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feat(web-platform): release V0.4 balance control

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cen617-code
2026-08-24 14:45:52 +08:00
parent dc494f7a2d
commit c12e52f843
19 changed files with 625 additions and 25 deletions
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wasm/web_platform/src/project/urdfToMjcf.test.ts
+15 -1
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@@ -38,17 +38,31 @@ describe('enhanceConvertedMjcf',()=>{
expect(document.querySelector('[joint="ball"]')).toBeNull();
});
it('识别 Go2-W 并补齐官方 MuJoCo 稳定性参数',()=>{
const prefixes=['FL','FR','RL','RR'],parts=['hip','thigh','calf'];
const joints=[...prefixes.flatMap(prefix=>parts.map(part=>`<joint name="${prefix}_${part}_joint"/>`)),...prefixes.map(prefix=>`<body name="${prefix}_foot"><joint name="${prefix}_foot_joint"/><geom group="0"/></body>`)].join('');
const result=enhanceConvertedMjcf(encode(`<mujoco><worldbody><body name="base">${joints}</body></worldbody></mujoco>`),{addActuators:true,addSensors:false,sensorType:'camera'}),document=new DOMParser().parseFromString(decode(result.data),'application/xml');
expect(result.unitreeGo2wTuned).toBe(true);expect(document.querySelector('option')?.getAttribute('cone')).toBe('elliptic');expect(document.querySelector('joint[name="FL_thigh_joint"]')?.getAttribute('armature')).toBe('0.01');expect(document.querySelector('joint[name="FL_thigh_joint"]')?.getAttribute('damping')).toBe('0.1');expect(document.querySelector('motor[joint="FL_calf_joint"]')?.getAttribute('forcerange')).toBe('-45.43 45.43');expect(document.querySelector('motor[joint="FL_foot_joint"]')?.getAttribute('forcerange')).toBe('-15 15');expect(document.querySelector('body[name="FL_foot"] geom')?.getAttribute('condim')).toBe('6');
});
it('将可调摄像头固连到指定机器人 body',()=>{
const result=enhanceConvertedMjcf(encode('<mujoco><worldbody><body name="base"><body name="head"/></body></worldbody></mujoco>'),{addActuators:false,addSensors:true,sensorType:'camera',cameraMountBody:'head',cameraPosition:[.2,0,.1],cameraDirection:'+X'});
const document=new DOMParser().parseFromString(decode(result.data),'application/xml');
const camera=document.querySelector('body[name="head"] > camera');
expect(result.cameraAdded).toBe(true);
expect(result.imuAdded).toBe(true);
expect(document.querySelector('body[name="base"] > site[name="imu"]')).toMatchObject({tagName:'site'});
expect(document.querySelector('sensor > gyro[name="imu_gyro"]')?.getAttribute('site')).toBe('imu');
expect(document.querySelector('sensor > accelerometer[name="imu_acc"]')?.getAttribute('site')).toBe('imu');
expect(camera?.getAttribute('mode')).toBe('fixed');
expect(camera?.getAttribute('pos')).toBe('0.2 0 0.1');
expect(camera?.getAttribute('xyaxes')).toBe('0 -1 0 0 0 1');
expect(camera?.getAttribute('resolution')).toBe('640 480');
const repeated=enhanceConvertedMjcf(result.data,{addActuators:false,addSensors:true,sensorType:'camera'});
expect(new DOMParser().parseFromString(decode(repeated.data),'application/xml').querySelectorAll('camera')).toHaveLength(1);
const repeatedDocument=new DOMParser().parseFromString(decode(repeated.data),'application/xml');
expect(repeatedDocument.querySelectorAll('camera')).toHaveLength(1);
expect(repeatedDocument.querySelectorAll('sensor > gyro')).toHaveLength(1);
expect(repeatedDocument.querySelectorAll('sensor > accelerometer')).toHaveLength(1);
});
it('关闭选项时不修改 actuator 和 camera',()=>{