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

import { test, expect } from '@playwright/test';
import { resolve } from 'node:path';
import { writeFile } from 'node:fs/promises';
import preset from '../../contracts/lekiwi-pick-place-v1.json' with { type: 'json' };
import type {} from '../physics/agent';

for (const seed of preset.frozenSeeds) {
  test(`规则物理基线：冻结种子 ${seed.id}，双指抓持/搬运/释放/撤离`, async ({ page }, info) => {
    const errors: string[] = [];
    page.on('pageerror', (error) => errors.push(error.message));
    await page.goto('/physics/agent.html');
    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
    await page.evaluate(
      (url) => window.lekiwiAgent.boot(url),
      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
    );
    try {
      const result = await page.evaluate((seed) => window.lekiwiAgent.baseline(seed), seed.id);
      await writeFile(info.outputPath('physical-evidence.json'), JSON.stringify(result, null, 2));
      console.log('baseline', { ...result, trace: `${result.trace.length} control samples` });
      expect(result.status, result.error).toBe('succeeded');
      expect(result.succeeded).toBe(true);
      expect(result.transported).toBeGreaterThanOrEqual(preset.transportMin);
      expect(result.maxJointSpeed).toBeLessThanOrEqual(preset.jointSpeedStop);
      const goal = preset.goal.position.map((v, i) => v + (seed.offset[i] ?? 0));
      expect(Math.hypot(...result.final.object.map((v, i) => v - goal[i]))).toBeLessThan(
        preset.placementTolerance,
      );
      expect(result.final.objectSpeed).toBeLessThan(preset.placementSpeedMax);
      expect(result.final.onGoalSupport).toBe(true);
      expect(result.final.fingerForces.every((force) => force < preset.fingerForceMin)).toBe(true);
      expect(result.final.opening).toBeGreaterThan(0.65);
      expect(
        Math.hypot(...result.final.object.map((v, i) => v - result.final.tcp[i])),
      ).toBeGreaterThanOrEqual(preset.retreatMin);
      expect(
        result.trace.filter((s) => s.phase === 'carry' && s.secure && !s.supported).length,
      ).toBeGreaterThan(100);
      expect(errors).toEqual([]);
    } finally {
      await page.evaluate(() => window.lekiwiAgent.dispose());
    }
  });
}

for (const seed of preset.frozenSeeds) {
  test(`mock 决策闭环：冻结种子 ${seed.id}，逐技能门禁与独立物理成功`, async ({ page }, info) => {
    await page.goto('/physics/agent.html');
    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
    await page.evaluate(
      (url) => window.lekiwiAgent.boot(url),
      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
    );
    try {
      const result = await page.evaluate((id) => window.lekiwiAgent.task(id), seed.id);
      await writeFile(info.outputPath('mock-closed-loop.json'), JSON.stringify(result, null, 2));
      console.log('mock closed loop', {
        state: result.state,
        error: result.error,
        transported: result.transported,
        llm: result.llmCalls,
        jev: result.jevCalls,
        simTime: result.simTime,
      });
      expect(result.ownerAtStart).toBe('agent');
      expect(result.mode).toBe('mock');
      expect(result.state, result.error).toBe('succeeded');
      expect(result.succeeded).toBe(true);
      expect(result.transported).toBeGreaterThanOrEqual(preset.transportMin);
      expect(result.maxJointSpeed).toBeLessThanOrEqual(preset.jointSpeedStop);
      expect(result.llmCalls).toBe(1);
      expect(result.jevCalls).toBe(11);
      expect(result.results).toHaveLength(11);
      expect(result.failures).toEqual([]);
      expect(result.sample.onGoalSupport).toBe(true);
      expect(result.sample.fingerForces.every((v) => v < preset.fingerForceMin)).toBe(true);
      expect(result.sample.opening).toBeGreaterThanOrEqual(0.65);
      expect(
        Math.hypot(...result.sample.object.map((v, i) => v - result.sample.tcp[i])),
      ).toBeGreaterThanOrEqual(preset.retreatMin);
    } finally {
      await page.evaluate(() => window.lekiwiAgent.dispose());
    }
  });
}

test('agent 控制权下同一物理时钟完成基线，不建立第二个环境循环', 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 result = await page.evaluate(() => window.lekiwiAgent.baseline(0, true));
    await writeFile(info.outputPath('governed-baseline.json'), JSON.stringify(result, null, 2));
    expect(result.ownerAtStart).toBe('agent');
    expect(result.status, result.error).toBe('succeeded');
    expect(result.transported).toBeGreaterThanOrEqual(0.5);
  } finally {
    await page.evaluate(() => window.lekiwiAgent.dispose());
  }
});