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> |
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| link_0.stl | ||
| link_1.stl | ||
| link_2.stl | ||
| link_3.stl | ||
| link_4.stl | ||
| link_5.stl | ||
| link_6.stl | ||
| link_7.stl | ||
| link_8.stl | ||
| link_9.stl | ||
| manual_robot.urdf | ||