{
  "source": "https://github.com/liyiteng/AlohaMini",
  "revision": "17c6a98d79881a45ab869c1f392ed89c0723a298",
  "visuals": [
    {
      "body": "base_link",
      "mesh": "base_link.json",
      "pos": [
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        0,
        0
      ],
      "quat": [
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        0,
        0,
        0
      ],
      "color": [
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    },
    {
      "body": "vertical_link",
      "mesh": "vertical_link.json",
      "pos": [
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      "quat": [
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        0,
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      ],
      "color": [
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    },
    {
      "body": "chest_camera",
      "mesh": "chest_camera.json",
      "pos": [
        0,
        0,
        0
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      "quat": [
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      "color": [
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    },
    {
      "body": "Link2_dp",
      "mesh": "Link2_dp.json",
      "pos": [
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        0
      ],
      "quat": [
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        0,
        0
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      "color": [
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    },
    {
      "body": "Link3_dp",
      "mesh": "Link3_dp.json",
      "pos": [
        0,
        0,
        0
      ],
      "quat": [
        1,
        0,
        0,
        0
      ],
      "color": [
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    },
    {
      "body": "Link4_dp",
      "mesh": "Link4_dp.json",
      "pos": [
        0,
        0,
        0
      ],
      "quat": [
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        0,
        0,
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      "color": [
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    },
    {
      "body": "back_camera",
      "mesh": "back_camera.json",
      "pos": [
        0,
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      ],
      "quat": [
        1,
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        0,
        0
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      "color": [
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    },
    {
      "body": "front_camera",
      "mesh": "front_camera.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_Base",
      "mesh": "left_Base.json",
      "pos": [
        0,
        0,
        0
      ],
      "quat": [
        1,
        0,
        0,
        0
      ],
      "color": [
        0.8,
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        0.85,
        1
      ]
    },
    {
      "body": "left_Rotation_Pitch",
      "mesh": "left_Rotation_Pitch.json",
      "pos": [
        0,
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      ],
      "quat": [
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      "color": [
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    },
    {
      "body": "left_Upper_Arm",
      "mesh": "left_Upper_Arm.json",
      "pos": [
        0,
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        0
      ],
      "quat": [
        1,
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      "color": [
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    },
    {
      "body": "left_Lower_Arm",
      "mesh": "left_Lower_Arm.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_Wrist_Pitch_Roll",
      "mesh": "left_Wrist_Pitch_Roll.json",
      "pos": [
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        0
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_wrist_yaw",
      "mesh": "left_wrist_yaw.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_Fixed_Jaw",
      "mesh": "left_Fixed_Jaw.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_Moving_Jaw",
      "mesh": "left_Moving_Jaw.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "left_camera",
      "mesh": "left_camera.json",
      "pos": [
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      "quat": [
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    },
    {
      "body": "right_Base",
      "mesh": "left_Base.json",
      "pos": [
        0,
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      ],
      "quat": [
        1,
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        0,
        0
      ],
      "color": [
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      ]
    },
    {
      "body": "right_Rotation_Pitch",
      "mesh": "left_Rotation_Pitch.json",
      "pos": [
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      "quat": [
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      "color": [
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    {
      "body": "right_Upper_Arm",
      "mesh": "left_Upper_Arm.json",
      "pos": [
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      "quat": [
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      "color": [
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    },
    {
      "body": "right_Lower_Arm",
      "mesh": "left_Lower_Arm.json",
      "pos": [
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      "quat": [
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      "color": [
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    {
      "body": "right_Wrist_Pitch_Roll",
      "mesh": "left_Wrist_Pitch_Roll.json",
      "pos": [
        0,
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      "quat": [
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      "color": [
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    },
    {
      "body": "right_wrist_yaw",
      "mesh": "left_wrist_yaw.json",
      "pos": [
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      "quat": [
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    {
      "body": "right_Fixed_Jaw",
      "mesh": "left_Fixed_Jaw.json",
      "pos": [
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      "quat": [
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    {
      "body": "right_Moving_Jaw",
      "mesh": "left_Moving_Jaw.json",
      "pos": [
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      "quat": [
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    },
    {
      "body": "right_camera",
      "mesh": "left_camera.json",
      "pos": [
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      "quat": [
        1,
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      "color": [
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    }
  ],
  "joints": [
    {
      "name": "root_x_axis_joint",
      "lower": -20,
      "upper": 20,
      "axis": [
        1,
        0,
        0
      ],
      "type": "slide"
    },
    {
      "name": "root_y_axis_joint",
      "lower": -20,
      "upper": 20,
      "axis": [
        0,
        1,
        0
      ],
      "type": "slide"
    },
    {
      "name": "root_z_rotation_joint",
      "lower": -100,
      "upper": 100,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "vertical_move",
      "lower": -0.3,
      "upper": 0.3,
      "axis": [
        0,
        0,
        1
      ],
      "type": "slide"
    },
    {
      "name": "left_shoulder_pan",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "left_shoulder_lift",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "left_elbow_flex",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "left_wrist_flex",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "left_wrist_yaw_joint",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "left_wrist_roll",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "left_gripper",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "right_shoulder_pan",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "right_shoulder_lift",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "right_elbow_flex",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "right_wrist_flex",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "right_wrist_yaw_joint",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        -1
      ],
      "type": "hinge"
    },
    {
      "name": "right_wrist_roll",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    },
    {
      "name": "right_gripper",
      "lower": -3.14,
      "upper": 3.14,
      "axis": [
        0,
        0,
        1
      ],
      "type": "hinge"
    }
  ],
  "cameras": [
    {
      "name": "chest_camera",
      "parent": "vertical_link",
      "position": [
        -0.000225761875701821,
        -0.0690163597583236,
        0.447985436693376
      ],
      "rpy": [
        1.57079632679491,
        1.5707963267949,
        0
      ],
      "opticalAxis": "+Z",
      "fovy": 65,
      "calibrated": false
    },
    {
      "name": "back_camera",
      "parent": "base_link",
      "position": [
        0.00034085,
        0.16827,
        1.0972
      ],
      "rpy": [
        -3.1416,
        -0.63429,
        1.5708
      ],
      "opticalAxis": "+Z",
      "fovy": 65,
      "calibrated": false
    },
    {
      "name": "front_camera",
      "parent": "base_link",
      "position": [
        0.000309285647814801,
        -0.0549084504780031,
        1.10145847792887
      ],
      "rpy": [
        -3.14159265358978,
        0.78538567812397,
        1.5707963267949
      ],
      "opticalAxis": "+Z",
      "fovy": 65,
      "calibrated": false
    },
    {
      "name": "left_camera",
      "parent": "left_Fixed_Jaw",
      "position": [
        0.0018122,
        -0.07041,
        -0.0052089
      ],
      "rpy": [
        -0.42318,
        0,
        0
      ],
      "opticalAxis": "+Z",
      "fovy": 65,
      "calibrated": false
    },
    {
      "name": "right_camera",
      "parent": "right_Fixed_Jaw",
      "position": [
        0.0018122,
        -0.07041,
        -0.0052089
      ],
      "rpy": [
        -0.42318,
        0,
        0
      ],
      "opticalAxis": "+Z",
      "fovy": 65,
      "calibrated": false
    }
  ],
  "teleoperation": {
    "id": "aloha-mini-v2",
    "name": "Aloha Mini V2",
    "anchorBody": "vertical_link",
    "workspace": {
      "lower": [
        -0.85,
        -0.85,
        -0.25
      ],
      "upper": [
        0.85,
        0.6,
        1.1
      ]
    },
    "mainCamera": "chest_camera",
    "auxiliaryCameras": [
      "front_camera",
      "back_camera"
    ],
    "cameras": {
      "chest_camera": {
        "title": "PRIMARY VISION",
        "code": "03",
        "mount": "LIFT MOUNT / BODY FRAME"
      },
      "front_camera": {
        "title": "FORWARD / TOWER",
        "code": "01",
        "mount": "TOWER / FORWARD"
      },
      "back_camera": {
        "title": "REAR / TOWER",
        "code": "02",
        "mount": "TOWER / REAR"
      },
      "left_camera": {
        "title": "LEFT WRIST / OPTICAL",
        "code": "04",
        "mount": "LEFT HAND / TOOL FRAME"
      },
      "right_camera": {
        "title": "RIGHT WRIST / OPTICAL",
        "code": "05",
        "mount": "RIGHT HAND / TOOL FRAME"
      }
    },
    "base": {
      "type": "omni3",
      "joints": [
        "root_x_axis_joint",
        "root_y_axis_joint",
        "root_z_rotation_joint"
      ],
      "drive": {
        "wheelRadius": 0.063,
        "baseRadius": 0.195,
        "maxRaw": 3000,
        "countsPerRevolution": 4096
      },
      "translationSpeed": 0.25,
      "yawSpeed": 0.65,
      "positionLimit": 19
    },
    "lift": {
      "joint": "vertical_move",
      "body": "vertical_link",
      "lower": -0.3,
      "upper": 0.3,
      "home": 0,
      "speed": 0.08,
      "actuated": false,
      "instrumentRoot": "base_link",
      "instrumentBodies": [
        "base_link",
        "vertical_link",
        "Link2_dp",
        "Link3_dp",
        "Link4_dp"
      ]
    },
    "collisions": {
      "left": {
        "prefix": "left_",
        "suffix": "_collision"
      },
      "right": {
        "prefix": "right_",
        "suffix": "_collision"
      },
      "torso": {
        "names": [
          "tower_collision",
          "chest_collision"
        ]
      },
      "floor": {
        "names": [
          "floor"
        ]
      }
    },
    "arms": {
      "left": {
        "model": "AM-ARM200",
        "rootBody": "left_Base",
        "controlSite": "left_grip",
        "camera": "left_camera",
        "joints": [
          "left_shoulder_pan",
          "left_shoulder_lift",
          "left_elbow_flex",
          "left_wrist_flex",
          "left_wrist_yaw_joint",
          "left_wrist_roll"
        ],
        "actuators": [
          "left_shoulder_pan",
          "left_shoulder_lift",
          "left_elbow_flex",
          "left_wrist_flex",
          "left_wrist_yaw_joint",
          "left_wrist_roll"
        ],
        "jointLabels": [
          "SHOULDER PAN",
          "SHOULDER LIFT",
          "ELBOW",
          "WRIST FLEX",
          "WRIST YAW",
          "WRIST ROLL"
        ],
        "home": [
          0,
          -0.45,
          1.1,
          0.55,
          0,
          0
        ],
        "speedLimits": [
          1.5,
          1.5,
          1.5,
          1.5,
          1.5,
          1.5
        ],
        "gripper": {
          "rootBody": "left_Fixed_Jaw",
          "joint": "left_gripper",
          "actuator": "left_gripper",
          "open": 0,
          "direction": -1,
          "ranges": [
            0.65,
            0.35,
            0.5
          ]
        }
      },
      "right": {
        "model": "AM-ARM200",
        "rootBody": "right_Base",
        "controlSite": "right_grip",
        "camera": "right_camera",
        "joints": [
          "right_shoulder_pan",
          "right_shoulder_lift",
          "right_elbow_flex",
          "right_wrist_flex",
          "right_wrist_yaw_joint",
          "right_wrist_roll"
        ],
        "actuators": [
          "right_shoulder_pan",
          "right_shoulder_lift",
          "right_elbow_flex",
          "right_wrist_flex",
          "right_wrist_yaw_joint",
          "right_wrist_roll"
        ],
        "jointLabels": [
          "SHOULDER PAN",
          "SHOULDER LIFT",
          "ELBOW",
          "WRIST FLEX",
          "WRIST YAW",
          "WRIST ROLL"
        ],
        "home": [
          0,
          -0.45,
          1.1,
          0.55,
          0,
          0
        ],
        "speedLimits": [
          1.5,
          1.5,
          1.5,
          1.5,
          1.5,
          1.5
        ],
        "gripper": {
          "rootBody": "right_Fixed_Jaw",
          "joint": "right_gripper",
          "actuator": "right_gripper",
          "open": 0,
          "direction": -1,
          "ranges": [
            0.65,
            0.35,
            0.5
          ]
        }
      }
    }
  }
}