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{
"codebase_version": "v2.1",
"robot_type": "abb_myumi",
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"ville_ubuntu_workstation_rear_right_steering_joint",
"ville_ubuntu_workstation_rear_right_drive_wheel_joint",
"ville_ubuntu_workstation_rear_left_steering_joint",
"ville_ubuntu_workstation_rear_left_drive_wheel_joint",
"ville_ubuntu_workstation_pillar_body_joint",
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"ville_ubuntu_workstation_yumi_robl_joint_2",
"ville_ubuntu_workstation_yumi_robl_joint_3",
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"ville_ubuntu_workstation_rear_left_steering_joint",
"ville_ubuntu_workstation_rear_left_drive_wheel_joint",
"ville_ubuntu_workstation_pillar_body_joint",
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"ville_ubuntu_workstation_yumi_robl_joint_3",
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"ville_ubuntu_workstation_yumi_robr_joint_3",
"ville_ubuntu_workstation_yumi_robr_joint_4",
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