feat: 重构

2026-08-25 10:23:09 +08:00 · 2026-08-25 10:23:09 +08:00 · 0286064415
commit 0286064415
parent 144ec6fbf7
381 changed files with 14889 additions and 39055 deletions
--- a/.env.development
+++ b/.env.development
@ -1,5 +1,5 @@
 # 页面标题
-VITE_APP_TITLE = 招商车研AI测评机器人模拟测试平台
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统

 # 开发环境配置
 VITE_APP_ENV = 'development'
@ -7,13 +7,8 @@ VITE_APP_ENV = 'development'
 # 招商车研物联网平台/开发环境
 VITE_APP_BASE_API = '/dev-api'

-VITE_API_URL = http://192.168.0.222:13080
-VITE_WS_URL = ws://192.168.0.222:13080/ws
-
-# explanation
+VITE_API_URL = http://192.168.0.222:14080
+VITE_WS_URL = ws://192.168.0.222:14080/ws
+VITE_PORT = 5174
 VITE_INSPECTION_TYPE = "inspection"
-VITE_INSPECTION_ARM_DEVICE_ID = "huayan_arm"
-VITE_INSPECTION_AGV_DEVICE_ID = "src1100"
-VITE_AUDIO_SERVER_URL = "ws://192.168.0.222:13080/ws/audio"
-VITE_SPEAKER_DEVICE_ID = "spk1"
-VITE_MIC_DEVICE_ID = "mic1"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"
--- a/.env.production
+++ b/.env.production
@ -1,5 +1,5 @@
 # 页面标题
-VITE_APP_TITLE = 智能座舱测评AI机器人
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统

 # 生产环境配置
 VITE_APP_ENV = 'production'
@ -10,11 +10,8 @@ VITE_APP_BASE_API = '/prod-api'
 # 是否在打包时开启压缩，支持 gzip 和 brotli
 VITE_BUILD_COMPRESS = gzip

-#node-red  服务地址
 VITE_NODE_RED_URL = 'http://10.148.108.59:13080'
-
 VITE_API_URL = http://192.168.28.10:13080
 VITE_WS_URL = ws://192.168.0.201:13080/ws
-
-# explanation
 VITE_INSPECTION_TYPE = "inspection"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"
--- a/.env.staging
+++ b/.env.staging
@ -1,13 +1,16 @@
 # 页面标题
-VITE_APP_TITLE = 招商车研物联网平台管理系统
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统

 # 生产环境配置
 VITE_APP_ENV = 'staging'

-# 招商车研物联网平台管理系统/生产环境
+# 招商车研物联网平台/测试环境
 VITE_APP_BASE_API = '/stage-api'

 # 是否在打包时开启压缩，支持 gzip 和 brotli
 VITE_BUILD_COMPRESS = gzip
+
 VITE_API_URL = http://10.148.121.100:13080
 VITE_WS_URL = ws://192.168.0.201:13080/ws
+VITE_INSPECTION_TYPE = "inspection"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"
--- a/.github/FUNDING.yml
+++ b/.github/FUNDING.yml
@ -0,0 +1 @@
+custom: http://doc.ruoyi.vip/ruoyi-vue/other/donate.html
--- a/.gitignore
+++ b/.gitignore
@ -18,9 +18,8 @@ selenium-debug.log
 *.njsproj
 *.sln
 *.local
-.history

 package-lock.json
 yarn.lock
-bin/
-pnpm-lock.yaml
+
+.history
--- a/README.md
+++ b/README.md
@ -1,35 +1,102 @@
+# CMVR IoT 管理控制台

-## 前端运行
+招商车研物联网平台 Vue 3 管理端。项目以 RuoYi-Vue3 3.9.2 为新版基础框架，完整迁移原 `cmvr-iot-ui` 的业务页面、API、机器人模型和运行配置，并连接 `RuoYi-Vue-master` 中的 Spring Boot 4 后端。
+
+旧前端仅作为迁移来源，不参与本项目构建。
+
+## 功能范围
+
+- 系统管理：用户、角色、部门、岗位、菜单、字典、参数、通知和文件。
+- 系统监控：在线用户、操作日志、登录日志、缓存、服务、Quartz 和 Druid。
+- 设备管理：设备注册、终端、机器人、相机、机械臂、灵巧手、机器人头部、麦克风、扬声器和电机。
+- 测试平台：测试项目、任务配置、任务编排、检测项、任务实例和执行流程。
+- 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果、告警和驾驶舱。
+- 交互评价：语音交互、触控交互、评价指标、方案、项目和语料。
+- 智能座舱：车机界面、车辆配置、功能配置、流程编辑和执行评价。
+- 语料与媒体：语料管理、音频上传、图片预览、视频播放和 WebSocket 实时消息。
+- 开发工具：代码生成、表单构建和 Knife4j 接口文档。
+
+## 技术栈
+
+| 组件 | 版本 |
+| --- | --- |
+| Vue | 3.5.26 |
+| Vite | 6.4.1 |
+| Element Plus | 2.13.1 |
+| Pinia | 3.0.4 |
+| Vue Router | 4.6.4 |
+| 可视化 | ECharts、Vue Flow、Three.js、Monaco Editor、XGPlayer |
+
+## 环境要求
+
+- Node.js 20 LTS
+- pnpm 10
+- 后端 `RuoYi-Vue-master/cmvr-iot-admin`
+
+## 开发运行
+
+先启动后端，确认 `http://localhost:13080` 可以访问，然后执行：

 ```bash
-# 安装依赖
-yarn --registry=https://registry.npmmirror.com
-
-# 启动服务
-yarn dev
-
-# 构建测试环境 yarn build:stage
-# 构建生产环境 yarn build:prod
-# 前端访问地址 http://localhost:80
+pnpm install
+pnpm dev
 ```

-## 内置功能
+默认地址：

-1. 用户管理：用户是系统操作者，该功能主要完成系统用户配置。
-2. 部门管理：配置系统组织机构（公司、部门、小组），树结构展现支持数据权限。
-3. 岗位管理：配置系统用户所属担任职务。
-4. 菜单管理：配置系统菜单，操作权限，按钮权限标识等。
-5. 角色管理：角色菜单权限分配、设置角色按机构进行数据范围权限划分。
-6. 字典管理：对系统中经常使用的一些较为固定的数据进行维护。
-7. 参数管理：对系统动态配置常用参数。
-8. 通知公告：系统通知公告信息发布维护。
-9. 操作日志：系统正常操作日志记录和查询；系统异常信息日志记录和查询。
-10. 登录日志：系统登录日志记录查询包含登录异常。
-11. 在线用户：当前系统中活跃用户状态监控。
-12. 定时任务：在线（添加、修改、删除)任务调度包含执行结果日志。
-13. 代码生成：前后端代码的生成（java、html、xml、sql）支持CRUD下载 。
-14. 系统接口：根据业务代码自动生成相关的api接口文档。
-15. 服务监控：监视当前系统CPU、内存、磁盘、堆栈等相关信息。
-16. 缓存监控：对系统的缓存信息查询，命令统计等。
-17. 在线构建器：拖动表单元素生成相应的HTML代码。
-18. 连接池监视：监视当前系统数据库连接池状态，可进行分析SQL找出系统性能瓶颈。
+- 前端：`http://localhost:80`
+- 后端：`http://localhost:13080`
+- Knife4j：`http://localhost:13080/doc.html`
+
+开发配置位于 `.env.development`：
+
+```dotenv
+VITE_APP_TITLE=招商车研物联网平台管理系统
+VITE_APP_BASE_API=/dev-api
+VITE_API_URL=http://localhost:13080
+VITE_WS_URL=ws://localhost:13080/ws
+VITE_PORT=80
+```
+
+## 构建
+
+```bash
+pnpm build:dev
+pnpm build:stage
+pnpm build:prod
+pnpm preview
+```
+
+生产构建输出到 `dist`。部署时需要由 Nginx 或网关转发 `/prod-api`，并支持 `/ws` WebSocket、文件上传和媒体请求。
+
+## 目录说明
+
+```text
+public/models          机器人 URDF 和网格模型
+public/inspection      巡检机械臂模型
+src/adapters           URDF/Xacro 模型适配
+src/api                REST API 封装
+src/components         公共及业务组件
+src/router             公共路由和隐藏业务路由
+src/store              Pinia 状态管理
+src/views/device       设备管理与设备控制
+src/views/test         测试业务
+src/views/flow         流程编排
+src/views/inspection   智能巡检
+src/views/evaluate     评价管理
+src/views/vi           语音交互
+src/views/is           智能座舱
+src/views/corpusManger 语料管理
+```
+
+业务菜单由后端 `/getRouters` 动态返回。数据库菜单中的 `component` 必须与 `src/views` 下的实际页面路径一致，权限字符必须与后端控制器保持一致。
+
+## 配置说明
+
+- `.env.development`：本地开发地址。
+- `.env.staging`：测试环境地址。
+- `.env.production`：生产环境地址、Node-RED 和 MinIO。
+- `vite.config.js`：代理、端口、Monaco 和构建分包。
+- `src/settings.js`：布局、页签和版权配置。
+
+生产密码、访问密钥和内部网络配置应通过部署环境注入，不要提交新的敏感信息。
--- a/bin/build.bat
+++ b/bin/build.bat
@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 打包Web工程，生成dist文件。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn build:prod
+
+pause
--- a/bin/package.bat
+++ b/bin/package.bat
@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 安装Web工程，生成node_modules文件。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn --registry=https://registry.npmmirror.com
+
+pause
--- a/bin/run-web.bat
+++ b/bin/run-web.bat
@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 使用 Vite 命令运行 Web 工程。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn dev
+
+pause
--- a/index.html
+++ b/index.html
@ -7,7 +7,7 @@
  <meta name="renderer" content="webkit">
  <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
  <link rel="icon" href="/favicon.ico">
-  <title>招商车研物联网平台管理系统</title>
+  <title>%VITE_APP_TITLE%</title>
  <!--[if lt IE 11]><script>window.location.href='/html/ie.html';</script><![endif]-->
  <style>
    html,
--- a/package.json
+++ b/package.json
@ -1,33 +1,36 @@
 {
  "name": "changan-inspection",
-  "version": "3.8.8",
-  "description": "长安巡检项目",
+  "version": "1.0.0",
+  "description": "招商车研物联网平台管理系统前端",
  "author": "CMVR",
  "license": "MIT",
  "type": "module",
  "scripts": {
    "dev": "vite",
    "build:dev": "vite build --mode development",
-    "build:prod": "vite build --mode production",
-    "build:staging": "vite build --mode staging --verbose",
+    "build:prod": "vite build",
+    "build:stage": "vite build --mode staging",
+    "build:staging": "vite build --mode staging",
    "preview": "vite preview"
  },
  "dependencies": {
-    "@element-plus/icons-vue": "2.3.1",
-    "@logicflow/core": "^2.0.13",
-    "@logicflow/extension": "^2.0.18",
+    "@cmvr/iot-common": "1.0.0",
+    "@element-plus/icons-vue": "2.3.2",
+    "@vue-flow/background": "^1.3.2",
+    "@vue-flow/controls": "^1.1.3",
+    "@vue-flow/core": "^1.48.2",
    "@vueup/vue-quill": "1.2.0",
-    "@vueuse/core": "10.11.0",
+    "@vueuse/core": "14.1.0",
    "ace-builds": "^1.43.0",
    "autofit.js": "^3.2.8",
-    "axios": "0.28.1",
+    "axios": "1.13.2",
    "clipboard": "2.0.11",
    "dayjs": "^1.11.13",
-    "echarts": "5.5.1",
-    "element-plus": "2.9.4",
+    "echarts": "5.6.0",
+    "element-plus": "2.13.1",
    "file-saver": "2.0.5",
-    "fuse.js": "6.6.2",
-    "js-beautify": "1.14.11",
+    "fuse.js": "7.1.0",
+    "js-beautify": "1.15.4",
    "js-cookie": "3.0.5",
    "jsencrypt": "3.3.2",
    "json-editor-vue": "^0.18.1",
@ -36,32 +39,38 @@
    "monaco-editor": "^0.55.1",
    "nprogress": "0.2.0",
    "pako": "^2.1.0",
-    "pinia": "2.1.7",
-    "pnpm": "^10.23.0",
+    "pinia": "3.0.4",
    "socket.io-client": "^4.8.1",
    "sockjs-client": "^1.6.1",
+    "sortablejs": "^1.15.6",
    "splitpanes": "3.1.5",
    "three": "^0.181.2",
    "urdf-loader": "^0.12.6",
    "uuid": "^11.1.0",
-    "vue": "3.4.31",
+    "vue": "3.5.26",
    "vue-cropper": "1.1.1",
-    "vue-router": "4.4.0",
+    "vue-router": "4.6.4",
    "vue3-ace-editor": "^2.2.4",
    "vue3-json-viewer": "2.3.0",
    "vuedraggable": "4.1.0",
+    "xacro-parser": "^0.3.11",
    "xgplayer": "^3.0.22"
  },
  "devDependencies": {
-    "@vitejs/plugin-vue": "5.0.5",
-    "file-loader": "^6.2.0",
-    "sass": "1.77.5",
-    "unplugin-auto-import": "0.17.6",
+    "@vitejs/plugin-vue": "5.2.4",
+    "sass-embedded": "1.97.2",
+    "unplugin-auto-import": "0.18.6",
    "unplugin-vue-setup-extend-plus": "1.0.1",
-    "vite": "5.3.2",
+    "vite": "6.4.1",
    "vite-plugin-compression": "0.5.1",
    "vite-plugin-monaco-editor": "^1.1.0",
    "vite-plugin-svg-icons": "2.0.1"
  },
-  "packageManager": "pnpm@9.15.9+sha512.68046141893c66fad01c079231128e9afb89ef87e2691d69e4d40eee228988295fd4682181bae55b58418c3a253bde65a505ec7c5f9403ece5cc3cd37dcf2531"
+  "overrides": {
+    "quill": "2.0.2"
+  },
+  "resolutions": {
+    "quill": "2.0.2"
+  },
+  "packageManager": "pnpm@10.24.0"
 }
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
--- a/pnpm-workspace.yaml
+++ b/pnpm-workspace.yaml
@ -0,0 +1,6 @@
+allowBuilds:
+  core-js: true
+  es5-ext: true
+  esbuild: true
+  json-editor-vue: true
+  vue-demi: true
--- a/public/models/dual_arm.urdf
+++ b/public/models/dual_arm.urdf
@ -0,0 +1,660 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+
+
+    <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0.6" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.05" length="1.2"/>
+        </geometry>
+        <material name="gray">
+          <color rgba="0.5 0.5 0.5 1.0"/>
+        </material>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0.6" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.05" length="1.2"/>
+        </geometry>
+      </collision>
+
+        <inertial>
+
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <mass value="25.4469"/>
+
+          <inertia
+            ixx="3.06953"
+            ixy="0.0"
+            ixz="0.0"
+            iyy="3.06953"
+            iyz="0.0"
+            izz="0.03181"/>
+        </inertial>
+    </link>
+
+    <joint name="base_fixed" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 1.2"/>
+      <parent link="base_link"/>
+      <child link="PELVIS_S"/>
+    </joint>
+
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
+      <mass value="2.10624590271277" />
+      <inertia
+        ixx="0.00165706865324979"
+        ixy="3.13663044821662E-09"
+        ixz="6.84209533216046E-07"
+        iyy="0.00136736758630241"
+        iyz="-1.01014607878816E-10"
+        izz="0.00168295663089359" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="L_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
+      <mass value="0.880737519698403" />
+      <inertia
+        ixx="0.000583190308378148"
+        ixy="-1.53153074560473E-05"
+        ixz="6.58466471754072E-09"
+        iyy="0.000445532440067177"
+        iyz="6.37001404038516E-09"
+        izz="0.000465648071069952" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_P" type="revolute">
+    <origin xyz="0 0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="L_SHOULDER_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
+      <mass value="0.594788424442483" />
+      <inertia
+        ixx="0.000380970396712656"
+        ixy="4.80751844573946E-05"
+        ixz="-1.34913746586865E-11"
+        iyy="0.000320962178597474"
+        iyz="-1.00039763442409E-09"
+        izz="0.000414771047901155" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 0.0765 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_P_S" />
+    <child link="L_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2" upper="2" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09"
+        rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287552"
+        ixy="-1.8057438966771E-05"
+        ixz="7.28778136267901E-10"
+        iyy="0.000213830709361531"
+        iyz="1.49273668517817E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_R_S" />
+    <child link="L_SHOULDER_Y_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.18" upper="0" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="L_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
+      <mass value="0.393571904406493" />
+      <inertia
+        ixx="0.00017277119386253"
+        ixy="2.34549801867355E-05"
+        ixz="-1.90560556659271E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073600007E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_ELBOW_R" type="revolute">
+    <origin xyz="0.034 0.1025 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_Y_S" />
+    <child link="L_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.05" upper="0" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
+      <mass value="0.442332465815496" />
+      <inertia
+        ixx="0.000476754055455895"
+        ixy="-4.61505824713347E-15"
+        ixz="6.03808112272229E-18"
+        iyy="0.000103466585850499"
+        iyz="-4.88426705501198E-05"
+        izz="0.000482956345754213" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_P" type="revolute">
+    <origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
+    <parent link="L_ELBOW_R_S" />
+    <child link="L_WRIST_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="3.14" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
+      <mass value="0.23573847772002" />
+      <inertia
+        ixx="5.10686940455785E-05"
+        ixy="7.45706654358429E-16"
+        ixz="6.2619568923368E-06"
+        iyy="6.00636019624519E-05"
+        iyz="1.27989654155383E-16"
+        izz="5.32182903609189E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_Y" type="revolute">
+    <origin xyz="0 0.1525 0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_P_S" />
+    <child link="L_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="L_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
+      <mass value="0.504894112043562" />
+      <inertia
+        ixx="0.000186833711781125"
+        ixy="-3.99488705622731E-06"
+        ixz="-1.51920720398336E-06"
+        iyy="0.000179960980467837"
+        iyz="3.6992669535716E-06"
+        izz="0.000280756101568308" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_R" type="revolute">
+    <origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_Y_S" />
+    <child link="L_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.57" upper="0.26" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
+      <mass value="0.880737519698404" />
+      <inertia
+        ixx="0.000583190308378149"
+        ixy="1.53153074560471E-05"
+        ixz="-6.58466471736542E-09"
+        iyy="0.000445532440067178"
+        iyz="6.37001403998779E-09"
+        izz="0.000465648071069953" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_P" type="revolute">
+    <origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="R_SHOULDER_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
+      <mass value="0.59478842444248" />
+      <inertia
+        ixx="0.000380970396712653"
+        ixy="-4.80751844573946E-05"
+        ixz="1.34913746041655E-11"
+        iyy="0.000320962178597472"
+        iyz="-1.00039763417375E-09"
+        izz="0.000414771047901152" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_P_S" />
+    <child link="R_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.78" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287551"
+        ixy="1.80574389667711E-05"
+        ixz="-7.28778136077729E-10"
+        iyy="0.000213830709361532"
+        iyz="1.49273668428957E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_R_S" />
+    <child link="R_SHOULDER_Y_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
+      <mass value="0.393571904406492" />
+      <inertia
+        ixx="0.000172771193862529"
+        ixy="-2.34549801867353E-05"
+        ixz="1.90560556668771E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073602971E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ELBOW_R" type="revolute">
+    <origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_Y_S" />
+    <child link="R_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="2.05" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
+      <mass value="0.442332465815497" />
+      <inertia
+        ixx="0.000476754055455896"
+        ixy="-4.61462558956188E-15"
+        ixz="-5.91762926004267E-18"
+        iyy="0.0001034665858505"
+        iyz="4.88426705501212E-05"
+        izz="0.000482956345754214" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_P" type="revolute">
+    <origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
+    <parent link="R_ELBOW_R_S" />
+    <child link="R_WRIST_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
+      <mass value="0.235738477720019" />
+      <inertia
+        ixx="5.1068694045578E-05"
+        ixy="7.45771487459288E-16"
+        ixz="6.26195689233664E-06"
+        iyy="6.00636019624515E-05"
+        iyz="1.27828046342987E-16"
+        izz="5.32182903609188E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_Y" type="revolute">
+    <origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_P_S" />
+    <child link="R_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="R_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
+      <mass value="0.504366058218534" />
+      <inertia
+        ixx="0.000185559065855467"
+        ixy="5.75889766751509E-06"
+        ixz="2.40683898454438E-06"
+        iyy="0.000131246007872084"
+        iyz="1.60533277040148E-06"
+        izz="0.000271800951396149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_R" type="revolute">
+    <origin xyz="0.03 0 -0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_Y_S" />
+    <child link="R_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_FINGER_TIP">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.004"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 1 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_FINGER_TIP_FIXED" type="fixed">
+    <origin xyz="0.00684256  -0.284077 0.00801525" rpy="0 0 0"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_FINGER_TIP"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="R_CAM">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.004"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 0 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_CAM_FIXED" type="fixed">
+    <origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267 0 3.1415926535"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_CAM"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+</robot>
--- a/public/models/left_arm.urdf
+++ b/public/models/left_arm.urdf
@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="left_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder radius="0.05" length="1.2"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+
+    <collision>
+      <geometry>
+        <cylinder radius="0.05" length="1.2"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="20.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="base_fixed" type="fixed">
+    <origin rpy="0 0 0.0" xyz="0 0 0.6"/>
+    <parent link="base_link"/>
+    <child link="PELVIS_S"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
+      <mass value="2.10624590271277" />
+      <inertia ixx="0.00165706865324979" ixy="3.13663044821662E-09" ixz="6.84209533216046E-07" iyy="0.00136736758630241" iyz="-1.01014607878816E-10" izz="0.00168295663089359" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_P" type="revolute">
+    <origin xyz="0 0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="L_SHOULDER_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
+      <mass value="0.880737519698403" />
+      <inertia ixx="0.000583190308378148" ixy="-1.53153074560473E-05" ixz="6.58466471754072E-09" iyy="0.000445532440067177" iyz="6.37001404038516E-09" izz="0.000465648071069952" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 0.0765 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_P_S" />
+    <child link="L_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
+      <mass value="0.594788424442483" />
+      <inertia ixx="0.000380970396712656" ixy="4.80751844573946E-05" ixz="-1.34913746586865E-11" iyy="0.000320962178597474" iyz="-1.00039763442409E-09" izz="0.000414771047901155" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_R_S" />
+    <child link="L_SHOULDER_Y_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
+  </joint>
+
+  <link name="L_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia ixx="0.000327003834287552" ixy="-1.8057438966771E-05" ixz="7.28778136267901E-10" iyy="0.000213830709361531" iyz="1.49273668517817E-10" izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_ELBOW_R" type="revolute">
+    <origin xyz="0.034 0.1025 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_Y_S" />
+    <child link="L_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
+  </joint>
+
+  <link name="L_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
+      <mass value="0.393571904406493" />
+      <inertia ixx="0.00017277119386253" ixy="2.34549801867355E-05" ixz="-1.90560556659271E-09" iyy="0.000155340245267897" iyz="8.82493073600007E-09" izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_P" type="revolute">
+    <origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
+    <parent link="L_ELBOW_R_S" />
+    <child link="L_WRIST_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.19" />
+  </joint>
+
+  <link name="L_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
+      <mass value="0.442332465815496" />
+      <inertia ixx="0.000476754055455895" ixy="-4.61505824713347E-15" ixz="6.03808112272229E-18" iyy="0.000103466585850499" iyz="-4.88426705501198E-05" izz="0.000482956345754213" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_Y" type="revolute">
+    <origin xyz="0 0.1525 0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_P_S" />
+    <child link="L_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
+      <mass value="0.23573847772002" />
+      <inertia ixx="5.10686940455785E-05" ixy="7.45706654358429E-16" ixz="6.2619568923368E-06" iyy="6.00636019624519E-05" iyz="1.27989654155383E-16" izz="5.32182903609189E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_R" type="revolute">
+    <origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_Y_S" />
+    <child link="L_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
+      <mass value="0.504894112043562" />
+      <inertia ixx="0.000186833711781125" ixy="-3.99488705622731E-06" ixz="-1.51920720398336E-06" iyy="0.000179960980467837" iyz="3.6992669535716E-06" izz="0.000280756101568308" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+
+</robot>
--- a/public/models/meshes/L_ELBOW_R_S.STL
+++ b/public/models/meshes/L_ELBOW_R_S.STL
--- a/public/models/meshes/L_SHOULDER_P_S.STL
+++ b/public/models/meshes/L_SHOULDER_P_S.STL
--- a/public/models/meshes/L_SHOULDER_R_S.STL
+++ b/public/models/meshes/L_SHOULDER_R_S.STL
--- a/public/models/meshes/L_SHOULDER_Y_S.STL
+++ b/public/models/meshes/L_SHOULDER_Y_S.STL
--- a/public/models/meshes/L_WRIST_P_S.STL
+++ b/public/models/meshes/L_WRIST_P_S.STL
--- a/public/models/meshes/L_WRIST_R_S.STL
+++ b/public/models/meshes/L_WRIST_R_S.STL
--- a/public/models/meshes/L_WRIST_Y_S.STL
+++ b/public/models/meshes/L_WRIST_Y_S.STL
--- a/public/models/meshes/NECK_P_S.STL
+++ b/public/models/meshes/NECK_P_S.STL
--- a/public/models/meshes/NECK_R_S.STL
+++ b/public/models/meshes/NECK_R_S.STL
--- a/public/models/meshes/NECK_Y_S.STL
+++ b/public/models/meshes/NECK_Y_S.STL
--- a/public/models/meshes/PELVIS_S.STL
+++ b/public/models/meshes/PELVIS_S.STL
--- a/public/models/meshes/R_ELBOW_R_S.STL
+++ b/public/models/meshes/R_ELBOW_R_S.STL
--- a/public/models/meshes/R_SHOULDER_P_S.STL
+++ b/public/models/meshes/R_SHOULDER_P_S.STL
--- a/public/models/meshes/R_SHOULDER_R_S.STL
+++ b/public/models/meshes/R_SHOULDER_R_S.STL
--- a/public/models/meshes/R_SHOULDER_Y_S.STL
+++ b/public/models/meshes/R_SHOULDER_Y_S.STL
--- a/public/models/meshes/R_WRIST_P_S.STL
+++ b/public/models/meshes/R_WRIST_P_S.STL
--- a/public/models/meshes/R_WRIST_R_S.STL
+++ b/public/models/meshes/R_WRIST_R_S.STL
--- a/public/models/meshes/R_WRIST_Y_S.STL
+++ b/public/models/meshes/R_WRIST_Y_S.STL
--- a/public/models/meshes/base_link.STL
+++ b/public/models/meshes/base_link.STL
--- a/public/models/meshes/index_force_sensor_1.STL
+++ b/public/models/meshes/index_force_sensor_1.STL
--- a/public/models/meshes/index_force_sensor_2.STL
+++ b/public/models/meshes/index_force_sensor_2.STL
--- a/public/models/meshes/index_force_sensor_3.STL
+++ b/public/models/meshes/index_force_sensor_3.STL
--- a/public/models/meshes/little_force_sensor_1.STL
+++ b/public/models/meshes/little_force_sensor_1.STL
--- a/public/models/meshes/little_force_sensor_2.STL
+++ b/public/models/meshes/little_force_sensor_2.STL
--- a/public/models/meshes/little_force_sensor_3.STL
+++ b/public/models/meshes/little_force_sensor_3.STL
--- a/public/models/meshes/middle_force_sensor_1.STL
+++ b/public/models/meshes/middle_force_sensor_1.STL
--- a/public/models/meshes/middle_force_sensor_2.STL
+++ b/public/models/meshes/middle_force_sensor_2.STL
--- a/public/models/meshes/middle_force_sensor_3.STL
+++ b/public/models/meshes/middle_force_sensor_3.STL
--- a/public/models/meshes/palm_force_sensor.STL
+++ b/public/models/meshes/palm_force_sensor.STL
--- a/public/models/meshes/right_index_1.STL
+++ b/public/models/meshes/right_index_1.STL
--- a/public/models/meshes/right_index_2.STL
+++ b/public/models/meshes/right_index_2.STL
--- a/public/models/meshes/right_little_1.STL
+++ b/public/models/meshes/right_little_1.STL
--- a/public/models/meshes/right_little_2.STL
+++ b/public/models/meshes/right_little_2.STL
--- a/public/models/meshes/right_middle_1.STL
+++ b/public/models/meshes/right_middle_1.STL
--- a/public/models/meshes/right_middle_2.STL
+++ b/public/models/meshes/right_middle_2.STL
--- a/public/models/meshes/right_ring_1.STL
+++ b/public/models/meshes/right_ring_1.STL
--- a/public/models/meshes/right_ring_2.STL
+++ b/public/models/meshes/right_ring_2.STL
--- a/public/models/meshes/right_thumb_1.STL
+++ b/public/models/meshes/right_thumb_1.STL
--- a/public/models/meshes/right_thumb_2.STL
+++ b/public/models/meshes/right_thumb_2.STL
--- a/public/models/meshes/right_thumb_3.STL
+++ b/public/models/meshes/right_thumb_3.STL
--- a/public/models/meshes/right_thumb_4.STL
+++ b/public/models/meshes/right_thumb_4.STL
--- a/public/models/meshes/ring_force_sensor_1.STL
+++ b/public/models/meshes/ring_force_sensor_1.STL
--- a/public/models/meshes/ring_force_sensor_2.STL
+++ b/public/models/meshes/ring_force_sensor_2.STL
--- a/public/models/meshes/ring_force_sensor_3.STL
+++ b/public/models/meshes/ring_force_sensor_3.STL
--- a/public/models/meshes/thumb_force_sensor_1.STL
+++ b/public/models/meshes/thumb_force_sensor_1.STL
--- a/public/models/meshes/thumb_force_sensor_2.STL
+++ b/public/models/meshes/thumb_force_sensor_2.STL
--- a/public/models/meshes/thumb_force_sensor_3.STL
+++ b/public/models/meshes/thumb_force_sensor_3.STL
--- a/public/models/meshes/thumb_force_sensor_4.STL
+++ b/public/models/meshes/thumb_force_sensor_4.STL
--- a/public/models/right_arm.urdf
+++ b/public/models/right_arm.urdf
@ -0,0 +1,322 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<robot name="right_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529e-05 3.81781e-07 0.0386396" rpy="0 0 0"/>
+      <mass value="2.10624590271277"/>
+      <inertia 
+        ixx="0.00165706865324979" ixy="3.13663e-09"  ixz="6.84210e-07"
+        iyy="0.00136736758630241" iyz="-1.01015e-10" izz="0.00168295663089359"/>
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL"/>
+      </geometry>
+      <material name="light_gray">
+        <color rgba="0.698 0.698 0.698 1"/>
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
+      <mass value="0.880737519698404" />
+      <inertia
+        ixx="0.000583190308378149"
+        ixy="1.53153074560471E-05"
+        ixz="-6.58466471736542E-09"
+        iyy="0.000445532440067178"
+        iyz="6.37001403998779E-09"
+        izz="0.000465648071069953" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_P" type="revolute">
+    <origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="R_SHOULDER_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
+      <mass value="0.59478842444248" />
+      <inertia
+        ixx="0.000380970396712653" ixy="-4.80751844573946E-05"  ixz="1.34913746041655E-11"
+        iyy="0.000320962178597472" iyz="-1.00039763417375E-09" izz="0.000414771047901152" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="R_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_P_S" />
+    <child link="R_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2" upper="2" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287551"
+        ixy="1.80574389667711E-05"
+        ixz="-7.28778136077729E-10"
+        iyy="0.000213830709361532"
+        iyz="1.49273668428957E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_R_S" />
+    <child link="R_SHOULDER_Y_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="3.14" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
+      <mass value="0.393571904406492" />
+      <inertia
+        ixx="0.000172771193862529"
+        ixy="-2.34549801867353E-05"
+        ixz="1.90560556668771E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073602971E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ELBOW_R" type="revolute">
+    <origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_Y_S" />
+    <child link="R_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="2.18" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
+      <mass value="0.442332465815497" />
+      <inertia
+        ixx="0.000476754055455896"
+        ixy="-4.61462558956188E-15"
+        ixz="-5.91762926004267E-18"
+        iyy="0.0001034665858505"
+        iyz="4.88426705501212E-05"
+        izz="0.000482956345754214" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_P" type="revolute">
+    <origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
+    <parent link="R_ELBOW_R_S" />
+    <child link="R_WRIST_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="0" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
+      <mass value="0.235738477720019" />
+      <inertia
+        ixx="5.1068694045578E-05"
+        ixy="7.45771487459288E-16"
+        ixz="6.26195689233664E-06"
+        iyy="6.00636019624515E-05"
+        iyz="1.27828046342987E-16"
+        izz="5.32182903609188E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_Y" type="revolute">
+    <origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_P_S" />
+    <child link="R_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="R_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
+      <mass value="0.204366058218534" />
+      <inertia
+        ixx="0.000185559065855467"
+        ixy="5.75889766751509E-06"
+        ixz="2.40683898454438E-06"
+        iyy="0.000131246007872084"
+        iyz="1.60533277040148E-06"
+        izz="0.000271800951396149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_R" type="revolute">
+    <origin xyz="0.03 0 -0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_Y_S" />
+    <child link="R_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_FINGER_TIP">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.002"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 0 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_FINGER_TIP_FIXED" type="fixed">
+    <origin xyz="-0.01212 -0.17655 0.07506" rpy="3.14159 0 -1.5708"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_FINGER_TIP"/>
+  </joint>
+</robot>
--- a/src/api/corpusManger/corpus.js
+++ b/src/api/corpusManger/corpus.js
@ -0,0 +1,46 @@
+import request from '@/utils/request'
+
+export function addCategory(data) {
+    return request({
+        url: '/tts/corpus/category',
+        method: 'post',
+        data: data
+    })
+}
+
+export function getCategoryTreeApi() {
+    return request({
+        url: '/tts/corpus/category/tree',
+        method: 'get'
+    })
+}
+    
+export function updateCategoryTreeApi(data) {
+    return request({
+        url: '/tts/corpus/category',
+        method: 'put',
+        data: data
+    })
+}
+
+export function deleteCategory(id) {
+    return request({
+        url: `/tts/corpus/category/${id}`,
+        method: 'delete',
+    })
+}
+
+export function getCorpusListApi(params) {
+    return request({
+        url: '/tts/corpus/list',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getDashboardApi() {
+    return request({
+        url: '/tts/corpus/dashboard/stats',
+        method: 'get'
+    })
+}
--- a/src/api/corpusManger/speech_synthesis.js
+++ b/src/api/corpusManger/speech_synthesis.js
@ -0,0 +1,69 @@
+import request from '@/utils/request'
+
+export function taskApi(data) {
+    return request({
+        url: '/tts/task',
+        method: 'post',
+        data: data
+    })
+}
+
+export function taskListApi(params) {
+    return request({
+        url: '/tts/task/list',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getDashboardApi(params) {
+    return request({
+        url: '/tts/task/dashboard/stats',
+        method: 'get'
+    })
+}
+
+export function downloadWavApi(id) {
+    return request({
+        url: `/tts/task/audio/${id}`,
+        method: 'get',
+        responseType: 'blob'
+    })
+}
+
+export function deleteTask(ids) {
+    return request({
+        url: `/tts/task/${ids}`,
+        method: 'delete'
+    })
+}
+
+export function regenerateApi(id) {
+    return request({
+        url: `/tts/task/regenerate/${id}`,
+        method: 'post'
+    })
+}
+
+export function generalizationApi(data) {
+    return request({
+        url: '/tts/task/llm/query',
+        method: 'post',
+        data: data
+    })
+}
+
+export function batchTaskApi(data) {
+    return request({
+        url: '/tts/task/batch',
+        method: 'post',
+        data: data
+    })
+}
+
+export function saveTaskApi(data) {
+    return request({
+        url: `/tts/task/save-to-corpus/${data.taskId}/${data.categoryId}`,
+        method: 'post'
+    })
+}
--- a/src/api/device/arm.js
+++ b/src/api/device/arm.js
@ -16,3 +16,11 @@ export function status(data) {
        data: data
    })
 }
+
+export function clearFault(params) {
+    return request({
+        url: '/api/arm/clearFault',
+        method: 'get',
+        params
+    })
+}
--- a/src/api/device/camera.js
+++ b/src/api/device/camera.js
@ -0,0 +1,9 @@
+import request from '@/utils/request'
+
+export function getRgbStreamUrl(robotId, deviceId) {
+  return request({
+    url: '/api/edge/camera/rgb-stream-url',
+    method: 'get',
+    params: { robotId, deviceId }
+  })
+}
--- a/src/api/device/profile.js
+++ b/src/api/device/profile.js
@ -1,45 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备配置信息列表
-export function listProfile(query) {
-    return request({
-        url: '/device/profile/list',
-        method: 'get',
-        params: query
-    })
-}
-
-// 查询设备配置信息详细
-export function getProfile(query) {
-    return request({
-        url: '/device/profile/parameterInfo/',
-        method: 'get',
-        params: query
-    })
-}
-
-// 新增设备配置信息
-export function addProfile(data) {
-    return request({
-        url: '/device/profile',
-        method: 'post',
-        data: data
-    })
-}
-
-// 修改设备配置信息
-export function updateProfile(data) {
-    return request({
-        url: '/device/profile',
-        method: 'put',
-        data: data
-    })
-}
-
-// 删除设备配置信息
-export function delProfile(id) {
-    return request({
-        url: '/device/profile/' + id,
-        method: 'delete'
-    })
-}
--- a/src/api/device/register.js
+++ b/src/api/device/register.js
@ -1,146 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备注册列表
-export function listRegister(query) {
-    return request({
-        url: '/device/register/list',
-        method: 'get',
-        params: query
-    })
-}
-
-// 查询设备注册详细
-export function getRegister(id) {
-    return request({
-        url: '/device/register/' + id,
-        method: 'get'
-    })
-}
-
-// 新增设备注册
-export function addRegister(data) {
-    return request({
-        url: '/device/register',
-        method: 'post',
-        data: data
-    })
-}
-
-// 修改设备注册
-export function updateRegister(data) {
-    return request({
-        url: '/device/register',
-        method: 'put',
-        data: data
-    })
-}
-
-// 删除设备注册
-export function delRegister(id) {
-    return request({
-        url: '/device/register/' + id,
-        method: 'delete'
-    })
-}
-
-// 设备示教
-export function deviceTeach(id) {
-    return request({
-        url: '/device/profile/' + id,
-        method: 'get',
-    })
-}
-
-// 设备示教参数修改
-export function deviceUpdateProfile(data) {
-    return request({
-        url: '/device/profile/updateProfile',
-        method: 'put',
-        data: data,
-    })
-}
-
-// 新增音色
-export function createTimbre(data) {
-    return request({
-        url: '/show/tts/create',
-        method: 'post',
-        headers: {
-            'Content-Type': 'multipart/form-data',
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        data: data,
-    })
-}
-
-// 获取音色
-export function getTts() {
-    return request({
-        url: '/show/tts/query',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'get',
-    })
-}
-
-// 生产语料
-export function createCorpus(data) {
-    return request({
-        url: '/show/tts/corpus',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'post',
-        data: data
-    })
-}
-
-export function getSynthesize(data, config = {}) {
-    return request({
-        url: '/show/tts/synthesize',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        responseType: 'blob',
-        method: 'post',
-        data: data
-    }, {
-        ...config
-    })
-}
-
-export function createAdvancedCorpus(data) {
-    return request({
-        url: '/show/tts/corpus/advanced',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'post',
-        data: data
-    })
-}
-
-export function getAdvancedSynthesize(data, config = {}) {
-    return request({
-        url: '/show/tts/synthesize/advanced',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        responseType: 'blob',
-        method: 'post',
-        data: data
-    }, {
-        ...config
-    })
-}
-
-export const getFlowById =  (id) => {
-    return request.get(import.meta.env.VITE_NODE_RED_URL + '/flow/' + id, {})
-}
--- a/src/api/device/robot.js
+++ b/src/api/device/robot.js
@ -1,44 +0,0 @@
-import request from '@/utils/request'
-
-// 查询机器人配置列表
-export function listRobot(query) {
-  return request({
-    url: '/device/robot/list',
-    method: 'get',
-    params: query
-  })
-}
-
-// 查询机器人配置详细
-export function getRobot(id) {
-  return request({
-    url: '/device/robot/' + id,
-    method: 'get'
-  })
-}
-
-// 新增机器人配置
-export function addRobot(data) {
-  return request({
-    url: '/device/robot',
-    method: 'post',
-    data: data
-  })
-}
-
-// 修改机器人配置
-export function updateRobot(data) {
-  return request({
-    url: '/device/robot',
-    method: 'put',
-    data: data
-  })
-}
-
-// 删除机器人配置
-export function delRobot(id) {
-  return request({
-    url: '/device/robot/' + id,
-    method: 'delete'
-  })
-}
--- a/src/api/device/system.js
+++ b/src/api/device/system.js
@ -0,0 +1,31 @@
+import request from '@/utils/request'
+
+export function getSafetyState(robotId) {
+  return request({
+    url: '/api/system/safetyState',
+    method: 'get',
+    params: { robotId },
+  })
+}
+
+/**
+ * 恢复机器人运行状态；payload 与旧 recoverSafetyState 保持一致，便于调用方渐进迁移。
+ */
+export function restoreOperationalState(data) {
+  return request({
+    url: '/api/system/restoreOperationalState',
+    method: 'post',
+    data,
+  })
+}
+
+/**
+ * @deprecated 请改用 restoreOperationalState，旧接口仅保留给未迁移调用方。
+ */
+export function recoverSafetyState(data) {
+  return request({
+    url: '/api/system/recoverSafetyState',
+    method: 'post',
+    data,
+  })
+}
--- a/src/api/device/terminal.js
+++ b/src/api/device/terminal.js
@ -1,86 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备终端配置列表
-export function listTerminal(query) {
-  return request({
-    url: '/device/terminal/list',
-    method: 'get',
-    params: query
-  })
-}
-
-// 查询设备终端配置详细
-export function getTerminal(id) {
-  return request({
-    url: '/device/terminal/' + id,
-    method: 'get'
-  })
-}
-
-// 新增设备终端配置
-export function addTerminal(data) {
-  return request({
-    url: '/device/terminal',
-    method: 'post',
-    data: data
-  })
-}
-
-// 修改设备终端配置
-export function updateTerminal(data) {
-  return request({
-    url: '/device/terminal',
-    method: 'put',
-    data: data
-  })
-}
-
-// 删除设备终端配置
-export function delTerminal(id) {
-  return request({
-    url: '/device/terminal/' + id,
-    method: 'delete'
-  })
-}
-
-// 获取实例信息
-export function getInstInfo(id) {
-  return request({
-    url: '/test/inst/context/' + id,
-    method: 'get'
-  })
-}
-
-// 暂停任务
-export function pauseInst(id) {
-   return request({
-    url: `/test/inst/pause/${id}`,
-    method: 'post'
-  })
-}
-
-// 恢复任务
-export function resumeInst(id) {
-   return request({
-    url: `/test/inst/resume/${id}`,
-    method: 'post'
-  })
-}
-
-// 恢复任务
-export function stopInst(id) {
-   return request({
-    url: `/test/inst/stop/${id}`,
-    method: 'post'
-  })
-}
-
-export function getFlowParamsApi(taskId) {
-  return request({
-    url: '/test/orchestration',
-    method: 'get',
-    params: {
-      taskId
-    }
-  })
-}
--- a/src/api/device/flow.js
+++ b/src/api/device/flow.js
@ -9,6 +9,34 @@ export function flowDeploy(data) {
    })
 }

+export function flowSaveDraft(data) {
+    return request({ url: '/flow/draft', method: 'put', data })
+}
+
+export function flowVersionList(itemId) {
+    return request({ url: `/flow/versions/${itemId}`, method: 'get' })
+}
+
+export function flowVersionDetail(versionId) {
+    return request({ url: `/flow/version/${versionId}`, method: 'get' })
+}
+
+export function flowSubFlowOptions(currentItemId) {
+    return request({
+        url: '/flow/subflows',
+        method: 'get',
+        params: { currentItemId }
+    })
+}
+
+export function flowRestoreDraft(versionId, data) {
+    return request({ url: `/flow/version/${versionId}/restore-draft`, method: 'post', data })
+}
+
+export function flowRollbackVersion(versionId, data) {
+    return request({ url: `/flow/version/${versionId}/rollback`, method: 'post', data })
+}
+
 export function flowExecute(data) {
    return request({
        url: '/flow/execute',
@ -69,3 +97,27 @@ export function getArmStatus(params) {
        params: params
    })
 }
+
+export function getAgvStatus(params) {
+    return request({
+        url: '/api/agv/getRuntimeState',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getAgvStations(params) {
+    return request({
+        url: '/api/agv/listStations',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getArmJointState(params) {
+    return request({
+        url: '/api/arm/getJointState',
+        method: 'get',
+        params: params
+    })
+}
--- a/src/api/flow/nodeRed.js
+++ b/src/api/flow/nodeRed.js
@ -0,0 +1,5 @@
+import request from '@/utils/request'
+
+export function getNodeRedFlowById(id) {
+  return request.get(`${import.meta.env.VITE_NODE_RED_URL}/flow/${id}`, {})
+}
--- a/src/api/inspection/map.js
+++ b/src/api/inspection/map.js
@ -1,33 +0,0 @@
-import request from '@/utils/request'
-
-
-export function getMapList(params) {
-    return request({
-        url: '/inspection/map/list', 
-        method: 'get',
-        params: params
-    })
-}
-
-export function addMap(data) {
-    return request({
-        url: '/inspection/map',
-        method: 'post',
-        data: data
-    })
-}
-
-export function updateMap(data) {
-    return request({
-        url: '/inspection/map',
-        method: 'put',
-        data: data
-    })
-}
-
-export function deleteMap(id) {
-    return request({
-        url: `/inspection/map/${id}`,
-        method: 'delete'
-    })
-}
--- a/src/api/inspection/point.js
+++ b/src/api/inspection/point.js
@ -30,3 +30,10 @@ export function deletePoint(id) {
        method: 'delete'
    })
 }
+
+export function copyPoint(id) {
+    return request({
+        url: `/inspection/waypoint/copy/${id}`,
+        method: 'post'
+    })
+}
--- a/src/api/inspection/robot.js
+++ b/src/api/inspection/robot.js
@ -1,107 +0,0 @@
-import request from '@/utils/request'
-
-export function getRobotList(params) {
-    return request({
-        url: '/inspection/robot/list', 
-        method: 'get',
-        params: params
-    })
-}
-
-export function addRobot(data) {
-    return request({
-        url: '/inspection/robot',
-        method: 'post',
-        data: data
-    })
-}
-
-export function updateRobot(data) {
-    return request({
-        url: '/inspection/robot',
-        method: 'put',
-        data: data
-    })
-}
-
-export function deleteRobot(id) {
-    return request({
-        url: `/inspection/robot/${id}`,
-        method: 'delete'
-    })
-}
-
-/**
- * 获取机器人地图
- * @param {*} robotId 
- * @returns 
- */
-export function getMapByRobot(robotId) {
-    return request({
-        url: `/inspection/robot/${robotId}/maps`,
-        method: 'get'
-    })
-}
-
-/**
- * 获取地图JSON数据
- * @param {*} params 
- * @returns 
- */
-export function getMapJson(params) {
-    return request({
-        url: `/inspection/robot/${params.robotId}/download-map`,
-        method: 'get',
-        params
-    })
-}
-
-/**
- * 获取机器人位置
- * @param {*} robotId 
- * @returns 
- */
-export function getRobotLocation(robotId) {
-    return request({
-        url: `/inspection/robot/${robotId}/location`,
-        method: 'get'
-    })
-}
-
-/**
- * 获取机器人状态
- * @param {*} robotId 
- * @returns 
- */
-export function getRobotStatus(robotId) {
-    return request({
-        url: `/inspection/robot/{robotId}/sync-status`,
-        method: 'get'
-    })
-}
-
-/**
- * 机器人运动控制
- * @param {*} data 
- * @returns 
- */
-export function moveRobot(data) {
-    return request({
-        url: '/api/agv/setVelocity',
-        method: 'post',
-        data: data
-    })
-}
-
-/**
- * 机器人停止运动
- * @param {*} data 
- * @returns 
- */
-export function stopRobot(data) {
-    return request({
-        url: '/api/agv/stopVelocityControl',
-        method: 'post',
-        data: data
-    })
-}
--- a/src/api/inspection/runTask.js
+++ b/src/api/inspection/runTask.js
@ -38,10 +38,18 @@ export function deleteRunTask(id) {
    })
 }

-export function startRunTask(id) {
+export function startRunTask(id, data) {
    return request({
        url: `/inspection/taskInstance/start/${id}`,
-        method: 'put'
+        method: 'put',
+        data
+    })
+}
+
+export function rerunRunTask(id) {
+    return request({
+        url: `/inspection/taskInstance/rerun/${id}`,
+        method: 'post'
    })
 }

--- a/src/api/inspection/task.js
+++ b/src/api/inspection/task.js
@ -45,3 +45,10 @@ export function bindWaypointsToTask(taskId, waypointIds) {
        data: waypointIds
    })
 }
+
+export function copyTask(id) {
+    return request({
+        url: `/inspection/task/copy/${id}`,
+        method: 'post'
+    })
+}
--- a/src/api/intelligenceTest/runningTask.js
+++ b/src/api/intelligenceTest/runningTask.js
@ -1,5 +1,4 @@
 import request from '@/utils/request'
-import { method } from 'lodash'

 export function addTaskinstance(data) {
    return request({
@ -27,15 +26,23 @@ export function updateTaskinstance(data) {

 export function deleteTaskinstance(ids) {
    return request({
-        url: `/aima/taskinstance/{ids}`, 
+        url: `/aima/taskinstance/${ids}`, 
        method: 'delete'
    })
 }

-export function startTaskinstance(id) {
+export function startTaskinstance(id, data) {
    return request({
        url: `/aima/taskinstance/start/${id}`,
-        method: 'put'
+        method: 'put',
+        data
+    })
+}
+
+export function rerunTaskinstance(id) {
+    return request({
+        url: `/aima/taskinstance/rerun/${id}`,
+        method: 'post'
    })
 }

--- a/src/api/intelligenceTest/taskManage.js
+++ b/src/api/intelligenceTest/taskManage.js
@ -45,3 +45,10 @@ export function bindTastCase(taskId, ids) {
        data: ids
    })
 }
+
+export function copyTask(id) {
+    return request({
+        url: `/aima/task/copy/${id}`,
+        method: 'post'
+    })
+}
--- a/src/api/intelligenceTest/testCase.js
+++ b/src/api/intelligenceTest/testCase.js
@ -30,3 +30,10 @@ export function deleteTestCase(ids) {
        method: 'delete'
    })
 }
+
+export function copyTestCase(id) {
+    return request({
+        url: `/aima/testcase/copy/${id}`,
+        method: 'post'
+    })
+}
--- a/src/api/login.js
+++ b/src/api/login.js
@ -39,6 +39,15 @@ export function getInfo() {
  })
 }

+// 解锁屏幕
+export function unlockScreen(password) {
+  return request({
+    url: '/unlockscreen',
+    method: 'post',
+    data: { password }
+  })
+}
+
 // 退出方法
 export function logout() {
  return request({
--- a/src/api/resource/device.js
+++ b/src/api/resource/device.js
@ -0,0 +1,13 @@
+import request from '@/utils/request'
+
+export function listResourceDevices(params) {
+  return request({ url: '/resource/devices', method: 'get', params })
+}
+
+export function getResourceDevice(id) {
+  return request({ url: `/resource/devices/${encodeURIComponent(id)}`, method: 'get' })
+}
+
+export function updateResourceDevice(id, data) {
+  return request({ url: `/resource/devices/${encodeURIComponent(id)}`, method: 'put', data })
+}
--- a/src/api/resource/map.js
+++ b/src/api/resource/map.js
@ -0,0 +1,24 @@
+import request from '@/utils/request'
+
+export function listResourceMaps(params) {
+  return request({ url: '/resource/maps', method: 'get', params })
+}
+
+export function listRobotMaps(robotId) {
+  return request({
+    url: `/resource/maps/robot/${encodeURIComponent(robotId)}`,
+    method: 'get',
+  })
+}
+
+export function addResourceMap(data) {
+  return request({ url: '/resource/maps', method: 'post', data })
+}
+
+export function updateResourceMap(data) {
+  return request({ url: '/resource/maps', method: 'put', data })
+}
+
+export function deleteResourceMap(ids) {
+  return request({ url: `/resource/maps/${ids}`, method: 'delete' })
+}
--- a/src/api/resource/robot.js
+++ b/src/api/resource/robot.js
@ -0,0 +1,77 @@
+import request from '@/utils/request'
+
+export function listResourceRobots(params) {
+  return request({ url: '/resource/robots', method: 'get', params })
+}
+
+export function getResourceRobot(robotId) {
+  return request({ url: `/resource/robots/${encodeURIComponent(robotId)}`, method: 'get' })
+}
+
+export function listRobotDevices(robotId, params = {}) {
+  return request({
+    url: `/resource/robots/${encodeURIComponent(robotId)}/devices`,
+    method: 'get',
+    params,
+  })
+}
+
+export const getRobotList = listResourceRobots
+
+export function addRobot(data) {
+  return request({ url: '/resource/robots', method: 'post', data })
+}
+
+export function updateRobot(data) {
+  return request({ url: '/resource/robots', method: 'put', data })
+}
+
+export function deleteRobot(id) {
+  return request({ url: `/resource/robots/${id}`, method: 'delete' })
+}
+
+export function getRobotDevices(id) {
+  return request({ url: `/resource/robots/id/${id}/devices`, method: 'get' })
+}
+
+export function getRobotDevicesByRobotId(robotId, params = {}) {
+  return request({
+    url: `/resource/robots/${encodeURIComponent(robotId)}/devices`,
+    method: 'get',
+    params: { onlineOnly: true, ...params },
+  })
+}
+
+export function getMapByRobot(robotRef) {
+  return request({
+    url: `/resource/robots/${encodeURIComponent(robotRef)}/remote-maps`,
+    method: 'get',
+  })
+}
+
+export function getMapJson(params) {
+  return request({
+    url: `/resource/robots/${encodeURIComponent(params.robotId)}/download-map`,
+    method: 'get',
+    params,
+  })
+}
+
+export function getRobotLocation(robotRef) {
+  return request({
+    url: `/resource/robots/${encodeURIComponent(robotRef)}/location`,
+    method: 'get',
+  })
+}
+
+export function getRobotStatus(id) {
+  return request({ url: `/resource/robots/id/${id}`, method: 'get' })
+}
+
+export function moveRobot(data) {
+  return request({ url: '/api/agv/setVelocity', method: 'post', data })
+}
+
+export function stopRobot(data) {
+  return request({ url: '/api/agv/stopVelocityControl', method: 'post', data })
+}
--- a/src/api/resource/terminal.js
+++ b/src/api/resource/terminal.js
@ -0,0 +1,29 @@
+import request from '@/utils/request'
+
+export function listResourceTerminals(params) {
+  return request({ url: '/resource/terminals', method: 'get', params })
+}
+
+export function addResourceTerminal(data) {
+  return request({ url: '/resource/terminals', method: 'post', data })
+}
+
+export function updateResourceTerminal(data) {
+  return request({ url: '/resource/terminals', method: 'put', data })
+}
+
+export function getResourceTerminal(id) {
+  return request({ url: `/resource/terminals/${encodeURIComponent(id)}`, method: 'get' })
+}
+
+export function deleteResourceTerminals(ids) {
+  return request({ url: `/resource/terminals/${ids}`, method: 'delete' })
+}
+
+export function listTerminalRobots(id) {
+  return request({ url: `/resource/terminals/${encodeURIComponent(id)}/robots`, method: 'get' })
+}
+
+export function updateTerminalRobots(id, robotIds) {
+  return request({ url: `/resource/terminals/${encodeURIComponent(id)}/robots`, method: 'put', data: robotIds })
+}
--- a/src/api/system/dept.js
+++ b/src/api/system/dept.js
@ -43,6 +43,15 @@ export function updateDept(data) {
  })
 }

+// 保存部门排序
+export function updateDeptSort(data) {
+  return request({
+    url: '/system/dept/updateSort',
+    method: 'put',
+    data: data
+  })
+}
+
 // 删除部门
 export function delDept(deptId) {
  return request({
--- a/src/api/system/menu.js
+++ b/src/api/system/menu.js
@ -51,6 +51,15 @@ export function updateMenu(data) {
  })
 }

+// 保存菜单排序
+export function updateMenuSort(data) {
+  return request({
+    url: '/system/menu/updateSort',
+    method: 'put',
+    data: data
+  })
+}
+
 // 删除菜单
 export function delMenu(menuId) {
  return request({
--- a/src/api/system/notice.js
+++ b/src/api/system/notice.js
@ -42,3 +42,38 @@ export function delNotice(noticeId) {
    method: 'delete'
  })
 }
+
+// 首页顶部公告列表（带已读状态）
+export function listNoticeTop() {
+  return request({
+    url: '/system/notice/listTop',
+    method: 'get'
+  })
+}
+
+// 标记公告已读
+export function markNoticeRead(noticeId) {
+  return request({
+    url: '/system/notice/markRead',
+    method: 'post',
+    params: { noticeId }
+  })
+}
+
+// 批量标记已读
+export function markNoticeReadAll(ids) {
+  return request({
+    url: '/system/notice/markReadAll',
+    method: 'post',
+    params: { ids }
+  })
+}
+
+// 查询公告已读用户列表
+export function listNoticeReadUsers(query) {
+  return request({
+    url: '/system/notice/readUsers/list',
+    method: 'get',
+    params: query
+  })
+}
--- a/src/api/system/user.js
+++ b/src/api/system/user.js
@ -96,7 +96,7 @@ export function updateUserPwd(oldPassword, newPassword) {
  return request({
    url: '/system/user/profile/updatePwd',
    method: 'put',
-    params: data
+    data: data
  })
 }

--- a/src/api/test/config.js
+++ b/src/api/test/config.js
@ -26,6 +26,13 @@ export function addConfig(data) {
    })
 }

+export function copyConfig(id) {
+    return request({
+        url: '/test/config/copy/' + id,
+        method: 'post'
+    })
+}
+
 // 修改任务流程编排
 export function updateConfig(data) {
    return request({
--- a/src/api/test/detect.js
+++ b/src/api/test/detect.js
@ -26,6 +26,13 @@ export function addDetect(data) {
  })
 }

+export function copyDetect(id) {
+  return request({
+    url: '/test/detect/copy/' + id,
+    method: 'post'
+  })
+}
+
 // 修改检测项配置
 export function updateDetect(data) {
  return request({
--- a/src/api/test/log.js
+++ b/src/api/test/log.js
@ -52,6 +52,14 @@ export function listInst(query) {
    })
 }

+// 使用历史实例保存的执行参数创建新的任务实例
+export function rerunInst(id) {
+    return request({
+        url: `/test/inst/rerun/${id}`,
+        method: 'post'
+    })
+}
+
 // 查询任务实例日志
 export function getInst(query) {
    return request({
@ -62,7 +70,7 @@ export function getInst(query) {
 }

 // 查询任务实例日志
-export function getLogicFlow(query) {
+export function getFlowRuntimeLog(query) {
    return request({
        url: '/test/inst/log/query',
        method: 'get',
@ -70,3 +78,15 @@ export function getLogicFlow(query) {
    })
 }

+export function pauseInst(id) {
+    return request({ url: `/test/inst/pause/${id}`, method: 'post' })
+}
+
+export function resumeInst(id) {
+    return request({ url: `/test/inst/resume/${id}`, method: 'post' })
+}
+
+export function stopInst(id) {
+    return request({ url: `/test/inst/stop/${id}`, method: 'post' })
+}
+
--- a/src/api/tts.js
+++ b/src/api/tts.js
@ -0,0 +1,30 @@
+import request from '@/utils/request'
+
+const serviceHeaders = {
+  Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
+  isToken: false,
+}
+
+export function createTimbre(data) {
+  return request({ url: '/show/tts/create', method: 'post', headers: { ...serviceHeaders, 'Content-Type': 'multipart/form-data' }, data })
+}
+
+export function getTts() {
+  return request({ url: '/show/tts/query', method: 'get', headers: serviceHeaders })
+}
+
+export function createCorpus(data) {
+  return request({ url: '/show/tts/corpus', method: 'post', headers: serviceHeaders, data })
+}
+
+export function getSynthesize(data, config = {}) {
+  return request({ url: '/show/tts/synthesize', method: 'post', headers: serviceHeaders, responseType: 'blob', data }, config)
+}
+
+export function createAdvancedCorpus(data) {
+  return request({ url: '/show/tts/corpus/advanced', method: 'post', headers: serviceHeaders, data })
+}
+
+export function getAdvancedSynthesize(data, config = {}) {
+  return request({ url: '/show/tts/synthesize/advanced', method: 'post', headers: serviceHeaders, responseType: 'blob', data }, config)
+}
--- a/src/assets/icons/svg/add.svg
+++ b/src/assets/icons/svg/add.svg
@ -0,0 +1,4 @@
+<?xml version="1.0" standalone="no"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg t="1783317138800" class="icon" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="12777" xmlns:xlink="http://www.w3.org/1999/xlink" width="200" height="200">
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+++ b/src/assets/icons/svg/bell.svg
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--- a/src/assets/icons/svg/enter.svg
+++ b/src/assets/icons/svg/enter.svg
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--- a/Show More
+++ b/Show More
				`@ -0,0 +1 @@`
				`custom: http://doc.ruoyi.vip/ruoyi-vue/other/donate.html`
				`@ -0,0 +1 @@`
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