chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
43 lines
2.2 KiB
TypeScript
43 lines
2.2 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { resolve } from 'node:path';
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import { writeFile } from 'node:fs/promises';
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import type {} from '../physics/runner';
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test('真实 WASM：上臂不能穿过自身臂座组件，接触后仍能反向离开', async ({ page }, info) => {
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const errors: string[] = [];
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page.on('pageerror', (error) => errors.push(error.message));
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await page.goto('/physics/runner.html');
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await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
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const initial = await page.evaluate(
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(path) => window.lekiwiPhysics.boot(path),
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`/@fs${resolve('build/lekiwi')}`,
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);
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try {
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const samples = await page.evaluate(() => window.lekiwiPhysics.armSelfCollisionChecks());
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console.log('arm/base contacts', JSON.stringify(samples));
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const evidence = info.outputPath('arm-base-contacts.json');
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await writeFile(evidence, JSON.stringify({ version: initial.version, samples }, null, 2));
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await info.attach('arm-base-contacts', { path: evidence, contentType: 'application/json' });
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expect(initial.version).toBe('3.11.0');
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for (const sample of samples) {
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expect(Math.abs(sample.neutral.actual), `neutral, pan=${sample.pan}`).toBeLessThan(0.01);
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expect(sample.neutral.contacts).toEqual([]);
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// Full CAD changes the first obstruction: WaveShare plate at pan=0,
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// rotating shoulder clip at +/-0.8. Keep real contact/penetration/release
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// assertions; original Base_08q coverage is independently probed from STL.
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expect(sample.blocked.maxContacts, `blocked, pan=${sample.pan}`).toBeGreaterThan(0);
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expect(sample.blocked.contacts.length).toBeGreaterThan(0);
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expect(sample.blocked.actual).toBeLessThan(sample.blocked.target - 0.15);
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expect(sample.blocked.maxPenetration).toBeLessThan(0.002);
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for (const contact of sample.blocked.contacts)
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expect(contact.distance).toBeGreaterThan(-0.0005);
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expect(sample.blocked.finite).toBe(true);
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expect(Math.abs(sample.released.actual + 0.3)).toBeLessThan(0.01);
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expect(sample.released.contacts).toEqual([]);
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}
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expect(errors).toEqual([]);
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} finally {
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await page.evaluate(() => window.lekiwiPhysics.dispose());
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}
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});
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