3b7e703_to_lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e_Mate
      parent:
        robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
        link: link6
      child:
        object: lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
      offset_xyz: [-99.0161485431054mm, 0.62885779219055mm, 2730.03251645251mm]
      offset_rpy: [-3.13249864918879rad, -0.959906104599569rad, 0.0111017783513385rad]
    - name: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c_to_r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02_Mate
      parent:
        object: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
      child:
        object: r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
      offset_xyz: [2.27373675443232E-13mm, 2.8421709430404E-14mm, 2.27373675443232E-13mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c_to_r872723_6e432a76_d8d8_3907_e185_f7fea84d8943_Mate
      parent:
        object: lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
      child:
        object: r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
      offset_xyz: [2.27373675443232E-13mm, 2.8421709430404E-14mm, 2.27373675443232E-13mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to_base_8a8e20a7_e723_6081_7d71_c7ef0a089d78_Mate
      parent:
        origin: ~
      child:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: base
      offset_xyz: [-5.04080500000032mm, -2393.050533mm, 0mm]
      offset_rpy: [0rad, 0rad, 1.5707963267949rad]
    - name: link6_2bf4fc3c_5f94_f0df_8a17_6be08a9aa43a_to_R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5_Mate
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link6
      child:
        object: R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
      offset_xyz: [-99.0177385048337mm, 0.632071334854786mm, 2730.02303876027mm]
      offset_rpy: [-3.13246696412883rad, -0.959898839064551rad, 0.0111405097350979rad]
    - name: link6_2bf4fc3c_5f94_f0df_8a17_6be08a9aa43a_to_r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f_Mate
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link6
      child:
        object: r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
      offset_xyz: [-99.0177385048337mm, 0.632071334854786mm, 2730.02303876027mm]
      offset_rpy: [-3.13246696412883rad, -0.959898839064551rad, 0.0111405097350979rad]
    - name: link6_2bf4fc3c_5f94_f0df_8a17_6be08a9aa43a_to_r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4_Mate
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link6
      child:
        object: r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
      offset_xyz: [-99.0177385048337mm, 0.632071334854786mm, 2730.02303876027mm]
      offset_rpy: [-3.13246696412883rad, -0.959898839064551rad, 0.0111405097350979rad]
    - name: link6_2bf4fc3c_5f94_f0df_8a17_6be08a9aa43a_to_lnk1_60897878_ef6d_7b76_edd4_036361ec4421_Mate
      parent:
        robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
        link: link6
      child:
        object: lnk1_60897878_ef6d_7b76_edd4_036361ec4421
      offset_xyz: [-99.0177374054392mm, 0.632078571984366mm, 2730.0230232334mm]
      offset_rpy: [-3.13246697588476rad, -0.959898862472593rad, 0.0111404999111618rad]
    - name: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b_to_r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d_Mate
      parent:
        object: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
      child:
        object: r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
      offset_xyz: [-2.27373675443232E-13mm, -1.4210854715202E-14mm, -2.27373675443232E-13mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b_to_r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13_Mate
      parent:
        object: lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
      child:
        object: r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
      offset_xyz: [-2.27373675443232E-13mm, -1.4210854715202E-14mm, -2.27373675443232E-13mm]
      offset_rpy: [0rad, 0rad, 0rad]
    - name: origin_to__16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679_Mate
      parent:
        origin: ~
      child:
        object: _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
      offset_xyz: [-298.214452mm, 3879.725048mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 3.14159265358979rad]
    - name: origin_to__15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732_Mate
      parent:
        origin: ~
      child:
        object: _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
      offset_xyz: [-1712.427946mm, 2465.511059mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, -2.356194rad]
    - name: origin_to__17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34_Mate
      parent:
        origin: ~
      child:
        object: _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
      offset_xyz: [1701.785635mm, 3879.724632mm, -300.000031mm]
      offset_rpy: [0rad, 0rad, 3.14159265358979rad]
    - name: origin_to__14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a_Mate
      parent:
        origin: ~
      child:
        object: _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
      offset_xyz: [-1712.427741mm, 465.511465mm, -299.999787mm]
      offset_rpy: [0rad, 0rad, -1.5707963267949rad]
    - name: origin_to__13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96_Mate
      parent:
        origin: ~
      child:
        object: _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
      offset_xyz: [-1712.426837mm, -534.888303mm, -300.999909mm]
      offset_rpy: [0rad, 0rad, -1.5707963267949rad]
    - name: origin_to__15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05_Mate
      parent:
        origin: ~
      child:
        object: _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
      offset_xyz: [-1712.428742mm, 465.511099mm, -301.000153mm]
      offset_rpy: [0rad, 0rad, 1.5707963267949rad]
    - name: origin_to__16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db_Mate
      parent:
        origin: ~
      child:
        object: _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
      offset_xyz: [-298.213971mm, 3879.723926mm, -301.000153mm]
      offset_rpy: [0rad, 0rad, -2.356194rad]
    - name: origin_to__17__FENCE_13c5726e_9136_8a05_6756_ed017f555318_Mate
      parent:
        origin: ~
      child:
        object: _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
      offset_xyz: [1701.785435mm, 3879.723848mm, -301.000153mm]
      offset_rpy: [0rad, 0rad, 3.14159265358979rad]
    targets:
    - name: start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8
      parent:
        origin: ~
      offset_xyz: [1060.83162479996mm, -1466.49441602517mm, 1561.56226097647mm]
      offset_rpy: [-0.00155778168714551rad, -0.00782115327572752rad, -3.13694566513777rad]
    - name: wp6_dcea5916_39e1_e895_c04c_cae1a3568d60
      parent:
        origin: ~
      offset_xyz: [961.933565007203mm, -530.63726303317mm, 1215.39575097881mm]
      offset_rpy: [0.107150791593914rad, 0.000978188901741971rad, -2.94896707048794rad]
    - name: wp5_56aacf80_e273_a0ba_209a_57687c7ac03e
      parent:
        origin: ~
      offset_xyz: [930.828995999605mm, -234.519590027699mm, 1230.00044198311mm]
      offset_rpy: [0.0216518455633862rad, -0.00203273233706587rad, 3.0460675503493rad]
    - name: wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583
      parent:
        origin: ~
      offset_xyz: [924.799495998944mm, -58.8370040232235mm, 1232.50008697891mm]
      offset_rpy: [0.00727552282983125rad, -0.0080646173582052rad, 3.09764882729109rad]
    - name: start_24cb7e86_dc42_9737_270b_8729742ca628
      parent:
        origin: ~
      offset_xyz: [1060.83162479996mm, -1466.49441602517mm, 1561.56226097647mm]
      offset_rpy: [-0.00155778168714551rad, -0.0078211532757274rad, -3.13694566513777rad]
    - name: start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a
      parent:
        origin: ~
      offset_xyz: [1070.9151451073mm, 1470.60665902546mm, 1561.56275099837mm]
      offset_rpy: [-0.00155774152685628rad, -0.00782158281036188rad, -3.13694566647548rad]
    - name: wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c
      parent:
        origin: ~
      offset_xyz: [925.820272007968mm, 104.91697002498mm, 1233.32005500172mm]
      offset_rpy: [-0.00460145279929027rad, -0.00807071280940906rad, -3.1228565363645rad]
    - name: wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493
      parent:
        origin: ~
      offset_xyz: [930.125656006606mm, 302.23133802502mm, 1230.00051100627mm]
      offset_rpy: [-0.0272322785094948rad, -0.000658968467523212rad, -2.98199134712526rad]
    - name: wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7
      parent:
        origin: ~
      offset_xyz: [963.201038011985mm, 581.622549024144mm, 1211.79087699795mm]
      offset_rpy: [-0.104484033155168rad, 0.000885047484345173rad, 2.92355106075509rad]
    - name: start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c
      parent:
        origin: ~
      offset_xyz: [1070.9151451073mm, 1470.60665902546mm, 1561.56275099837mm]
      offset_rpy: [-0.00155774152685628rad, -0.00782158281036205rad, -3.13694566647548rad]
    variable_joint_limits: []
  roadmaps:
  - robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
    preset: Default
    assignments:
    - target: start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c
      joint_config: [-0.000129634013428827rad, -0.520979135376446rad, 0.509065243840228rad, 0.959969435151773rad, 1.5777360130604rad, -1.56111406305308rad, 0.401426rad]
    - target: wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7
      joint_config: [-0.0511688020849838rad, 0.0943112272800763rad, 0.332807541774564rad, 1.08355650459689rad, 1.14677631971079rad, -1.93848282229863rad, 0.174533rad]
    - target: wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493
      joint_config: [-0.0556249685401277rad, 0.80404012913314rad, -0.700246087784361rad, 0.929436619459962rad, 1.66510857523495rad, -1.79926032768738rad, 0.174533rad]
    - target: wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c
      joint_config: [-0.0629209769852498rad, 0.894321763004645rad, -0.845942308182008rad, 0.956930621436587rad, 1.6042241027791rad, -1.65721436365362rad, 0.174533rad]
    - target: start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a
      joint_config: [-0.000129634013428827rad, -0.520979135376446rad, 0.509065243840228rad, 0.959969435151773rad, 1.5777360130604rad, -1.56111406305308rad, 0.401426rad]
    connections: []
    target_sequences:
    - name: R3_WELD_318cd238_ac5b_d1f6_aa5a_47d394b29954
      targets: [start_5f6ec0c1_75f6_f3be_6131_59c67fcfa05c, wp1_04dd037d_a95a_60ed_cda8_38ab578acbc7, wp2_9c26a1ce_61a2_01b6_7888_2b1de414e493, wp3_dcb9c96b_4214_f169_76a7_9a0db9dd250c, start_a14ac2a1_7cf2_eb47_6258_7e2fa468ba4a]
    collision_rules:
    - ignore_collision:
        between:
          first: complete_robot
          second: complete_world
        for:
          complete_roadmap: all
    - ignore_collision:
        between:
          first: complete_robot
          second: complete_robot
        for:
          complete_roadmap: all
    - set_clearance:
        value: 10
        between:
          first:
            partial_robot:
            - _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
            - _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
            - _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
            - _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
            - _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
            - robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
              link: base
            - ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
          second:
            partial_world:
            - link1
            - _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
            - _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
            - _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
            - _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
            - _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
            - robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
              link: base
            - ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
            - cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e
            - link2
            - piston_600866f0_8f5b_3143_cd05_1c216b5407e3
            - link3
            - link4
            - link5
            - link6
            - lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
            - lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
            - r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
            - r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
            - r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
            - r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
            - R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
        for:
          complete_roadmap: all
    - set_clearance:
        value: 0.10000000000000001
        between:
          first:
            partial_robot:
            - lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
            - lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
            - r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
            - r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
            - r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
            - r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
            - R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
          second:
            partial_world:
            - base
        for:
          complete_roadmap: all
    - set_clearance:
        value: 0.10000000000000001
        between:
          first:
            partial_robot:
            - lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
            - lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
            - r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
            - r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
            - r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
            - r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
            - R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
          second:
            partial_world:
            - link1
            - cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e
            - link2
            - piston_600866f0_8f5b_3143_cd05_1c216b5407e3
            - link3
            - link4
            - link5
            - link6
        for:
          complete_roadmap: all
    - ignore_collision:
        between:
          first:
            partial_robot:
            - r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
            - r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
            - r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
            - r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
          second:
            partial_world:
            - link1
            - cylinder_00da805e_6b78_2cb8_58d4_ff93cf409f2e
            - link2
            - piston_600866f0_8f5b_3143_cd05_1c216b5407e3
            - link3
            - link4
            - link5
            - link6
            - lnk1_8f864c33_0258_577d_1083_9a7ce1e47b3e
            - lnk2_b087bd81_6bd1_cc95_6e44_e46da050d43c
            - r872723_6e432a76_d8d8_3907_e185_f7fea84d8943
            - r872000_fdf4545b_6c85_a2a5_e6c2_9cc211156b02
            - r871121_9ec9351c_d7d6_bcac_893d_0767558c281e
            - r870402_3f5f59dd_e815_324e_f84d_390e92ad47d4
            - R003_GUN_ade04c85_1ff0_0fd8_87f4_342e36948ebc
            - _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
            - _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
            - _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
            - _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
            - _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
            - robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
              link: base
            - base
            - R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
            - ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
        for:
          complete_roadmap: targets
  - robot: R002_5a19de65_b9fc_6c9d_413f_a8284c2e0906
    preset: Default
    assignments:
    - target: start_24cb7e86_dc42_9737_270b_8729742ca628
      joint_config: [0.0001306837760106rad, -0.520930945889822rad, 0.509036272327371rad, -0.959961420153514rad, 1.57772478551223rad, 1.56112955571355rad, 0.401426rad]
    - target: wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583
      joint_config: [0.056695170740145rad, 1.07697623145172rad, -1.17201261926428rad, -0.966003235874294rad, 1.70609961568422rad, 1.56047144099202rad, 0.174533rad]
    - target: wp5_56aacf80_e273_a0ba_209a_57687c7ac03e
      joint_config: [0.0544781937343992rad, 0.813574675991017rad, -0.712996429880192rad, -0.940856691765729rad, 1.62416690382987rad, 1.76157132369805rad, 0.174533rad]
    - target: wp6_dcea5916_39e1_e895_c04c_cae1a3568d60
      joint_config: [0.0471538255678154rad, 0.166172182733177rad, 0.2464137735072rad, -1.06946967275793rad, 1.17387439024695rad, 1.94370546441496rad, 0.174533rad]
    - target: start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8
      joint_config: [0.0001306837760106rad, -0.520930945889822rad, 0.509036272327371rad, -0.959961420153514rad, 1.57772478551223rad, 1.56112955571355rad, 0.401426rad]
    connections: []
    target_sequences:
    - name: R2_WELD_2ffe5187_a42c_bf76_82ff_5504d465106d
      targets: [start_24cb7e86_dc42_9737_270b_8729742ca628, wp4_1c3ddec9_e1bb_9167_24fd_61057bd3c583, wp5_56aacf80_e273_a0ba_209a_57687c7ac03e, wp6_dcea5916_39e1_e895_c04c_cae1a3568d60, start_48f66afb_0e7c_b13b_7999_1cbd0fca3ff8]
    collision_rules:
    - ignore_collision:
        between:
          first: complete_robot
          second: complete_world
        for:
          complete_roadmap: all
    - ignore_collision:
        between:
          first: complete_robot
          second: complete_robot
        for:
          complete_roadmap: all
    - set_clearance:
        value: 10
        between:
          first:
            partial_robot:
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
              link: base
            - R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
          second:
            partial_world:
            - link1
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
              link: base
            - R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
            - cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3
            - link2
            - piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024
            - link3
            - link4
            - link5
            - link6
            - lnk1_60897878_ef6d_7b76_edd4_036361ec4421
            - lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
            - r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
            - r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
            - r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
            - r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
            - R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
        for:
          complete_roadmap: all
    - set_clearance:
        value: 0.10000000000000001
        between:
          first:
            partial_robot:
            - lnk1_60897878_ef6d_7b76_edd4_036361ec4421
            - lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
            - r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
            - r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
            - r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
            - r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
            - R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
          second:
            partial_world:
            - base
        for:
          complete_roadmap: all
    - set_clearance:
        value: 0.10000000000000001
        between:
          first:
            partial_robot:
            - lnk1_60897878_ef6d_7b76_edd4_036361ec4421
            - lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
            - r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
            - r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
            - r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
            - r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
            - R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
          second:
            partial_world:
            - link1
            - cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3
            - link2
            - piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024
            - link3
            - link4
            - link5
            - link6
        for:
          complete_roadmap: all
    - ignore_collision:
        between:
          first:
            partial_robot:
            - r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
            - r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
            - r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
            - r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
          second:
            partial_world:
            - link1
            - cylinder_9a281614_1593_c1df_3f69_8e090e89a8b3
            - link2
            - piston_1fa6cd32_66c3_729b_ec55_4c12f9b1f024
            - link3
            - link4
            - link5
            - link6
            - lnk1_60897878_ef6d_7b76_edd4_036361ec4421
            - lnk2_87f8b2ad_e817_fd51_2fbc_1e2568db6e3b
            - r872723_d2cf6ffb_1658_e7c6_5182_3c6d59bc8d13
            - r872000_38f250eb_f9b8_a63d_e88e_0c991facae5d
            - r871121_b0cb9d21_dfb5_7e4e_fe9d_1618bc9247b4
            - r870402_ad32d536_c1ea_d89d_85df_50b68fe2ea8f
            - R002_GUN_70999a43_6e3f_48ae_0cf5_7b8cc76429f5
            - _17__FENCE_13c5726e_9136_8a05_6756_ed017f555318
            - _16__FENCE_68fbad3c_b261_2df4_6cb6_ea400827d2db
            - _15__FENCE_0f422001_2b3e_e8a5_ef14_a9b0ed36de05
            - _13__FENCE_b1be35c6_d44c_8789_94a7_f10b0afa8b96
            - _14__FENCE_DOOR_a3b82f5b_3ad2_a7e3_9eff_858dfb15ca8a
            - _17__S_POST_d65a49eb_cb9f_afd7_fede_a7d4bff69b34
            - _15__A_POST_aa407e7e_a464_d957_051b_ba9e2be37732
            - _16__A_POST_6819fef0_1b0a_cf91_e36c_42e3d7326679
            - base
            - robot: R003_227c3a9a_f90d_0e9a_d369_206f7f6ec121
              link: base
            - R003_baa955ad_6c67_d5e7_d62d_270957ab9db3
            - ROBOTS_d945aabf_bb37_8530_fb1b_3c65cc1702ba
            - DEVICES_f31f6f29_60e4_9f0e_89e2_5c7c4b3987a6
            - STATION010_b37bb71d_0039_0e59_8287_16dc4971263e
            - Assembly_1d8be1ea_0526_b5bf_80fc_dde85cca6d28
        for:
          complete_roadmap: targets

Advanced Tips​

  1. Start simple: Begin with basic robot models and add complexity gradually
  2. Test connections: Use direct connections first, then add planned connections
  3. Check collisions: Define appropriate collision rules for your application
  4. Units matter: Always specify units for STL files
  5. Unique names: Ensure all names are unique across the entire file
  6. CAD paths: Use relative paths from the YAML file location
  7. Joint dependencies: Use mathematical functions for complex kinematics
  8. Validation flags: Set appropriate validation levels for your use case
  9. Cost optimization: Tune cost parameters for your specific application
  10. Collision rules: Create comprehensive collision rules for safety