Epic 021: Headless robot simulator — implementation (iter 3) by DanielKow · Pull Request #6 · modelingevolution/rocket-welder-sdk

feat: TASK-003 MoveResult evolution with MoveFailureReason and CollisionResult

Daniel Kowalski

committed

feat: TASK-005 ToolModel hierarchy (capsule, mesh, none)

Daniel Kowalski

committed

feat: TASK-004 ICollisionSource + primitive hierarchy + PrimitiveCollisionSource

Daniel Kowalski

committed

feat: TASK-008 RobotProgram + ProgramStep + JSON round-trip

Daniel Kowalski

committed

feat: TASK-009 TeachingPointSet with JSON round-trip

Daniel Kowalski

committed

feat: TASK-010 FkValidator + records with schema-versioned JSON

Daniel Kowalski

committed

feat: TASK-006 CollisionEnvironment with validation

Daniel Kowalski

committed

feat: TASK-007 CollisionDetector with 10 non-adjacent self-collision pairs

Daniel Kowalski

committed

feat: TASK-011 SimulatedRobot collision-aware moves, teaching points, program execution

Daniel Kowalski

committed

fix: PR#6 round 1 MUST fixes (path-level collision, records, hot-path allocs)

Daniel Kowalski

committed

fix: PR#6 MUST #4 closed-form segment/box/cylinder SDF

Daniel Kowalski

committed

fix: PR#6 finding #5 MoveJoint silently rejects collision (matches MoveLin)

Daniel Kowalski

committed

refactor: SHOULD #5 — unify MoveJoint/MoveLin to MoveResult contract per ADR-004

Daniel Kowalski

committed

feat: TASK-012 RobotPresets FR5 DH correction + v6 fleet (FR3/10/16/20/30)

Daniel Kowalski

committed

test: iter3 round-2 Finding #10 v6 preset FK smoke [Theory]

Daniel Kowalski

committed

docs: strip unsourced payload/reach figures from RobotPresets XML (Finding #9)

Daniel Kowalski

committed

test: renumber TASK-003..TASK-012 XML summary refs to TASK-001..TASK-010

Daniel Kowalski

committed

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Epic 021: Headless robot simulator — implementation (iter 3)#6

Epic 021: Headless robot simulator — implementation (iter 3)#6
DanielKow merged 17 commits into
masterfrom
feature/epic-021-iter3-implementation

Commits on Apr 15, 2026

feat: TASK-003 MoveResult evolution with MoveFailureReason and CollisionResult

feat: TASK-005 ToolModel hierarchy (capsule, mesh, none)

feat: TASK-004 ICollisionSource + primitive hierarchy + PrimitiveCollisionSource

feat: TASK-008 RobotProgram + ProgramStep + JSON round-trip

feat: TASK-009 TeachingPointSet with JSON round-trip

feat: TASK-010 FkValidator + records with schema-versioned JSON

feat: TASK-006 CollisionEnvironment with validation

feat: TASK-007 CollisionDetector with 10 non-adjacent self-collision pairs

feat: TASK-011 SimulatedRobot collision-aware moves, teaching points, program execution

fix: PR#6 round 1 MUST fixes (path-level collision, records, hot-path allocs)

fix: PR#6 MUST #4 closed-form segment/box/cylinder SDF

fix: PR#6 finding #5 MoveJoint silently rejects collision (matches MoveLin)

refactor: SHOULD #5 — unify MoveJoint/MoveLin to MoveResult contract per ADR-004

feat: TASK-012 RobotPresets FR5 DH correction + v6 fleet (FR3/10/16/20/30)

test: iter3 round-2 Finding #10 v6 preset FK smoke [Theory]

docs: strip unsourced payload/reach figures from RobotPresets XML (Finding #9)

test: renumber TASK-003..TASK-012 XML summary refs to TASK-001..TASK-010