fe15edcbd5
- Unity frontend with ROS-TCP-Connector for ROS2 communication - Docker-based ROS2 Jazzy backend with MoveIt2 integration - Support for 1-9 DOF manipulators - UR5 robot configuration and URDF files - Assembly task feasibility analysis tools - Comprehensive documentation and deployment guides 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
270 lines
6.9 KiB
JSON
270 lines
6.9 KiB
JSON
{
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"unity_ros_settings": {
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"connection": {
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"ros_ip_address": "127.0.0.1",
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"ros_port": 10000,
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"connection_timeout": 5.0,
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"retry_attempts": 3,
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"retry_delay": 1.0,
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"heartbeat_interval": 1.0,
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"auto_reconnect": true
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},
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"robot_configuration": {
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"default_robot": "niryo_one",
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"robot_scale": 1.0,
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"spawn_position": [0, 0, 0],
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"spawn_rotation": [0, 0, 0],
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"auto_load_urdf": true,
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"urdf_import_settings": {
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"mesh_decomposer": "VHACD",
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"convex_method": "Unity",
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"axis_type": "Y_UP",
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"mesh_compression": true
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}
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},
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"visualization": {
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"trajectory": {
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"show_trajectory": true,
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"trajectory_color": "#00FF00",
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"trajectory_width": 0.02,
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"max_trajectory_points": 1000,
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"trajectory_lifetime": 10.0,
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"show_waypoints": true,
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"waypoint_size": 0.03,
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"waypoint_color": "#FFFF00"
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},
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"collision_objects": {
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"show_collision_objects": true,
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"collision_color": "#FF0000",
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"collision_transparency": 0.5,
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"show_collision_bounds": true,
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"bounds_color": "#FF8800"
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},
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"workspace": {
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"show_workspace": true,
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"workspace_color": "#0088FF",
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"workspace_transparency": 0.2,
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"show_workspace_grid": true,
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"grid_size": 0.1,
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"grid_color": "#CCCCCC"
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},
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"joint_visualization": {
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"show_joint_axes": false,
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"axis_length": 0.1,
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"show_joint_limits": true,
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"limit_color": "#FF00FF",
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"show_joint_names": false
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},
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"end_effector": {
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"show_tcp_frame": true,
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"tcp_axis_length": 0.05,
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"show_tcp_trail": true,
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"trail_length": 100,
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"trail_color": "#00FFFF"
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}
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},
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"interaction": {
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"end_effector_control": {
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"enable_6dof_control": true,
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"translation_sensitivity": 1.0,
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"rotation_sensitivity": 1.0,
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"snap_to_grid": false,
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"grid_size": 0.01,
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"constraint_axes": {
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"lock_x": false,
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"lock_y": false,
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"lock_z": false,
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"lock_roll": false,
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"lock_pitch": false,
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"lock_yaw": false
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}
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},
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"joint_control": {
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"enable_joint_sliders": true,
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"joint_step_size": 0.1,
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"show_joint_values": true,
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"enable_joint_limits": true,
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"velocity_control": false,
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"max_joint_velocity": 1.0
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},
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"camera_control": {
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"orbit_sensitivity": 2.0,
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"pan_sensitivity": 1.0,
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"zoom_sensitivity": 1.0,
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"auto_focus_on_robot": true,
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"smooth_camera_movement": true
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}
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},
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"performance": {
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"update_rates": {
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"robot_state_hz": 30,
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"trajectory_update_hz": 10,
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"ui_update_hz": 60,
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"collision_check_hz": 20
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},
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"optimization": {
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"use_lod": true,
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"lod_distances": [10, 50, 100],
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"cull_invisible_objects": true,
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"batch_rendering": true,
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"use_gpu_instancing": true,
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"max_trajectory_segments": 500
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},
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"memory_management": {
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"trajectory_cache_size": 100,
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"mesh_cache_size": 50,
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"texture_compression": true,
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"garbage_collection_interval": 30.0
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}
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},
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"physics": {
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"collision_detection": {
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"enable_physics": true,
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"collision_layers": {
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"robot": 8,
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"environment": 9,
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"trajectory": 10,
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"ui": 11
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},
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"collision_matrix": {
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"robot_vs_environment": true,
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"robot_vs_robot": true,
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"trajectory_vs_environment": true,
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"ui_vs_all": false
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}
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},
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"simulation": {
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"gravity": [0, -9.81, 0],
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"time_scale": 1.0,
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"fixed_timestep": 0.02,
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"solver_iterations": 6,
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"solver_velocity_iterations": 1
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}
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},
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"ui_configuration": {
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"panels": {
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"robot_control_panel": {
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"enabled": true,
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"position": "right",
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"width": 300,
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"collapsible": true,
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"default_collapsed": false
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},
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"trajectory_panel": {
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"enabled": true,
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"position": "bottom",
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"height": 200,
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"show_timeline": true,
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"show_joint_curves": true
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},
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"status_panel": {
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"enabled": true,
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"position": "top_left",
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"show_connection_status": true,
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"show_robot_status": true,
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"show_performance_metrics": true
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},
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"scene_panel": {
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"enabled": true,
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"position": "left",
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"width": 250,
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"show_scene_hierarchy": true,
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"show_object_properties": true
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}
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},
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"themes": {
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"current_theme": "dark",
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"available_themes": ["dark", "light", "blue"],
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"custom_colors": {
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"primary": "#2196F3",
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"secondary": "#FFC107",
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"success": "#4CAF50",
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"warning": "#FF9800",
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"error": "#F44336",
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"background": "#303030",
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"surface": "#424242",
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"text": "#FFFFFF"
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}
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}
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},
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"assembly_simulation": {
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"task_configuration": {
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"enable_task_mode": true,
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"show_task_objectives": true,
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"highlight_target_objects": true,
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"show_assembly_constraints": true,
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"constraint_visualization_color": "#FF00FF"
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},
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"environment_editing": {
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"enable_environment_editor": true,
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"allow_object_placement": true,
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"allow_object_scaling": true,
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"allow_object_rotation": true,
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"snap_to_surface": true,
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"show_placement_preview": true
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},
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"feasibility_analysis": {
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"enable_real_time_analysis": true,
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"show_feasibility_heatmap": true,
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"heatmap_resolution": 0.05,
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"analysis_update_interval": 2.0,
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"show_collision_warnings": true,
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"show_reachability_zones": true
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}
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},
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"debugging": {
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"enable_debug_mode": false,
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"show_debug_info": false,
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"log_level": "INFO",
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"show_fps_counter": true,
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"show_memory_usage": false,
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"enable_profiler": false,
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"debug_colors": {
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"collision": "#FF0000",
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"reachable": "#00FF00",
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"unreachable": "#FF0000",
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"warning": "#FFFF00"
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}
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},
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"export_settings": {
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"trajectory_export": {
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"default_format": "json",
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"supported_formats": ["json", "csv", "yaml"],
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"include_timestamps": true,
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"include_velocities": true,
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"include_accelerations": false
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},
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"scene_export": {
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"export_robot_state": true,
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"export_environment": true,
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"export_camera_position": true,
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"compression": true
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}
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}
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}
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} |