{
  "kind": "nairda-mecano",
  "version": 1,
  "name": "Sumo Toro",
  "world": {
    "version": 1,
    "instances": [
      {
        "spec": "motor",
        "id": "left",
        "position": [
          -2.5,
          0.04,
          1.0
        ],
        "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,
          1.0
        ],
        "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": "pilas1",
        "position": [
          0.0,
          3.75,
          1.2
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0
      },
      {
        "spec": "battery",
        "id": "pilas2",
        "position": [
          0.0,
          3.75,
          -2.4
        ],
        "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",
        "position": [
          0.0,
          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": "line_sensor",
        "id": "linea",
        "position": [
          0.0,
          0.6,
          4.8
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0,
        "pins": {
          "signal": {
            "index": 10,
            "kind": "digital"
          }
        }
      }
    ],
    "supports": [
      {
        "id": "chassis",
        "cells": "111111111111111111111111111111111111",
        "color": "#B71C1C",
        "position": [
          0.0,
          3.45,
          0.0
        ],
        "rotation": [
          0.0,
          0.0,
          0.0,
          1.0
        ],
        "scale": 1.0
      },
      {
        "id": "pala",
        "cells": "000000000000000000000000000000111111",
        "color": "#212121",
        "position": [
          0.0,
          0.85,
          8.4
        ],
        "rotation": [
          0.5000110003630133,
          0.0,
          0.0,
          0.866019052628739
        ],
        "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": [
          "pilas1",
          "pilas1__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "pilas2",
          "pilas2__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "rueda",
          "rueda__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "ojo",
          "ojo__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "linea",
          "linea__body"
        ]
      },
      {
        "a": [
          "chassis",
          "chassis__placa"
        ],
        "b": [
          "pala",
          "pala__placa"
        ]
      }
    ]
  }
}