feat: release v1.0.2 LeKiwi 语言控制与网站嵌入
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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。
This commit is contained in:
@@ -1,119 +1,53 @@
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import { expect, test } from '@playwright/test';
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import { resolve } from 'node:path';
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import { existsSync } from 'node:fs';
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import { readFile, writeFile } from 'node:fs/promises';
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import { writeFile } from 'node:fs/promises';
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import { loadWebsiteRobot, runWebsiteCommand, readRobotResult } from './website.helpers';
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const prefix = '/api/decision/v1';
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test('网站生产构建：精简设置、同源 Cookie/CSRF、双浏览器隔离与假 HTTP 上游', async ({
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page,
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browser,
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}, info) => {
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const errors: string[] = [];
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page.on('pageerror', (e) => errors.push(e.message));
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await page.goto('/');
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await expect(page).toHaveTitle(/CADWorld Sim/);
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await page
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.locator('input[type=file]')
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.first()
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.setInputFiles(resolve('web_platform/fixtures/python_controller/model.xml'));
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
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await page.getByRole('tab', { name: '控制台', exact: true }).click();
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await expect(page.getByRole('button', { name: '强化学习任务', exact: true })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '开源项目 / 外部控制', exact: true })).toHaveCount(
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0,
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);
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await page.getByRole('button', { name: 'LeKiwi 智能抓放', exact: true }).click();
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await page.getByText('模型设置 · API_KEY / ChatGPT 订阅', { exact: true }).click();
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await expect(page.getByRole('button', { name: '保存设置' })).toBeEnabled();
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await expect(page.getByLabel('本机服务令牌')).toHaveCount(0);
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await page.getByLabel('LLM API_KEY', { exact: true }).fill('e2e-llm-fixture-not-real');
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await page.getByLabel('Jev API_KEY（OpenRouter）').fill('e2e-jev-fixture-not-real');
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await page.getByRole('button', { name: '保存设置', exact: true }).click();
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await expect(page.getByRole('status').filter({ hasText: '设置已保存' })).toBeVisible();
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await expect(page.getByLabel('LLM API_KEY', { exact: true })).toHaveValue('');
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await page.getByText('连接测试与凭据管理', { exact: true }).click();
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await page.getByRole('button', { name: '测试 LLM（可能计费）', exact: true }).click();
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await expect(page.getByText(/LLM 连接测试通过/)).toBeVisible();
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const other = await browser.newContext();
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try {
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const second = await other.newPage();
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await second.goto('/');
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const fresh = await second.evaluate(async (prefix) => {
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const response = await fetch(prefix + '/session', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: '{}',
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});
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return response.json();
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}, prefix);
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expect(fresh.ready).toBe(false);
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const state = await page.evaluate(
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async (prefix) => (await fetch(prefix + '/status')).json(),
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prefix,
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);
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expect(state.ready).toBe(true);
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const forbidden = await page.evaluate(
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async (prefix) =>
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(
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await fetch(prefix + '/configuration', {
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method: 'PUT',
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headers: { 'Content-Type': 'application/json' },
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body: '{}',
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})
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).status,
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prefix,
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);
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expect(forbidden).toBe(403);
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expect(await page.evaluate(() => document.cookie)).not.toContain('cadworld');
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expect(
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await page.evaluate(() => JSON.stringify({ ...localStorage, ...sessionStorage })),
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).not.toContain('e2e-llm');
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} finally {
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await other.close();
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}
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await page.getByRole('button', { name: 'ChatGPT 订阅', exact: true }).click();
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await expect(page.getByRole('button', { name: '登录 ChatGPT 订阅', exact: true })).toBeVisible();
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await page.screenshot({ path: info.outputPath('website-settings.png') });
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expect(errors).toEqual([]);
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});
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test('网站 A 模型：真实 WASM、显式 mock 抓放和证据导出（无远端模型调用）', async ({
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test('服务器内置设置＋假 HTTP 上游：不同语言改变真实 WASM 位移与角度，不重载机器人', async ({
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page,
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}, info) => {
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test.skip(!existsSync('build/lekiwi/lekiwi-v1.zip'), '需要本地 A 模型，不自动公开或下载资产');
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let calls = 0;
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page.on('request', (r) => {
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if (/\/api\/decision\/v1\/(plan|decide)$/.test(r.url())) calls++;
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});
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await page.goto('/');
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await page
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.locator('input[type=file]')
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.first()
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.setInputFiles(resolve('build/lekiwi/lekiwi-v1.zip'));
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const dialog = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
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await expect(dialog).toBeVisible({ timeout: 30000 });
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await dialog.getByLabel('URDF 机器人 profile').selectOption('lekiwi-v1');
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await dialog.getByRole('button', { name: '转换并加载' }).click();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
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await page.getByRole('tab', { name: '控制台', exact: true }).click();
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await page.getByRole('button', { name: 'LeKiwi 智能抓放', exact: true }).click();
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const panel = page.getByLabel('LeKiwi 智能抓放任务', { exact: true });
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await panel.getByRole('button', { name: '开始任务（mock）', exact: true }).click();
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await expect(panel.getByTestId('agent-task-state')).toContainText('物理验收成功', {
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timeout: 180000,
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});
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await panel.getByText('高级操作与证据导出', { exact: true }).click();
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const downloaded = page.waitForEvent('download');
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await panel.getByRole('button', { name: '导出任务证据', exact: true }).click();
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const evidence = JSON.parse(await readFile((await (await downloaded).path())!, 'utf8'));
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expect(evidence.mode).toBe('mock');
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expect(evidence.succeeded).toBe(true);
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expect(evidence.transported).toBeGreaterThanOrEqual(0.5);
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expect(evidence.sample.onGoalSupport).toBe(true);
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expect(calls).toBe(0);
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await writeFile(
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info.outputPath('website-physical-evidence.json'),
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JSON.stringify(evidence, null, 2),
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);
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await page.screenshot({ path: info.outputPath('website-grasp.png') });
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const panel = await loadWebsiteRobot(page);
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const forward = await runWebsiteCommand(page, '前进0.5米', info, 'forward');
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expect(forward.distance).toBeGreaterThan(0.49);
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expect(forward.distance).toBeLessThan(0.51);
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const turn = await runWebsiteCommand(page, '左转90度', info, 'turn');
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expect(turn.turnDegrees).toBeGreaterThan(89);
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expect(turn.turnDegrees).toBeLessThan(91);
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expect(turn.start.x).toBeCloseTo(forward.sample.x, 2);
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const next = await runWebsiteCommand(page, '前进0.2米', info, 'forward-new-heading');
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expect(next.sample.y - next.start.y).toBeGreaterThan(0.19);
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const right = await runWebsiteCommand(page, '右转90度', info, 'turn-right');
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expect(right.turnDegrees).toBeGreaterThan(-91);
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expect(right.turnDegrees).toBeLessThan(-89);
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const back = await runWebsiteCommand(page, '后退0.2米', info, 'backward');
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expect(back.sample.x - back.start.x).toBeLessThan(-0.19);
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await panel.getByRole('textbox', { name: '机器人指令' }).fill('转动90度');
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await panel.getByRole('button', { name: '执行指令', exact: true }).click();
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await expect(panel.getByRole('status')).toContainText('请说明左转还是右转');
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await expect(panel.getByTestId('robot-command-state')).toHaveCount(0);
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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});
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test('内置设置＋假 HTTP 上游：保留完整单方块真实物理抓放，不手填密钥', async ({ page }, info) => {
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const panel = await loadWebsiteRobot(page);
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await panel.getByRole('button', { name: '载入预设场景' }).click();
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await expect(panel.getByRole('status')).toContainText('预设已载入', { timeout: 90000 });
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const data = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'pick-place');
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expect(data.transported).toBeGreaterThanOrEqual(0.5);
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expect(data.sample.onGoalSupport).toBe(true);
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expect(data.receipts).toHaveLength(14);
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});
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test('正在运动时停止：撤销控制权并暂停物理，不把中断当成功', async ({ page }, info) => {
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const panel = await loadWebsiteRobot(page);
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await panel.getByRole('textbox', { name: '机器人指令' }).fill('前进0.5米');
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await panel.getByRole('button', { name: '执行指令', exact: true }).click();
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await expect(panel.getByTestId('robot-command-state')).toContainText('执行中', {
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timeout: 30000,
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});
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await panel.getByRole('button', { name: '停止', exact: true }).click();
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await expect(panel.getByTestId('robot-command-state')).toContainText('已停止');
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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const data = await readRobotResult(page);
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expect(data.state).toBe('cancelled');
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expect(data.succeeded).toBe(false);
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expect(data.distance).toBeLessThan(0.1);
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await writeFile(info.outputPath('cancelled-motion.json'), JSON.stringify(data, null, 2));
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});
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