sladro
3b5306611a
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>
88 lines
2.3 KiB
Python
88 lines
2.3 KiB
Python
#!/usr/bin/env python3
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"""
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Robotic Arm Feasibility Test System
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Main entry point for the robotic arm simulation system.
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This system tests the feasibility of robotic arm operations in complex environments,
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specifically transporting objects through obstacles.
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"""
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import sys
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import json
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from pathlib import Path
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# Add src directory to Python path
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PROJECT_ROOT = Path(__file__).parent.absolute()
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sys.path.insert(0, str(PROJECT_ROOT / 'src'))
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from src.gui.main_window import MainWindow
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# Configuration constants
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CONFIG_FILE = "config.json"
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REQUIRED_MODULES = ['pybullet', 'tkinter', 'numpy']
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def check_dependencies():
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"""Check if all required dependencies are installed"""
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missing = []
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for module in REQUIRED_MODULES:
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try:
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__import__(module)
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except ImportError:
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missing.append(module)
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if not missing:
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return True
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print(f"Missing dependencies: {', '.join(missing)}")
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print(f"Install with: pip install {' '.join(missing)}")
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return False
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def verify_environment():
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"""Verify that the environment is properly configured"""
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# Check configuration file
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config_path = PROJECT_ROOT / CONFIG_FILE
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if not config_path.exists():
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print(f"Error: {CONFIG_FILE} not found")
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return False
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# Check robot model file
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try:
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with open(config_path, 'r', encoding='utf-8') as f:
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config = json.load(f)
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model_path = config.get('robot', {}).get('model_path', '')
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if model_path and not Path(model_path).exists():
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print(f"Warning: Robot model not found: {model_path}")
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# Continue anyway - let the simulation handle missing model
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except (json.JSONDecodeError, IOError) as e:
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print(f"Error reading configuration: {e}")
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return False
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return True
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def main():
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"""Main entry point"""
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# Verify dependencies and environment
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if not check_dependencies():
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sys.exit(1)
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if not verify_environment():
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sys.exit(1)
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# Start application
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try:
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app = MainWindow()
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app.run()
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except KeyboardInterrupt:
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pass # Clean exit on Ctrl+C
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except Exception as e:
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print(f"Fatal error: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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main() |