Datasets:
| { | |
| "schema_version": "1.0", | |
| "id": "jetauto_pro", | |
| "name": "Hiwonder JetAuto Pro (mecanum)", | |
| "footprint": { | |
| "type": "polygon", | |
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| }, | |
| "height": 0.626, | |
| "height_class": "h63", | |
| "drive": "omnidirectional", | |
| "limits": { | |
| "v_max": 0.6, | |
| "v_min": -0.6, | |
| "vy_max": 0.6, | |
| "w_max": 1.0 | |
| }, | |
| "lidar": { | |
| "model": "SLAMTEC RPLIDAR A1M8", | |
| "range_min": 0.15, | |
| "range_max": 12.0, | |
| "fov": 6.2832, | |
| "beams": 360 | |
| }, | |
| "sources": { | |
| "footprint": { | |
| "kind": "measured", | |
| "file": "assets/JetAuto/jetauto_pro.usd", | |
| "method": "Top-down outline of the robot meshes (all heights), traced at 2 mm, simplified to 2 mm.", | |
| "replaces": { | |
| "type": "rectangle", | |
| "length": 0.324, | |
| "width": 0.26 | |
| } | |
| }, | |
| "height": { | |
| "kind": "official", | |
| "url": "https://www.hiwonder.com/products/jetauto-pro", | |
| "note": "62.6 cm, arm assumed folded" | |
| }, | |
| "limits.v_max": { | |
| "kind": "official", | |
| "url": "https://docs.hiwonder.com/projects/JetAuto/en/jetauto-orin-nano/docs/2.motion_control.html", | |
| "note": "the manufacturer recommends staying within -0.6..0.6 m/s; this is not the top speed" | |
| }, | |
| "limits.v_min": { | |
| "kind": "official", | |
| "url": "https://docs.hiwonder.com/projects/JetAuto/en/jetauto-orin-nano/docs/2.motion_control.html" | |
| }, | |
| "limits.vy_max": { | |
| "kind": "estimated", | |
| "method": "Mecanum; taken equal to v_max." | |
| }, | |
| "limits.w_max": { | |
| "kind": "estimated", | |
| "method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit." | |
| }, | |
| "lidar": { | |
| "kind": "estimated", | |
| "method": "JetAuto comes with a SLAMTEC A1 or an EAI G4 option; the A1M8 is used (0.15-12 m per the SLAMTEC datasheet)." | |
| }, | |
| "import": { | |
| "kind": "navsim", | |
| "file": "jetauto_pro.json" | |
| } | |
| }, | |
| "r_circ": 0.1923, | |
| "r_insc": 0.0738 | |
| } | |