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

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

test('真实 WASM 3.11：LeKiwi 站稳、全向轮、臂夹爪与障碍阻挡', async ({ page }, info) => {
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.message));
  page.on('console', (msg) => {
    if (msg.type() === 'error') console.log(msg.text());
  });
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  const assetBase = `/@fs${resolve(process.cwd(), 'build/lekiwi')}`;
  const initial = await page.evaluate((path) => window.lekiwiPhysics.boot(path), assetBase);
  console.log('initial', initial);
  expect(initial.version).toBe('3.11.0');
  expect(initial.nu).toBe(9);
  expect(initial.njnt).toBe(46);
  await writeFile(
    info.outputPath('lekiwi-profile.xml'),
    await page.evaluate(() => window.lekiwiPhysics.xml()),
  );
  const stable = await page.evaluate(() => window.lekiwiPhysics.step(30));
  console.log('stable', stable);
  expect(stable.finite).toBe(true);
  expect(Math.abs(stable.roll)).toBeLessThan(0.15);
  expect(Math.abs(stable.pitch)).toBeLessThan(0.15);
  const traces: unknown[] = [{ initial, stable }];
  for (const [x, y, w] of [
    [0.1, 0, 0],
    [-0.1, 0, 0],
    [0, 0.1, 0],
    [0, -0.1, 0],
    [0, 0, Math.PI / 6],
    [0, 0, -Math.PI / 6],
  ]) {
    const start = await page.evaluate(() => window.lekiwiPhysics.reset());
    const end = await page.evaluate(
      ([x, y, w]) => window.lekiwiPhysics.drive(x, y, w, 2),
      [x, y, w],
    );
    console.log('drive', x, y, w, 'start', start.position, start.yaw, 'end', end.position, end.yaw);
    traces.push({ command: [x, y, w], start, end });
    expect(end.finite).toBe(true);
    if (x || y) {
      expect(Math.abs(end.position[0] - start.position[0] - x * 2)).toBeLessThan(0.05);
      expect(Math.abs(end.position[1] - start.position[1] - y * 2)).toBeLessThan(0.05);
    } else expect(Math.abs(end.yaw - start.yaw - w * 2)).toBeLessThan((10 * Math.PI) / 180);
  }
  await page.evaluate(() => window.lekiwiPhysics.reset());
  // Free-space tracking; negative elbow folding now has its own obstruction test.
  const targets = [0.1, 0.1, 0.1, 0.1, 0.1, 0.3];
  const arm = await page.evaluate((values) => window.lekiwiPhysics.arm(values, 2), targets);
  console.log('arm', arm.arm);
  traces.push({ targets, arm });
  arm.arm.forEach((value, i) => expect(Math.abs(value - targets[i])).toBeLessThan(0.015));
  await page.evaluate(() => window.lekiwiPhysics.wall());
  const blocked = await page.evaluate(() => window.lekiwiPhysics.drive(0.1, 0, 0, 5));
  console.log('blocked', blocked);
  const contacts = await page.evaluate(() => window.lekiwiPhysics.contactPairs());
  traces.push({ blocked, contacts });
  expect(contacts.some((c) => c.geom1 === 'test_wall' || c.geom2 === 'test_wall')).toBe(true);
  expect(blocked.maxContacts).toBeGreaterThan(0);
  expect(blocked.position[0]).toBeLessThan(0.22);
  // The complete arm/accessory outline reaches the wall before the old chassis proxy.
  expect(blocked.position[0]).toBeGreaterThan(0.02);
  expect(blocked.finite).toBe(true);
  await writeFile(info.outputPath('physics-traces.json'), JSON.stringify(traces, null, 2));
  expect(errors).toEqual([]);
  await page.evaluate(() => window.lekiwiPhysics.dispose());
});

test('真实 Python/WASM：控制权、旧回调隔离、安全保持、reset 与导出重载', async ({ page }) => {
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  await page.evaluate(
    (path) => window.lekiwiPhysics.boot(path),
    `/@fs${resolve(process.cwd(), 'build/lekiwi')}`,
  );
  const result = await page.evaluate(() => window.lekiwiPhysics.runtimeChecks());
  expect(result.pythonTarget).toBe(0.1);
  expect(result.accepted.values['arm_shoulder_pan.pos']).toBe(0.3);
  expect(result.afterOldDispose).toBe(0.3);
  expect(result.manualBlocked).toBe(true);
  expect(result.held).toBeCloseTo(result.actual, 10);
  expect(result.paused?.enabled).toBe(false);
  expect(result.pausedOwner).toBe('manual');
  expect(result.cancel).toBe('DISCONNECTED');
  expect(result.reset?.modelEpoch).toBe(1);
  expect(result.reset?.paused).toBe(true);
  const reloaded = await page.evaluate(() => window.lekiwiPhysics.reimport());
  expect(reloaded.nu).toBe(9);
  expect(reloaded.njnt).toBe(46);
  expect(reloaded.robot?.profileId).toBe('lekiwi-v1');
  await page.evaluate(() => window.lekiwiPhysics.dispose());
});