{
   "agent_customized_cfg" : null,
   "base_sys_cfg" : null,
   "base_user_cfg" : {
      "base_type" : "MERCURY2",
      "base_version" : {
         "major" : 1,
         "minor" : 0,
         "revision" : 0,
         "suffix" : ""
      },
      "battery" : {
         "electric_quantity" : {
            "electric_quantity_table" : [
               {
                  "percentage" : 0,
                  "voltage" : 17000
               },
               {
                  "percentage" : 5,
                  "voltage" : 18000
               },
               {
                  "percentage" : 10,
                  "voltage" : 19760
               },
               {
                  "percentage" : 15,
                  "voltage" : 20057
               },
               {
                  "percentage" : 20,
                  "voltage" : 20347
               },
               {
                  "percentage" : 25,
                  "voltage" : 20666
               },
               {
                  "percentage" : 30,
                  "voltage" : 20939
               },
               {
                  "percentage" : 35,
                  "voltage" : 21144
               },
               {
                  "percentage" : 40,
                  "voltage" : 21365
               },
               {
                  "percentage" : 45,
                  "voltage" : 21549
               },
               {
                  "percentage" : 50,
                  "voltage" : 21739
               },
               {
                  "percentage" : 55,
                  "voltage" : 21956
               },
               {
                  "percentage" : 60,
                  "voltage" : 22231
               },
               {
                  "percentage" : 65,
                  "voltage" : 22524
               },
               {
                  "percentage" : 70,
                  "voltage" : 22809
               },
               {
                  "percentage" : 75,
                  "voltage" : 23073
               },
               {
                  "percentage" : 80,
                  "voltage" : 23345
               },
               {
                  "percentage" : 85,
                  "voltage" : 23654
               },
               {
                  "percentage" : 90,
                  "voltage" : 24036
               },
               {
                  "percentage" : 95,
                  "voltage" : 24388
               },
               {
                  "percentage" : 100,
                  "voltage" : 24675
               }
            ],
            "number" : 21
         },
         "internal_resistance" : 40,
         "loss_resistance" : 30,
         "low_error" : 5,
         "low_warning" : 15,
         "type" : 2
      },
      "can_baudrate_set" : 0,
      "motors" : {
         "arrange_type" : "differential",
         "driver1_id" : 1,
         "driver2_id" : 2,
         "driver_type" : 1,
         "i_pid_i" : 0,
         "i_pid_p" : 0,
         "number" : 2,
         "reduction_ratio" : 1,
         "resolution" : 4096,
         "v_pid_i" : 0,
         "v_pid_p" : 0,
         "wheel_base" : 315.6,
         "wheel_diameter" : 170
      },
      "periphery" : {
         "is_enable" : false,
         "led" : {
            "type" : 0
         }
      },
      "pmu_enable" : false,
      "power_off_timeout" : 10,
      "power_on_beep_disable" : false,
      "sensor_hub" : {
         "channel" : 1,
         "channel_1_baudrate" : 250000,
         "channel_2_baudrate" : 250000,
         "sensor1" : {
            "RFID_com" : {
               "high_port_baudrate" : 0,
               "id" : [ 0, 0 ],
               "low_port_baudrate" : 0,
               "mask" : 0,
               "type" : 0
            },
            "bumper" : {
               "mask" : 0,
               "number" : 2,
               "port" : [
                  {
                     "id" : 0,
                     "type" : 1,
                     "yaw" : 16
                  },
                  {
                     "id" : 1,
                     "type" : 1,
                     "yaw" : 345
                  }
               ]
            },
            "droper" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            },
            "magnetic" : {
               "mask" : 3,
               "number" : 2,
               "port" : [
                  {
                     "id" : 2,
                     "type" : 1,
                     "yaw" : 30
                  },
                  {
                     "id" : 3,
                     "type" : 1,
                     "yaw" : 331
                  }
               ]
            },
            "ultra" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            }
         },
         "sensor2" : {
            "RFID_com" : {
               "high_port_baudrate" : 0,
               "id" : [ 0, 0 ],
               "low_port_baudrate" : 0,
               "mask" : 0,
               "type" : 0
            },
            "bumper" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            },
            "droper" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            },
            "magnetic" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            },
            "ultra" : {
               "mask" : 0,
               "number" : 0,
               "port" : []
            }
         }
      }
   },
   "selected_cube_model_type" : 0,
   "slamware_common_cfg" : null,
   "slamware_customized_cfg" : {
      "base" : {
         "hardware_version" : 511,
         "high_moving_speed" : 0.59999999999999998,
         "low_moving_speed" : 0.40000000000000002,
         "manufacture_id" : 255,
         "manufacture_name" : "Slamtec",
         "max_robot_line_speed" : 1,
         "medium_moving_speed" : 0.5,
         "model_id" : 1013,
         "model_name" : "Hermes",
         "rect_robot_size" : [ 0.46999999999999997, 0.53000000000000003 ],
         "robot_angular_speed" : 1.2,
         "robot_angular_speed_ctrl_min" : 0.050000000000000003,
         "robot_line_speed" : 0.69999999999999996,
         "robot_line_speed_ctrl_min" : 0.02,
         "robot_size" : 0.63900000000000001,
         "sensors" : [
            {
               "id" : 0,
               "installation_pose" : {
                  "x" : 0.27762199999999998,
                  "y" : 0.07961,
                  "yaw" : 0.27929999999999999,
                  "z" : 0.030499999999999999
               },
               "type" : "bumper"
            },
            {
               "id" : 1,
               "installation_pose" : {
                  "x" : 0.27762199999999998,
                  "y" : -0.07961,
                  "yaw" : -0.27929999999999999,
                  "z" : 0.030499999999999999
               },
               "type" : "bumper"
            },
            {
               "id" : 2,
               "installation_pose" : {
                  "x" : 0.24077999999999999,
                  "y" : 0.13753000000000001,
                  "yaw" : 0.52795999999999998,
                  "z" : 0.031
               },
               "type" : "magnetic_tape_detector"
            },
            {
               "id" : 3,
               "installation_pose" : {
                  "x" : 0.24077999999999999,
                  "y" : -0.13753000000000001,
                  "yaw" : -0.52795999999999998,
                  "z" : 0.031
               },
               "type" : "magnetic_tape_detector"
            }
         ],
         "slamware_core_pose" : {
            "head_up" : true,
            "yaw" : -1.5708
         },
         "wheel_span" : 0.31559999999999999
      },
      "docking" : {
         "backward_docking" : true,
         "dock_center_line_length" : 0.12,
         "dock_depth" : 0.072999999999999995,
         "dock_inner_line_length" : 0.059999999999999998,
         "dock_length" : 0.29999999999999999,
         "dock_side_line_length" : 0.051499999999999997,
         "docking_check_detecting" : true,
         "docking_method" : "laserpattern",
         "docking_move_speed" : 0.080000000000000002,
         "landing_offset" : 0.29999999999999999
      },
      "features" : {
         "has_ir_docking_tower" : false
      },
      "health" : {
         "base_reconnect_as_error" : false,
         "low_localization_quality_as_error" : true,
         "reboot_as_error" : true
      },
      "lidar" : {
         "aperture" : [
            {
               "size" : 0.31415900000000002,
               "start" : -2.8623400000000001
            },
            {
               "size" : 1.4660770000000001,
               "start" : -2.286381
            },
            {
               "size" : 1.117011,
               "start" : -0.55850500000000003
            },
            {
               "size" : 1.4660770000000001,
               "start" : 0.82030499999999995
            },
            {
               "size" : 0.31415900000000002,
               "start" : 2.548181
            }
         ],
         "enable_imu_lidar_compensation" : true,
         "hibernate_time" : 0,
         "installation_pose" : {
            "x" : 0,
            "y" : 0,
            "yaw" : 0
         },
         "radius_filter" : {
            "enable" : true,
            "shape" : [
               [ 0.26500000000000001, 0.23499999999999999 ],
               [ -0.36499999999999999, 0.23499999999999999 ],
               [ -0.36499999999999999, -0.23499999999999999 ],
               [ 0.26500000000000001, -0.23499999999999999 ]
            ]
         },
         "require_angular_compensation" : false,
         "reverse_installation" : false
      },
      "motion_plan" : {
         "angular_acceleration" : 3,
         "brake_deceleration" : 2.5,
         "linear_acceleration" : 0.29999999999999999,
         "linear_deceleration" : 0.90000000000000002,
         "monitors" : {
            "sensor_monitor" : {
               "enabled" : true
            },
            "stall_monitor" : {
               "check_slip_yaw_diff" : -1
            }
         },
         "side_margin" : 0.05000000074505806
      },
      "services" : {
         "lidar_calibration" : {
            "enabled" : true,
            "keyframe_min_distance" : 1
         }
      }
   }
}
