chenlin
0d986f60bd
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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。
100 lines
3.3 KiB
Python
100 lines
3.3 KiB
Python
import unittest
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from decision_server.commands import checked as motion_checked
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from decision_server.language_tasks import checked, resolve_target
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from decision_server.protocol import (
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LANGUAGE_PRECONDITIONS,
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LANGUAGE_SKILLS,
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VERSION,
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DecisionError,
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validate_jev,
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validate_plan,
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)
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from decision_server.protocol import (
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LANGUAGE_VERSION as V,
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)
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def command(**changes):
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return (
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dict(
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version=V,
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action="pick_place",
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value=0,
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summary="搬运方块",
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objectId="block",
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targetId="B",
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position=[],
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supportId="table",
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)
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| changes
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)
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class LanguageTests(unittest.TestCase):
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def test_named_and_coordinates(self):
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self.assertEqual(
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checked(command(), "抓起方块并搬到B区放下", motion_checked)["targetId"], "B"
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)
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for text, values in [
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("搬到(25,50)厘米", [0.25, 0.5]),
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("搬到 X=0.25 Y=0.50 Z=0.128", [0.25, 0.5, 0.128]),
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]:
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result = checked(command(targetId="coordinates", position=values), text, motion_checked)
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self.assertEqual(
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resolve_target(result["targetId"], result["position"]),
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([0.25, 0.5, 0.128], "table"),
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)
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def test_bad_targets_and_mismatch(self):
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for pos in ([0.8, 0.5], [0.25, 0.5, 0.5], [float("nan"), 0.5]):
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with self.assertRaises(DecisionError):
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resolve_target("coordinates", pos)
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with self.assertRaisesRegex(DecisionError, "command_mismatch"):
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checked(
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command(targetId="coordinates", position=[0.25, 0.6]),
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"搬到(0.25,0.50)",
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motion_checked,
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)
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for text in [
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"不要搬到 B 区",
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"搬到指定位置",
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"前进0.5米然后搬到 B 区",
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"搬到 A 区或者 B 区",
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]:
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self.assertEqual(checked(command(), text, motion_checked)["action"], "clarify")
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def test_multiple_or_contradictory_coordinates_rejected(self):
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for instruction in ["搬到(0.25,0.5)然后到(0.25,0.6)", "搬到 B 区 (0.25,0.5)"]:
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with self.assertRaises(DecisionError):
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checked(command(), instruction, motion_checked)
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def test_v2_does_not_weaken_v1(self):
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plan = dict(
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version=V,
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objectId="block",
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goalId="placement",
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summary="计划",
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steps=[
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dict(skill=s, precondition=LANGUAGE_PRECONDITIONS[s], onFailure="stop")
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for s in LANGUAGE_SKILLS
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],
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)
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validate_plan(plan, LANGUAGE_SKILLS, V)
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with self.assertRaises(DecisionError):
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validate_plan(plan, LANGUAGE_SKILLS, VERSION)
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d = dict(
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version=V,
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choice="stow",
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grasp="empty",
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diagnosis="none",
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recovery="continue",
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noul="allow",
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score="good",
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reason="verified_progress",
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)
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validate_jev(d, ["stow", "stop"], V)
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for field, value in [("noul", "yes"), ("score", 100), ("choice", "carry")]:
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with self.assertRaises(DecisionError):
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validate_jev(d | {field: value}, ["stow", "stop"], V)
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