chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
61 lines
3.5 KiB
JSON
61 lines
3.5 KiB
JSON
{
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"repository": "https://github.com/SIGRobotics-UIUC/LeKiwi",
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"revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033",
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"urdfSha256": "36e102375e1e6ffdc1ca2d343c7406284b3cabc77ae16bfc001a3da89fddc6e1",
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"license": "Apache-2.0",
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"lerobotVersion": "0.6.1",
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"rootLink": "Base_08q-v1",
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"meshes": {
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"meshes/Base_08q-v1.stl": "a05be37db52657615ac69423fe577979efa0cd0634a5e9546bbc85537f003172",
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"meshes/WaveShare_Mounting_Plate_01d-v1.stl": "abde2af470078f125c6e001e64abcae7c4307bff02f27c3a10dc2a87f7039bed",
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"meshes/Rotation_Pitch_08i-v1.stl": "747a37e0c99c8fa85ad52ccf9fbfbb945468d8f9f590a1b7faadf5188d741ba9",
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"meshes/STS3215_03a-v1.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
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"meshes/SO_ARM100_08k_Asym_Mirror_Clip-v1.stl": "0f336a7f3940c943554252032ae8e351196353b8aa983827f045c4d7aa4cc52d",
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"meshes/Passive_Horn_01-v1.stl": "fca61eb1fb63b4bb04ff0c80d395ae10ae69787a7da7e15414234d39b8b0ab7d",
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"meshes/STS3215_03a-v1-1.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
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"meshes/SO_ARM100_08k_116_Square-v1.stl": "64fdc308759ff58756e3c39a0ea8018d6b37b551bc3d29238b6e86bc5acae666",
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"meshes/STS3215_03a-v1-2.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
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"meshes/SO_ARM100_08k_Mirror-v1.stl": "f6a2abf909ddd6e27c6fef5791937497a7686221dc1d877a7b30820b91cc1ca6",
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"meshes/STS3215_03a-v1-3.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
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"meshes/Wrist_Roll_Pitch_08i-v1.stl": "964cef356d5a120cd7d65018fcbd89a7f2dcd5f7a503d415720f94c452eb5da6",
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"meshes/STS3215_03a_Wrist_Roll-v1.stl": "b390f54c455a7900687af22432c8f742f4060d3c1afb90091c2fbf1dc3a9b978",
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"meshes/Wrist_Roll_08c-v1.stl": "87507f73f485c2cacb3dc83924a712069fbd68f72b82d4a31a2cfe7f58c9e4c9",
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"meshes/STS3215_03a-v1-4.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
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"meshes/Moving_Jaw_08d-v1.stl": "71caabee267376791210950b3b4e2f7968d9b57b92ed3f57711c03f2b5666912",
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"meshes/Wrist-Camera-Mount-v11.stl": "2bb123c754eff42c57c4605a533b94d14e7b51889a813764f798b7878489a98a",
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"meshes/Camera-Model-v3-1.stl": "f5ff94543c19e91a6d5ffb540e2d25347d813d191793405ff2e4178230dec21e"
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},
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"assemblyCores": {
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"arm_shoulder_pan": {
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"radiusM": 0.023,
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"axialHalfExtentM": 0.055,
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"reason": "Bounded mating envelope with straddling hull partitioning: CAD clearance audit found a false bearing contact at radius 19.1mm; verify both pan directions remain free, while outside-core structural contacts stay enabled."
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},
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"arm_shoulder_lift": {
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"radiusM": 0.0185,
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"axialHalfExtentM": 0.055,
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"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
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},
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"arm_elbow_flex": {
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"radiusM": 0.0185,
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"axialHalfExtentM": 0.055,
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"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
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},
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"arm_wrist_flex": {
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"radiusM": 0.016,
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"axialHalfExtentM": 0.055,
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"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
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},
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"arm_wrist_roll": {
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"radiusM": 0.0121,
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"axialHalfExtentM": 0.055,
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"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
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},
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"arm_gripper": {
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"radiusM": 0.0185,
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"axialHalfExtentM": 0.055,
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"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
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}
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}
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}
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