Initial commit

tests/testdata/kinematics/forward_all_joints_path.json

@@ -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"
+  }
+}

tests/testdata/kinematics/forward_zero.json

@@ -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"
+  }
+}

tests/testdata/kinematics/list_robots.json

@@ -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
+  }
+}

tests/testdata/kinematics/roundtrip_path_seed.json

@@ -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
+}

tests/testdata/kinematics/roundtrip_single_seed.json

@@ -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
+}