chenshijue
4240bb889a
- 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范 - Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排） - 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本） - 详细架构说明 docs/architecture.md
35 lines
720 B
JSON
35 lines
720 B
JSON
{
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"module_id": "planetary_joint_split_motor_demo",
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"name": "planetary_joint_split_motor_demo",
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"model": "planetary_joint_split_motor_demo.xml",
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"input_joint": "sun_input_joint",
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"output_joint": "carrier_output_joint",
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"gear_ratio": 5.9999999999999885,
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"gear_ratio_source": "mimic",
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"limits": {
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"position": [
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-37.6991118431,
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37.6991118431
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],
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"torque": [
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-10.0,
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10.0
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],
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"velocity": [
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-6.28318530718,
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6.28318530718
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]
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},
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"simulation": {
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"timestep": 0.001,
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"duration": 4.0,
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"kp": 20.0,
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"kd": 0.3,
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"amplitude": 6.283185307179586,
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"frequency": 0.25,
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"load_torque": -3.0,
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"damping": 0.01,
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"mode": "normal"
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}
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}
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