{
    "context":  {
                    "UnitOfMeasureScale":  0.01,
                    "Zup":  false,
                    "RepoPath":  ""
                },
    "scene":  [
                  "building",
                  "Controller",
                  "AssetLoader",
                  "part_1",
                  "part_2",
                  "box",
                  "spindle",
                  "B1",
                  "SafetySensor"
              ],
    "assets":  [
                   {
                       "id":  "building",
                       "type":  "https://standards.buildingsmart.org/IFC/DEV/IFC4/ADD1/OWL#IfcBuilding"
                   },
                   {
                       "id":  "Controller",
                       "type":  "https://w3id.org/ontoeng/factory#Actuator"
                   },
                   {
                       "id":  "AssetLoader",
                       "type":  "https://w3id.org/ontoeng/factory#Actuator",
                       "placementRelTo":  "building"
                   },
                   {
                       "id":  "part",
                       "type":  "https://w3id.org/ontoeng/factory#Artifact",
                       "representations":  [
                                               {
                                                   "file":  "Part_blue.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  1,
                                          "restitution":  0.1,
                                          "friction":  0.95
                                      }
                   },
                   {
                       "id":  "part_1",
                       "type":  "https://w3id.org/ontoeng/factory#Artifact",
                       "representations":  [
                                               {
                                                   "file":  "Part_green.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        31.7,
                                        23,
                                        370
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  1,
                                          "restitution":  0.1,
                                          "friction":  0.95
                                      }
                   },
                   {
                       "id":  "part_2",
                       "type":  "https://w3id.org/ontoeng/factory#Artifact",
                       "representations":  [
                                               {
                                                   "file":  "Part_blue.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        31.7,
                                        23,
                                        400
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  1,
                                          "restitution":  0.1,
                                          "friction":  0.95
                                      }
                   },
                   {
                       "id":  "box",
                       "type":  "https://w3id.org/ontoeng/factory#Pallet",
                       "representations":  [
                                               {
                                                   "file":  "Box_part.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        31.7,
                                        23,
                                        430
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  1,
                                          "restitution":  0.1,
                                          "friction":  0.95
                                      }
                   },
                   {
                       "id":  "spindle",
                       "type":  "https://w3id.org/ontoeng/factory#Actuator",
                       "representations":  [
                                               {
                                                   "file":  "Spindle.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        38,
                                        8,
                                        330
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "statechart":  {
                                          "id":  "stSpindle",
                                          "initial":  "stopped",
                                          "context":  {
                                                          "variables":  {
                                                                            "rotationVelocity":  [
                                                                                                     0,
                                                                                                     1,
                                                                                                     0
                                                                                                 ],
                                                                            "movementVelocity":  [
                                                                                                     3,
                                                                                                     0,
                                                                                                     0
                                                                                                 ],
                                                                            "testVar":  24
                                                                        }
                                                      },
                                          "on":  {
                                                     "updateVariableSet":  [
                                                                               {
                                                                                   "actions":  [
                                                                                                   "updateVariableSet"
                                                                                               ]
                                                                               }
                                                                           ],
                                                     "updateVariableAdd":  [
                                                                               {
                                                                                   "actions":  [
                                                                                                   "updateVariableAdd"
                                                                                               ]
                                                                               }
                                                                           ],
                                                     "updateVariableSub":  [
                                                                               {
                                                                                   "actions":  [
                                                                                                   "updateVariableSub"
                                                                                               ]
                                                                               }
                                                                           ]
                                                 },
                                          "states":  {
                                                         "stopped":  {
                                                                         "on":  {
                                                                                    "startRotation":  "spinning",
                                                                                    "startMove":  "moving",
                                                                                    "safetyCheck":  {
                                                                                                        "target":  "stopped",
                                                                                                        "cond":  {
                                                                                                                     "type":  "evaluateExpression",
                                                                                                                     "expr":  "$spindle.position  \u003e= [100,-9999,-9999]"
                                                                                                                 }
                                                                                                    },
                                                                                    "updateRotVel":  {
                                                                                                         "actions":  {
                                                                                                                         "type":  "xstate.raise",
                                                                                                                         "event":  {
                                                                                                                                       "type":  "updateVariableAdd",
                                                                                                                                       "payload":  {
                                                                                                                                                       "variable":  "rotationVelocity",
                                                                                                                                                       "value":  [
                                                                                                                                                                     0,
                                                                                                                                                                     0.5,
                                                                                                                                                                     0
                                                                                                                                                                 ]
                                                                                                                                                   }
                                                                                                                                   }
                                                                                                                     }
                                                                                                     }
                                                                                },
                                                                         "entry":  [
                                                                                       {
                                                                                           "type":  "moveAdditive",
                                                                                           "target":  "spindle",
                                                                                           "rotation":  [
                                                                                                            0,
                                                                                                            0,
                                                                                                            0
                                                                                                        ],
                                                                                           "duration":  1000,
                                                                                           "loop":  false
                                                                                       }
                                                                                   ]
                                                                     },
                                                         "moving":  {
                                                                        "on":  {
                                                                                   "stopMovement":  "stopped",
                                                                                   "safetyCheck":  {
                                                                                                       "target":  "stopped",
                                                                                                       "cond":  {
                                                                                                                    "type":  "evaluateExpression",
                                                                                                                    "expr":  "$spindle.position  \u003e= [100,-9999,-9999]"
                                                                                                                }
                                                                                                   },
                                                                                   "updateMovement":  {
                                                                                                          "actions":  [
                                                                                                                          {
                                                                                                                              "type":  "moveAdditive",
                                                                                                                              "target":  "spindle",
                                                                                                                              "position":  "$movementVelocity",
                                                                                                                              "duration":  1000,
                                                                                                                              "loop":  true
                                                                                                                          },
                                                                                                                          {
                                                                                                                              "type":  "xstate.raise",
                                                                                                                              "event":  "safetyCheck"
                                                                                                                          }
                                                                                                                      ]
                                                                                                      }
                                                                               },
                                                                        "entry":  [
                                                                                      {
                                                                                          "type":  "xstate.raise",
                                                                                          "event":  "updatePlacement"
                                                                                      },
                                                                                      {
                                                                                          "type":  "xstate.raise",
                                                                                          "event":  "updateMovement"
                                                                                      }
                                                                                  ]
                                                                    },
                                                         "spinning":  {
                                                                          "on":  {
                                                                                     "stopRotation":  "stopped",
                                                                                     "safetyCheck":  {
                                                                                                         "target":  "stopped",
                                                                                                         "cond":  {
                                                                                                                      "type":  "evaluateExpression",
                                                                                                                      "expr":  "$rotationVelocity  \u003e= [0,3,0]"
                                                                                                                  }
                                                                                                     },
                                                                                     "updateRotSpeed":  {
                                                                                                            "actions":  [
                                                                                                                            {
                                                                                                                                "type":  "moveAdditive",
                                                                                                                                "target":  "spindle",
                                                                                                                                "rotation":  "variables.rotationVelocity",
                                                                                                                                "duration":  1000,
                                                                                                                                "loop":  true
                                                                                                                            },
                                                                                                                            {
                                                                                                                                "type":  "xstate.raise",
                                                                                                                                "event":  "safetyCheck"
                                                                                                                            }
                                                                                                                        ]
                                                                                                        },
                                                                                     "updateRotVel":  {
                                                                                                          "actions":  [
                                                                                                                          {
                                                                                                                              "type":  "xstate.raise",
                                                                                                                              "event":  {
                                                                                                                                            "type":  "updateVariableAdd",
                                                                                                                                            "payload":  {
                                                                                                                                                            "variable":  "rotationVelocity",
                                                                                                                                                            "value":  [
                                                                                                                                                                          0,
                                                                                                                                                                          0.9,
                                                                                                                                                                          0
                                                                                                                                                                      ]
                                                                                                                                                        }
                                                                                                                                        }
                                                                                                                          },
                                                                                                                          {
                                                                                                                              "type":  "xstate.raise",
                                                                                                                              "event":  "updateRotSpeed"
                                                                                                                          }
                                                                                                                      ]
                                                                                                      }
                                                                                 },
                                                                          "entry":  [
                                                                                        {
                                                                                            "type":  "xstate.raise",
                                                                                            "event":  "updateRotSpeed"
                                                                                        }
                                                                                    ]
                                                                      }
                                                     }
                                      }
                   },
                   {
                       "id":  "B1",
                       "type":  "https://w3id.org/ontoeng/factory#Conveyor",
                       "representations":  [
                                               {
                                                   "file":  "Conveyor.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        26,
                                        0,
                                        315
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  0,
                                          "restitution":  0.3,
                                          "friction":  0.0,
                                          "MotionType":  "ANIMATED"
                                      },
                       "statechart":  {
                                          "id":  "stB1",
                                          "initial":  "idle",
                                          "states":  {
                                                         "idle":  {
                                                                      "on":  {
                                                                                 "B1startF":  "forward",
                                                                                 "B1startB":  "backward"
                                                                             },
                                                                      "entry":  {
                                                                                    "action":  "surfaceVelocity",
                                                                                    "target":  "B1",
                                                                                    "velocity":  [
                                                                                                     0,
                                                                                                     0,
                                                                                                     0
                                                                                                 ]
                                                                                }
                                                                  },
                                                         "forward":  {
                                                                         "on":  {
                                                                                    "B1stop":  "idle"
                                                                                },
                                                                         "entry":  {
                                                                                       "action":  "surfaceVelocity",
                                                                                       "target":  "B1",
                                                                                       "velocity":  [
                                                                                                        0,
                                                                                                        0,
                                                                                                        8
                                                                                                    ]
                                                                                   }
                                                                     },
                                                         "backward":  {
                                                                          "on":  {
                                                                                     "B1stop":  "idle"
                                                                                 },
                                                                          "entry":  {
                                                                                        "action":  "surfaceVelocity",
                                                                                        "target":  "B1",
                                                                                        "velocity":  [
                                                                                                         0,
                                                                                                         0,
                                                                                                         -8
                                                                                                     ]
                                                                                    }
                                                                      }
                                                     }
                                      }
                   },
                   {
                       "id":  "SafetySensor",
                       "type":  "https://w3id.org/ontoeng/factory#SensorVolume",
                       "representations":  [
                                               {
                                                   "file":  "SafetyVolume.glb",
                                                   "unit":  1
                                               }
                                           ],
                       "position":  [
                                        31.7,
                                        0,
                                        300
                                    ],
                       "rotation":  [
                                        0,
                                        0,
                                        0
                                    ],
                       "placementRelTo":  "building",
                       "properties":  {
                                          "mass":  0,
                                          "restitution":  0.0,
                                          "friction":  0.0,
                                          "MotionType":  "ANIMATED",
                                          "isTrigger":  true
                                      },
                       "statechart":  {
                                          "id":  "stSafetySensor",
                                          "initial":  "Idle",
                                          "states":  {
                                                         "Idle":  {
                                                                      "meta":  {
                                                                                   "type":  "https://w3id.org/ontoeng/factory#SensorIdle"
                                                                               },
                                                                      "on":  {
                                                                                 "OBJECT_DETECTED":  "Detecting"
                                                                             }
                                                                  },
                                                         "Detecting":  {
                                                                           "meta":  {
                                                                                        "type":  "https://w3id.org/ontoeng/factory#SensorDetecting"
                                                                                    },
                                                                           "on":  {
                                                                                      "OBJECT_REMOVED":  "Idle"
                                                                                  },
                                                                           "entry":  {
                                                                                         "action":  "sendEvent",
                                                                                         "event":  "B1stop",
                                                                                         "to":  "stB1"
                                                                                     }
                                                                       }
                                                     }
                                      }
                   }
               ]
}