{
  "schema_version": "1.0",
  "id": "jetauto_pro",
  "name": "Hiwonder JetAuto Pro (mecanum)",
  "footprint": {
    "type": "polygon",
    "points": [
      [
        -0.1669,
        -0.0858
      ],
      [
        -0.1449,
        -0.0858
      ],
      [
        -0.1449,
        -0.0738
      ],
      [
        -0.1049,
        -0.0738
      ],
      [
        -0.1049,
        -0.0778
      ],
      [
        -0.1009,
        -0.0778
      ],
      [
        -0.1049,
        -0.0798
      ],
      [
        -0.1049,
        -0.0858
      ],
      [
        -0.1449,
        -0.0878
      ],
      [
        -0.1449,
        -0.1258
      ],
      [
        -0.0509,
        -0.1278
      ],
      [
        -0.0469,
        -0.1178
      ],
      [
        -0.0489,
        -0.0898
      ],
      [
        -0.0529,
        -0.0858
      ],
      [
        -0.0909,
        -0.0858
      ],
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        -0.0738
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      [
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        -0.0738
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      [
        0.0911,
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        -0.0938
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        -0.1278
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        -0.1138
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        -0.0878
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        -0.0858
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      [
        0.1051,
        -0.0798
      ],
      [
        0.1011,
        -0.0778
      ],
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        0.1051,
        -0.0778
      ],
      [
        0.1051,
        -0.0738
      ],
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        0.1491,
        -0.0738
      ],
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        0.1491,
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      ],
      [
        0.1051,
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      ],
      [
        0.1051,
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      ],
      [
        0.1011,
        0.0802
      ],
      [
        0.1051,
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      ],
      [
        0.1051,
        0.0862
      ],
      [
        0.1451,
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      ],
      [
        0.1451,
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      ],
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      ],
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        0.0511,
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      ],
      [
        0.0471,
        0.1182
      ],
      [
        0.0511,
        0.0942
      ],
      [
        0.0491,
        0.0902
      ],
      [
        0.0531,
        0.0862
      ],
      [
        0.0911,
        0.0862
      ],
      [
        0.0911,
        0.0742
      ],
      [
        -0.0909,
        0.0742
      ],
      [
        -0.0909,
        0.0862
      ],
      [
        -0.0489,
        0.0882
      ],
      [
        -0.0469,
        0.1162
      ],
      [
        -0.0529,
        0.1282
      ],
      [
        -0.1449,
        0.1262
      ],
      [
        -0.1449,
        0.0882
      ],
      [
        -0.1049,
        0.0862
      ],
      [
        -0.1049,
        0.0802
      ],
      [
        -0.1009,
        0.0802
      ],
      [
        -0.1009,
        0.0762
      ],
      [
        -0.1449,
        0.0742
      ],
      [
        -0.1449,
        0.0862
      ],
      [
        -0.1669,
        0.0862
      ]
    ]
  },
  "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
}