新增曲柄滑块批量仿真接口

scripts/run_wasm_tests.js

@@ -401,6 +401,23 @@ const suite = [
       { path: "res_data.validation_errors", lengthGte: 1 },
     ],
   },
+  {
+    id: "fourbar_simulate",
+    type: "static",
+    requestFile: "tests/testdata/fourbar/crank_slider_simulate.json",
+    assertions: [
+      { path: "success", equals: true },
+      { path: "res_data.success", equals: true },
+      { path: "res_data.frame_count", equals: 5 },
+      { path: "res_data.frames", lengthEquals: 5 },
+      { path: "res_data.frames.0.angleDeg", equals: 0 },
+      { path: "res_data.frames.4.angleDeg", equals: 180 },
+      { path: "res_data.frames.0.points.B.x", exists: true },
+      { path: "res_data.frames.0.poses.TCP.tx", exists: true },
+      { path: "res_data.trajectory", lengthEquals: 5 },
+      { path: "res_data.slider_trajectory", lengthEquals: 5 },
+    ],
+  },
   {
     id: "quadruped_points_from_motor_angles",
     type: "static",