{
  "robot": {
    "n": 1,
    "topology": "serial",
    "parents": [
      -1
    ],
    "offsets": [
      [
        0,
        0,
        0.48
      ]
    ],
    "axes": [
      [
        0,
        0,
        1
      ]
    ],
    "coms": [
      [
        0.24752491550675218,
        0,
        0
      ]
    ],
    "mass": [
      2.7673620638685357
    ],
    "inertia": [
      [
        0.006782094180229198,
        0.05651745150190998,
        0.05651745150190998
      ]
    ],
    "joint_names": [
      "arm0_joint1"
    ],
    "arm_id": [
      0
    ],
    "payload_kg": 0.0,
    "qmax": 1.2637767345652193,
    "amax": 2.361708078269356,
    "motor_nominal_eff": 0.8543773326477385,
    "electronic_power_W": 147.687490197774,
    "regen_capability": 0.5631456087297113,
    "robot_id": "test-d01-serial-r000",
    "history_probes": [
      166.8179168701172,
      177.75721740722656,
      204.20166015625,
      238.3234405517578,
      282.7899169921875,
      206.05184936523438,
      0.09801851212978363
    ],
    "past_calibration": [
      0.08073023706674576,
      0.02418486215174198,
      0.02418486215174198,
      0.055583786219358444,
      0.055583786219358444,
      0.07584808766841888,
      0.05318634957075119,
      0.19579297304153442,
      0.19579297304153442,
      0.08307818323373795,
      0.08307818323373795,
      0.061949722468853,
      0.0,
      0.17434175312519073,
      0.17434175312519073,
      0.33400821685791016,
      0.33400821685791016,
      0.45631521940231323,
      0.0,
      0.0,
      0.0,
      0.14238682389259338,
      0.14238682389259338,
      0.2934521734714508
    ]
  },
  "motion": {
    "q_start": [
      0.39812746042095415
    ],
    "q_end": [
      -0.44754340538000215
    ],
    "speed_factor": 0.4983589895030305,
    "dwell_s": 0.0,
    "payload_kg": 5.523388575758184,
    "motion_class": 0
  }
}