Mujoco_WASM/web_platform/e2e/lekiwi.agent.faults.spec.ts

import { test, expect } from '@playwright/test';
import { resolve } from 'node:path';
import { writeFile } from 'node:fs/promises';
import type {} from '../physics/agent';

for (const fault of [
  'empty-grasp',
  'empty-once',
  'alignment',
  'slip',
  'jam',
  'navigation',
  'unreachable',
  'overspeed',
] as const) {
  test(`真实 WASM 故障：${fault} 不可冒充成功/无限恢复`, async ({ page }, info) => {
    await page.goto('/physics/agent.html');
    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
    await page.evaluate(
      (url) => window.lekiwiAgent.boot(url),
      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
    );
    try {
      const r = await page.evaluate(
        (fault) => window.lekiwiAgent.task(0, undefined, { fault }),
        fault,
      );
      await writeFile(info.outputPath('fault-evidence.json'), JSON.stringify(r, null, 2));
      console.log('WASM fault', {
        fault,
        state: r.state,
        error: r.error,
        failures: r.failures,
        recoveries: r.recoveries,
        simTime: r.simTime,
      });
      expect(r.mode).toBe('mock');
      expect(r.state).toBe(fault === 'empty-once' ? 'succeeded' : 'failed');
      expect(r.succeeded).toBe(fault === 'empty-once');
      expect(r.simTime).toBeLessThanOrEqual(70.01);
      expect(r.llmCalls).toBe(1);
      if (fault === 'empty-grasp' || fault === 'empty-once' || fault === 'alignment') {
        const skill = fault === 'alignment' ? 'pregrasp' : 'close';
        const code = fault === 'alignment' ? 'alignment_timeout' : 'empty_grasp';
        const recovered = fault === 'empty-once';
        expect(r.recoveries[skill]).toBe(recovered ? 1 : 2);
        expect(r.failures.map((f) => f.code)).toEqual(Array(recovered ? 1 : 3).fill(code));
        if (!recovered) expect(r.trace.every((s) => !s.secure)).toBe(true);
        else {
          expect(r.transported).toBeGreaterThanOrEqual(0.5);
          expect(r.sample.onGoalSupport).toBe(true);
        }
      } else {
        expect(r.recoveries).toEqual({});
        expect(r.failures).toHaveLength(1);
        expect(r.failures[0].code).toBe(
          {
            slip: 'lost_grasp',
            jam: 'joint_stall',
            navigation: 'navigation_timeout',
            unreachable: 'unreachable',
            overspeed: 'joint_velocity',
          }[fault],
        );
      }
      if (fault === 'slip') {
        expect(Math.max(...r.trace.map((s) => s.transported))).toBeGreaterThan(0.12);
        expect(r.transported).toBe(0);
      }
    } finally {
      await page.evaluate(() => window.lekiwiAgent.dispose());
    }
  });
}

for (const goal of [
  [0.237, 0.565, 0.128],
  [0.277, 0.665, 0.128],
]) {
  test(`真实 WASM 受限目标角点 ${goal.slice(0, 2).join(',')}（非任意目标泛化）`, async ({
    page,
  }, info) => {
    await page.goto('/physics/agent.html');
    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
    await page.evaluate(
      (url) => window.lekiwiAgent.boot(url),
      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
    );
    try {
      const r = await page.evaluate(
        (goal) => window.lekiwiAgent.task(0, undefined, { goal }),
        goal,
      );
      await writeFile(info.outputPath('goal-evidence.json'), JSON.stringify(r, null, 2));
      expect(r.state, r.error).toBe('succeeded');
      expect(r.goal).toEqual(goal);
      expect(r.succeeded).toBe(true);
      expect(r.transported).toBeGreaterThanOrEqual(0.5);
      expect(Math.hypot(...r.sample.object.map((v, i) => v - goal[i]))).toBeLessThan(0.04);
    } finally {
      await page.evaluate(() => window.lekiwiAgent.dispose());
    }
  });
}