sladro
3b5306611a
Major Features Added: - KDL-based kinematics engine with world/local coordinate transformation - Complete GUI system with configuration management - Robot loader with URDF parsing and joint control - Enhanced environment system with transport object management - Main application entry point with dependency validation Technical Improvements: - World coordinate to robot base coordinate transformation in KDL - Real-time configuration updates through GUI - Comprehensive error handling and validation - Configuration-driven design throughout - Robot model scaling adjusted to 0.2x for proper visualization Files Added: - src/robot/kinematics.py: KDL forward/inverse kinematics with coordinate transforms - src/gui/: Complete GUI framework with main window and config management - main.py: Application entry point with environment validation - models/*.stl: Robot link mesh files for URDF visualization - tests/: Unit test framework for core components This commit establishes the complete foundation for robotic arm path planning and task execution development. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
111 lines
1.6 KiB
JSON
111 lines
1.6 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": 0.6,
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"height": 0.6
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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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1.0,
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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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3.0,
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0.5,
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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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-9.81
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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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} |