{
  "robot": {
    "model_path": "models/manual_robot.urdf",
    "base_position": [
      0.0,
      1.6,
      0.0
    ],
    "base_orientation": [
      0.0,
      0.0,
      1.5
    ]
  },
  "wall": {
    "position": [
      0.0,
      0.0,
      0.0
    ],
    "dimensions": {
      "width": 3.0,
      "height": 2.5,
      "thickness": 0.2
    },
    "material": {
      "color": [
        0.8,
        0.8,
        0.8,
        1.0
      ],
      "type": "concrete"
    }
  },
  "hole": {
    "position_relative_to_wall": [
      0.0,
      0.0,
      0.0
    ],
    "dimensions": {
      "width": 0.6,
      "height": 0.6
    },
    "shape": "rectangle"
  },
  "task_points": {
    "point_A": {
      "position": [
        1.0,
        0.5,
        0.8
      ],
      "description": "取物点，与机械臂同侧"
    },
    "point_B": {
      "position": [
        3.0,
        0.5,
        0.8
      ],
      "description": "目标点，墙体另一侧"
    }
  },
  "transport_object": {
    "initial_position": [
      1.0,
      0.5,
      0.5
    ],
    "dimensions": {
      "width": 0.1,
      "height": 0.1,
      "depth": 0.1
    },
    "mass": 0.5,
    "shape": "cube",
    "material": {
      "color": [
        1.0,
        0.0,
        0.0,
        1.0
      ],
      "friction": 0.7
    }
  },
  "simulation": {
    "timestep": 0.01,
    "gravity": [
      0.0,
      0.0,
      -9.81
    ],
    "real_time": false
  },
  "camera": {
    "distance": 4.0,
    "yaw": 45,
    "pitch": -30,
    "target": [
      0,
      0,
      0
    ]
  },
  "gui": {
    "window_size": "1200x800"
  },
  "kinematics": {
    "max_iterations": 1500,
    "epsilon": 1e-5
  },
  "path_planning": {
    "ai_rrt_star": {
      "enabled": true,
      "max_iterations": 5000,
      "step_size": 0.1,
      "goal_sample_rate": 0.15,
      "search_radius": 0.5,
      "hole_bias_rate": 0.3
    },
    "collision": {
      "check_resolution": 0.05,
      "safety_margin": 0.02
    },
    "optimization": {
      "shortcut_iterations": 50,
      "smoothing_factor": 0.5
    },
    "execution": {
      "velocity_scaling": 1.0,
      "position_tolerance": 0.01
    }
  }
}