{
  "kind": "nairda-mecano",
  "version": 1,
  "name": "Sumo Mantis",
  "world": {
    "version": 1,
    "instances": [
      {
        "spec": "motor",
        "id": "left",
        "position": [
          -2.5,
          0.04,
          0.6
        ],
        "rotation": [
          0.0,
          0.7071067811865476,
          0.0,
          0.7071067811865476
        ],
        "scale": 1.0,
        "pins": {
          "a": {
            "index": 2,
            "kind": "digital"
          },
          "b": {
            "index": 3,
            "kind": "digital"
          },
          "pwm": {
            "index": 5,
            "kind": "digital"
          }
        }
      },
      {
        "spec": "motor",
        "id": "right",
        "position": [
          2.5,
          0.04,
          0.6
        ],
        "rotation": [
          0.0,
          -0.7071067811865476,
          0.0,
          0.7071067811865476
        ],
        "scale": 1.0,
        "pins": {
          "a": {
            "index": 4,
            "kind": "digital"
          },
          "b": {
            "index": 7,
            "kind": "digital"
          },
          "pwm": {
            "index": 6,
            "kind": "digital"
          }
        }
      },
      {
        "spec": "battery",
        "id": "pilas",
        "position": [
          0.0,
          3.75,
          0.6
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0
      },
      {
        "spec": "caster_wheel",
        "id": "rueda",
        "position": [
          0.0,
          2.32,
          -3.6
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0
      },
      {
        "spec": "ultrasonic",
        "id": "ojo_i",
        "position": [
          -2.4,
          2.0,
          4.1
        ],
        "rotation": [
          0.5,
          0.5,
          0.5,
          0.5
        ],
        "scale": 1.0,
        "pins": {
          "echo": {
            "index": 8,
            "kind": "digital"
          },
          "trigger": {
            "index": 9,
            "kind": "digital"
          }
        }
      },
      {
        "spec": "ultrasonic",
        "id": "ojo_d",
        "position": [
          2.4,
          2.0,
          4.1
        ],
        "rotation": [
          0.5,
          0.5,
          0.5,
          0.5
        ],
        "scale": 1.0,
        "pins": {
          "echo": {
            "index": 10,
            "kind": "digital"
          },
          "trigger": {
            "index": 11,
            "kind": "digital"
          }
        }
      },
      {
        "spec": "line_sensor",
        "id": "lin_i",
        "position": [
          -2.0,
          0.6,
          5.6
        ],
        "rotation": [
          0.0,
          0.7071067811865476,
          0.0,
          0.7071067811865476
        ],
        "scale": 1.0,
        "pins": {
          "signal": {
            "index": 12,
            "kind": "digital"
          }
        }
      },
      {
        "spec": "line_sensor",
        "id": "lin_d",
        "position": [
          2.0,
          0.6,
          5.6
        ],
        "rotation": [
          0.0,
          0.7071067811865476,
          0.0,
          0.7071067811865476
        ],
        "scale": 1.0,
        "pins": {
          "signal": {
            "index": 13,
            "kind": "digital"
          }
        }
      }
    ],
    "supports": [
      {
        "id": "chassis",
        "cells": "111111111111111111111111111111111111",
        "color": "#2E7D32",
        "position": [
          0.0,
          3.45,
          0.0
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0
      }
    ],
    "welds": [
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "left",
          "left__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "right",
          "right__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "pilas",
          "pilas__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "rueda",
          "rueda__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "ojo_i",
          "ojo_i__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "ojo_d",
          "ojo_d__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "lin_i",
          "lin_i__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "lin_d",
          "lin_d__body"
        ]
      }
    ]
  }
}