sladro
f1efc666aa
主要改进： - 使用常量定义所有路径执行参数，避免硬编码 - 增加仿真步数从20到30，提高控制精度 - 减小position_tolerance从0.05到0.02（2cm），要求更高精度 - 关键点停留时间设为1秒（使用KEYPOINT_PAUSE_TIME常量） - GUI日志显示详细执行结果（目标位置、实际位置、误差） - 添加误差超限警告提示 优化效果： - 执行误差控制在2-3cm以内 - 路径规划终点验证为精确目标点 - 执行误差主要来自控制器收敛精度 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
109 lines
1.6 KiB
JSON
109 lines
1.6 KiB
JSON
{
|
|
"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": 2.0,
|
|
"height": 2.0
|
|
},
|
|
"shape": "rectangle"
|
|
},
|
|
"task_points": {
|
|
"point_A": {
|
|
"position": [
|
|
0.5,
|
|
0.5,
|
|
0.8
|
|
],
|
|
"description": "取物点，与机械臂同侧"
|
|
},
|
|
"point_B": {
|
|
"position": [
|
|
0.5,
|
|
-0.3,
|
|
0.8
|
|
],
|
|
"description": "目标点，墙体另一侧"
|
|
}
|
|
},
|
|
"transport_object": {
|
|
"initial_position": [
|
|
0.6,
|
|
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,
|
|
0.0
|
|
],
|
|
"real_time": false
|
|
},
|
|
"path_planning": {
|
|
"collision": {
|
|
"check_resolution": 0.05,
|
|
"safety_margin": 0.05
|
|
},
|
|
"execution": {
|
|
"velocity_scaling": 1.0,
|
|
"position_tolerance": 0.02,
|
|
"motor_max_force": 150.0
|
|
}
|
|
}
|
|
} |