{
  "class": "logistics_cage",
  "label": "Cages",
  "items_dir": "assets/logistics_cage",
  "items": [
    {
      "id": "v01_logistics_cage_6d5182",
      "dims_m": [
        0.8,
        1.7,
        0.72
      ],
      "mass_kg": 79.844,
      "tris": 18907,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.3175,
            0.1705,
            0.2775
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.3325,
            0.0625,
            0.265
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.3175,
            0.1705,
            0.2775
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.3025,
            0.0625,
            0.265
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.3175,
            0.1705,
            -0.2775
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.3325,
            0.0625,
            -0.29
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.3175,
            0.1705,
            -0.2775
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.3025,
            0.0625,
            -0.29
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v01_logistics_cage_6d5182/v01_logistics_cage_6d5182.glb"
    },
    {
      "id": "v02_logistics_cage_53cc1a",
      "dims_m": [
        1.2,
        0.9,
        1.0
      ],
      "mass_kg": 118.622,
      "tris": 26908,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.5175,
            0.1455,
            0.4175
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.5325,
            0.0625,
            0.405
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.5175,
            0.1455,
            0.4175
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.5025,
            0.0625,
            0.405
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.5175,
            0.1455,
            -0.4175
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.5325,
            0.0625,
            -0.43
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.5175,
            0.1455,
            -0.4175
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.5025,
            0.0625,
            -0.43
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.585,
            0.19,
            0.485
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v02_logistics_cage_53cc1a/v02_logistics_cage_53cc1a.glb"
    },
    {
      "id": "v03_logistics_cage_83ccfe",
      "dims_m": [
        0.85,
        1.5,
        0.7
      ],
      "mass_kg": 96.104,
      "tris": 37096,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.3425,
            0.1705,
            0.2675
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.3575,
            0.0625,
            0.255
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.3425,
            0.1705,
            0.2675
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.3275,
            0.0625,
            0.255
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.3425,
            0.1705,
            -0.2675
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.3575,
            0.0625,
            -0.28
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.3425,
            0.1705,
            -0.2675
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.3275,
            0.0625,
            -0.28
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.8625,
            0.3375
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v03_logistics_cage_83ccfe/v03_logistics_cage_83ccfe.glb"
    },
    {
      "id": "v04_logistics_cage_0ab216",
      "dims_m": [
        0.72,
        1.7,
        0.82
      ],
      "mass_kg": 66.781,
      "tris": 14857,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.2775,
            0.1705,
            0.3275
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.2925,
            0.0625,
            0.315
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.2775,
            0.1705,
            0.3275
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.2625,
            0.0625,
            0.315
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.2775,
            0.1705,
            -0.3275
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.2925,
            0.0625,
            -0.34
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.2775,
            0.1705,
            -0.3275
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.2625,
            0.0625,
            -0.34
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v04_logistics_cage_0ab216/v04_logistics_cage_0ab216.glb"
    },
    {
      "id": "v05_logistics_cage_412ff7",
      "dims_m": [
        0.7,
        0.75,
        0.6
      ],
      "mass_kg": 31.961,
      "tris": 19279,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.283,
            0.1255,
            0.233
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.295,
            0.05,
            0.223
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.283,
            0.1255,
            0.233
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.271,
            0.05,
            0.223
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.283,
            0.1255,
            -0.233
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.295,
            0.05,
            -0.243
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.283,
            0.1255,
            -0.233
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.271,
            0.05,
            -0.243
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v05_logistics_cage_412ff7/v05_logistics_cage_412ff7.glb"
    },
    {
      "id": "v06_logistics_cage_6c883c",
      "dims_m": [
        1.2,
        1.75,
        1.0
      ],
      "mass_kg": 149.599,
      "tris": 23799,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.502,
            0.2155,
            0.402
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.52,
            0.075,
            0.387
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.502,
            0.2155,
            0.402
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.484,
            0.075,
            0.387
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.502,
            0.2155,
            -0.402
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.52,
            0.075,
            -0.417
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.502,
            0.2155,
            -0.402
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.484,
            0.075,
            -0.417
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v06_logistics_cage_6c883c/v06_logistics_cage_6c883c.glb"
    },
    {
      "id": "v07_logistics_cage_2abfff",
      "dims_m": [
        0.9404,
        1.6736,
        0.7744
      ],
      "mass_kg": 78.586,
      "tris": 21635,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.392184755,
            0.176775074,
            0.309228
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.406312329,
            0.0588648931,
            0.297455022
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.392184755,
            0.176775074,
            0.309228
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.37805718,
            0.0588648931,
            0.297455022
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.392184755,
            0.176775074,
            -0.309228
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.406312329,
            0.0588648931,
            -0.321000979
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.392184755,
            0.176775074,
            -0.309228
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.37805718,
            0.0588648931,
            -0.321000979
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v07_logistics_cage_2abfff/v07_logistics_cage_2abfff.glb"
    },
    {
      "id": "v08_logistics_cage_35ad61",
      "dims_m": [
        1.1064,
        0.9153,
        0.9442
      ],
      "mass_kg": 83.981,
      "tris": 25831,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.479817078,
            0.196102451,
            0.398715373
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.493051793,
            0.055144648,
            0.387686443
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.479817078,
            0.196102451,
            0.398715373
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.466582362,
            0.055144648,
            0.387686443
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.479817078,
            0.196102451,
            -0.398715373
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.493051793,
            0.055144648,
            -0.409744302
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.479817078,
            0.196102451,
            -0.398715373
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.466582362,
            0.055144648,
            -0.409744302
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.579171503,
            0.46147299
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v08_logistics_cage_35ad61/v08_logistics_cage_35ad61.glb"
    },
    {
      "id": "v09_logistics_cage_eebe0d",
      "dims_m": [
        0.8727,
        0.8712,
        0.8723
      ],
      "mass_kg": 52.129,
      "tris": 39260,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.357648988,
            0.188910995,
            0.357410332
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.37191738,
            0.059451631,
            0.345520006
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.357648988,
            0.188910995,
            0.357410332
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.343380597,
            0.059451631,
            0.345520006
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.357648988,
            0.188910995,
            -0.357410332
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.37191738,
            0.059451631,
            -0.369300659
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.357648988,
            0.188910995,
            -0.357410332
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.343380597,
            0.059451631,
            -0.369300659
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v09_logistics_cage_eebe0d/v09_logistics_cage_eebe0d.glb"
    },
    {
      "id": "v10_logistics_cage_10fb0f",
      "dims_m": [
        0.9104,
        0.7813,
        0.6933
      ],
      "mass_kg": 65.33,
      "tris": 22391,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.386275956,
            0.147281993,
            0.277730586
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.398644542,
            0.0515357733,
            0.267423431
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.386275956,
            0.147281993,
            0.277730586
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.373907371,
            0.0515357733,
            0.267423431
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.386275956,
            0.147281993,
            -0.277730586
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.398644542,
            0.0515357733,
            -0.28803774
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.386275956,
            0.147281993,
            -0.277730586
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.373907371,
            0.0515357733,
            -0.28803774
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.488642678,
            0.335594991
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v10_logistics_cage_10fb0f/v10_logistics_cage_10fb0f.glb"
    },
    {
      "id": "v11_logistics_cage_62235e",
      "dims_m": [
        1.0015,
        1.5961,
        0.7873
      ],
      "mass_kg": 84.814,
      "tris": 19807,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.406691327,
            0.194243177,
            0.299615024
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.423928336,
            0.0718208724,
            0.28525085
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.406691327,
            0.194243177,
            0.299615024
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.389454317,
            0.0718208724,
            0.28525085
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.406691327,
            0.194243177,
            -0.299615024
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.423928336,
            0.0718208724,
            -0.313979199
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.406691327,
            0.194243177,
            -0.299615024
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.389454317,
            0.0718208724,
            -0.313979199
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v11_logistics_cage_62235e/v11_logistics_cage_62235e.glb"
    },
    {
      "id": "v12_logistics_cage_8a85b0",
      "dims_m": [
        0.866,
        1.5816,
        0.9489
      ],
      "mass_kg": 76.693,
      "tris": 39044,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.359491198,
            0.12887631,
            0.400966368
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.37274799,
            0.0552366328,
            0.389919041
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.359491198,
            0.12887631,
            0.400966368
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.346234407,
            0.0552366328,
            0.389919041
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.359491198,
            0.12887631,
            -0.400966368
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.37274799,
            0.0552366328,
            -0.412013694
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.359491198,
            0.12887631,
            -0.400966368
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.346234407,
            0.0552366328,
            -0.412013694
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v12_logistics_cage_8a85b0/v12_logistics_cage_8a85b0.glb"
    },
    {
      "id": "v13_logistics_cage_b6a55d",
      "dims_m": [
        1.0037,
        0.9166,
        0.8406
      ],
      "mass_kg": 87.609,
      "tris": 46504,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.422109467,
            0.167130115,
            0.340552548
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.436578075,
            0.0602858636,
            0.328495375
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.422109467,
            0.167130115,
            0.340552548
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.40764086,
            0.0602858636,
            0.328495375
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.422109467,
            0.167130115,
            -0.340552548
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.436578075,
            0.0602858636,
            -0.352609721
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.422109467,
            0.167130115,
            -0.340552548
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.40764086,
            0.0602858636,
            -0.352609721
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.567844044,
            0.408442265
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v13_logistics_cage_b6a55d/v13_logistics_cage_b6a55d.glb"
    },
    {
      "id": "v14_logistics_cage_2894cf",
      "dims_m": [
        1.0341,
        1.2001,
        0.8358
      ],
      "mass_kg": 77.51,
      "tris": 20403,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.435058245,
            0.16335833,
            0.335901436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.449958761,
            0.0620854837,
            0.323484339
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.435058245,
            0.16335833,
            0.335901436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.420157729,
            0.0620854837,
            0.323484339
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.435058245,
            0.16335833,
            -0.335901436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.449958761,
            0.0620854837,
            -0.348318533
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.435058245,
            0.16335833,
            -0.335901436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.420157729,
            0.0620854837,
            -0.348318533
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v14_logistics_cage_2894cf/v14_logistics_cage_2894cf.glb"
    },
    {
      "id": "v15_logistics_cage_052e60",
      "dims_m": [
        0.7812,
        1.3145,
        0.7734
      ],
      "mass_kg": 45.961,
      "tris": 20140,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.30261766,
            0.221021246,
            0.298751234
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.318676724,
            0.0669127688,
            0.28536868
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.30261766,
            0.221021246,
            0.298751234
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.286558595,
            0.0669127688,
            0.28536868
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.30261766,
            0.221021246,
            -0.298751234
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.318676724,
            0.0669127688,
            -0.312133787
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.30261766,
            0.221021246,
            -0.298751234
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.286558595,
            0.0669127688,
            -0.312133787
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v15_logistics_cage_052e60/v15_logistics_cage_052e60.glb"
    },
    {
      "id": "v16_logistics_cage_d065ec",
      "dims_m": [
        0.7582,
        1.2797,
        0.9918
      ],
      "mass_kg": 91.947,
      "tris": 39404,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.292661517,
            0.198545468,
            0.40949327
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.30841963,
            0.0656588046,
            0.39636151
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.292661517,
            0.198545468,
            0.40949327
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.276903404,
            0.0656588046,
            0.39636151
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.292661517,
            0.198545468,
            -0.40949327
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.30841963,
            0.0656588046,
            -0.422625031
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.292661517,
            0.198545468,
            -0.40949327
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.276903404,
            0.0656588046,
            -0.422625031
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v16_logistics_cage_d065ec/v16_logistics_cage_d065ec.glb"
    },
    {
      "id": "v17_logistics_cage_f6eb81",
      "dims_m": [
        0.7313,
        1.272,
        0.6058
      ],
      "mass_kg": 54.218,
      "tris": 16079,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.280986405,
            0.210059818,
            0.218200691
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.296409375,
            0.0642623742,
            0.205348216
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.280986405,
            0.210059818,
            0.218200691
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.265563435,
            0.0642623742,
            0.205348216
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.280986405,
            0.210059818,
            -0.218200691
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.296409375,
            0.0642623742,
            -0.231053166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.280986405,
            0.210059818,
            -0.218200691
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.265563435,
            0.0642623742,
            -0.231053166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v17_logistics_cage_f6eb81/v17_logistics_cage_f6eb81.glb"
    },
    {
      "id": "v18_logistics_cage_127964",
      "dims_m": [
        0.9536,
        1.4771,
        0.986
      ],
      "mass_kg": 76.486,
      "tris": 21295,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.398247266,
            0.163773769,
            0.414466292
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.412479698,
            0.0593017972,
            0.402605932
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.398247266,
            0.163773769,
            0.414466292
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.384014835,
            0.0593017972,
            0.402605932
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.398247266,
            0.163773769,
            -0.414466292
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.412479698,
            0.0593017972,
            -0.426326651
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.398247266,
            0.163773769,
            -0.414466292
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.384014835,
            0.0593017972,
            -0.426326651
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v18_logistics_cage_127964/v18_logistics_cage_127964.glb"
    },
    {
      "id": "v19_logistics_cage_f8d58f",
      "dims_m": [
        1.0319,
        1.1879,
        0.8591
      ],
      "mass_kg": 53.447,
      "tris": 24792,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.439197476,
            0.155911818,
            0.352793075
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.45308411,
            0.057860975,
            0.34122088
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.439197476,
            0.155911818,
            0.352793075
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.425310842,
            0.057860975,
            0.34122088
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.439197476,
            0.155911818,
            -0.352793075
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.45308411,
            0.057860975,
            -0.36436527
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.439197476,
            0.155911818,
            -0.352793075
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.425310842,
            0.057860975,
            -0.36436527
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v19_logistics_cage_f8d58f/v19_logistics_cage_f8d58f.glb"
    },
    {
      "id": "v20_logistics_cage_c007ad",
      "dims_m": [
        0.7993,
        0.9727,
        0.9703
      ],
      "mass_kg": 101.659,
      "tris": 23691,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.307697003,
            0.149854927,
            0.393209674
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.324527574,
            0.0701273783,
            0.379184199
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.307697003,
            0.149854927,
            0.393209674
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.290866433,
            0.0701273783,
            0.379184199
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.307697003,
            0.149854927,
            -0.393209674
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.324527574,
            0.0701273783,
            -0.40723515
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.307697003,
            0.149854927,
            -0.393209674
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.290866433,
            0.0701273783,
            -0.40723515
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.5919367,
            0.47097257
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v20_logistics_cage_c007ad/v20_logistics_cage_c007ad.glb"
    },
    {
      "id": "v21_logistics_cage_4c5863",
      "dims_m": [
        1.0437,
        1.6222,
        0.6132
      ],
      "mass_kg": 103.006,
      "tris": 23227,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.440309285,
            0.171492526,
            0.225073515
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.455120971,
            0.0617153579,
            0.212730443
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.440309285,
            0.171492526,
            0.225073515
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.425497599,
            0.0617153579,
            0.212730443
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.440309285,
            0.171492526,
            -0.225073515
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.455120971,
            0.0617153579,
            -0.237416586
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.440309285,
            0.171492526,
            -0.225073515
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.425497599,
            0.0617153579,
            -0.237416586
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.923187385,
            0.294555916
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v21_logistics_cage_4c5863/v21_logistics_cage_4c5863.glb"
    },
    {
      "id": "v22_logistics_cage_17610e",
      "dims_m": [
        1.1653,
        0.9542,
        0.6822
      ],
      "mass_kg": 54.863,
      "tris": 37352,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.511867242,
            0.149809792,
            0.270296894
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.524601739,
            0.0530604043,
            0.259684813
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.511867242,
            0.149809792,
            0.270296894
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.499132745,
            0.0530604043,
            0.259684813
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.511867242,
            0.149809792,
            -0.270296894
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.524601739,
            0.0530604043,
            -0.280908975
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.511867242,
            0.149809792,
            -0.270296894
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.499132745,
            0.0530604043,
            -0.280908975
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v22_logistics_cage_17610e/v22_logistics_cage_17610e.glb"
    },
    {
      "id": "v23_logistics_cage_0a718d",
      "dims_m": [
        0.7137,
        1.0077,
        0.9712
      ],
      "mass_kg": 48.665,
      "tris": 32696,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.276776932,
            0.137732878,
            0.405541044
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.291302505,
            0.0605232203,
            0.3934364
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.276776932,
            0.137732878,
            0.405541044
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.262251359,
            0.0605232203,
            0.3934364
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.276776932,
            0.137732878,
            -0.405541044
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.291302505,
            0.0605232203,
            -0.417645688
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.276776932,
            0.137732878,
            -0.405541044
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.262251359,
            0.0605232203,
            -0.417645688
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v23_logistics_cage_0a718d/v23_logistics_cage_0a718d.glb"
    },
    {
      "id": "v24_logistics_cage_a3e73a",
      "dims_m": [
        0.8985,
        1.4928,
        0.7854
      ],
      "mass_kg": 96.453,
      "tris": 21475,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.379673838,
            0.195373573,
            0.323116432
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.392169377,
            0.0520647461,
            0.312703483
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.379673838,
            0.195373573,
            0.323116432
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.367178298,
            0.0520647461,
            0.312703483
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.379673838,
            0.195373573,
            -0.323116432
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.392169377,
            0.0520647461,
            -0.333529381
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.379673838,
            0.195373573,
            -0.323116432
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.367178298,
            0.0520647461,
            -0.333529381
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.436812757,
            0.234716304,
            0.380255351
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v24_logistics_cage_a3e73a/v24_logistics_cage_a3e73a.glb"
    },
    {
      "id": "v25_logistics_cage_9de6ff",
      "dims_m": [
        0.7262,
        1.298,
        0.7866
      ],
      "mass_kg": 71.62,
      "tris": 20607,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.274234902,
            0.14700841,
            0.304398013
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.290471159,
            0.06765107,
            0.290867799
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.274234902,
            0.14700841,
            0.304398013
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.257998645,
            0.06765107,
            0.290867799
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.274234902,
            0.14700841,
            -0.304398013
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.290471159,
            0.06765107,
            -0.317928227
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.274234902,
            0.14700841,
            -0.304398013
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.257998645,
            0.06765107,
            -0.317928227
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v25_logistics_cage_9de6ff/v25_logistics_cage_9de6ff.glb"
    },
    {
      "id": "v26_logistics_cage_1cda9a",
      "dims_m": [
        1.0159,
        1.1058,
        0.7679
      ],
      "mass_kg": 70.584,
      "tris": 15281,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.418373815,
            0.150563648,
            0.29441098
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.43473982,
            0.0681916902,
            0.280772642
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.418373815,
            0.150563648,
            0.29441098
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.402007809,
            0.0681916902,
            0.280772642
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.418373815,
            0.150563648,
            -0.29441098
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.43473982,
            0.0681916902,
            -0.308049318
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.418373815,
            0.150563648,
            -0.29441098
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.402007809,
            0.0681916902,
            -0.308049318
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v26_logistics_cage_1cda9a/v26_logistics_cage_1cda9a.glb"
    },
    {
      "id": "v27_logistics_cage_320614",
      "dims_m": [
        0.7733,
        1.5809,
        0.6993
      ],
      "mass_kg": 45.896,
      "tris": 21912,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.303176061,
            0.205507334,
            0.26614641
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.31836759,
            0.0632980381,
            0.253486803
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.303176061,
            0.205507334,
            0.26614641
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.287984532,
            0.0632980381,
            0.253486803
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.303176061,
            0.205507334,
            -0.26614641
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.31836759,
            0.0632980381,
            -0.278806018
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.303176061,
            0.205507334,
            -0.26614641
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.287984532,
            0.0632980381,
            -0.278806018
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v27_logistics_cage_320614/v27_logistics_cage_320614.glb"
    },
    {
      "id": "v28_logistics_cage_866c5d",
      "dims_m": [
        0.7035,
        1.4235,
        0.9823
      ],
      "mass_kg": 98.643,
      "tris": 39984,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.266710713,
            0.196663104,
            0.406124137
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.282201478,
            0.0645448538,
            0.393215166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.266710713,
            0.196663104,
            0.406124137
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.251219948,
            0.0645448538,
            0.393215166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.266710713,
            0.196663104,
            -0.406124137
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.282201478,
            0.0645448538,
            -0.419033107
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.266710713,
            0.196663104,
            -0.406124137
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.251219948,
            0.0645448538,
            -0.419033107
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v28_logistics_cage_866c5d/v28_logistics_cage_866c5d.glb"
    },
    {
      "id": "v29_logistics_cage_24af55",
      "dims_m": [
        0.8251,
        0.9693,
        0.6615
      ],
      "mass_kg": 74.347,
      "tris": 24563,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.317426498,
            0.198655022,
            0.235606922
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.334871783,
            0.0726886872,
            0.221069185
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.317426498,
            0.198655022,
            0.235606922
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.299981213,
            0.0726886872,
            0.221069185
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.317426498,
            0.198655022,
            -0.235606922
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.334871783,
            0.0726886872,
            -0.25014466
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.317426498,
            0.198655022,
            -0.235606922
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.299981213,
            0.0726886872,
            -0.25014466
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.609397903,
            0.319163874
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v29_logistics_cage_24af55/v29_logistics_cage_24af55.glb"
    },
    {
      "id": "v30_logistics_cage_af08ac",
      "dims_m": [
        0.7813,
        0.9415,
        0.8972
      ],
      "mass_kg": 47.006,
      "tris": 14869,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.312507164,
            0.192713239,
            0.37042344
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.326666038,
            0.0589953099,
            0.358624379
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.312507164,
            0.192713239,
            0.37042344
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.298348289,
            0.0589953099,
            0.358624379
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.312507164,
            0.192713239,
            -0.37042344
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.326666038,
            0.0589953099,
            -0.382222502
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.312507164,
            0.192713239,
            -0.37042344
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.298348289,
            0.0589953099,
            -0.382222502
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v30_logistics_cage_af08ac/v30_logistics_cage_af08ac.glb"
    },
    {
      "id": "v31_logistics_cage_c5c94a",
      "dims_m": [
        0.7388,
        0.9897,
        0.8762
      ],
      "mass_kg": 47.171,
      "tris": 32144,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.287017533,
            0.145243851,
            0.355723673
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.301991746,
            0.0623925578,
            0.343245161
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.287017533,
            0.145243851,
            0.355723673
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.272043319,
            0.0623925578,
            0.343245161
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.287017533,
            0.145243851,
            -0.355723673
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.301991746,
            0.0623925578,
            -0.368202184
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.287017533,
            0.145243851,
            -0.355723673
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.272043319,
            0.0623925578,
            -0.368202184
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v31_logistics_cage_c5c94a/v31_logistics_cage_c5c94a.glb"
    },
    {
      "id": "v32_logistics_cage_c912a5",
      "dims_m": [
        0.8162,
        1.1687,
        0.7288
      ],
      "mass_kg": 67.935,
      "tris": 17711,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.310593869,
            0.185267695,
            0.266886577
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.32849587,
            0.0745916705,
            0.251968243
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.310593869,
            0.185267695,
            0.266886577
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.292691868,
            0.0745916705,
            0.251968243
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.310593869,
            0.185267695,
            -0.266886577
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.32849587,
            0.0745916705,
            -0.281804911
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.310593869,
            0.185267695,
            -0.266886577
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.292691868,
            0.0745916705,
            -0.281804911
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v32_logistics_cage_c912a5/v32_logistics_cage_c912a5.glb"
    },
    {
      "id": "v33_logistics_cage_2b5a18",
      "dims_m": [
        0.8727,
        0.9577,
        0.6092
      ],
      "mass_kg": 68.508,
      "tris": 26612,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.34620899,
            0.191077886,
            0.214464729
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.36268789,
            0.0686620845,
            0.200732313
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.34620899,
            0.191077886,
            0.214464729
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.329730089,
            0.0686620845,
            0.200732313
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.34620899,
            0.191077886,
            -0.214464729
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.36268789,
            0.0686620845,
            -0.228197146
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.34620899,
            0.191077886,
            -0.214464729
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.329730089,
            0.0686620845,
            -0.228197146
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.424332295,
            0.229613244,
            0.292588035
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v33_logistics_cage_2b5a18/v33_logistics_cage_2b5a18.glb"
    },
    {
      "id": "v34_logistics_cage_da3600",
      "dims_m": [
        1.0743,
        1.3426,
        0.8798
      ],
      "mass_kg": 97.786,
      "tris": 21843,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.469991034,
            0.132540792,
            0.3727218
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.482026211,
            0.0501465716,
            0.362692486
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.469991034,
            0.132540792,
            0.3727218
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.457955856,
            0.0501465716,
            0.362692486
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.469991034,
            0.132540792,
            -0.3727218
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.482026211,
            0.0501465716,
            -0.382751114
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.469991034,
            0.132540792,
            -0.3727218
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.457955856,
            0.0501465716,
            -0.382751114
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.526395005,
            0.168596347,
            0.429125771
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v34_logistics_cage_da3600/v34_logistics_cage_da3600.glb"
    },
    {
      "id": "v35_logistics_cage_e3d8d7",
      "dims_m": [
        1.0638,
        1.3615,
        0.7367
      ],
      "mass_kg": 118.809,
      "tris": 23603,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.463432865,
            0.161331311,
            0.299859436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.47571922,
            0.0511931488,
            0.289620806
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.463432865,
            0.161331311,
            0.299859436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.451146509,
            0.0511931488,
            0.289620806
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.463432865,
            0.161331311,
            -0.299859436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.47571922,
            0.0511931488,
            -0.310098065
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.463432865,
            0.161331311,
            -0.299859436
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.451146509,
            0.0511931488,
            -0.310098065
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.792451531,
            0.353940218
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v35_logistics_cage_e3d8d7/v35_logistics_cage_e3d8d7.glb"
    },
    {
      "id": "v36_logistics_cage_4f6332",
      "dims_m": [
        1.06,
        1.2786,
        0.792
      ],
      "mass_kg": 85.589,
      "tris": 18351,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.440597112,
            0.152769945,
            0.306562187
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.456935619,
            0.0680771096,
            0.292946765
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.440597112,
            0.152769945,
            0.306562187
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.424258606,
            0.0680771096,
            0.292946765
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.440597112,
            0.152769945,
            -0.306562187
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.456935619,
            0.0680771096,
            -0.320177608
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.440597112,
            0.152769945,
            -0.306562187
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.424258606,
            0.0680771096,
            -0.320177608
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v36_logistics_cage_4f6332/v36_logistics_cage_4f6332.glb"
    },
    {
      "id": "v37_logistics_cage_b4794e",
      "dims_m": [
        0.8639,
        1.0461,
        0.6472
      ],
      "mass_kg": 66.09,
      "tris": 15787,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.359584321,
            0.21601323,
            0.251192824
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.372626628,
            0.0543429455,
            0.240324235
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.359584321,
            0.21601323,
            0.251192824
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.346542014,
            0.0543429455,
            0.240324235
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.359584321,
            0.21601323,
            -0.251192824
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.372626628,
            0.0543429455,
            -0.262061413
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.359584321,
            0.21601323,
            -0.251192824
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.346542014,
            0.0543429455,
            -0.262061413
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v37_logistics_cage_b4794e/v37_logistics_cage_b4794e.glb"
    },
    {
      "id": "v38_logistics_cage_842942",
      "dims_m": [
        0.804,
        1.1265,
        0.6877
      ],
      "mass_kg": 57.969,
      "tris": 27376,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.327902935,
            0.197541343,
            0.269744222
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.341281065,
            0.0557422096,
            0.25859578
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.327902935,
            0.197541343,
            0.269744222
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.314524804,
            0.0557422096,
            0.25859578
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.327902935,
            0.197541343,
            -0.269744222
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.341281065,
            0.0557422096,
            -0.280892664
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.327902935,
            0.197541343,
            -0.269744222
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.314524804,
            0.0557422096,
            -0.280892664
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v38_logistics_cage_842942/v38_logistics_cage_842942.glb"
    },
    {
      "id": "v39_logistics_cage_802391",
      "dims_m": [
        0.9248,
        1.3436,
        0.8963
      ],
      "mass_kg": 73.464,
      "tris": 17731,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.392240675,
            0.216497383,
            0.377970992
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.404853057,
            0.0525515882,
            0.367460674
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.392240675,
            0.216497383,
            0.377970992
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.379628294,
            0.0525515882,
            0.367460674
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.392240675,
            0.216497383,
            -0.377970992
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.404853057,
            0.0525515882,
            -0.388481309
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.392240675,
            0.216497383,
            -0.377970992
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.379628294,
            0.0525515882,
            -0.388481309
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v39_logistics_cage_802391/v39_logistics_cage_802391.glb"
    },
    {
      "id": "v40_logistics_cage_3d2973",
      "dims_m": [
        0.9595,
        1.5255,
        0.6795
      ],
      "mass_kg": 111.82,
      "tris": 22183,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.412126766,
            0.1378593,
            0.27209896
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.424248534,
            0.0505073673,
            0.261997486
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.412126766,
            0.1378593,
            0.27209896
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.400004998,
            0.0505073673,
            0.261997486
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.412126766,
            0.1378593,
            -0.27209896
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.424248534,
            0.0505073673,
            -0.282200433
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.412126766,
            0.1378593,
            -0.27209896
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.400004998,
            0.0505073673,
            -0.282200433
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.861032283,
            0.326175884
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v40_logistics_cage_3d2973/v40_logistics_cage_3d2973.glb"
    },
    {
      "id": "v41_logistics_cage_5a891f",
      "dims_m": [
        1.1493,
        1.6633,
        0.9147
      ],
      "mass_kg": 127.869,
      "tris": 25787,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.477799762,
            0.193547056,
            0.360517761
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.495577121,
            0.0740723295,
            0.345703295
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.477799762,
            0.193547056,
            0.360517761
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.460022403,
            0.0740723295,
            0.345703295
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.477799762,
            0.193547056,
            -0.360517761
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.495577121,
            0.0740723295,
            -0.375332227
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.477799762,
            0.193547056,
            -0.360517761
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.460022403,
            0.0740723295,
            -0.375332227
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.956006847,
            0.444704826
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v41_logistics_cage_5a891f/v41_logistics_cage_5a891f.glb"
    },
    {
      "id": "v42_logistics_cage_46bf0a",
      "dims_m": [
        1.1833,
        1.5605,
        0.7975
      ],
      "mass_kg": 147.772,
      "tris": 25131,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.518771493,
            0.21226507,
            0.325870906
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.531910643,
            0.054746459,
            0.314921615
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.518771493,
            0.21226507,
            0.325870906
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.505632343,
            0.054746459,
            0.314921615
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.518771493,
            0.21226507,
            -0.325870906
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.531910643,
            0.054746459,
            -0.336820198
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.518771493,
            0.21226507,
            -0.325870906
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.505632343,
            0.054746459,
            -0.336820198
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.57696645,
            0.256146375,
            0.384065863
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v42_logistics_cage_46bf0a/v42_logistics_cage_46bf0a.glb"
    },
    {
      "id": "v43_logistics_cage_b2cbc9",
      "dims_m": [
        0.9928,
        1.6541,
        0.6769
      ],
      "mass_kg": 112.084,
      "tris": 22307,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.401563612,
            0.17825477,
            0.243608321
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.418947564,
            0.0724331333,
            0.229121694
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.401563612,
            0.17825477,
            0.243608321
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.38417966,
            0.0724331333,
            0.229121694
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.401563612,
            0.17825477,
            -0.243608321
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.418947564,
            0.0724331333,
            -0.258094948
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.401563612,
            0.17825477,
            -0.243608321
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.38417966,
            0.0724331333,
            -0.258094948
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.484131005,
            0.217254153,
            0.326175715
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v43_logistics_cage_b2cbc9/v43_logistics_cage_b2cbc9.glb"
    },
    {
      "id": "v44_logistics_cage_49f4db",
      "dims_m": [
        0.8513,
        1.6213,
        0.7265
      ],
      "mass_kg": 110.281,
      "tris": 37844,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.344943855,
            0.20879557,
            0.282543512
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.359594481,
            0.061044274,
            0.270334658
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.344943855,
            0.20879557,
            0.282543512
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.330293229,
            0.061044274,
            0.270334658
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.344943855,
            0.20879557,
            -0.282543512
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.359594481,
            0.061044274,
            -0.294752367
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.344943855,
            0.20879557,
            -0.282543512
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.330293229,
            0.061044274,
            -0.294752367
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.412729759,
            0.249113562,
            0.350329416
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v44_logistics_cage_49f4db/v44_logistics_cage_49f4db.glb"
    },
    {
      "id": "v45_logistics_cage_49c557",
      "dims_m": [
        1.1715,
        1.0988,
        0.7228
      ],
      "mass_kg": 78.001,
      "tris": 37760,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.513979312,
            0.147040281,
            0.289626972
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.526901053,
            0.0538405861,
            0.278858855
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.513979312,
            0.147040281,
            0.289626972
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.501057572,
            0.0538405861,
            0.278858855
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.513979312,
            0.147040281,
            -0.289626972
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.526901053,
            0.0538405861,
            -0.300395089
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.513979312,
            0.147040281,
            -0.289626972
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.501057572,
            0.0538405861,
            -0.300395089
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v45_logistics_cage_49c557/v45_logistics_cage_49c557.glb"
    },
    {
      "id": "v46_logistics_cage_0f98ee",
      "dims_m": [
        0.9089,
        0.9931,
        0.7037
      ],
      "mass_kg": 52.776,
      "tris": 18075,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.385288797,
            0.196170909,
            0.282670047
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.397706422,
            0.0517401034,
            0.272322026
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.385288797,
            0.196170909,
            0.282670047
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.372871173,
            0.0517401034,
            0.272322026
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.385288797,
            0.196170909,
            -0.282670047
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.397706422,
            0.0517401034,
            -0.293018067
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.385288797,
            0.196170909,
            -0.282670047
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.372871173,
            0.0517401034,
            -0.293018067
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v46_logistics_cage_0f98ee/v46_logistics_cage_0f98ee.glb"
    },
    {
      "id": "v47_logistics_cage_584ec7",
      "dims_m": [
        1.1374,
        1.0116,
        0.6358
      ],
      "mass_kg": 75.177,
      "tris": 14899,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.481882445,
            0.211881798,
            0.231064479
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.497719066,
            0.0659859208,
            0.217867295
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.481882445,
            0.211881798,
            0.231064479
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.466045824,
            0.0659859208,
            0.217867295
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.481882445,
            0.211881798,
            -0.231064479
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.497719066,
            0.0659859208,
            -0.244261663
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.481882445,
            0.211881798,
            -0.231064479
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.466045824,
            0.0659859208,
            -0.244261663
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v47_logistics_cage_584ec7/v47_logistics_cage_584ec7.glb"
    },
    {
      "id": "v48_logistics_cage_ca730f",
      "dims_m": [
        0.9624,
        1.322,
        0.952
      ],
      "mass_kg": 78.58,
      "tris": 26140,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.40356982,
            0.20737179,
            0.398338964
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.417630651,
            0.0585867967,
            0.386621605
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.40356982,
            0.20737179,
            0.398338964
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.389508989,
            0.0585867967,
            0.386621605
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.40356982,
            0.20737179,
            -0.398338964
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.417630651,
            0.0585867967,
            -0.410056323
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.40356982,
            0.20737179,
            -0.398338964
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.389508989,
            0.0585867967,
            -0.410056323
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v48_logistics_cage_ca730f/v48_logistics_cage_ca730f.glb"
    },
    {
      "id": "v49_logistics_cage_607b3f",
      "dims_m": [
        0.8388,
        1.4098,
        0.7489
      ],
      "mass_kg": 89.098,
      "tris": 38220,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.349363479,
            0.11952378,
            0.304409365
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.3619551,
            0.0524650893,
            0.293916347
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.349363479,
            0.11952378,
            0.304409365
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.336771857,
            0.0524650893,
            0.293916347
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.349363479,
            0.11952378,
            -0.304409365
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.3619551,
            0.0524650893,
            -0.314902383
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.349363479,
            0.11952378,
            -0.304409365
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.336771857,
            0.0524650893,
            -0.314902383
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v49_logistics_cage_607b3f/v49_logistics_cage_607b3f.glb"
    },
    {
      "id": "v50_logistics_cage_ac5bca",
      "dims_m": [
        1.1493,
        1.0942,
        0.8502
      ],
      "mass_kg": 75.762,
      "tris": 15537,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.493501683,
            0.209263808,
            0.343927112
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.508240527,
            0.061411851,
            0.331644742
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.493501683,
            0.209263808,
            0.343927112
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.478762839,
            0.061411851,
            0.331644742
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.493501683,
            0.209263808,
            -0.343927112
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.508240527,
            0.061411851,
            -0.356209483
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.493501683,
            0.209263808,
            -0.343927112
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.478762839,
            0.061411851,
            -0.356209483
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v50_logistics_cage_ac5bca/v50_logistics_cage_ac5bca.glb"
    },
    {
      "id": "v51_logistics_cage_1cca13",
      "dims_m": [
        0.9222,
        1.4366,
        0.7008
      ],
      "mass_kg": 103.543,
      "tris": 36776,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.383656168,
            0.157788349,
            0.272953686
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.397682351,
            0.058442426,
            0.261265201
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.383656168,
            0.157788349,
            0.272953686
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.369629986,
            0.058442426,
            0.261265201
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.383656168,
            0.157788349,
            -0.272953686
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.397682351,
            0.058442426,
            -0.284642171
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.383656168,
            0.157788349,
            -0.272953686
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.369629986,
            0.058442426,
            -0.284642171
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.448300874,
            0.197936155,
            0.337598392
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v51_logistics_cage_1cca13/v51_logistics_cage_1cca13.glb"
    },
    {
      "id": "v52_logistics_cage_477768",
      "dims_m": [
        0.9954,
        1.5612,
        0.6179
      ],
      "mass_kg": 91.719,
      "tris": 19083,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.409032938,
            0.184802726,
            0.220299074
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.425222028,
            0.0674545391,
            0.206808166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.409032938,
            0.184802726,
            0.220299074
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.392843849,
            0.0674545391,
            0.206808166
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.409032938,
            0.184802726,
            -0.220299074
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.425222028,
            0.0674545391,
            -0.233789982
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.409032938,
            0.184802726,
            -0.220299074
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.392843849,
            0.0674545391,
            -0.233789982
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v52_logistics_cage_477768/v52_logistics_cage_477768.glb"
    },
    {
      "id": "v53_logistics_cage_002c20",
      "dims_m": [
        1.0486,
        1.0886,
        0.6454
      ],
      "mass_kg": 40.238,
      "tris": 24148,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.449959413,
            0.208377922,
            0.248367842
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.463379987,
            0.0559190551,
            0.237184031
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.449959413,
            0.208377922,
            0.248367842
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.43653884,
            0.0559190551,
            0.237184031
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.449959413,
            0.208377922,
            -0.248367842
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.463379987,
            0.0559190551,
            -0.259551653
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.449959413,
            0.208377922,
            -0.248367842
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.43653884,
            0.0559190551,
            -0.259551653
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v53_logistics_cage_002c20/v53_logistics_cage_002c20.glb"
    },
    {
      "id": "v54_logistics_cage_29f20c",
      "dims_m": [
        1.1888,
        1.6541,
        0.9266
      ],
      "mass_kg": 82.251,
      "tris": 17581,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.498292986,
            0.180738115,
            0.367201978
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.51592944,
            0.0734852286,
            0.352504932
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.498292986,
            0.180738115,
            0.367201978
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.480656531,
            0.0734852286,
            0.352504932
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.498292986,
            0.180738115,
            -0.367201978
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.51592944,
            0.0734852286,
            -0.381899024
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.498292986,
            0.180738115,
            -0.367201978
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.480656531,
            0.0734852286,
            -0.381899024
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v54_logistics_cage_29f20c/v54_logistics_cage_29f20c.glb"
    },
    {
      "id": "v55_logistics_cage_0170f8",
      "dims_m": [
        1.1445,
        1.0577,
        0.827
      ],
      "mass_kg": 82.926,
      "tris": 39544,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.49563604,
            0.153911785,
            0.336888921
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.50949323,
            0.057738293,
            0.325341262
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.49563604,
            0.153911785,
            0.336888921
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.481778849,
            0.057738293,
            0.325341262
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.49563604,
            0.153911785,
            -0.336888921
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.50949323,
            0.057738293,
            -0.348436579
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.49563604,
            0.153911785,
            -0.336888921
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.481778849,
            0.057738293,
            -0.348436579
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v55_logistics_cage_0170f8/v55_logistics_cage_0170f8.glb"
    },
    {
      "id": "v56_logistics_cage_d955f7",
      "dims_m": [
        0.933,
        1.3803,
        0.8086
      ],
      "mass_kg": 60.912,
      "tris": 22984,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.3903415,
            0.138504281,
            0.328102036
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.404118293,
            0.0574033067,
            0.316621375
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.3903415,
            0.138504281,
            0.328102036
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.376564706,
            0.0574033067,
            0.316621375
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.3903415,
            0.138504281,
            -0.328102036
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.404118293,
            0.0574033067,
            -0.339582698
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.3903415,
            0.138504281,
            -0.328102036
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.376564706,
            0.0574033067,
            -0.339582698
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v56_logistics_cage_d955f7/v56_logistics_cage_d955f7.glb"
    },
    {
      "id": "v57_logistics_cage_728688",
      "dims_m": [
        1.1209,
        0.9024,
        0.9468
      ],
      "mass_kg": 85.773,
      "tris": 23371,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.474912753,
            0.193491787,
            0.387864397
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.490499956,
            0.0649466791,
            0.374875061
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.474912753,
            0.193491787,
            0.387864397
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.459325551,
            0.0649466791,
            0.374875061
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.474912753,
            0.193491787,
            -0.387864397
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.490499956,
            0.0649466791,
            -0.400853733
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.474912753,
            0.193491787,
            -0.387864397
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.459325551,
            0.0649466791,
            -0.400853733
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.5735055,
            0.461732453
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v57_logistics_cage_728688/v57_logistics_cage_728688.glb"
    },
    {
      "id": "v58_logistics_cage_d22868",
      "dims_m": [
        0.8532,
        1.6384,
        0.71
      ],
      "mass_kg": 102.662,
      "tris": 34628,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.339273549,
            0.206813868,
            0.267698194
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.355203055,
            0.066372941,
            0.254423606
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.339273549,
            0.206813868,
            0.267698194
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.323344043,
            0.066372941,
            0.254423606
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.339273549,
            0.206813868,
            -0.267698194
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.355203055,
            0.066372941,
            -0.280972783
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.339273549,
            0.206813868,
            -0.267698194
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.323344043,
            0.066372941,
            -0.280972783
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v58_logistics_cage_d22868/v58_logistics_cage_d22868.glb"
    },
    {
      "id": "v59_logistics_cage_b306df",
      "dims_m": [
        0.8745,
        1.2863,
        0.6079
      ],
      "mass_kg": 59.166,
      "tris": 29288,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.341552539,
            0.186806197,
            0.208224653
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.359108033,
            0.0731478922,
            0.193595075
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.341552539,
            0.186806197,
            0.208224653
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.323997045,
            0.0731478922,
            0.193595075
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.341552539,
            0.186806197,
            -0.208224653
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.359108033,
            0.0731478922,
            -0.222854232
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.341552539,
            0.186806197,
            -0.208224653
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.323997045,
            0.0731478922,
            -0.222854232
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.759182761,
            0.293742546
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v59_logistics_cage_b306df/v59_logistics_cage_b306df.glb"
    },
    {
      "id": "v60_logistics_cage_738c3a",
      "dims_m": [
        1.0236,
        1.1492,
        0.9099
      ],
      "mass_kg": 91.028,
      "tris": 17735,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.440423882,
            0.147483511,
            0.383592022
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.453267013,
            0.0535130442,
            0.372889413
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.440423882,
            0.147483511,
            0.383592022
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.427580752,
            0.0535130442,
            0.372889413
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.440423882,
            0.147483511,
            -0.383592022
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.453267013,
            0.0535130442,
            -0.39429463
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.440423882,
            0.147483511,
            -0.383592022
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.427580752,
            0.0535130442,
            -0.39429463
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v60_logistics_cage_738c3a/v60_logistics_cage_738c3a.glb"
    },
    {
      "id": "v61_logistics_cage_b336a5",
      "dims_m": [
        1.0893,
        0.9179,
        0.7105
      ],
      "mass_kg": 75.092,
      "tris": 20719,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.467507917,
            0.210561845,
            0.278100403
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.481468704,
            0.0581699436,
            0.266466414
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.467507917,
            0.210561845,
            0.278100403
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.453547131,
            0.0581699436,
            0.266466414
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.467507917,
            0.210561845,
            -0.278100403
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.481468704,
            0.0581699436,
            -0.289734392
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.467507917,
            0.210561845,
            -0.278100403
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.453547131,
            0.0581699436,
            -0.289734392
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v61_logistics_cage_b336a5/v61_logistics_cage_b336a5.glb"
    },
    {
      "id": "v62_logistics_cage_4c6d7d",
      "dims_m": [
        1.1745,
        1.082,
        0.8634
      ],
      "mass_kg": 52.694,
      "tris": 25316,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.502754629,
            0.170959768,
            0.347199742
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.518137641,
            0.0640958862,
            0.334380565
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.502754629,
            0.170959768,
            0.347199742
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.487371616,
            0.0640958862,
            0.334380565
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.502754629,
            0.170959768,
            -0.347199742
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.518137641,
            0.0640958862,
            -0.360018919
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.502754629,
            0.170959768,
            -0.347199742
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.487371616,
            0.0640958862,
            -0.360018919
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v62_logistics_cage_4c6d7d/v62_logistics_cage_4c6d7d.glb"
    },
    {
      "id": "v63_logistics_cage_390c45",
      "dims_m": [
        0.7209,
        1.6999,
        0.9309
      ],
      "mass_kg": 82.986,
      "tris": 28445,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.277189074,
            0.174654041,
            0.382164353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.29233844,
            0.063122358,
            0.369539881
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.277189074,
            0.174654041,
            0.382164353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.262039708,
            0.063122358,
            0.369539881
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.277189074,
            0.174654041,
            -0.382164353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.29233844,
            0.063122358,
            -0.394788824
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.277189074,
            0.174654041,
            -0.382164353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.262039708,
            0.063122358,
            -0.394788824
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.961157016,
            0.454624163
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v63_logistics_cage_390c45/v63_logistics_cage_390c45.glb"
    },
    {
      "id": "v64_logistics_cage_b0d9c0",
      "dims_m": [
        0.7671,
        1.2041,
        0.7496
      ],
      "mass_kg": 80.24,
      "tris": 33388,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.313097589,
            0.126550341,
            0.304321496
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.325767875,
            0.0527928596,
            0.293762924
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.313097589,
            0.126550341,
            0.304321496
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.300427303,
            0.0527928596,
            0.293762924
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.313097589,
            0.126550341,
            -0.304321496
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.325767875,
            0.0527928596,
            -0.314880068
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.313097589,
            0.126550341,
            -0.304321496
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.300427303,
            0.0527928596,
            -0.314880068
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v64_logistics_cage_b0d9c0/v64_logistics_cage_b0d9c0.glb"
    },
    {
      "id": "v65_logistics_cage_3b06c8",
      "dims_m": [
        0.811,
        1.6035,
        0.8252
      ],
      "mass_kg": 110.942,
      "tris": 23939,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.333727063,
            0.179041527,
            0.340818527
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.346653358,
            0.0538595647,
            0.330046614
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.333727063,
            0.179041527,
            0.340818527
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.320800767,
            0.0538595647,
            0.330046614
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.333727063,
            0.179041527,
            -0.340818527
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.346653358,
            0.0538595647,
            -0.35159044
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.333727063,
            0.179041527,
            -0.340818527
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.320800767,
            0.0538595647,
            -0.35159044
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.920240973,
            0.39925234
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v65_logistics_cage_3b06c8/v65_logistics_cage_3b06c8.glb"
    },
    {
      "id": "v66_logistics_cage_798cec",
      "dims_m": [
        0.9894,
        1.1507,
        0.9387
      ],
      "mass_kg": 65.956,
      "tris": 16425,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.422049114,
            0.185648776,
            0.396681777
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.435141703,
            0.0545524544,
            0.385771286
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.422049114,
            0.185648776,
            0.396681777
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.408956525,
            0.0545524544,
            0.385771286
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.422049114,
            0.185648776,
            -0.396681777
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.435141703,
            0.0545524544,
            -0.407592268
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.422049114,
            0.185648776,
            -0.396681777
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.408956525,
            0.0545524544,
            -0.407592268
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v66_logistics_cage_798cec/v66_logistics_cage_798cec.glb"
    },
    {
      "id": "v67_logistics_cage_9cdf51",
      "dims_m": [
        0.7779,
        1.4367,
        0.7181
      ],
      "mass_kg": 79.481,
      "tris": 19579,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.313740968,
            0.171494633,
            0.283876905
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.327325366,
            0.0566016607,
            0.272556572
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.313740968,
            0.171494633,
            0.283876905
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.300156569,
            0.0566016607,
            0.272556572
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.313740968,
            0.171494633,
            -0.283876905
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.327325366,
            0.0566016607,
            -0.295197237
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.313740968,
            0.171494633,
            -0.283876905
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.300156569,
            0.0566016607,
            -0.295197237
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v67_logistics_cage_9cdf51/v67_logistics_cage_9cdf51.glb"
    },
    {
      "id": "v68_logistics_cage_4941b3",
      "dims_m": [
        0.7569,
        1.5963,
        0.6272
      ],
      "mass_kg": 76.129,
      "tris": 17683,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.292271332,
            0.210268459,
            0.227386353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.30798635,
            0.0654792395,
            0.214290505
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.292271332,
            0.210268459,
            0.227386353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.276556315,
            0.0654792395,
            0.214290505
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.292271332,
            0.210268459,
            -0.227386353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.30798635,
            0.0654792395,
            -0.240482201
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.292271332,
            0.210268459,
            -0.227386353
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.276556315,
            0.0654792395,
            -0.240482201
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.367465665,
            0.246768309,
            0.302580685
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v68_logistics_cage_4941b3/v68_logistics_cage_4941b3.glb"
    },
    {
      "id": "v69_logistics_cage_f86e68",
      "dims_m": [
        1.0104,
        1.525,
        0.9405
      ],
      "mass_kg": 85.084,
      "tris": 21927,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.42974352,
            0.206728329,
            0.394805684
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.443378412,
            0.0568120495,
            0.383443274
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.42974352,
            0.206728329,
            0.394805684
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.416108628,
            0.0568120495,
            0.383443274
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.42974352,
            0.206728329,
            -0.394805684
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.443378412,
            0.0568120495,
            -0.406168094
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.42974352,
            0.206728329,
            -0.394805684
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.416108628,
            0.0568120495,
            -0.406168094
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v69_logistics_cage_f86e68/v69_logistics_cage_f86e68.glb"
    },
    {
      "id": "v70_logistics_cage_79ec7f",
      "dims_m": [
        1.0117,
        1.6126,
        0.8752
      ],
      "mass_kg": 87.111,
      "tris": 26095,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.425960775,
            0.151322576,
            0.357713816
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.440458695,
            0.0604080031,
            0.345632215
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.425960775,
            0.151322576,
            0.357713816
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.411462854,
            0.0604080031,
            0.345632215
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.425960775,
            0.151322576,
            -0.357713816
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.440458695,
            0.0604080031,
            -0.369795416
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.425960775,
            0.151322576,
            -0.357713816
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.411462854,
            0.0604080031,
            -0.369795416
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.904594356,
            0.42742861
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v70_logistics_cage_79ec7f/v70_logistics_cage_79ec7f.glb"
    },
    {
      "id": "v71_logistics_cage_afc14d",
      "dims_m": [
        0.7442,
        1.1207,
        0.8455
      ],
      "mass_kg": 89.107,
      "tris": 24047,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.277744309,
            0.180210033,
            0.328383349
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.29504129,
            0.0720707558,
            0.313969198
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.277744309,
            0.180210033,
            0.328383349
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.260447327,
            0.0720707558,
            0.313969198
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.277744309,
            0.180210033,
            -0.328383349
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.29504129,
            0.0720707558,
            -0.3427975
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.277744309,
            0.180210033,
            -0.328383349
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.260447327,
            0.0720707558,
            -0.3427975
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.677321537,
            0.41045424
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v71_logistics_cage_afc14d/v71_logistics_cage_afc14d.glb"
    },
    {
      "id": "v72_logistics_cage_936585",
      "dims_m": [
        1.1029,
        1.3029,
        0.7858
      ],
      "mass_kg": 93.267,
      "tris": 27764,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.475502058,
            0.132047326,
            0.316980417
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.489230169,
            0.0572004611,
            0.305540325
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.475502058,
            0.132047326,
            0.316980417
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.461773948,
            0.0572004611,
            0.305540325
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.475502058,
            0.132047326,
            -0.316980417
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.489230169,
            0.0572004611,
            -0.328420509
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.475502058,
            0.132047326,
            -0.316980417
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.461773948,
            0.0572004611,
            -0.328420509
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            0.0,
            0.744407054,
            0.380555863
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v72_logistics_cage_936585/v72_logistics_cage_936585.glb"
    },
    {
      "id": "v73_logistics_cage_18e0d7",
      "dims_m": [
        1.1093,
        0.8336,
        0.8169
      ],
      "mass_kg": 62.305,
      "tris": 15749,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.48105222,
            0.162686646,
            0.334864679
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.494328028,
            0.0553158664,
            0.323801506
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.48105222,
            0.162686646,
            0.334864679
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.467776413,
            0.0553158664,
            0.323801506
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.48105222,
            0.162686646,
            -0.334864679
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.494328028,
            0.0553158664,
            -0.345927853
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.48105222,
            0.162686646,
            -0.334864679
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.467776413,
            0.0553158664,
            -0.345927853
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v73_logistics_cage_18e0d7/v73_logistics_cage_18e0d7.glb"
    },
    {
      "id": "v74_logistics_cage_e3d101",
      "dims_m": [
        1.0778,
        1.0696,
        0.8894
      ],
      "mass_kg": 65.083,
      "tris": 19219,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.464003691,
            0.209427067,
            0.369769635
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.477536422,
            0.0563863819,
            0.358492359
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.464003691,
            0.209427067,
            0.369769635
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.450470959,
            0.0563863819,
            0.358492359
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.464003691,
            0.209427067,
            -0.369769635
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.477536422,
            0.0563863819,
            -0.381046912
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.464003691,
            0.209427067,
            -0.369769635
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.450470959,
            0.0563863819,
            -0.381046912
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v74_logistics_cage_e3d101/v74_logistics_cage_e3d101.glb"
    },
    {
      "id": "v75_logistics_cage_3f1c79",
      "dims_m": [
        1.0062,
        1.1895,
        0.6684
      ],
      "mass_kg": 92.669,
      "tris": 22132,
      "joints": [
        {
          "name": "caster_swivel_deg__caster_fork_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_0__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_0",
          "pivot": [
            -0.423882115,
            0.174962348,
            0.255013456
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_0",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_0__casters"
          ],
          "parent_link": "caster_fork_0",
          "child_link": "caster_wheel_0",
          "pivot": [
            -0.438243927,
            0.0598408853,
            0.243045279
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_1__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_1",
          "pivot": [
            0.423882115,
            0.174962348,
            0.255013456
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_1",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_1__casters"
          ],
          "parent_link": "caster_fork_1",
          "child_link": "caster_wheel_1",
          "pivot": [
            0.409520302,
            0.0598408853,
            0.243045279
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_2__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_2",
          "pivot": [
            -0.423882115,
            0.174962348,
            -0.255013456
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_2",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_2__casters"
          ],
          "parent_link": "caster_fork_2",
          "child_link": "caster_wheel_2",
          "pivot": [
            -0.438243927,
            0.0598408853,
            -0.266981633
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "caster_swivel_deg__caster_fork_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_fork_3__casters"
          ],
          "parent_link": "cage",
          "child_link": "caster_fork_3",
          "pivot": [
            0.423882115,
            0.174962348,
            -0.255013456
          ],
          "axis": [
            0.0,
            1.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "wheel_roll_deg__caster_wheel_3",
          "type": "revolute",
          "meshes": [
            "vis_caster_wheel_3__casters"
          ],
          "parent_link": "caster_fork_3",
          "child_link": "caster_wheel_3",
          "pivot": [
            0.409520302,
            0.0598408853,
            -0.266981633
          ],
          "axis": [
            1.0,
            0.0,
            -0.0
          ],
          "limits": [
            0.0,
            360.0
          ],
          "unit": "deg",
          "phase": 0
        },
        {
          "name": "gate_open_deg__gate",
          "type": "revolute",
          "meshes": [
            "vis_gate__cage"
          ],
          "parent_link": "cage",
          "child_link": "gate",
          "pivot": [
            -0.489234758,
            0.217162456,
            0.3203661
          ],
          "axis": [
            0.0,
            -1.0,
            -0.0
          ],
          "limits": [
            0.0,
            110.0
          ],
          "unit": "deg",
          "phase": 0
        }
      ],
      "glb": "assets/logistics_cage/v75_logistics_cage_3f1c79/v75_logistics_cage_3f1c79.glb"
    }
  ]
}