import {enhanceConvertedMjcf,groundConvertedMjcf} from './urdfToMjcf';
const encode=(value:string)=>new TextEncoder().encode(value);
const decode=(value:Uint8Array)=>new TextDecoder().decode(value);
describe('groundConvertedMjcf',()=>{
it('抬升所有根 body，并在 z=0 添加地面',()=>{
const result=decode(groundConvertedMjcf(encode(''),-0.4,'fixed'));
const document=new DOMParser().parseFromString(result,'application/xml');
expect(document.querySelector('body[name="robot"]')?.getAttribute('pos')).toBe('1 2 0.5');
expect(document.querySelector('geom[name="__platform_ground__"]')).toMatchObject({tagName:'geom'});
expect(document.querySelector('geom[name="__platform_ground__"]')?.getAttribute('group')).toBe('5');
expect(document.querySelector('freejoint')).toBeNull();
});
it('为浮动基座的每个世界根 body 添加 freejoint',()=>{
const result=decode(groundConvertedMjcf(encode(''),-1,'floating'));
const document=new DOMParser().parseFromString(result,'application/xml');
expect(document.querySelector('body[name="robot"] > freejoint')?.getAttribute('name')).toBe('__platform_base_freejoint__');
expect(document.querySelector('body[name="robot"]')?.getAttribute('pos')).toBe('0 0 1');
});
});
describe('enhanceConvertedMjcf',()=>{
it('为可驱动关节补充 motor，并跳过已有驱动器和 ball joint',()=>{
const source='';
const result=enhanceConvertedMjcf(encode(source),{addActuators:true,addSensors:false,sensorType:'camera'});
const document=new DOMParser().parseFromString(decode(result.data),'application/xml');
expect(result.actuatorCount).toBe(1);
expect(document.querySelector('motor[joint="slider"]')?.getAttribute('ctrllimited')).toBe('false');
expect(document.querySelector('motor[joint="slider"]')?.hasAttribute('ctrlrange')).toBe(false);
expect(document.querySelector('motor[joint="slider"]')?.getAttribute('name')).toBe('slider_motor');
expect(document.querySelector('motor[joint="slider"]')?.getAttribute('forcerange')).toBe('-100 100');
expect(document.querySelector('joint[name="slider"]')?.getAttribute('stiffness')).toBe('0');
expect(document.querySelector('joint[name="slider"]')?.getAttribute('damping')).toBe('0');
expect(document.querySelectorAll('[joint="shoulder"]')).toHaveLength(1);
expect(document.querySelectorAll('[jointinparent="parent_driven"], [joint="parent_driven"]')).toHaveLength(1);
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=>``)),...prefixes.map(prefix=>``)].join('');
const result=enhanceConvertedMjcf(encode(`${joints}`),{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(''),{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'});
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',()=>{
const result=enhanceConvertedMjcf(encode(''),{addActuators:false,addSensors:false,sensorType:'camera'});
const document=new DOMParser().parseFromString(decode(result.data),'application/xml');
expect(document.querySelector('actuator')).toBeNull();
expect(document.querySelector('camera')).toBeNull();
});
});