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>
87 lines
4.1 KiB
Python
87 lines
4.1 KiB
Python
#!/usr/bin/env python3
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import sys
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import os
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sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from src.config_loader import ConfigLoader
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def test_config_loader():
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print("Testing ConfigLoader...")
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# Test singleton pattern
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loader1 = ConfigLoader()
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loader2 = ConfigLoader()
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assert loader1 is loader2, "ConfigLoader should be singleton"
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print("✓ Singleton pattern works")
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# Test config loading
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config = loader1.get_full_config()
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assert 'robot' in config, "Config should contain robot section"
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assert 'wall' in config, "Config should contain wall section"
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assert 'hole' in config, "Config should contain hole section"
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assert 'task_points' in config, "Config should contain task_points section"
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assert 'transport_object' in config, "Config should contain transport_object section"
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assert 'simulation' in config, "Config should contain simulation section"
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print("✓ All required config sections present")
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# Test robot config
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robot_config = loader1.get_robot_config()
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assert robot_config['model_path'] == "models/manual_robot.urdf", "Robot model path should be correct"
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assert len(robot_config['base_position']) == 3, "Robot base position should have 3 coordinates"
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assert len(robot_config['base_orientation']) == 3, "Robot base orientation should have 3 angles"
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print("✓ Robot config validation passed")
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# Test wall config
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wall_config = loader1.get_wall_config()
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assert len(wall_config['position']) == 3, "Wall position should have 3 coordinates"
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assert 'dimensions' in wall_config, "Wall should have dimensions"
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assert wall_config['dimensions']['width'] > 0, "Wall width should be positive"
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assert wall_config['dimensions']['height'] > 0, "Wall height should be positive"
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assert wall_config['dimensions']['thickness'] > 0, "Wall thickness should be positive"
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print("✓ Wall config validation passed")
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# Test hole config
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hole_config = loader1.get_hole_config()
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assert len(hole_config['position_relative_to_wall']) == 3, "Hole position should have 3 coordinates"
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assert 'dimensions' in hole_config, "Hole should have dimensions"
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assert hole_config['dimensions']['width'] > 0, "Hole width should be positive"
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assert hole_config['dimensions']['height'] > 0, "Hole height should be positive"
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print("✓ Hole config validation passed")
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# Test task points
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task_points = loader1.get_task_points()
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assert 'point_A' in task_points, "Should have point_A"
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assert 'point_B' in task_points, "Should have point_B"
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assert len(task_points['point_A']['position']) == 3, "Point A should have 3 coordinates"
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assert len(task_points['point_B']['position']) == 3, "Point B should have 3 coordinates"
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print("✓ Task points validation passed")
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# Test transport object config
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obj_config = loader1.get_transport_object_config()
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assert len(obj_config['initial_position']) == 3, "Object initial position should have 3 coordinates"
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assert 'dimensions' in obj_config, "Object should have dimensions"
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assert obj_config['mass'] > 0, "Object mass should be positive"
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print("✓ Transport object config validation passed")
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# Test simulation config
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sim_config = loader1.get_simulation_config()
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assert sim_config['timestep'] > 0, "Timestep should be positive"
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assert len(sim_config['gravity']) == 3, "Gravity should have 3 components"
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print("✓ Simulation config validation passed")
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print("\n✅ All tests passed! ConfigLoader is working correctly.")
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# Print sample data
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print("\nSample configuration data:")
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print(f"Robot model: {robot_config['model_path']}")
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print(f"Wall position: {wall_config['position']}")
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print(f"Wall dimensions: {wall_config['dimensions']}")
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print(f"Hole dimensions: {hole_config['dimensions']}")
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print(f"Point A: {task_points['point_A']['position']}")
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print(f"Point B: {task_points['point_B']['position']}")
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print(f"Object mass: {obj_config['mass']} kg")
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print(f"Simulation timestep: {sim_config['timestep']} s")
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if __name__ == "__main__":
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test_config_loader() |