{
  "id": "lekiwi-v1",
  "version": 1,
  "source": {
    "repository": "https://github.com/SIGRobotics-UIUC/LeKiwi",
    "revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033",
    "urdfSha256": "36e102375e1e6ffdc1ca2d343c7406284b3cabc77ae16bfc001a3da89fddc6e1",
    "license": "Apache-2.0",
    "lerobotVersion": "0.6.1"
  },
  "baseBody": "base_plate_layer1-v5",
  "frame": "x-forward-y-left-z-up",
  "mapping": {
    "cadYawRad": -1.5707963267948966,
    "armSigns": [1, 1, 1, 1, 1],
    "armOffsetsRad": [0, 0, 0, 0, 0],
    "gripperAxisSign": -1
  },
  "controlHz": 30,
  "watchdogMs": 500,
  "wheelRadius": 0.05,
  "baseRadius": 0.125,
  "wheelMaxRadS": 4.601942363656923,
  "baseLinearLimit": 0.2,
  "baseAngularLimit": 1.0471975511965976,
  "wheels": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
  "arm": [
    {
      "joint": "arm_shoulder_pan",
      "min": -1.57,
      "max": 1.57,
      "neutral": 0,
      "kp": 40,
      "kv": 3,
      "force": 8
    },
    {
      "joint": "arm_shoulder_lift",
      "min": -1.4,
      "max": 1.4,
      "neutral": 0,
      "kp": 60,
      "kv": 4,
      "force": 10
    },
    {
      "joint": "arm_elbow_flex",
      "min": -1.4,
      "max": 1.4,
      "neutral": 0,
      "kp": 50,
      "kv": 3,
      "force": 8
    },
    {
      "joint": "arm_wrist_flex",
      "min": -1.4,
      "max": 1.4,
      "neutral": 0,
      "kp": 30,
      "kv": 2,
      "force": 5
    },
    {
      "joint": "arm_wrist_roll",
      "min": -3.14,
      "max": 3.14,
      "neutral": 0,
      "kp": 20,
      "kv": 1,
      "force": 3
    },
    {
      "joint": "arm_gripper",
      "min": -0.18,
      "max": 0.9,
      "neutral": 0,
      "kp": 15,
      "kv": 1,
      "force": 2
    }
  ],
  "simulation": {
    "baseMass": 2.2,
    "baseInertia": [0.014, 0.014, 0.022],
    "armMasses": [0.1, 0.25, 0.22, 0.08, 0.09, 0.025],
    "wheelMass": 0.06,
    "rollerCount": 12,
    "rollerMass": 0.003,
    "wheelKv": 0.5,
    "wheelTorqueLimit": 2.0
  },
  "parameterNotes": {
    "kinematics": "Wheel radius/base radius and proportional wheel saturation follow LeRobot 0.6.1; raw 3000 ticks/s converts to wheelMaxRadS. CAD frame mapping is explicit in model enhancement. The CAD gripper axis is reversed so increasing canonical angle opens the jaws; the -0.18 rad closing limit leaves approximately 0.5 mm fingertip clearance.",
    "dynamics": "Simulation-only estimated collision, mass, inertia, joint limits and servo gains. NOT measured hardware calibration or a sim-to-real model.",
    "scope": "Flat ground low-speed control; no cameras, training, rough terrain or reliable grasping claim."
  }
}