{ "schemaVersion": 1, "id": "robot-custom-1792818760352", "name": "Sentinel · Inspection Rover", "template": "custom", "parts": [ { "id": "chassis-9a889b", "defId": "chassis", "name": "Rover chassis", "position": [ 0, 0.09, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {} }, { "id": "esp32-s3-45b547", "defId": "esp32-s3", "name": "ESP32-S3 · virtual controller", "position": [ 0.08, 0.1195, -0.08 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "battery-2s-4400-72519b", "defId": "battery-2s-4400", "name": "2S battery · 4.4 Ah", "position": [ 0, 0.146, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "regulator-5v-5a-870e3b", "defId": "regulator-5v-5a", "name": "5 V buck regulator · 5 A", "position": [ 0, 0.1205, -0.04 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "motor-driver-686fb5", "defId": "motor-driver", "name": "Dual H-bridge", "position": [ 0, 0.12249999999999998, 0.04 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "compute-9bfd24", "defId": "compute", "name": "AI compute module", "position": [ -0.07, 0.12349999999999998, -0.05 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "camera-3e9be9", "defId": "camera", "name": "RGB camera", "position": [ 0.05, 0.1285, 0.04 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "range-a6be7f", "defId": "range", "name": "Forward range sensor", "position": [ 0.145, 0.13, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "imu-04fe49", "defId": "imu", "name": "6-axis IMU", "position": [ -0.04, 0.11599999999999999, 0.03 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "display-594b0c", "defId": "display", "name": "Emoji OLED display", "position": [ -0.06, 0.13349999999999998, 0.02 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "microphone-737712", "defId": "microphone", "name": "MEMS microphone", "position": [ -0.04, 0.11699999999999999, 0.05 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "speaker-23f319", "defId": "speaker", "name": "Mini speaker", "position": [ 0, 0.121, -0.08 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "led-ff87b2", "defId": "led", "name": "Status LED module", "position": [ 0.03, 0.1195, -0.06 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "switch-d09538", "defId": "switch", "name": "Power switch", "position": [ 0, 0.12249999999999998, 0.07 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "fuse-8a1790", "defId": "fuse", "name": "Inline fuse", "position": [ 0.07, 0.118, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "servo-57dc11", "defId": "servo", "name": "Position servo", "position": [ 0.05, 0.13349999999999998, 0.07 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "anchored": 0 }, "parentId": "chassis-9a889b" }, { "id": "dc-motor-be831d", "defId": "dc-motor", "name": "Left drive motor", "position": [ -0.065, 0.046, -0.1 ], "rotation": [ 0, 1.5707963267948966, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "dc-motor-d29768", "defId": "dc-motor", "name": "Right drive motor", "position": [ -0.065, 0.046, 0.1 ], "rotation": [ 0, -1.5707963267948966, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "wheel-0e1ee7", "defId": "wheel", "name": "Left traction wheel", "position": [ -0.065, 0.046, -0.145 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "wheel-8b5d99", "defId": "wheel", "name": "Right traction wheel", "position": [ -0.065, 0.046, 0.145 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "caster-323a48", "defId": "caster", "name": "Rear ball caster", "position": [ 0.115, 0.021, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "encoder-95af44", "defId": "encoder", "name": "Left wheel encoder", "position": [ -0.065, 0.074, -0.104 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "encoder-2068b3", "defId": "encoder", "name": "Right wheel encoder", "position": [ -0.065, 0.074, 0.104 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": { "side": 1 }, "parentId": "chassis-9a889b" }, { "id": "bracket-c15c8f", "defId": "bracket", "name": "Left motor bracket", "position": [ -0.065, 0.064, -0.1 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "bracket-2ffbac", "defId": "bracket", "name": "Right motor bracket", "position": [ -0.065, 0.064, 0.1 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" }, { "id": "bracket-8c003e", "defId": "bracket", "name": "Rear caster bracket", "position": [ 0.115, 0.0545, 0 ], "rotation": [ 0, 0, 0 ], "joint": "fixed", "params": {}, "parentId": "chassis-9a889b" } ], "wires": [ { "id": "d1e6d760-ed75-4043-aab9-237f94757be6", "from": { "part": "battery-2s-4400-72519b", "pin": "POS" }, "to": { "part": "fuse-8a1790", "pin": "IN" } }, { "id": "db061382-7ec3-4878-b4c2-26d3f318fdb6", "from": { "part": "fuse-8a1790", "pin": "OUT" }, "to": { "part": "switch-d09538", "pin": "IN" } }, { "id": "991ccd0d-c4c3-4401-810a-a22e26a10b77", "from": { "part": "switch-d09538", "pin": "OUT" }, "to": { "part": "regulator-5v-5a-870e3b", "pin": "VIN" } }, { "id": "f5d2a3d9-f523-4c46-9315-1406aac586d8", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "regulator-5v-5a-870e3b", "pin": "GND" } }, { "id": "a668b55e-688a-4805-b5ef-9423fa126a35", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "esp32-s3-45b547", "pin": "VIN" } }, { "id": "8032c9e1-fb96-4a5f-9fad-89a0f142d28f", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "motor-driver-686fb5", "pin": "VM" } }, { "id": "768cda21-9d77-4005-98c8-078d004b7a84", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "compute-9bfd24", "pin": "VCC" } }, { "id": "a92fbf24-bf5b-4ca9-8c0a-5fe621803075", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "camera-3e9be9", "pin": "VCC" } }, { "id": "b2db28b6-9f1d-4ac0-a4e1-3c4cbdb2d303", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "range-a6be7f", "pin": "VCC" } }, { "id": "49d2a582-5732-4805-b306-f0e690cf3b97", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "imu-04fe49", "pin": "VCC" } }, { "id": "937e7747-cdfb-4707-8ba1-39f849caa51e", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "display-594b0c", "pin": "VCC" } }, { "id": "4f7c06b5-c5d1-4dc9-9e16-6913b84fdad8", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "microphone-737712", "pin": "VCC" } }, { "id": "4f0d3ca6-44ca-420c-bbd2-d4fb7e8c3440", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "speaker-23f319", "pin": "VCC" } }, { "id": "23135acb-9b22-4ec3-9200-1e02135d989c", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "servo-57dc11", "pin": "VCC" } }, { "id": "efc05827-df95-499c-867b-d76ef8e85986", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "encoder-95af44", "pin": "VCC" } }, { "id": "442b50f0-0244-48e7-8646-199225a48043", "from": { "part": "regulator-5v-5a-870e3b", "pin": "VOUT" }, "to": { "part": "encoder-2068b3", "pin": "VCC" } }, { "id": "e6255856-6e45-464a-9568-503d2d24d4e6", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "esp32-s3-45b547", "pin": "GND" } }, { "id": "4ada9f56-69a0-4ce4-8634-1286f661a583", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "motor-driver-686fb5", "pin": "GND" } }, { "id": "3f4a9595-82f2-440e-823d-2c179ec1ceea", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "compute-9bfd24", "pin": "GND" } }, { "id": "603d2bb5-ebd4-45ad-9e62-9a843abdca64", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "camera-3e9be9", "pin": "GND" } }, { "id": "101c2339-f92c-4420-baff-9786a76471af", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "range-a6be7f", "pin": "GND" } }, { "id": "24d1bc61-9291-4f97-a3ae-7a819d2afd23", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "imu-04fe49", "pin": "GND" } }, { "id": "63da6706-2d17-4903-98e3-7ea496d4cee4", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "display-594b0c", "pin": "GND" } }, { "id": "2baf6c04-6e8d-43c7-b3c6-158ee3446fad", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "microphone-737712", "pin": "GND" } }, { "id": "4157438a-36ed-4a35-8243-996aa2fe410d", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "speaker-23f319", "pin": "GND" } }, { "id": "f90adfb6-60d6-4aa0-9cda-19a7d7f5a027", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "servo-57dc11", "pin": "GND" } }, { "id": "b827eef1-b597-4095-8c75-48a4c13eaec0", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "encoder-95af44", "pin": "GND" } }, { "id": "24606c81-4e3e-4a75-b5f6-8b07629b5e01", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "encoder-2068b3", "pin": "GND" } }, { "id": "27a84bda-8e9c-419c-a178-4a5bb8f44fde", "from": { "part": "battery-2s-4400-72519b", "pin": "GND" }, "to": { "part": "led-ff87b2", "pin": "GND" } }, { "id": "ecbd4ed8-3854-4d8b-966d-ac11ff41d09b", "from": { "part": "esp32-s3-45b547", "pin": "PWM_L" }, "to": { "part": "motor-driver-686fb5", "pin": "PWM_A" } }, { "id": "d9da5c10-1266-4c45-a326-dd4d011bae37", "from": { "part": "esp32-s3-45b547", "pin": "PWM_R" }, "to": { "part": "motor-driver-686fb5", "pin": "PWM_B" } }, { "id": "6cda4e53-b078-4ccc-9731-4ad4175abea7", "from": { "part": "esp32-s3-45b547", "pin": "PWM_SERVO" }, "to": { "part": "servo-57dc11", "pin": "PWM" } }, { "id": "fe0e4df2-58ca-4b12-9fff-6aaaf155a564", "from": { "part": "motor-driver-686fb5", "pin": "A+" }, "to": { "part": "dc-motor-be831d", "pin": "+" } }, { "id": "551e31ff-edbe-432f-9eae-2e430c7507ed", "from": { "part": "motor-driver-686fb5", "pin": "A-" }, "to": { "part": "dc-motor-be831d", "pin": "-" } }, { "id": "3a835ade-8fda-464b-bbb8-22975daf734e", "from": { "part": "motor-driver-686fb5", "pin": "B+" }, "to": { "part": "dc-motor-d29768", "pin": "+" } }, { "id": "2fb0ee0c-4e42-4089-ac63-203af657aa12", "from": { "part": "motor-driver-686fb5", "pin": "B-" }, "to": { "part": "dc-motor-d29768", "pin": "-" } }, { "id": "7202e26c-cac3-4288-ac48-2ce0600cc863", "from": { "part": "esp32-s3-45b547", "pin": "SDA" }, "to": { "part": "range-a6be7f", "pin": "SDA" } }, { "id": "400d1991-c8dd-49c8-98e1-c1af0cdd0796", "from": { "part": "esp32-s3-45b547", "pin": "SCL" }, "to": { "part": "range-a6be7f", "pin": "SCL" } }, { "id": "9d3dad89-ea85-4516-88a1-5090b82b1b62", "from": { "part": "esp32-s3-45b547", "pin": "SDA" }, "to": { "part": "imu-04fe49", "pin": "SDA" } }, { "id": "66991c62-9225-4d79-8575-bba874a71286", "from": { "part": "esp32-s3-45b547", "pin": "SCL" }, "to": { "part": "imu-04fe49", "pin": "SCL" } }, { "id": "1d15bdb8-293d-4c09-b1bc-781c00e790a8", "from": { "part": "esp32-s3-45b547", "pin": "SDA" }, "to": { "part": "display-594b0c", "pin": "SDA" } }, { "id": "f76efca9-1151-431c-95ba-2591726b7d88", "from": { "part": "esp32-s3-45b547", "pin": "SCL" }, "to": { "part": "display-594b0c", "pin": "SCL" } }, { "id": "c3a7b898-4607-4baa-92bf-fb6bb0d85a72", "from": { "part": "esp32-s3-45b547", "pin": "SDA" }, "to": { "part": "compute-9bfd24", "pin": "SDA" } }, { "id": "19107925-8535-48f3-bd0d-1da5ca303455", "from": { "part": "esp32-s3-45b547", "pin": "SCL" }, "to": { "part": "compute-9bfd24", "pin": "SCL" } }, { "id": "02ff3cfb-94bd-44ad-8cf7-8ec742245189", "from": { "part": "compute-9bfd24", "pin": "USB" }, "to": { "part": "camera-3e9be9", "pin": "DATA" } }, { "id": "5bff8517-7adb-40bc-9f85-080152833f0f", "from": { "part": "compute-9bfd24", "pin": "USB" }, "to": { "part": "microphone-737712", "pin": "DATA" } }, { "id": "46745130-e2e7-46a9-b4c7-a0140618dfe4", "from": { "part": "compute-9bfd24", "pin": "USB" }, "to": { "part": "speaker-23f319", "pin": "DATA" } }, { "id": "c6fae0d1-8b0f-4530-9cb7-021fd357d5a7", "from": { "part": "encoder-95af44", "pin": "A" }, "to": { "part": "esp32-s3-45b547", "pin": "ENC_L_A" } }, { "id": "f9ab3596-e7cd-4a4b-9578-2d18c81f3449", "from": { "part": "encoder-95af44", "pin": "B" }, "to": { "part": "esp32-s3-45b547", "pin": "ENC_L_B" } }, { "id": "c7dab740-ee29-44dd-a95b-61ad73e972ed", "from": { "part": "encoder-2068b3", "pin": "A" }, "to": { "part": "esp32-s3-45b547", "pin": "ENC_R_A" } }, { "id": "8c9e072f-71b2-44f5-ae3a-f69f81fecb5e", "from": { "part": "encoder-2068b3", "pin": "B" }, "to": { "part": "esp32-s3-45b547", "pin": "ENC_R_B" } }, { "id": "7656e3f2-21bb-40ec-a414-8cb51b0b70a1", "from": { "part": "esp32-s3-45b547", "pin": "GPIO" }, "to": { "part": "led-ff87b2", "pin": "SIGNAL" } } ], "groups": [ { "id": "group-b1bdc6e3-1896-4cf5-b49b-8daef94a5f00", "name": "Power and protection", "partIds": [ "battery-2s-4400-72519b", "regulator-5v-5a-870e3b", "switch-d09538", "fuse-8a1790" ] }, { "id": "group-8edb2c52-df66-496e-8917-4d1214e03f5d", "name": "Drivetrain", "partIds": [ "motor-driver-686fb5", "dc-motor-be831d", "dc-motor-d29768", "wheel-0e1ee7", "wheel-8b5d99", "encoder-95af44", "encoder-2068b3" ] }, { "id": "group-233eefb8-87bc-4575-9816-68a644a5577e", "name": "Control and perception", "partIds": [ "esp32-s3-45b547", "compute-9bfd24", "camera-3e9be9", "range-a6be7f", "imu-04fe49" ] }, { "id": "group-ccd0298a-c7e1-4981-8197-463c661201af", "name": "Face audio and servo", "partIds": [ "display-594b0c", "microphone-737712", "speaker-23f319", "led-ff87b2", "servo-57dc11" ] }, { "id": "group-6b237454-b274-48de-afa1-c9a19384b265", "name": "Frame and supports", "partIds": [ "chassis-9a889b", "caster-323a48", "bracket-c15c8f", "bracket-2ffbac", "bracket-8c003e" ] } ], "code": "// Sentinel inspection rover. Built from an empty workbench.\n// Virtual JavaScript controller, 20 Hz. PWM values are bounded to [-1, 1].\n// The camera and microphone are available to the optional AI observer.\nlet mode = 'START';\nlet avoidanceUntil = 0;\nlet lastLogSecond = -1;\nfunction step(robot) {\n const range = robot.sensors.range;\n if (robot.brownout || robot.battery.voltage < 6.4 || !Number.isFinite(range)) {\n robot.drive(0, 0);\n robot.display('STOP');\n if (mode !== 'STOP') robot.log('Safety stop: supply or range observation unavailable.');\n mode = 'STOP';\n return;\n }\n if (range < 0.55 && robot.time >= avoidanceUntil) avoidanceUntil = robot.time + 1.3;\n let next = 'PATROL';\n if (robot.time < avoidanceUntil - 0.7) {\n robot.drive(-0.24, -0.24);\n next = 'REVERSE';\n } else if (robot.time < avoidanceUntil) {\n robot.drive(-0.22, 0.25);\n next = 'TURN';\n } else {\n robot.drive(0.38, 0.38);\n }\n robot.display(next === 'PATROL' ? '^_^' : '>_<');\n for (const id of Object.keys(robot.servos)) robot.servo(id, Math.sin(robot.time * 0.7) * 0.35);\n if (next !== mode) {\n robot.log('Mode:', next, 'range:', range.toFixed(2), 'm');\n if (mode === 'START') robot.speak('Sentinel inspection patrol started.');\n mode = next;\n }\n const second = Math.floor(robot.time);\n if (second !== lastLogSecond && second % 2 === 0) {\n robot.log('Supply:', robot.battery.voltage.toFixed(2), 'V; encoders:', robot.sensors.encoders.join(','));\n lastLogSecond = second;\n }\n}\n", "environment": { "scenario": "obstacles", "slope": 0, "friction": 0.8, "payload": 0, "seed": 42, "initialSoc": 1, "obstacles": [ { "id": "block-a", "position": [ 0.9, 0.15, 0 ], "size": [ 0.25, 0.3, 0.45 ] }, { "id": "block-b", "position": [ 1.7, 0.2, 0.5 ], "size": [ 0.3, 0.4, 0.3 ] } ] }, "ai": { "provider": "replay", "endpoint": "", "model": "recorded-rover-guide", "timeoutMs": 15000, "prompt": "You control a simulated robot. Use bounded wheel commands. Stop when sensors are unavailable or battery is low. Describe your intended action briefly.", "vision": false }, "createdAt": "2026-10-24T05:12:40.352Z", "updatedAt": "2026-10-24T05:25:28.586Z" }