{
  "schema_version": "1.0",
  "id": "jetbot",
  "name": "NVIDIA JetBot",
  "drive": "differential",
  "limits": {
    "v_max": 0.2,
    "v_min": -0.2,
    "w_max": 2.0
  },
  "lidar": null,
  "sources": {
    "height": {
      "kind": "measured",
      "method": "Mesh z range of jetbot.usd (wheels to antennas)."
    },
    "limits": {
      "kind": "estimated",
      "method": "Isaac jetbot differential example (wheel_radius 0.03, wheel_base 0.1125)."
    },
    "footprint": {
      "kind": "measured",
      "file": "assets/JetBot/jetbot.usd",
      "method": "Top-down outline of the robot meshes (all heights), traced at 2 mm, simplified to 2 mm."
    }
  },
  "footprint": {
    "type": "polygon",
    "points": [
      [
        -0.091,
        -0.0467
      ],
      [
        -0.025,
        -0.0487
      ],
      [
        -0.035,
        -0.0527
      ],
      [
        -0.033,
        -0.0667
      ],
      [
        0.033,
        -0.0667
      ],
      [
        0.033,
        -0.0507
      ],
      [
        0.005,
        -0.0487
      ],
      [
        0.045,
        -0.0487
      ],
      [
        0.047,
        -0.0247
      ],
      [
        0.051,
        -0.0247
      ],
      [
        0.051,
        -0.0147
      ],
      [
        0.061,
        -0.0127
      ],
      [
        0.061,
        -0.0067
      ],
      [
        0.069,
        -0.0087
      ],
      [
        0.071,
        0.0053
      ],
      [
        0.061,
        0.0073
      ],
      [
        0.059,
        0.0133
      ],
      [
        0.053,
        0.0133
      ],
      [
        0.049,
        0.0173
      ],
      [
        0.051,
        0.0233
      ],
      [
        0.047,
        0.0233
      ],
      [
        0.047,
        0.0453
      ],
      [
        0.045,
        0.0493
      ],
      [
        0.033,
        0.0493
      ],
      [
        0.033,
        0.0673
      ],
      [
        -0.033,
        0.0673
      ],
      [
        -0.033,
        0.0493
      ],
      [
        -0.089,
        0.0493
      ]
    ]
  },
  "height": 0.26,
  "r_circ": 0.1023,
  "r_insc": 0.049
}