140 lines
2.2 KiB
JSON
140 lines
2.2 KiB
JSON
{
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"robot": {
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"model_path": "models/manual_robot.urdf",
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"base_position": [
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0.0,
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1.6,
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0.0
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],
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"base_orientation": [
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0.0,
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0.0,
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1.5
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]
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},
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"wall": {
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"position": [
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0.0,
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0.0,
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0.0
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],
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"dimensions": {
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"width": 3.0,
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"height": 2.5,
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"thickness": 0.2
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},
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"material": {
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"color": [
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0.8,
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0.8,
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0.8,
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1.0
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],
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"type": "concrete"
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}
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},
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"hole": {
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"position_relative_to_wall": [
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0.0,
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0.0,
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0.0
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],
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"dimensions": {
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"width": 2.0,
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"height": 2.0
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},
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"shape": "rectangle"
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},
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"task_points": {
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"point_A": {
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"position": [
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0.5,
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0.5,
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0.8
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],
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"description": "取物点，与机械臂同侧"
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},
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"point_B": {
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"position": [
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0.5,
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-0.3,
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0.8
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],
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"description": "目标点，墙体另一侧"
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}
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},
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"transport_object": {
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"initial_position": [
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1.0,
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0.5,
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0.5
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],
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"dimensions": {
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"width": 0.1,
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"height": 0.1,
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"depth": 0.1
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},
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"mass": 0.5,
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"shape": "cube",
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"material": {
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"color": [
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1.0,
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0.0,
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0.0,
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1.0
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],
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"friction": 0.7
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}
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},
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"simulation": {
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"timestep": 0.01,
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"gravity": [
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0.0,
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0.0,
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0.0
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],
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"real_time": false
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},
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"camera": {
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"distance": 4.0,
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"yaw": 45,
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"pitch": -30,
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"target": [
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0,
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0,
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0
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]
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},
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"gui": {
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"window_size": "1200x800"
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},
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"kinematics": {
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"max_iterations": 1500,
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"epsilon": 1e-05
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},
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"path_planning": {
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"ai_rrt_star": {
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"enabled": true,
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"max_iterations": 5000,
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"step_size": 0.1,
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"goal_sample_rate": 0.15,
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"search_radius": 0.5,
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"hole_bias_rate": 0.3,
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"enforce_hole_crossing": false
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},
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"collision": {
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"check_resolution": 0.05,
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"safety_margin": 0.02
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},
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"optimization": {
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"shortcut_iterations": 50,
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"smoothing_factor": 0.5
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},
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"execution": {
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"velocity_scaling": 1.0,
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"position_tolerance": 0.01,
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"motor_max_force": 150.0
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}
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}
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}
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