Doni/RoboticArmTest
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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
.claude Initial project structure for robotic arm feasibility test 2025-09-10 11:45:20 +08:00
models Implement KDL kinematics engine and complete core framework 2025-09-10 14:37:27 +08:00
src Implement KDL kinematics engine and complete core framework 2025-09-10 14:37:27 +08:00
tests Implement KDL kinematics engine and complete core framework 2025-09-10 14:37:27 +08:00
.gitignore Initial project structure for robotic arm feasibility test 2025-09-10 11:45:20 +08:00
CLAUDE.md Initial project structure for robotic arm feasibility test 2025-09-10 11:45:20 +08:00
config.json Implement KDL kinematics engine and complete core framework 2025-09-10 14:37:27 +08:00
main.py Implement KDL kinematics engine and complete core framework 2025-09-10 14:37:27 +08:00
Readme.md Initial project structure for robotic arm feasibility test 2025-09-10 11:45:20 +08:00
requirements.txt Initial project structure for robotic arm feasibility test 2025-09-10 11:45:20 +08:00

Readme.md

机械臂运作可行性测试

本项目是测试机械臂进行工作的可行性，应用于现实中的工程测试。测试内容是机械臂从指定基座位置到达指定位置A点，运送物体穿越障碍（一般是墙体上的洞口或者其它障碍）到达指定点位B的可行性

技术选择

  • pybullet
  • kdl
  • AI RRT*