{
  "WheelConfig": {
    "LeftFront": {
      "Position": {
        "X": 525.0,
        "Y": 200.0
      },
      "WheelDistance": 85.0,
      "AngleLowerLimit": -128.0,
      "AngleUpperLimit": 172.0,
      "IsDiffWheel": true
    },
    "RightFront": {
      "Position": {
        "X": 525.0,
        "Y": -200.0
      },
      "WheelDistance": 85.0,
      "AngleLowerLimit": -128.0,
      "AngleUpperLimit": 172.0,
      "IsDiffWheel": true
    },
    "LeftRear": {
      "Position": {
        "X": -525.0,
        "Y": 200.0
      },
      "WheelDistance": 85.0,
      "AngleLowerLimit": -126.0,
      "AngleUpperLimit": 174.0,
      "IsDiffWheel": true
    },
    "RightRear": {
      "Position": {
        "X": -525.0,
        "Y": -200.0
      },
      "WheelDistance": 85.0,
      "AngleLowerLimit": -130.0,
      "AngleUpperLimit": 170.0,
      "IsDiffWheel": true
    }
  },
  "MinimumTurningAngleForAckermann": 60.0,
  "ControlPointRadius": 500.0,
  "MaxSpeed": 1.0,
  "AccPerSecond": 0.3,
  "DeAccPerSecond": 1.0,
  "MinTurnSpeedFac": 0.25
}