zianrahmad/kerupuk

Advanced Robotics Model (ARM)

Overview

Advanced Robotics Model (ARM) is a comprehensive JSON-based configuration schema and simulation model for robotics applications. It supports the most complete set of functions for modeling complex robots, including humanoid, wheeled, quadruped, and aerial drones. Designed for use with robotics frameworks like ROS2, Gazebo, Webots, or custom simulators.

This model includes:

• Full kinematic/dynamic parameters (URDF-inspired).
• Multi-modal sensors (LiDAR, cameras, IMU, etc.).
• Actuators with PID control and torque limits.
• Navigation, perception, and AI modules.
• Behaviors for autonomy (path planning, SLAM, manipulation).

Key Features:

• Modular Design: Easily extend with custom plugins.
• Real-time Simulation: Supports physics engines like Bullet/ODE.
• Cross-Platform: JSON schema validated with JSON Schema tools.
• Scalable: From simple bots to full fleets.
• Complete Functions: 100+ parameters covering locomotion, sensing, control, and learning.

Quick Start

1. Clone/Download this repo.
2. Validate JSON: npm install -g ajv-cli && ajv validate -s schema.json -d config.json
3. Load in simulator: e.g., ros2 launch arm_gazebo arm.launch.py config:=config.json
4. Run behaviors: ros2 run arm_controller autonomous_nav

Installation

Prerequisites

• Python 3.8+ or Node.js 14+
• ROS2 Humble (optional, for ROS integration)
• Gazebo 11+ or Webots 2023+

Setup

git clone https://github.com/your-repo/arm-model.git
cd arm-model
pip install -r requirements.txt  # Includes numpy, pyyaml, jsonschema
Configuration
Edit config.json for your robot. Key sections:

* robot: Base model (links, joints).
* sensors: Array of sensor configs.
* actuators: Motor/servo details.
* control: PID gains, trajectories.
* navigation: Maps, planners.
* ai: ML models for perception/behavior.

Schema Validation: Use schema.json (included) for IDE autocompletion.
Example Customization:

* Change to quadruped: Set "type": "quadruped", adjust joints.
* Add arm: Append to links with manipulator: true.