sladro 3b5306611a Implement KDL kinematics engine and complete core framework ...

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>

2025-09-10 14:37:27 +08:00

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