Complete implementation of path planning modules:
- AI RRT* algorithm with intelligent sampling strategies
- Collision detection wrapper for PyBullet
- Hole crossing strategy with dynamic approach calculation
- Path optimization with simplification
- Path executor for trajectory execution
- GUI integration with planning and execution buttons
System is now feature-complete and ready for testing phase.
🤖 Generated with [Claude Code](https://claude.ai/code)
Co-Authored-By: Claude <noreply@anthropic.com>
Major Features Added:
- KDL-based kinematics engine with world/local coordinate transformation
- Complete GUI system with configuration management
- Robot loader with URDF parsing and joint control
- Enhanced environment system with transport object management
- Main application entry point with dependency validation
Technical Improvements:
- World coordinate to robot base coordinate transformation in KDL
- Real-time configuration updates through GUI
- Comprehensive error handling and validation
- Configuration-driven design throughout
- Robot model scaling adjusted to 0.2x for proper visualization
Files Added:
- src/robot/kinematics.py: KDL forward/inverse kinematics with coordinate transforms
- src/gui/: Complete GUI framework with main window and config management
- main.py: Application entry point with environment validation
- models/*.stl: Robot link mesh files for URDF visualization
- tests/: Unit test framework for core components
This commit establishes the complete foundation for robotic arm path planning
and task execution development.
🤖 Generated with [Claude Code](https://claude.ai/code)
Co-Authored-By: Claude <noreply@anthropic.com>
- Added project configuration (config.json) with robot model path, environment parameters
- Created 9-DOF robotic arm URDF model (models/manual_robot.urdf)
- Established modular code architecture with empty source files ready for implementation
- Configured Python dependencies (pybullet, PyKDL, urdf_parser_py)
- Added comprehensive project documentation (CLAUDE.md)
- Created .gitignore for Python project
🤖 Generated with [Claude Code](https://claude.ai/code)
Co-Authored-By: Claude <noreply@anthropic.com>
