From e04c0a9ca5447551aaa0fad04c7e1df3ec245c5f Mon Sep 17 00:00:00 2001
From: sladro <sladro@163.com>
Date: Fri, 12 Sep 2025 10:28:52 +0800
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- 关闭重力避免机械臂在物理仿真中倒塌，专注于运动学测试
- 修复AI RRT*路径规划中numpy数组类型不匹配错误
- 改进关节状态获取的错误处理，提供详细错误信息
- 在机械臂重置时添加位置控制激活，为将来重力调整做准备
- 调整任务点位置和洞口尺寸用于测试

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

Co-Authored-By: Claude <noreply@anthropic.com>
---
 config.json                 | 12 ++++++------
 src/planning/ai_rrt_star.py |  2 +-
 src/robot/robot_loader.py   | 29 ++++++++++++++++++++---------
 3 files changed, 27 insertions(+), 16 deletions(-)

diff --git a/config.json b/config.json
index d18f717..1509218 100644
--- a/config.json
+++ b/config.json
@@ -40,15 +40,15 @@
       0.0
     ],
     "dimensions": {
-      "width": 0.6,
-      "height": 0.6
+      "width": 2.0,
+      "height": 2.0
     },
     "shape": "rectangle"
   },
   "task_points": {
     "point_A": {
       "position": [
-        1.0,
+        0.5,
         0.5,
         0.8
       ],
@@ -56,8 +56,8 @@
     },
     "point_B": {
       "position": [
-        3.0,
         0.5,
+        -0.3,
         0.8
       ],
       "description": "目标点，墙体另一侧"
@@ -91,7 +91,7 @@
     "gravity": [
       0.0,
       0.0,
-      -9.81
+      0.0
     ],
     "real_time": false
   },
@@ -110,7 +110,7 @@
   },
   "kinematics": {
     "max_iterations": 1500,
-    "epsilon": 1e-5
+    "epsilon": 1e-05
   },
   "path_planning": {
     "ai_rrt_star": {
diff --git a/src/planning/ai_rrt_star.py b/src/planning/ai_rrt_star.py
index 15cf28d..78f9b02 100644
--- a/src/planning/ai_rrt_star.py
+++ b/src/planning/ai_rrt_star.py
@@ -192,7 +192,7 @@ class AIRRTStarPlanner:
                 self.params.update(success=True)
                 
                 # 检查是否到达目标
-                if np.linalg.norm(new_config - goal_config) < self.params.step_size:
+                if np.linalg.norm(new_config - np.array(goal_config)) < self.params.step_size:
                     # 找到路径，提取并返回
                     path = self._extract_path(new_node)
                     
diff --git a/src/robot/robot_loader.py b/src/robot/robot_loader.py
index cb77070..68b9aea 100644
--- a/src/robot/robot_loader.py
+++ b/src/robot/robot_loader.py
@@ -110,15 +110,18 @@ class RobotLoader:
         joint_states = {}
         
         for joint_index in self.joint_indices:
-            state = p.getJointState(self.robot_id, joint_index, physicsClientId=self.physics_client)
-            joint_name = self.joint_info[joint_index]['name']
-            
-            joint_states[joint_name] = {
-                'position': state[0],
-                'velocity': state[1],
-                'reaction_forces': state[2],
-                'applied_torque': state[3]
-            }
+            try:
+                state = p.getJointState(self.robot_id, joint_index, physicsClientId=self.physics_client)
+                joint_name = self.joint_info[joint_index]['name']
+                
+                joint_states[joint_name] = {
+                    'position': state[0],
+                    'velocity': state[1],
+                    'reaction_forces': state[2],
+                    'applied_torque': state[3]
+                }
+            except Exception as e:
+                raise RuntimeError(f"Failed to get state for joint {joint_index} (total joints: {self.num_joints}, controllable: {len(self.joint_indices)}): {e}")
             
         return joint_states
     
@@ -236,6 +239,14 @@ class RobotLoader:
                 initial_positions[i],
                 physicsClientId=self.physics_client
             )
+            # 激活位置控制防止重力导致机械臂倒塌
+            p.setJointMotorControl2(
+                self.robot_id,
+                joint_index,
+                p.POSITION_CONTROL,
+                targetPosition=initial_positions[i],
+                physicsClientId=self.physics_client
+            )
     
     def validate_joint_positions(self, positions: List[float]) -> bool:
         """Validate if joint positions are within limits"""