meswork/smart_wasm
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Initial commit

Browse Source
This commit is contained in:
zhangshun
2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
tests/testdata/fourbar/crank_slider_invalid.json vendored Normal file
View File

@@ -0,0 +1,12 @@
{
"msg": "fourbar invalid",
"req_code": "CASE_FB_002",
"req_from": "wasm_test",
"req_cmd": "Cmd_FourBar_CrankSlider",
"req_param": {
"L_AB": 0.0,
"L_BS": 0.2,
"S_OFS": 0.5,
"angleDeg": 30.0
}
}

12
tests/testdata/fourbar/crank_slider_valid.json vendored Normal file
View File

@@ -0,0 +1,12 @@
{
"msg": "fourbar valid",
"req_code": "CASE_FB_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_FourBar_CrankSlider",
"req_param": {
"L_AB": 0.5,
"L_BS": 2.0,
"S_OFS": 0.0,
"angleDeg": 45.0
}
}

10
tests/testdata/kinematics/forward_all_joints_path.json vendored Normal file
View File

@@ -0,0 +1,10 @@
{
"msg": "fk all joints path",
"req_code": "CASE_FK_ALL_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_Kinematics_forward_all_joints",
"req_param": {
"robot_uuid": "abb_irb120_3_58",
"joints_str": "0,0,0,0,0,0;0.15,-0.25,0.35,0.10,-0.20,0.30"
}
}

10
tests/testdata/kinematics/forward_zero.json vendored Normal file
View File

@@ -0,0 +1,10 @@
{
"msg": "fk zero pose",
"req_code": "CASE_FK_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_Kinematics_forward_pose_str",
"req_param": {
"robot_uuid": "abb_irb120_3_58",
"q_init_str": "0,0,0,0,0,0"
}
}

9
tests/testdata/kinematics/list_robots.json vendored Normal file
View File

@@ -0,0 +1,9 @@
{
"msg": "list robots after init",
"req_code": "CASE_LIST_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_ListRobots",
"req_param": {
"detail": true
}
}

8
tests/testdata/kinematics/roundtrip_path_seed.json vendored Normal file
View File

@@ -0,0 +1,8 @@
{
"robot_uuid": "abb_irb120_3_58",
"q_init_str": "0,0,0,0,0,0",
"start_joints": [0.00, 0.00, 0.00, 0.00, 0.00, 0.00],
"end_joints": [0.20, -0.20, 0.30, 0.10, -0.10, 0.20],
"steps": 12,
"position_tolerance": 0.01
}

7
tests/testdata/kinematics/roundtrip_single_seed.json vendored Normal file
View File

@@ -0,0 +1,7 @@
{
"robot_uuid": "abb_irb120_3_58",
"q_init_str": "0,0,0,0,0,0",
"target_joints": [0.15, -0.25, 0.35, 0.10, -0.20, 0.30],
"position_tolerance": 0.002,
"orientation_tolerance": 0.002
}

30
tests/testdata/quadruped/calculate_points_from_motor_angles.json vendored Normal file
View File

@@ -0,0 +1,30 @@
{
"msg": "quadruped points from motor angles",
"req_code": "CASE_QP_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
"req_param": {
"Param": {
"LF": {
"thigh_angle_deg": -37.4784578338516,
"shank_angle_deg": -22.4917532451628,
"ankle_angle_deg": 0.0
},
"LH": {
"thigh_angle_deg": -34.0564623655754,
"shank_angle_deg": -22.1353106546916,
"ankle_angle_deg": 0.0
},
"RF": {
"thigh_angle_deg": 34.0564623655754,
"shank_angle_deg": 22.1353106546916,
"ankle_angle_deg": 0.0
},
"RH": {
"thigh_angle_deg": 37.4784578338516,
"shank_angle_deg": 22.4917532451628,
"ankle_angle_deg": 0.0
}
}
}
}

47
tests/testdata/quadruped/perform_forward_kinematics.json vendored Normal file
View File

@@ -0,0 +1,47 @@
{
"msg": "quadruped forward gait",
"req_code": "CASE_QP_002",
"req_from": "wasm_test",
"req_cmd": "Cmd_QuadrupedRobot_PerformForwardKinematics",
"req_param": {
"GaitInfo": {
"GaitType": "trot",
"Period": 0.8,
"Frequency": 50.0,
"StepTime": 0.02,
"SupportTime": 0.4,
"SwingTime": 0.4,
"SupportRatio": 0.5,
"SwingRatio": 0.5,
"TotalFrames": 40,
"TotalTime": 0.8
},
"SystemParameters": {
"A_x": 0.0,
"A_y": 500.0,
"L10": 300.0,
"L20": 286.0,
"L30": 55.0,
"StepLength": 60.0,
"StepHeight": 50.0,
"X": 30.0,
"DeltaX": 0.0,
"L21": 70.0,
"L22": 292.0,
"L23": 80.0,
"Beta1": 166.0,
"BB2_BC_Angle": 3.3859387489,
"C1_B_Length": 107.0,
"CC1": 179.0,
"L31": 32.0,
"C2C3_Length": 32.0,
"Lead": 10.0,
"D1_L_Offset": 90.0,
"D2_L_Offset": 50.0,
"C4_D2_Offset": 18.0,
"ThighMotorReduction": 1.0,
"ShankMotorReduction": 1.0,
"AnkleMotorReduction": 1.0
}
}
}

44
tests/testdata/spc/basic_5x30.json vendored Normal file
View File

@@ -0,0 +1,44 @@
{
"msg": "spc basic 5x30",
"req_code": "CASE_SPC_001",
"req_from": "wasm_test",
"req_cmd": "Cmd_Spc",
"req_param": {
"n": 5,
"k": 30,
"usl": 1.7,
"lsl": 1.5,
"x": [
1.55, 1.58, 1.61, 1.6, 1.6,
1.58, 1.63, 1.63, 1.62, 1.63,
1.62, 1.63, 1.62, 1.59, 1.58,
1.58, 1.6, 1.61, 1.62, 1.63,
1.58, 1.64, 1.63, 1.62, 1.62,
1.62, 1.62, 1.63, 1.61, 1.57,
1.64, 1.62, 1.61, 1.6, 1.58,
1.57, 1.59, 1.61, 1.62, 1.63,
1.58, 1.61, 1.6, 1.62, 1.63,
1.6, 1.61, 1.64, 1.64, 1.63,
1.58, 1.6, 1.62, 1.63, 1.65,
1.62, 1.58, 1.59, 1.57, 1.58,
1.57, 1.57, 1.58, 1.59, 1.64,
1.61, 1.64, 1.62, 1.6, 1.59,
1.65, 1.62, 1.62, 1.6, 1.58,
1.57, 1.59, 1.57, 1.59, 1.62,
1.56, 1.57, 1.57, 1.61, 1.62,
1.56, 1.58, 1.59, 1.6, 1.62,
1.58, 1.6, 1.6, 1.62, 1.63,
1.58, 1.59, 1.6, 1.63, 1.62,
1.58, 1.59, 1.62, 1.63, 1.64,
1.58, 1.59, 1.62, 1.63, 1.61,
1.58, 1.59, 1.6, 1.61, 1.63,
1.57, 1.59, 1.61, 1.61, 1.62,
1.58, 1.58, 1.6, 1.61, 1.63,
1.62, 1.58, 1.58, 1.58, 1.57,
1.63, 1.59, 1.57, 1.58, 1.57,
1.58, 1.62, 1.61, 1.63, 1.61,
1.58, 1.57, 1.59, 1.6, 1.62,
1.62, 1.6, 1.6, 1.57, 1.57
]
}
}