{
  "created_at": "2026-05-29T08:40:51Z",
  "id": "ea89e39c835c0557",
  "imus": [
    {
      "enabled": true,
      "frame_id": "imu_link",
      "id": "719a21772e114466",
      "name": "IMU",
      "rate_hz": 100,
      "source": "external",
      "topic": "imu/data"
    }
  ],
  "layout": {
    "imuPoses": {
      "719a21772e114466": {
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        "y": 0.8135664703630141,
        "yaw_deg": 0,
        "z": 0.1
      }
    },
    "imuPosesFrame": "robot",
    "lidarPoses": {
      "40235913b52d8101": {
        "theta_deg": -135,
        "x": -120,
        "y": -90
      },
      "f4504deeb605e6ed": {
        "theta_deg": 45,
        "x": 120,
        "y": 90
      }
    },
    "lidarPosesFrame": "robot",
    "lidarPositions": {},
    "map": {
      "height": 600,
      "width": 800
    },
    "robot": {
      "bicycle": {
        "display": {
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          "r_px": 60.0,
          "scale_m_per_px": 0.005
        },
        "drive": {
          "joint_name": "rear_wheel_joint"
        },
        "limits": {
          "cmd_vel_timeout_s": 0.25,
          "linear": {
            "max_acceleration": 0.8,
            "max_velocity": 1
          }
        },
        "steer": {
          "joint_name": "front_steer_joint",
          "max_angle_deg": 60,
          "preview_deg": 15
        },
        "wheel_radius_m": 0.15,
        "wheelbase_m": 1.2,
        "wheels": [
          {
            "id": "rear",
            "joint_name": "rear_wheel_joint",
            "motor": {
              "gear_ratio": 20,
              "invert": false,
              "model": "m2dc10a",
              "vendor": "moons"
            },
            "role": "drive",
            "x_m": 0,
            "y_m": 0
          },
          {
            "id": "front",
            "joint_name": "front_steer_joint",
            "motor": {
              "gear_ratio": 20,
              "invert": false,
              "model": "m2dc10a",
              "vendor": "moons"
            },
            "role": "steer",
            "x_m": 1.2,
            "y_m": 0
          }
        ]
      },
      "diff": {
        "b": 220.0,
        "d": 120.0,
        "display": {
          "b_px": 220.0,
          "d_px": 120.0,
          "scale_m_per_px": 0.005
        },
        "limits": {
          "angular": {
            "max_acceleration": 1.5,
            "max_velocity": 1.7
          },
          "cmd_vel_timeout_s": 0.25,
          "linear": {
            "max_acceleration": 0.8,
            "max_velocity": 1,
            "min_acceleration": -0.8,
            "min_velocity": -0.5
          }
        },
        "wheel_radius_m": 0.3,
        "wheel_radius_multiplier": 1,
        "wheel_separation_m": 1.1,
        "wheel_separation_multiplier": 1,
        "wheels": [
          {
            "id": "left",
            "joint_name": "wheel_left_joint",
            "motor": {
              "gear_ratio": 10,
              "invert": true,
              "model": "m2dc10a",
              "vendor": "moons"
            },
            "side": "left",
            "y_m": 0.55
          },
          {
            "id": "right",
            "joint_name": "wheel_right_joint",
            "motor": {
              "gear_ratio": 10,
              "invert": false,
              "model": "m2dc10a",
              "vendor": "moons"
            },
            "side": "right",
            "y_m": -0.55
          }
        ]
      },
      "footprint": [
        {
          "x": 150,
          "y": 120
        },
        {
          "x": 150,
          "y": -120
        },
        {
          "x": -150,
          "y": -120
        },
        {
          "x": -150,
          "y": 120
        }
      ],
      "footprint_params": {
        "length_m": 1.5,
        "radius_m": 1,
        "segments": 32,
        "sides": 6,
        "width_m": 1.2
      },
      "footprint_shape": "rectangle",
      "frame_id": "base_footprint",
      "model": "diff",
      "x": 400,
      "y": 300,
      "yaw_deg": 0
    }
  },
  "lidars": [
    {
      "id": "f4504deeb605e6ed",
      "ip": "192.168.1.11",
      "name": "Front",
      "port": 2112
    },
    {
      "id": "40235913b52d8101",
      "ip": "192.168.1.11",
      "name": "Back",
      "port": 2112
    }
  ],
  "name": "T800",
  "updated_at": "2026-06-13T07:03:01Z"
}