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。
68 lines
2.6 KiB
TypeScript
68 lines
2.6 KiB
TypeScript
import { test, expect } 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/agent';
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test('v2 物理：连续两次搬运，不重载或移动支撑面', async ({ page }, info) => {
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await page.goto('/physics/agent.html');
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await page.waitForFunction(() => Boolean(window.lekiwiAgent));
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await page.evaluate(
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(url) => window.lekiwiAgent.boot(url),
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`/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
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);
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const results = await page.evaluate(() =>
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window.lekiwiAgent.languagePhysical([
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[0.257, 0.75, 0.128],
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[0.25, 0.5, 0.128],
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]),
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);
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await writeFile(info.outputPath('continuous-physical.json'), JSON.stringify(results, null, 2));
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for (const r of results) {
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console.log('language physical', {
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status: r.status,
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error: r.error,
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goal: r.goal,
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sample: r.sample,
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transported: r.transported,
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});
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expect(r.status, r.error).toBe('succeeded');
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expect(r.succeeded).toBe(true);
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expect(r.sample.onGoalSupport).toBe(true);
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expect(r.maxJointSpeed).toBeLessThanOrEqual(2);
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}
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await page.evaluate(() => window.lekiwiAgent.dispose());
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});
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test('v2 真实故障：夹爪锁开不会宣称成功', async ({ page }, info) => {
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await page.goto('/physics/agent.html');
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await page.waitForFunction(() => Boolean(window.lekiwiAgent));
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await page.evaluate(
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(url) => window.lekiwiAgent.boot(url),
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`/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
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);
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const results = await page.evaluate(() =>
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window.lekiwiAgent.languagePhysical([[0.257, 0.75, 0.128]], 'empty'),
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);
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await writeFile(info.outputPath('empty-grasp.json'), JSON.stringify(results, null, 2));
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expect(results[0].status).toBe('failed');
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expect(results[0].error).toBe('empty_grasp');
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expect(results[0].transported).toBe(0);
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expect(results[0].succeeded).toBe(false);
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await page.evaluate(() => window.lekiwiAgent.dispose());
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});
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test('v2 标定：连续台面边界与停靠姿态 scratch IK', async ({ page }, info) => {
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await page.goto('/physics/agent.html');
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await page.waitForFunction(() => Boolean(window.lekiwiAgent));
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await page.evaluate(
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(url) => window.lekiwiAgent.boot(url),
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`/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
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);
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const result = await page.evaluate(() => window.lekiwiAgent.calibrateLanguage());
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await writeFile(info.outputPath('calibration.json'), JSON.stringify(result, null, 2));
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expect(result.unchanged).toBe(true);
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for (const check of result.checks)
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expect(check.residual, JSON.stringify(check.target)).toBeLessThan(0.004);
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await page.evaluate(() => window.lekiwiAgent.dispose());
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});
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