test: Vendor kcl-samples and add simulation tests for them (#5460)
* Change to unzip * Download kcl-samples as zip to public dir * Fix fetch:samples, e2e electron still not working * Change error message to be clearer * Refactor so that input and output directories of sim tests can be different * Add kcl samples test implementation * Update output since adding kcl_samples tests * Update kcl-samples branch * Fix git-ignore pattern to only apply to the root * Fix yarn install and yarn fetch:samples to work the first time * Remove unneeded exists check * Change to use kcl-samples in public directory * Add kcl-samples * Update output since updating kcl-samples * Update output files * Change to not fetch samples during yarn install * Update output after merge * Ignore kcl-samples in codespell * WIP: Don't run e2e if only kcl-samples changed * Conditionally run cargo tests * Fix to round floating point values in program memory arrays * Update output since merge and rounding numbers in memory * Fix memory redaction for floating point to find more values * Fix float redaction pattern * Update output since rounding floating point numbers * Add center to floating point pattern * Fix trigger to use picomatch syntax * Update output since rounding center * Remove kcl-samples github workflows * Enable Rust backtrace * Update output after re-running * Update output after changing order of post-extrude commands * Fix to have deterministic order of commands * Update output after reverting ordering changes * Update kcl-samples * Update output after updating samples * Fix error messages to show the names of all samples that failed * Change cargo test command to match current one * Update kcl-samples * Update output since updating kcl-samples * Add generate manifest workflow and yarn script * Fix error check to actually work * Change util function to be what we actually need * Move new files after merge * Fix paths since directory move * Add dependabot updates for kcl-samples * Add GitHub workflow to make PR to kcl-samples repo * Add GitHub workflow to check kcl-samples header comments * Fix worfklow to change to the right directory * Add auto-commit simulation test output changes * Add permissions to workflows * Fix to run git commit step * Install just if needed * Fix directory of justfile * Add installation of cargo-insta * Fix to use underscore * Fix to allow just command failure * Change to always install CLI tools and cache them * Trying to fix overwrite failing * Combine commands * Change reviewer * Change to PR targeting the next branch * Change git commands to not do unnecessary fetch * Comment out trigger for creating a PR * Update kcl-samples from next branch * Update outputs after kcl-samples change * Fix to use bash pipefail * Add rust backtrace * Print full env from sim tests * Change command to use long option name * Fix to use ci profile even when calling through just * Add INSTA_UPDATE=always * Fix git push by using an app token on checkout * Add comments * Fix to use bash options * Change to echo when no changes are found * Fix so that kcl-samples updates don't trigger full run * Fix paths to reflect new crate location * Fix path detection * Fix e2e job to ignore kcl_samples simulation test output * Fix the fetch logic for the KCL samples after vendoring (#5661) Fixes the last 2 E2E tests for #5460. --------- Co-authored-by: Pierre Jacquier <pierre@zoo.dev> Co-authored-by: Pierre Jacquier <pierrejacquier39@gmail.com> Co-authored-by: Frank Noirot <frank@zoo.dev>
This commit is contained in:
Jonathan Tran
GitHub
99
public/kcl-samples/multi-axis-robot/robot-arm-j2.kcl
Normal file
99
public/kcl-samples/multi-axis-robot/robot-arm-j2.kcl
Normal file
@ -0,0 +1,99 @@
|
||||
// J2 Axis for Robot Arm
|
||||
|
||||
|
||||
// Set Units
|
||||
@settings(defaultLengthUnit = in)
|
||||
|
||||
|
||||
import axisJ1, axisJ2, axisJ2ArmWidth, axisJ2ArmLength, axisJ2ArmThickness, plane003 from "globals.kcl"
|
||||
|
||||
// Create Body of J2 Robot Arm
|
||||
sketch011 = startSketchOn(plane003)
|
||||
|> startProfileAt([
|
||||
1.75 - (axisJ2ArmWidth / 2 * sin(toRadians(axisJ2))),
|
||||
8 + axisJ2ArmWidth / 2 * cos(toRadians(axisJ2))
|
||||
], %)
|
||||
|> arc({
|
||||
angleStart = 90 + axisJ2,
|
||||
angleEnd = 270 + axisJ2,
|
||||
radius = axisJ2ArmWidth / 2
|
||||
}, %)
|
||||
|> angledLine({
|
||||
angle = axisJ2,
|
||||
length = axisJ2ArmLength
|
||||
}, %)
|
||||
|> arc({
|
||||
angleStart = -90 + axisJ2,
|
||||
angleEnd = 90 + axisJ2,
|
||||
radius = axisJ2ArmWidth / 2
|
||||
}, %)
|
||||
|> line(endAbsolute = [profileStartX(%), profileStartY(%)])
|
||||
|> close()
|
||||
extrude011 = extrude(sketch011, length = -axisJ2ArmThickness)
|
||||
|
||||
sketch012 = startSketchOn(extrude011, 'START')
|
||||
|> circle(center = [-1.75, 8], radius = 1.9, tag = $referenceEdge4)
|
||||
|
||||
extrude012 = extrude(sketch012, length = 0.15)
|
||||
|> fillet(
|
||||
radius = 0.1,
|
||||
tags = [getOppositeEdge(referenceEdge4)]
|
||||
)
|
||||
sketch013 = startSketchOn(extrude011, 'START')
|
||||
|> circle(
|
||||
center = [
|
||||
-1.75 - (axisJ2ArmLength * cos(toRadians(axisJ2))),
|
||||
8 + axisJ2ArmLength * sin(toRadians(axisJ2))
|
||||
],
|
||||
radius = 1.9,
|
||||
tag = $referenceEdge5)
|
||||
|
||||
extrude013 = extrude(sketch013, length = 1)
|
||||
|> fillet(
|
||||
radius = 0.1,
|
||||
tags = [getOppositeEdge(referenceEdge5)]
|
||||
)
|
||||
|
||||
// Draw Bolt Patterns on J2 Robot Arm
|
||||
sketch014 = startSketchOn(extrude012, 'END')
|
||||
|> circle(center = [-1.75, 6.75], radius = 0.2)
|
||||
|> patternCircular2d(
|
||||
center = [-1.75, 8],
|
||||
instances = 8,
|
||||
arcDegrees = 360,
|
||||
rotateDuplicates = true
|
||||
)
|
||||
|
||||
extrude014 = extrude(sketch014, length = 0.15)
|
||||
|
||||
sketch015 = startSketchOn(extrude013, 'END')
|
||||
|> circle(
|
||||
center = [
|
||||
-1.75 - ((axisJ2ArmLength - 1) * cos(toRadians(axisJ2))),
|
||||
8 + (axisJ2ArmLength - 1.5) * sin(toRadians(axisJ2))
|
||||
],
|
||||
radius = 0.2
|
||||
)
|
||||
|> patternCircular2d(
|
||||
center = [
|
||||
-1.75 - (axisJ2ArmLength * cos(toRadians(axisJ2))),
|
||||
8 + axisJ2ArmLength * sin(toRadians(axisJ2))
|
||||
],
|
||||
instances = 4,
|
||||
arcDegrees = 360,
|
||||
rotateDuplicates = true
|
||||
)
|
||||
|
||||
extrude015 = extrude(sketch015, length = 0.15)
|
||||
|
||||
sketch016 = startSketchOn(extrude011, 'END')
|
||||
|> circle(
|
||||
center = [
|
||||
1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)),
|
||||
8 + axisJ2ArmLength * sin(toRadians(axisJ2))
|
||||
],
|
||||
radius = 0.3
|
||||
)
|
||||
|
||||
extrude(sketch016, length = 1)
|
||||
|> appearance(color = "#454545", metalness = 90, roughness = 90)
|
||||
Reference in New Issue
Block a user