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。
53 lines
2.4 KiB
TypeScript
53 lines
2.4 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { resolve } from 'node:path';
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import { startBridge } from './fixtures/controlBridge';
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import type {} from '../physics/runner';
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test('LeKiwi：真实通用 Python SDK 双向控制，3秒30Hz，无 LeRobot 依赖', async ({ page }) => {
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const bridge = await startBridge();
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try {
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await page.goto('/physics/runner.html');
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await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
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await page.evaluate(
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(path) => window.lekiwiPhysics.boot(path),
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`/@fs${resolve(process.cwd(), 'build/lekiwi')}`,
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);
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await page.evaluate(
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({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token),
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{ endpoint: bridge.endpoint, token: bridge.token },
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);
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const run = await bridge.python(`
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import json, os, time
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from mujoco_control_bridge import SimRobotClient
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with SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']) as robot:
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values={c['id']:0.0 for c in robot.describe()['actionChannels']}
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values.update({'arm_shoulder_pan.pos':.1,'arm_gripper.pos':.5})
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before=robot.get_observation()['values']
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start=time.monotonic(); latency=[]
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for i in range(90):
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values.update({'x.vel':.08 if i<30 else 0,'y.vel':.08 if 30<=i<60 else 0,'theta.vel':.3 if i>=60 else 0})
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tick=time.monotonic(); robot.send_action(values); obs=robot.get_observation()
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latency.append((time.monotonic()-tick)*1000)
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time.sleep(max(0,start+(i+1)/30-time.monotonic()))
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print(json.dumps({'before':before,'after':obs['values'],'rttMeanMs':sum(latency)/len(latency),'rttMaxMs':max(latency),'seq':obs['appliedActionSeq']}))
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`);
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const result = JSON.parse(run.stdout.trim());
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expect(result.after['base.x'] - result.before['base.x']).toBeGreaterThan(0.04);
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expect(result.after['base.y'] - result.before['base.y']).toBeGreaterThan(0.04);
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expect(result.after['base.yaw']).toBeGreaterThan(0.2);
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expect(result.after['arm_gripper.pos']).toBeCloseTo(0.5, 1);
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expect(result.seq).toBeGreaterThan(85);
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console.log('SDK bridge timing', { meanMs: result.rttMeanMs, maxMs: result.rttMaxMs });
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await expect
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.poll(
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async () =>
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(await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused,
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)
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.toBe(true);
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expect(bridge.errors()).toBe('');
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} finally {
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await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {});
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await bridge.stop();
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}
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});
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