Mujoco_WASM/web_platform/e2e/mobile.spec.ts

import { expect, test, type Page } from '@playwright/test';
import { existsSync } from 'node:fs';
import { mkdir, readFile, writeFile } from 'node:fs/promises';
import { resolve } from 'node:path';
import type {} from '../physics/mobile';

const original = resolve('build/lekiwi/lekiwi-v1.zip');
const bundle =
  process.env.MOBILE_BUNDLE_ZIP ??
  resolve('../Reference_Projects/LeKiwi/New_urdf/robot_urdf_bundle (1).zip');

async function exportRollout(page: Page, zipName: string, traceName: string) {
  await page.evaluate(() => window.mobilePhysics.reset());
  await mkdir('build/mobile-validation', { recursive: true });
  const downloadPromise = page.waitForEvent('download');
  await page.evaluate(() => window.mobilePhysics.download());
  await (await downloadPromise).saveAs(`build/mobile-validation/${zipName}`);
  const actions = Array.from({ length: 12 }, (_, step) => {
    const a = new Array<number>(12).fill(0);
    a[0] = 0.1;
    a[3] = 0.03 * Math.sin(step);
    a[11] = 1;
    return a;
  });
  const rollout = [];
  for (const action of actions)
    rollout.push(await page.evaluate((a) => window.mobilePhysics.step(1, a), action));
  await writeFile(
    `build/mobile-validation/${traceName}`,
    JSON.stringify({ actions, rollout }, null, 2),
  );
}

test('真实 WASM：两种机器人、控制、拖动、失败回滚、重复切换与训练包导出', async ({ page }) => {
  test.skip(!existsSync(original) || !existsSync(bundle), '需要本地两个机器人 ZIP');
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.message));
  await page.route('**/original.zip', (route) => route.fulfill({ path: original }));
  await page.route('**/bundle.zip', (route) => route.fulfill({ path: bundle }));
  await page.goto('/physics/mobile.html');
  await page.waitForFunction(() => Boolean(window.mobilePhysics));
  const traces = [];
  for (const id of [
    'lekiwi-v1',
    'lekiwi-bundle',
    'lekiwi-v1',
    'lekiwi-bundle',
    'lekiwi-v1',
    'lekiwi-bundle',
    'lekiwi-v1',
    'lekiwi-bundle',
    // Complete CAD meshes increase allocator/cache warm-up; exercise extra
    // cycles without raising the peak-memory bound or weakening final stability.
    'lekiwi-v1',
    'lekiwi-bundle',
    'lekiwi-v1',
    'lekiwi-bundle',
  ]) {
    const initial = await page.evaluate(
      (id) => window.mobilePhysics.boot(id === 'lekiwi-v1' ? '/original.zip' : '/bundle.zip', id),
      id,
    );
    console.log('mobile heap', id, initial.heap / 1048576);
    expect(initial.heap).toBeLessThan(1600 * 1048576);
    expect(initial.observation).toHaveLength(92);
    expect(initial.observation.every(Number.isFinite)).toBe(true);
    expect(initial.ctrl).toHaveLength(9);
    expect(initial.retiredModelDeleted).toBe(true);
    expect(initial.retiredDataDeleted).toBe(true);
    const stable = await page.evaluate(() => window.mobilePhysics.step(10));
    expect(stable.time).toBeCloseTo(0.2, 8);
    expect(stable.qpos.every(Number.isFinite)).toBe(true);
    const action = new Array<number>(12).fill(0);
    action[0] = 0.3;
    action[3] = 0.2;
    action[11] = 1;
    const moved = await page.evaluate((a) => window.mobilePhysics.step(10, a, true), action);
    expect(moved.ctrl.some((v, i) => Math.abs(v - initial.ctrl[i]) > 0.01)).toBe(true);
    expect(moved.qpos.some((v, i) => Math.abs(v - stable.qpos[i]) > 0.001)).toBe(true);
    action[0] = 0;
    action[11] = -1;
    const closed = await page.evaluate((a) => window.mobilePhysics.step(80, a, true), action);
    expect(closed.state[29]).toBeLessThan(initial.state[29] - 0.2);
    expect(closed.qpos.every(Number.isFinite)).toBe(true);
    expect(await page.evaluate(() => window.mobilePhysics.workspaces())).toHaveLength(1);
    const edited = await page.evaluate(() => window.mobilePhysics.move('goal', [0.4, -0.2, 0.019]));
    expect(edited.state.slice(47, 50)).toEqual([0.4, -0.2, 0.019]);
    expect(edited.stage).toBe('reach');
    traces.push({ initial, stable, moved, closed, edited });
    if (traces.length === 1)
      await exportRollout(page, 'lekiwi-training.zip', 'lekiwi-rollout.json');
  }
  const previous = await page.evaluate(() => window.mobilePhysics.state());
  const failure = await page.evaluate(async () => {
    try {
      await window.mobilePhysics.boot('/original.zip', 'lekiwi-bundle');
      return '';
    } catch (e) {
      return String(e);
    }
  });
  expect(failure).toContain('Link1');
  expect((await page.evaluate(() => window.mobilePhysics.state())).robotId).toBe(previous.robotId);
  expect(await page.evaluate(() => window.mobilePhysics.workspaces())).toHaveLength(1);
  const compileFailure = await page.evaluate(async () => {
    try {
      await window.mobilePhysics.invalidCandidate('/bundle.zip');
      return '';
    } catch (e) {
      return String(e);
    }
  });
  expect(compileFailure).toContain('missing_actuator');
  expect(await page.evaluate(() => window.mobilePhysics.workspaces())).toHaveLength(1);
  expect(
    (await page.evaluate(() => window.mobilePhysics.step(1))).observation.every(Number.isFinite),
  ).toBe(true);
  await writeFile(
    'build/mobile-validation/heap-warmup.json',
    JSON.stringify(
      traces.map((t) => ({ robot: t.initial.robotId, heap: t.initial.heap })),
      null,
      2,
    ),
  );
  expect(traces[11].initial.heap).toBe(traces[9].initial.heap);
  await exportRollout(page, 'bundle-training.zip', 'rollout.json');
  await writeFile('build/mobile-validation/traces.json', JSON.stringify(traces, null, 2));
  await page.evaluate(() => {
    window.mobilePhysics.reset();
    window.mobilePhysics.show();
  });
  await page.waitForFunction(() => document.querySelector('canvas')!.width > 500);
  // Use actual camera projection, not hard-coded screenshot pixel coordinates.
  for (const entity of ['object', 'goal'] as const) {
    const before = await page.evaluate(() => window.mobilePhysics.state());
    const p = await page.evaluate((entity) => window.mobilePhysics.screen(entity), entity);
    await page.keyboard.down('Shift');
    await page.mouse.move(p.x, p.y);
    await page.mouse.down();
    await page.mouse.move(p.x + 45, p.y + 12, { steps: 5 });
    await page.mouse.up();
    await page.keyboard.up('Shift');
    const after = await page.evaluate(() => window.mobilePhysics.state());
    const offset = entity === 'object' ? 37 : 47;
    expect(
      Math.hypot(
        after.state[offset] - before.state[offset],
        after.state[offset + 1] - before.state[offset + 1],
      ),
    ).toBeGreaterThan(0.01);
  }
  expect(errors).toEqual([]);
  await page.evaluate(() => window.mobilePhysics.dispose());
});

// 独立产品页已移除；导入/控制/暂停/重置/状态 UI 在主工作台用例验收：
// lekiwi.agent.workspace.spec.ts。这里保留两模型物理、训练快照及 ORT 夹具。

test('真实 ORT WASM：导出的 smoke 权重锁步执行（不代表训练成功）', async ({ page }) => {
  const model = resolve('build/mobile-validation/smoke.onnx');
  test.skip(!existsSync(model) || !existsSync(bundle), '先按文档导出 smoke.onnx');
  const metadata = JSON.parse(await readFile('build/mobile-validation/smoke.json', 'utf8'));
  await page.route('**/bundle.zip', (route) => route.fulfill({ path: bundle }));
  await page.route('**/smoke.onnx', (route) => route.fulfill({ path: model }));
  await page.goto('/physics/mobile.html');
  await page.waitForFunction(() => Boolean(window.mobilePhysics));
  await page.evaluate(() => window.mobilePhysics.boot('/bundle.zip', 'lekiwi-bundle'));
  await page.evaluate((metadata) => window.mobilePhysics.policy('/smoke.onnx', metadata), metadata);
  await expect
    .poll(
      async () => (await page.evaluate(() => window.mobilePhysics.tick(performance.now()))).time,
      { timeout: 30_000, intervals: [20] },
    )
    .toBeGreaterThanOrEqual(0.1);
  const status = await page.evaluate(() => window.mobilePhysics.tick(performance.now()));
  expect(status.metrics?.error).toBe('');
  expect(status.metrics!.inferenceCount).toBeGreaterThanOrEqual(5);
  await writeFile('build/mobile-validation/onnx-metrics.json', JSON.stringify(status, null, 2));
  await page.evaluate(() => window.mobilePhysics.dispose());
});