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。
99 lines
2.6 KiB
JSON
99 lines
2.6 KiB
JSON
{
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"id": "lekiwi-v1",
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"version": 1,
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"source": {
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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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},
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"baseBody": "base_plate_layer1-v5",
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"frame": "x-forward-y-left-z-up",
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"mapping": {
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"cadYawRad": -1.5707963267948966,
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"armSigns": [1, 1, 1, 1, 1],
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"armOffsetsRad": [0, 0, 0, 0, 0],
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"gripperAxisSign": -1
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},
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"controlHz": 30,
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"watchdogMs": 500,
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"wheelRadius": 0.05,
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"baseRadius": 0.125,
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"wheelMaxRadS": 4.601942363656923,
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"baseLinearLimit": 0.2,
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"baseAngularLimit": 1.0471975511965976,
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"wheels": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
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"arm": [
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{
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"joint": "arm_shoulder_pan",
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"min": -1.57,
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"max": 1.57,
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"neutral": 0,
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"kp": 40,
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"kv": 3,
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"force": 8
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},
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{
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"joint": "arm_shoulder_lift",
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"min": -1.4,
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"max": 1.4,
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"neutral": 0,
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"kp": 60,
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"kv": 4,
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"force": 10
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},
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{
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"joint": "arm_elbow_flex",
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"min": -1.4,
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"max": 1.4,
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"neutral": 0,
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"kp": 50,
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"kv": 3,
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"force": 8
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},
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{
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"joint": "arm_wrist_flex",
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"min": -1.4,
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"max": 1.4,
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"neutral": 0,
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"kp": 30,
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"kv": 2,
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"force": 5
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},
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{
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"joint": "arm_wrist_roll",
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"min": -3.14,
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"max": 3.14,
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"neutral": 0,
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"kp": 20,
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"kv": 1,
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"force": 3
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},
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{
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"joint": "arm_gripper",
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"min": -0.18,
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"max": 0.9,
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"neutral": 0,
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"kp": 15,
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"kv": 1,
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"force": 2
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}
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],
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"simulation": {
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"baseMass": 2.2,
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"baseInertia": [0.014, 0.014, 0.022],
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"armMasses": [0.1, 0.25, 0.22, 0.08, 0.09, 0.025],
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"wheelMass": 0.06,
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"rollerCount": 12,
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"rollerMass": 0.003,
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"wheelKv": 0.5,
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"wheelTorqueLimit": 2.0
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},
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"parameterNotes": {
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"kinematics": "Wheel radius/base radius and proportional wheel saturation follow LeRobot 0.6.1; raw 3000 ticks/s converts to wheelMaxRadS. CAD frame mapping is explicit in model enhancement. The CAD gripper axis is reversed so increasing canonical angle opens the jaws; the -0.18 rad closing limit leaves approximately 0.5 mm fingertip clearance.",
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"dynamics": "Simulation-only estimated collision, mass, inertia, joint limits and servo gains. NOT measured hardware calibration or a sim-to-real model.",
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"scope": "Flat ground low-speed control; no cameras, training, rough terrain or reliable grasping claim."
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}
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}
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