feat: release v1.0.2 LeKiwi 语言控制与网站嵌入

集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。
2026-09-24 15:29:49 +08:00
parent f3a8a38acd
commit 0d986f60bd
93 changed files with 5166 additions and 1094 deletions
@@ -1,70 +1,32 @@
 import { expect, test } from '@playwright/test';
-import { resolve } from 'node:path';
-import { readFile, writeFile } from 'node:fs/promises';
+import { collectRobotResults, runWebsiteCommand } from './website.helpers';

-test('主工作台：A 导入、mock 单技能暂停/继续、物理成功及证据导出', async ({ page }, info) => {
-  const errors: string[] = [];
-  let modelRequests = 0;
-  page.on('pageerror', (e) => errors.push(e.message));
-  page.on('request', (r) => {
-    if (/\/api\/decision\/v1\/(plan|decide)$/.test(r.url())) modelRequests++;
-  });
+test('主工作台：加载预设、语言命名目标及连续自由坐标抓放', async ({ page }, info) => {
+  await collectRobotResults(page);
  await page.goto('/');
-  await page
-    .locator('input[type="file"]')
-    .first()
-    .setInputFiles(resolve('build/lekiwi/lekiwi-v1.zip'));
-  const dialog = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
-  await expect(dialog).toBeVisible({ timeout: 30000 });
-  await dialog.getByLabel('URDF 机器人 profile').selectOption('lekiwi-v1');
-  await dialog.getByRole('button', { name: '转换并加载' }).click();
-  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
  await page.getByRole('tab', { name: '控制台', exact: true }).click();
-  await page.getByRole('button', { name: 'LeKiwi 智能抓放', exact: true }).click();
-  const panel = page.getByLabel('LeKiwi 智能抓放任务', { exact: true });
-  await expect(panel).toContainText('MOCK（不调用模型 API）');
-  await panel.getByRole('button', { name: '加载 A 任务场景', exact: true }).click();
-  await expect(panel).toContainText('A 抓放场景已加载并暂停', { timeout: 60000 });
-  await panel.getByRole('button', { name: '单技能步进', exact: true }).click();
-  const status = panel.getByTestId('agent-task-state');
-  await expect(status).toContainText('任务已暂停', { timeout: 60000 });
-  await expect(status).toContainText('当前技能：open');
-  await expect(status).toContainText('Jev 1/60');
-  await panel.getByRole('button', { name: '继续任务', exact: true }).click();
-  await expect(status).toContainText('物理验收成功', { timeout: 180000 });
-  await expect(status).toContainText('Jev 11/60');
-  const download = page.waitForEvent('download');
-  await panel.getByRole('button', { name: '导出任务证据', exact: true }).click();
-  const downloaded = await download;
-  const evidence = JSON.parse(await readFile((await downloaded.path())!, 'utf8'));
-  await writeFile(
-    info.outputPath('workbench-physical-evidence.json'),
-    JSON.stringify(evidence, null, 2),
+  await page.getByRole('button', { name: '机器人语言控制', exact: true }).click();
+  const panel = page.getByLabel('机器人语言控制', { exact: true });
+  await expect(panel.locator('input[type=password], details')).toHaveCount(0);
+  await panel.getByRole('button', { name: '载入预设场景' }).click();
+  await expect(panel.getByRole('status')).toContainText('预设已载入并暂停', { timeout: 90000 });
+  const first = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'named-target');
+  expect(first.goal).toEqual([0.257, 0.75, 0.128]);
+  expect(first.sample.onGoalSupport).toBe(true);
+  expect(first.transported).toBeGreaterThan(0.7);
+  expect(first.llmCalls).toBe(2);
+  expect(first.jevCalls).toBe(14);
+  expect(first.qualityScore).toBe(75);
+  const second = await runWebsiteCommand(
+    page,
+    '把方块搬到 (0.25,0.50) 米',
+    info,
+    'coordinate-target',
  );
-  expect(evidence.mode).toBe('mock');
-  expect(evidence.succeeded).toBe(true);
-  expect(evidence.transported).toBeGreaterThanOrEqual(0.5);
-  expect(evidence.sample.onGoalSupport).toBe(true);
-  expect(modelRequests).toBe(0);
-  expect(errors).toEqual([]);
-  await page.screenshot({ path: info.outputPath('agent-workbench.png') });
-  await panel.getByRole('button', { name: '重置任务场景', exact: true }).click();
-  await expect(panel.getByTestId('agent-task-state')).toHaveCount(0, { timeout: 60000 });
-  await panel.getByLabel('目标 Y', { exact: true }).fill('0.617');
-  await panel.getByRole('button', { name: '单技能步进', exact: true }).click();
-  await expect(status).toContainText('任务已暂停', { timeout: 60000 });
-  const changedDownload = page.waitForEvent('download');
-  await panel.getByRole('button', { name: '导出任务证据', exact: true }).click();
-  const changed = JSON.parse(await readFile((await (await changedDownload).path())!, 'utf8'));
-  expect(changed.goal).toEqual([0.257, 0.617, 0.128]);
-  expect(changed.runId).not.toBe(evidence.runId);
-  expect(changed.sample.time).toBeLessThan(2.01);
-  expect(changed.sample.object[1]).toBeLessThan(0.02); // New source episode, not the old placed cube.
-  await writeFile(info.outputPath('edited-goal-episode.json'), JSON.stringify(changed, null, 2));
-  await panel.getByLabel('目标 Y', { exact: true }).fill('0.615');
-  await expect(status).toContainText('已取消');
-  await expect(status).toContainText('目标编辑使旧计划失效');
-  expect(modelRequests).toBe(0);
-  expect(errors).toEqual([]);
+  expect(second.goal).toEqual([0.25, 0.5, 0.128]);
+  expect(second.sample.time).toBeGreaterThan(first.sample.time);
+  expect(second.transported).toBeGreaterThan(0.2);
+  expect(second.runId).not.toBe(first.runId);
  await expect(page.getByRole('button', { name: '强化学习任务', exact: true })).toBeVisible();
+  await page.screenshot({ path: info.outputPath('language-workbench.png') });
 });