Create config json

config json

@@ -0,0 +1,266 @@
+{
+  "robot": {
+    "name": "AdvancedHumanoidBot",
+    "type": "humanoid",
+    "mass": 75.0,
+    "dimensions": {
+      "height": 1.8,
+      "width": 0.5,
+      "depth": 0.3
+    },
+    "inertia": {
+      "ixx": 10.0,
+      "iyy": 10.0,
+      "izz": 10.0
+    },
+    "links": [
+      {
+        "name": "base_link",
+        "parent": "world",
+        "pose": [0, 0, 0, 0, 0, 0],
+        "size": [0.3, 0.3, 0.1],
+        "mass": 5.0,
+        "collision": true,
+        "visual": true
+      },
+      {
+        "name": "left_leg",
+        "parent": "base_link",
+        "joint": {
+          "type": "revolute",
+          "axis": [0, 0, 1],
+          "limit": [-1.57, 1.57],
+          "damping": 0.1,
+          "friction": 0.01
+        },
+        "size": [0.05, 0.4, 0.05],
+        "mass": 3.0
+      },
+      {
+        "name": "right_leg",
+        "parent": "base_link",
+        "joint": {
+          "type": "revolute",
+          "axis": [0, 0, 1],
+          "limit": [-1.57, 1.57],
+          "damping": 0.1,
+          "friction": 0.01
+        },
+        "size": [0.05, 0.4, 0.05],
+        "mass": 3.0
+      },
+      {
+        "name": "left_arm",
+        "parent": "base_link",
+        "joint": {
+          "type": "revolute",
+          "axis": [1, 0, 0],
+          "limit": [-2.0, 2.0]
+        },
+        "size": [0.05, 0.6, 0.05],
+        "mass": 2.0,
+        "manipulator": true
+      },
+      {
+        "name": "right_arm",
+        "parent": "base_link",
+        "joint": {
+          "type": "revolute",
+          "axis": [1, 0, 0],
+          "limit": [-2.0, 2.0]
+        },
+        "size": [0.05, 0.6, 0.05],
+        "mass": 2.0,
+        "end_effector": {
+          "gripper": {
+            "max_force": 50.0,
+            "range": 0.1
+          }
+        }
+      },
+      {
+        "name": "head",
+        "parent": "base_link",
+        "joint": {
+          "type": "spherical",
+          "limit": [0.5, 0.5, 1.57]
+        },
+        "size": [0.2, 0.2, 0.25],
+        "mass": 1.5
+      }
+    ],
+    "dof": 28
+  },
+  "sensors": [
+    {
+      "name": "lidar_top",
+      "type": "lidar",
+      "parent": "head",
+      "pose": [0, 0, 0.2, 0, 0, 0],
+      "range": [0.1, 50.0],
+      "resolution": 0.01,
+      "fov": 360.0,
+      "layers": 32,
+      "update_rate": 10.0,
+      "noise": 0.01
+    },
+    {
+      "name": "rgb_camera",
+      "type": "camera",
+      "parent": "head",
+      "pose": [0, 0.1, 0.15, 0, 0, 0],
+      "resolution": [640, 480],
+      "fov": 90.0,
+      "update_rate": 30.0,
+      "depth": true,
+      "topics": ["/camera/rgb/image_raw", "/camera/depth/image_raw"]
+    },
+    {
+      "name": "imu",
+      "type": "imu",
+      "parent": "base_link",
+      "noise_gyro": 0.01,
+      "noise_accel": 0.01,
+      "update_rate": 100.0
+    },
+    {
+      "name": "force_torque_left",
+      "type": "force_torque",
+      "parent": "left_arm",
+      "update_rate": 100.0
+    },
+    {
+      "name": "gps",
+      "type": "gps",
+      "parent": "base_link",
+      "accuracy": 0.1,
+      "update_rate": 10.0
+    },
+    {
+      "name": "microphone_array",
+      "type": "microphone",
+      "parent": "head",
+      "channels": 8,
+      "sample_rate": 16000
+    },
+    {
+      "name": "touch_sensors",
+      "type": "tactile",
+      "parent": "right_arm",
+      "resolution": 100,
+      "sensitivity": 1.0
+    }
+  ],
+  "actuators": [
+    {
+      "name": "left_hip_motor",
+      "parent": "left_leg",
+      "type": "dc_motor",
+      "max_torque": 100.0,
+      "max_velocity": 10.0,
+      "pid": {
+        "p": 100.0,
+        "i": 1.0,
+        "d": 10.0
+      }
+    },
+    {
+      "name": "right_knee_servo",
+      "parent": "right_leg",
+      "type": "servo",
+      "max_torque": 50.0,
+      "range": [-90, 90],
+      "pid": { "p": 200.0, "i": 2.0, "d": 20.0 }
+    },
+    {
+      "name": "gripper_motor",
+      "parent": "right_arm",
+      "type": "servo",
+      "max_force": 30.0
+    }
+  ],
+  "control": {
+    "joint_controllers": "effort",
+    "gait_generator": {
+      "type": "cpg",
+      "frequency": 1.0,
+      "amplitude": 0.5
+    },
+    "trajectory_planner": {
+      "type": "moveit",
+      "planning_time": 0.5
+    },
+    "stabilization": {
+      "type": "mpc",
+      "horizon": 20
+    },
+    "safety_limits": {
+      "velocity_max": 2.0,
+      "collision_avoidance": true
+    }
+  },
+  "navigation": {
+    "planner": {
+      "type": "dwa",
+      "goal_tolerance": 0.1,
+      "max_vel": 1.5
+    },
+    "localization": {
+      "type": "ekf",
+      "use_odom": true,
+      "use_imu": true,
+      "use_gps": true
+    },
+    "map": {
+      "resolution": 0.05,
+      "size": [100, 100]
+    },
+    "fleet_mode": true,
+    "formation": "leader_follower"
+  },
+  "ai": {
+    "perception": {
+      "object_detector": {
+        "model": "yolov8",
+        "classes": ["person", "object", "obstacle"]
+      },
+      "slam": {
+        "type": "orb_slam3"
+      }
+    },
+    "planning": {
+      "type": "rl",
+      "model_path": "ppo_humanoid.pt"
+    },
+    "nlp": {
+      "model": "whisper",
+      "intent_classifier": "bert"
+    },
+    "compute": {
+      "gpu": true,
+      "batch_size": 1
+    }
+  },
+  "world": {
+    "gravity": [0, 0, -9.81],
+    "timestep": 0.001,
+    "real_time_factor": 1.0,
+    "terrain": {
+      "type": "rough",
+      "friction": 0.8
+    },
+    "obstacles": [
+      {
+        "type": "box",
+        "pose": [2, 0, 0.5, 0, 0, 0],
+        "size": [1, 1, 1]
+      }
+    ]
+  },
+  "simulation": {
+    "engine": "gazebo",
+    "plugins": ["gazebo_ros_pkgs"],
+    "record": true,
+    "visualize": true
+  }
+}