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test(examples): evaluate the kinematic smoke scripts; pin the colliding arm fixture - #1383
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…ng arm fixture end-to-end-smoke and swept-collision-smoke were exempt from the evaluate smoke test with "exits with unknown-joint error". On develop 80f7542 both evaluate ok and print their dispatch-OK lines, so the exemption is stale. Remove it so the test evaluates both. skill-built-supported-arm-01-colliding is an intentional repair-loop fixture. Move it from the exemption list to EXPECTED_FAILURE, pinned to its 'base-frame'/'yaw-turret' assembly.interference.overlap diagnostic. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: w1ne <41898282+w1ne@users.noreply.github.com>
The mate solver grounds the first declared part and walked only that part's component. Mates in any other component were silently dropped: the child stayed at its authored pose. Both the lowered geometry (mateFk) and solveMates (swept collision, reviews) were affected. The kernelcad-kinematic cookbook 05-clamshell-hinge-swept declares an unmated `table` first. Its `lid` never swung: evaluate reported a 180000 mm3 base/lid overlap at hinge 90, and checkSweptCollision reported 31/31 poses colliding. Declaring `table` last gave 3/31. Now every mated component is walked from its first declared part, which stays where its `at` puts it, like the grounded part. solveMates solves disconnected components by default; `solveDisconnectedComponents: false` keeps the old grounded-only walk. The assembly-sequence-gearbox example relied on its shaft/gear mates being ignored; its seats did not sit at the gear centres. Put the seats at the modelled gear centres so the mates keep every part where it is drawn. The placement-ignored-by-mate-fk test now expects the note for the mated child of an unreached component. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Signed-off-by: w1ne <41898282+w1ne@users.noreply.github.com>
…t part" This reverts commit 91b9522. Signed-off-by: w1ne <41898282+w1ne@users.noreply.github.com>
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Summary
This PR closes the last three unclaimed
EVALUATION_EXEMPTentries intests/integration/fast/exampleParseSmoke.test.tsthat are not environment-dependent. Two exemptions were stale. One intentional negative fixture is now pinned to its expected diagnostic. Test-only change; no engine or example source changes.Reproduction (develop
80f7542be)The exemption reason for both kinematic scripts was "exits with unknown-joint error". Neither script reports that error now.
Changes
kinematic/end-to-end-smoke.kcad.tskinematic/swept-collision-smoke.kcad.tsrobot-arm/skill-built-supported-arm-01-colliding.kcad.tsEXPECTED_FAILURE:assembly.interference.overlap, "Parts 'base-frame' and 'yaw-turret' overlap"Results
exampleParseSmoke.test.ts: 259/259 passed (68 s).Limits
end-to-end-smokelogsswept ok=false collidingPoses=24for its shoulder sweep. The script logs that result and does not assert it, so this PR does not change it.🤖 Generated with Claude Code