{
    "sonars":[
        {
            "type": 1, 
            "name":"RCW-0001",
            "image":"./res/image/RCW-0001.png",
            "distance_limit": 450 
        },
        {
            "type": 2,
            "name": "ZG1605",
            "image": "./res/image/ZG1605.png",
            "distance_limit": 5000
        }
    ],
    "cliffs":[      
        {
            "type": 1, 
            "name":"STC-C0279-R03",
            "image":"./res/image/STC-C0279-R03.png",
            "distance_limit": 55  
        }
    ],
    "bumpers":[        
        {
            "type": 1, 
            "name":"Mechanical"
        },
        {
            "type": 2, 
            "name":"Barometric"
        }
    ],
    "depth_cameras":[    
        { 
            "type": 0, 
            "name":"Generic"
        }
    ],
    "magnetic_tape_detectors":[
        { 
            "type": 1, 
            "name":"STC-C0283-R05", 
            "image":""
        }
    ],
    "lidars":[      
        {
            "type": "rplidar",
            "name":"A2M6",
            "image":"./res/image/a2m6.png",
            "max_distance": 18
        },
        {
            "type": "rplidar",
            "name":"A2M8",
            "image":"./res/image/a2m8.png",
            "max_distance": 12
        },
        {
            "type": "rplidar",
            "name":"A3M1",
            "image":"./res/image/a3m1.png",
            "max_distance": 25
        },
        {
            "type": "rplidar",
            "name":"S1M1",
            "image":"./res/image/s1m1.png",
            "max_distance": 40
        }
    ],
    "RFIDs":[
        {
            "type":1,
            "name":"26dBm M126",
            "image":"",
            "baudrate":9600
        },
        {
            "type":2, 
            "name":"CK-G06",
            "image":"",
            "baudrate":9600  
        }
    ],
    "motors":[     
        {
            "driver_type": 2,
            "name":"EX8101",
            "image":"./res/image/EX8101.png",
            "v_pid_p":0,
            "v_pid_i":0,
            "wheel_diameter": 0
        },
        {
            "driver_type": 1, 
            "name":"LSDB4850-CAFR-ALL1",
            "image":"./res/image/LSDB4850.png",
            "v_pid_p":0,
            "v_pid_i":0,
            "wheel_diameter": 0
        },
        {
            "driver_type": 3,
            "name":"ZLAC706",
            "image":"./res/image/ZLAC706.png",
            "v_pid_p":0,
            "v_pid_i":0,
            "wheel_diameter": 0
        },
        {
            "driver_type": 5, 
            "name":"K6LS30N2",
            "image":"./res/image/ZLAC706.png",
            "v_pid_p":0,
            "v_pid_i":0,
            "wheel_diameter": 0
        }
    ],
    "batteries":[      
        { 
            "type": 0, 
            "name":"6S18650", 
            "image":"",
            "rated_capacity": 32, 
            "low_warning":15, 
            "low_error":5
        }
    ]
}