Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/tests/testdata/quadruped/calculate_points_from_motor_angles.json
+++ b/tests/testdata/quadruped/calculate_points_from_motor_angles.json
@@ -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
+      }
+    }
+  }
+}
--- a/tests/testdata/quadruped/perform_forward_kinematics.json
+++ b/tests/testdata/quadruped/perform_forward_kinematics.json
@@ -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
+    }
+  }
+}