自动推导URDF运动学链

scripts/run_wasm_tests.js

@@ -142,6 +142,51 @@ function buildInverseRequest(command, robotUuid, poseStr, qInitStr, extra = {})
   };
 }
 
+// 构造 link 名称被整体替换的 URDF，用于验证初始化能自动推导运动学链。
+function buildRenamedUrdfFromDocs() {
+  const urdfPath = path.join(rootDir, "docs", "urdf.xml");
+  return fs
+    .readFileSync(urdfPath, "utf8")
+    .replaceAll("base_link-base", "renamed_root_link-renamed_world")
+    .replaceAll("base_link", "renamed_root_link")
+    .replaceAll("tool0", "renamed_tcp")
+    .replaceAll('link name="base"', 'link name="renamed_world"')
+    .replaceAll('parent link="base"', 'parent link="renamed_world"');
+}
+
+// 注册改名后的 URDF 并执行一次 FK，确认底层不再依赖固定 base/tool0。
+async function runRenamedUrdfChainCase(module) {
+  const robotUuid = "renamed_chain_robot";
+  const urdfBase64 = Buffer.from(buildRenamedUrdfFromDocs(), "utf8").toString("base64");
+
+  const initResponse = callBusinessApi(module, {
+    msg: "init renamed urdf",
+    req_code: "AUTO_RENAMED_INIT",
+    req_from: "wasm_test",
+    req_cmd: "Cmd_InitRobot",
+    req_param: {
+      robot_uuid: robotUuid,
+      urdf_base64: urdfBase64,
+      force_update: true,
+    },
+  });
+
+  ensure(initResponse.success === true, "renamed URDF init request failed");
+  ensure(getByPath(initResponse, "res_data.success") === true, "renamed URDF init result is not successful");
+
+  const forwardResponse = callBusinessApi(module, buildForwardRequest(robotUuid, [0, 0, 0, 0, 0, 0]));
+  ensure(forwardResponse.success === true, "renamed URDF forward request failed");
+  ensure(getByPath(forwardResponse, "res_data.success") === true, "renamed URDF forward result is not successful");
+  ensure(Array.isArray(getByPath(forwardResponse, "res_data.position")), "renamed URDF forward position is missing");
+
+  return {
+    details: {
+      position: getByPath(forwardResponse, "res_data.position"),
+      orientation: getByPath(forwardResponse, "res_data.orientation"),
+    },
+  };
+}
+
 function assertStaticCase(response, assertions) {
   for (const assertion of assertions) {
     const actual = getByPath(response, assertion.path);
@@ -353,6 +398,10 @@ const suite = [
       { path: "res_data.OPERATION.OPERATION.frames", lengthEquals: 2 },
     ],
   },
+  {
+    id: "kinematics_renamed_urdf_chain",
+    type: "renamed_urdf_chain",
+  },
   {
     id: "spc_basic_5x30",
     type: "static",
@@ -522,6 +571,8 @@ async function runCase(module, testCase) {
       return runRoundtripSingleCase(module, testCase);
     case "roundtrip_path":
       return runRoundtripPathCase(module, testCase);
+    case "renamed_urdf_chain":
+      return runRenamedUrdfChainCase(module, testCase);
     default:
       throw new Error(`Unknown test type: ${testCase.type}`);
   }