Mujoco_WASM/contracts/mobile-robots-v1.json

[
  {
    "id": "lekiwi-v1",
    "label": "LeKiwi v1 · 原始机械臂",
    "recipe": "lekiwi-v1",
    "baseBodyName": "base_plate_layer1-v5",
    "baseJointName": "__platform_base_freejoint__",
    "baseJoints": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
    "baseActuators": ["base_left_wheel_servo", "base_back_wheel_servo", "base_right_wheel_servo"],
    "baseMix": [
      [-17.32050807568877, 10, 2.5],
      [0, -20, 2.5],
      [17.32050807568877, 10, 2.5]
    ],
    "baseLimits": [0.2, 0.2, 1.0471975511965976],
    "wheelLimit": 4.601942363656923,
    "armJoints": [
      {
        "name": "arm_shoulder_pan",
        "min": -1.57,
        "max": 1.57,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "arm_shoulder_lift",
        "min": -1.4,
        "max": 1.4,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "arm_elbow_flex",
        "min": -1.4,
        "max": 1.4,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "arm_wrist_flex",
        "min": -1.4,
        "max": 1.4,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "arm_wrist_roll",
        "min": -3.14,
        "max": 3.14,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      }
    ],
    "armActuators": [
      "arm_shoulder_pan_servo",
      "arm_shoulder_lift_servo",
      "arm_elbow_flex_servo",
      "arm_wrist_flex_servo",
      "arm_wrist_roll_servo"
    ],
    "gripperJoint": "arm_gripper",
    "gripperActuators": [{ "name": "arm_gripper_servo", "closed": -0.18, "open": 0.9 }],
    "gripperClosed": -0.18,
    "gripperOpen": 0.9,
    "eefBodyName": "Wrist_Roll_08c-v1",
    "eefSiteName": "__mm_eef",
    "eefOffset": [0, 0.035, -0.065]
  },
  {
    "id": "lekiwi-bundle",
    "label": "robot_urdf_bundle · Link1–Link4 机械臂",
    "recipe": "lekiwi-bundle",
    "baseBodyName": "base_plate_layer1-v5",
    "baseJointName": "__platform_base_freejoint__",
    "baseJoints": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
    "baseActuators": ["base_left_wheel_servo", "base_back_wheel_servo", "base_right_wheel_servo"],
    "baseMix": [
      [-17.32050807568877, 10, 2.5],
      [0, -20, 2.5],
      [17.32050807568877, 10, 2.5]
    ],
    "baseLimits": [0.2, 0.2, 1.0471975511965976],
    "wheelLimit": 4.601942363656923,
    "armJoints": [
      {
        "name": "Link1",
        "min": -1.1,
        "max": 1.1,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "Link2",
        "min": -0.3,
        "max": 1.1,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "Link3",
        "min": -1,
        "max": 1,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "Link4",
        "min": -1.1,
        "max": 0.3,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      },
      {
        "name": "arm_wrist_roll",
        "min": -3.14,
        "max": 3.14,
        "neutral": 0,
        "mode": "position",
        "velocityLimit": 2
      }
    ],
    "armActuators": [
      "Link1_servo",
      "Link2_servo",
      "Link3_servo",
      "Link4_servo",
      "arm_wrist_roll_servo"
    ],
    "gripperJoint": "arm_gripper",
    "gripperActuators": [{ "name": "arm_gripper_servo", "closed": -0.18, "open": 0.9 }],
    "gripperClosed": -0.18,
    "gripperOpen": 0.9,
    "eefBodyName": "Wrist_Roll_08c-v1",
    "eefSiteName": "__mm_eef",
    "eefOffset": [0, 0.035, -0.065]
  }
]