{ "2d_kaya.kaya_hardware.kaya_driver": { "isaac.KayaBaseDriver": { "wheel_radius": 0.04, "usb_port": "/dev/ttyUSB0", "debug_mode": true } }, "2d_kaya.kaya_hardware.camera": { "realsense_pose": { "lhs_frame": "robot", "rhs_frame": "camera", "pose": [0.406, -0.579, 0.579, -0.406, 0.08, 0.04, 0.17] } }, "shared_robot_model": { "DifferentialBaseModel": { "robot_radius": 0.15, "base_length": 0.1178, "wheel_radius": 0.03 }, "SphericalRobotShapeComponent": { "circles": [ { "center": [0.0 ,0.0], "radius": 0.075}, { "center": [0.02 ,0.03464], "radius": 0.055}, { "center": [0.02 ,-0.03464], "radius": 0.055}, { "center": [-0.04 ,0.0], "radius": 0.055}, { "center": [0.0525 ,0.09093], "radius": 0.035}, { "center": [0.0525 ,-0.09093], "radius": 0.035}, { "center": [-0.105 ,0.0], "radius": 0.035} ] } } }