sladro
a9e936bc43
- Added project configuration (config.json) with robot model path, environment parameters - Created 9-DOF robotic arm URDF model (models/manual_robot.urdf) - Established modular code architecture with empty source files ready for implementation - Configured Python dependencies (pybullet, PyKDL, urdf_parser_py) - Added comprehensive project documentation (CLAUDE.md) - Created .gitignore for Python project 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
61 lines
1.1 KiB
JSON
61 lines
1.1 KiB
JSON
{
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"robot": {
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"model_path": "models/manual_robot.urdf",
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"base_position": [0.0, 0.0, 0.0],
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"base_orientation": [0.0, 0.0, 0.0]
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},
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"wall": {
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"position": [2.0, 0.0, 1.0],
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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": [0.8, 0.8, 0.8, 1.0],
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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": [0.0, 0.0, 0.0],
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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": [1.0, 0.5, 0.8],
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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": [3.0, 0.5, 0.8],
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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": [1.0, 0.5, 0.5],
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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": [1.0, 0.0, 0.0, 1.0],
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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": [0.0, 0.0, -9.81],
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"real_time": false
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}
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} |