启用机器人关节上下限检查

scripts/run_wasm_tests.js

@@ -187,6 +187,14 @@ async function runRenamedUrdfChainCase(module) {
   };
 }
 
+// 发送超过 URDF 关节上下限的 FK 请求，确认底层会拒绝计算。
+async function runJointLimitCase(module) {
+  const response = callBusinessApi(module, buildForwardRequest("abb_irb120_3_58", [7, 0, 0, 0, 0, 0]));
+  ensure(response.success === false, "joint limit case should fail at response level");
+  ensure(String(getByPath(response, "res_data.error")).includes("Forward kinematics calculation failed"), "joint limit error is missing");
+  return response;
+}
+
 function assertStaticCase(response, assertions) {
   for (const assertion of assertions) {
     const actual = getByPath(response, assertion.path);
@@ -402,6 +410,10 @@ const suite = [
     id: "kinematics_renamed_urdf_chain",
     type: "renamed_urdf_chain",
   },
+  {
+    id: "kinematics_joint_limit_rejects_fk",
+    type: "joint_limit",
+  },
   {
     id: "spc_basic_5x30",
     type: "static",
@@ -573,6 +585,8 @@ async function runCase(module, testCase) {
       return runRoundtripPathCase(module, testCase);
     case "renamed_urdf_chain":
       return runRenamedUrdfChainCase(module, testCase);
+    case "joint_limit":
+      return runJointLimitCase(module, testCase);
     default:
       throw new Error(`Unknown test type: ${testCase.type}`);
   }