From 32bbd5c44c8e505a76d3637328a1f6f7e1f56e1a Mon Sep 17 00:00:00 2001
From: sladro <sladro@163.com>
Date: Sat, 13 Sep 2025 08:22:40 +0800
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问题描述：
- 修改配置文件后运行路径规划报错"Joint index out-of-range"
- CollisionChecker持有无效的robot_id引用

解决方案：
- 在on_config_applied方法中重新初始化路径规划组件
- 确保路径规划组件使用新的arm_controller实例

影响文件：
- src/gui/main_window.py: 添加_initialize_planning_components()调用
- CLAUDE.md: 更新已知问题文档

🤖 Generated with [Claude Code](https://claude.ai/code)

Co-Authored-By: Claude <noreply@anthropic.com>
---
 CLAUDE.md              | 14 ++++++++++++++
 config.json            |  8 ++++----
 src/gui/main_window.py |  3 +++
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index e7671d4..e81fe62 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -144,6 +144,20 @@ wall_position = [2.0, 0.0, 1.0]          # 错误！
 
 ## 已知问题
 
+### 配置更新后路径规划组件未重新初始化（2025-09-13）✅ 已解决
+**现象**：修改配置文件后运行路径规划，报错"Joint index out-of-range"。
+
+**根本原因**：
+- `on_config_applied`方法重新创建了`ArmController`但未重新初始化路径规划组件
+- `CollisionChecker`仍持有旧的`arm_controller`引用，其`robot_id`已无效
+- 使用无效的`robot_id`调用`p.resetJointState`导致索引越界错误
+
+**解决方案**：
+- 在重新创建`ArmController`后立即调用`_initialize_planning_components()`
+- 确保路径规划组件使用新的`arm_controller`实例
+
+**修复文件**：`src/gui/main_window.py`（第282行）
+
 ### KDL逆运动学崩溃（2025-09-11）✅ 已解决
 **现象**：点击"Test Reachability"按钮后程序直接退出，无错误信息。
 
diff --git a/config.json b/config.json
index af6aecf..370097c 100644
--- a/config.json
+++ b/config.json
@@ -65,9 +65,9 @@
   },
   "transport_object": {
     "initial_position": [
-      1.0,
+      0.6,
       0.5,
-      0.7
+      0.5
     ],
     "dimensions": {
       "width": 0.1,
@@ -98,7 +98,7 @@
   "path_planning": {
     "collision": {
       "check_resolution": 0.05,
-      "safety_margin": 0.01
+      "safety_margin": 0.05
     },
     "execution": {
       "velocity_scaling": 1.0,
@@ -106,4 +106,4 @@
       "motor_max_force": 150.0
     }
   }
-}
+}
\ No newline at end of file
diff --git a/src/gui/main_window.py b/src/gui/main_window.py
index f1bb256..e196c65 100644
--- a/src/gui/main_window.py
+++ b/src/gui/main_window.py
@@ -278,6 +278,9 @@ class MainWindow:
             # Recreate arm controller
             self.arm_controller = create_arm_controller(self.config_loader, self.physics_client)
             
+            # Reinitialize path planning components with new arm controller
+            self._initialize_planning_components()
+            
             # Restore robot state if available
             if robot_state:
                 try: