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feat(web-platform): release V0.3

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添加驱动器与传感器
This commit is contained in:
cen617-code
2026-08-24 11:47:34 +08:00
parent ba7ee9697c
commit dc494f7a2d
12 changed files with 316 additions and 39 deletions
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wasm/web_platform/e2e/app.spec.ts
+21 -2
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@@ -81,7 +81,7 @@ test('显示中文平台骨架并加载单文件模型', async ({page}) => {
await page.keyboard.press('Escape');
await page.getByRole('tab',{name:'控制'}).click();
await page.getByRole('button',{name:'Actuator'}).click();
await expect(page.getByText('motor')).toBeVisible();
await expect(page.getByText('motor',{exact:true})).toBeVisible();
await expect(page.getByRole('tabpanel',{name:'控制'}).getByText('slide',{exact:true})).toBeVisible();
await page.getByRole('tab',{name:'模型结构'}).click();
const structure=page.getByRole('navigation',{name:'模型结构树'});await expect(structure).toBeVisible();await structure.getByRole('treeitem',{name:/hinge/}).hover();
@@ -137,6 +137,10 @@ test('加载引用 OBJ 的 URDF 工程', async ({page}) => {
fixture('urdf_mesh/robot.urdf'),
fixture('urdf_mesh/triangle.obj'),
]);
const options=page.getByRole('dialog',{name:'配置 URDF 仿真组件'});
await expect(options.getByRole('checkbox',{name:/为关节添加驱动器/})).toBeChecked();
await expect(options.getByRole('checkbox',{name:/添加传感器/})).toBeChecked();
await options.getByRole('button',{name:'转换并加载'}).click();
await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
await expect(page.getByText('2 个文件')).toBeVisible();
await page.getByRole('button',{name:'URDF 处理方式'}).click();
@@ -155,9 +159,24 @@ test('加载引用 OBJ 的 URDF 工程', async ({page}) => {
await expect(page.getByText('WASM 已加载')).toBeVisible();await sourceDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
});
test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译',async({page})=>{
const urdf=`<robot name="jointed"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><box size=".4 .4 .2"/></geometry></visual></link><link name="arm"><inertial><mass value=".2"/><origin xyz="0 0 .25"/><inertia ixx=".01" iyy=".01" izz=".01" ixy="0" ixz="0" iyz="0"/></inertial><visual><origin xyz="0 0 .25"/><geometry><box size=".1 .1 .5"/></geometry></visual></link><joint name="shoulder" type="revolute"><parent link="base"/><child link="arm"/><origin xyz="0 0 .1"/><axis xyz="0 1 0"/><limit lower="-1" upper="1" effort="10" velocity="2"/></joint></robot>`;
await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'jointed.urdf',mimeType:'application/xml',buffer:Buffer.from(urdf)});
await page.getByRole('dialog',{name:'配置 URDF 仿真组件'}).getByRole('button',{name:'转换并加载'}).click();
await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
await expect(page.getByLabel('摄像头画面')).toBeVisible();await page.getByRole('button',{name:'隐藏画面'}).click();await page.getByRole('button',{name:'显示摄像头画面'}).click();await expect(page.getByLabel('摄像头画面')).toBeVisible();
await page.getByRole('button',{name:'通知中心'}).click();
const notifications=page.getByRole('dialog',{name:'通知中心'});
await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器');
await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
await page.keyboard.press('Escape');await page.getByRole('tab',{name:'控制'}).click();await page.getByRole('button',{name:'Actuator'}).click();
await expect(page.getByText('shoulder_motor')).toBeVisible();await expect(page.getByText('关节：shoulder')).toBeVisible();await expect(page.getByText('N·m',{exact:true})).toBeVisible();
await page.getByText('常用参数').click();const kp=page.getByLabel(/kp（MJCF stiffness/),kv=page.getByLabel(/kv（MJCF damping/);await kp.fill('150');await kp.press('Enter');await kv.fill('15');await kv.press('Enter');await expect(kp).toHaveValue('150');await expect(kv).toHaveValue('15');
});
test('转换后的 MJCF 保存时保留 DAE 转换缓存资源',async({page})=>{
const zip=zipSync({'robot/urdf/robot.urdf':new Uint8Array(readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf'))),'robot/dae/triangle.dae':new Uint8Array(readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')))});
await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'dae.zip',mimeType:'application/zip',buffer:Buffer.from(zip)});await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'dae.zip',mimeType:'application/zip',buffer:Buffer.from(zip)});await page.getByRole('dialog',{name:'配置 URDF 仿真组件'}).getByRole('button',{name:'转换并加载'}).click();await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
await page.getByRole('button',{name:'源代码'}).click();const dialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});await dialog.locator('.monaco-editor').click({position:{x:240,y:120}});await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');await dialog.getByRole('button',{name:'保存并重新载入',exact:true}).click();await expect(dialog.getByRole('button',{name:'保存并重新载入',exact:true})).toBeDisabled({timeout:30_000});await expect(page.getByText('WASM 已加载')).toBeVisible();await expect(page.getByText('模型编译失败')).toHaveCount(0);
});