{
  "robot_name": "handtuned_arm",
  "source": "manual UI screenshots 2026-08-26",
  "unit_linear": "m",
  "unit_angular": "rad",
  "notes": [
    "xyz/rpy 来自属性面板：相对 parent link，线性单位米、角度弧度。",
    "旋转关节默认绕关节局部 Z（axis=[0,0,1]），姿态由 origin_rpy 决定。",
    "导入时：线性量 ×1000→mm；挂在 base_link 下的关节会烘焙成 STEP 世界坐标（页面 FK 从世界原点起步）。"
  ],
  "base_link": {
    "name": "base_link",
    "solid_names": ["Solid_56", "Solid_55"],
    "origin_xyz": [0.1135, 0.6081, 0.0071],
    "origin_rpy": [0.0, 0.0, 0.0],
    "up_axis": "Z+"
  },
  "links": [
    {
      "name": "base_link",
      "solid_names": ["Solid_56", "Solid_55"]
    },
    {
      "name": "Link_1",
      "solid_names": [
        "Solid_54",
        "Solid_53",
        "Solid_52",
        "Solid_48",
        "Solid_47",
        "Solid_51",
        "Solid_49",
        "Solid_50"
      ]
    },
    {
      "name": "Link_2",
      "solid_names": [
        "Solid_41",
        "Solid_42",
        "Solid_45",
        "Solid_46",
        "Solid_43",
        "Solid_40"
      ]
    },
    {
      "name": "Link_3",
      "solid_names": [
        "Solid_44",
        "Solid_39",
        "Solid_33",
        "Solid_29",
        "Solid_38",
        "Solid_37",
        "Solid_35",
        "Solid_36"
      ]
    },
    {
      "name": "Link_4",
      "solid_names": [
        "Solid_26",
        "Solid_32",
        "Solid_24",
        "Solid_23",
        "Solid_34",
        "Solid_30",
        "Solid_25",
        "Solid_31",
        "Solid_28",
        "Solid_27",
        "Solid_22"
      ]
    },
    {
      "name": "Link_5",
      "solid_names": [
        "Solid_21",
        "Solid_15",
        "Solid_17",
        "Solid_16",
        "Solid_20"
      ]
    },
    {
      "name": "Link_6",
      "solid_names": [
        "Solid_11",
        "Solid_12",
        "Solid_8",
        "Solid_13",
        "Solid_9",
        "Solid_14",
        "Solid_19",
        "Solid_18"
      ]
    },
    {
      "name": "Link_7",
      "solid_names": [
        "Solid_6",
        "Solid_5",
        "Solid_2",
        "Solid_10",
        "Solid_1",
        "Solid_4",
        "Solid_3",
        "Solid_7",
        "Solid_0"
      ]
    }
  ],
  "joints": [
    {
      "name": "Joint_1",
      "joint_type": "revolute",
      "parent": "base_link",
      "child": "Link_1",
      "origin_xyz": [-0.048, 0.001, 0.0],
      "origin_rpy": [0.0, 1.57, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_2",
      "joint_type": "revolute",
      "parent": "Link_1",
      "child": "Link_2",
      "origin_xyz": [0.0, -0.001, -0.062],
      "origin_rpy": [0.0, 1.57, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_3",
      "joint_type": "revolute",
      "parent": "Link_2",
      "child": "Link_3",
      "origin_xyz": [0.0, -0.121, 0.0],
      "origin_rpy": [1.57, 0.0, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_4",
      "joint_type": "revolute",
      "parent": "Link_3",
      "child": "Link_4",
      "origin_xyz": [0.003, 0.0, 0.159],
      "origin_rpy": [0.0, 1.57, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_5",
      "joint_type": "revolute",
      "parent": "Link_4",
      "child": "Link_5",
      "origin_xyz": [-0.128, 0.0, 0.0],
      "origin_rpy": [0.0, 1.57, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_6",
      "joint_type": "revolute",
      "parent": "Link_5",
      "child": "Link_6",
      "origin_xyz": [0.0, -0.001, -0.089],
      "origin_rpy": [0.0, 1.57, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    },
    {
      "name": "Joint_7",
      "joint_type": "revolute",
      "parent": "Link_6",
      "child": "Link_7",
      "origin_xyz": [0.065, 0.0, 0.0],
      "origin_rpy": [1.57, 0.0, 0.0],
      "axis": [0.0, 0.0, 1.0],
      "limits": {
        "lower": -3.142,
        "upper": 3.142,
        "effort": 10.0,
        "velocity": 1.0
      }
    }
  ]
}