429 lines
22 KiB
TypeScript
429 lines
22 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { readFileSync } from 'node:fs';
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import { fileURLToPath } from 'node:url';
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import { zipSync } from 'fflate';
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const fixture = (relative: string) =>
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fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
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const SIMPLE_MODEL = `
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<mujoco model="e2e">
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<compiler angle="radian"/>
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<worldbody>
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<light pos="0 0 3"/>
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<body name="box" pos="0 0 1">
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<joint name="slide" type="slide" axis="1 0 0" range="-1 1"/>
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<joint name="hinge" type="hinge" axis="0 1 0" range="-1.57079632679 1.57079632679"/>
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<geom name="box_geom" type="box" size=".2 .2 .2" mass="1"/>
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</body>
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</worldbody>
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<actuator><motor name="motor" joint="slide" ctrlrange="-2 2"/></actuator>
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</mujoco>`;
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const SLIDE_DIRECTION_MODEL = `<mujoco model="drag-direction"><worldbody><body name="slider" pos="0 0 1"><joint name="screen_x" type="slide" axis="1 0 0" range="-2 2"/><geom type="box" size=".25 .25 .25" mass="1"/></body></worldbody></mujoco>`;
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const LARGE_MODEL = `
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<mujoco model="soak">
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<option timestep=".005"/>
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<worldbody>
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<replicate count="6" offset=".12 0 0">
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<replicate count="6" offset="0 .12 0">
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<replicate count="6" offset="0 0 .12">
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<body pos="-.3 -.3 .5"><joint type="free"/><geom type="sphere" size=".03" mass=".01"/></body>
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</replicate>
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</replicate>
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</replicate>
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<geom type="plane" size="2 2 .1"/>
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</worldbody>
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</mujoco>`;
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test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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page.on('console', (message) => console.log(`[browser:${message.type()}] ${message.text()}`));
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page.on('pageerror', (error) => console.log(`[browser:error] ${error.message}`));
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page.on('requestfailed', (request) =>
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console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`),
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);
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page.on('response', (response) => {
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if (response.status() >= 400 || response.url().endsWith('.wasm'))
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console.log(
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`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`,
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);
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});
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await page.goto('/');
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await page.setViewportSize({ width: 1024, height: 768 });
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const resetCameraBox = await page.getByRole('button', { name: '相机复位' }).boundingBox(),
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playBox = await page.getByRole('button', { name: '▶ 播放' }).boundingBox();
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expect(
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resetCameraBox && playBox && resetCameraBox.x + resetCameraBox.width <= playBox.x,
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).toBeTruthy();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await expect(page.getByRole('menuitem', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.setViewportSize({ width: 1440, height: 900 });
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await expect(page.getByRole('heading', { name: 'MuJoCo Web 仿真平台' })).toBeVisible();
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await expect(page.getByRole('main').getByText('拖放模型工程到此处')).toBeVisible();
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await expect(page.getByRole('img', { name: 'XYZ 方向指示器' })).toBeVisible();
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await expect(page.getByRole('button', { name: '切换到白天主题' })).toBeVisible();
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await page.getByRole('button', { name: '布局设置' }).click();
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await expect(page.getByRole('dialog', { name: '布局设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '工作台设置' }).click();
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await expect(page.getByRole('dialog', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.keyboard.press('Control+k');
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await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
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await page.getByLabel('搜索命令').fill('复位相机');
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await expect(page.getByRole('option', { name: /复位相机/ })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '进入全屏' }).click();
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await expect(page.getByRole('button', { name: '退出全屏' })).toBeVisible();
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await page.keyboard.press('Control+k');
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await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '退出全屏' }).click();
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await page.getByRole('button', { name: '切换到白天主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await expect(page.getByRole('button', { name: '切换到黑夜主题' })).toBeVisible();
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await page.getByRole('button', { name: '切换到黑夜主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-dark/);
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({
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name: 'model.xml',
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mimeType: 'text/xml',
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buffer: Buffer.from(SIMPLE_MODEL),
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});
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('button', { name: '显示设置' }).click();
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const displayDialog = page.getByRole('dialog', { name: '视图显示设置' });
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await expect(displayDialog).toBeVisible();
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await expect(displayDialog.getByRole('switch')).toHaveCount(7);
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const centerOfMassSwitch = displayDialog.getByRole('switch', { name: /^质心/ });
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await centerOfMassSwitch.click();
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await expect(centerOfMassSwitch).toHaveAttribute('aria-checked', 'true');
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await page.keyboard.press('Escape');
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await expect(displayDialog).toBeHidden();
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await page.getByRole('button', { name: '通知中心' }).click();
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await expect(page.getByRole('dialog', { name: '通知中心' })).toContainText('模型加载完成');
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await page.getByText('事件日志').click();
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await expect(page.getByRole('dialog', { name: '诊断与事件日志' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: /FPS .*物理/ }).click();
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await expect(page.getByRole('dialog', { name: '性能详情' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('tab', { name: '控制' }).click();
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await page.getByRole('button', { name: 'Actuator' }).click();
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await expect(page.getByText('motor', { exact: true })).toBeVisible();
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await expect(
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page.getByRole('tabpanel', { name: '控制' }).getByText('slide', { exact: true }),
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).toBeVisible();
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await page.getByRole('tab', { name: '模型结构' }).click();
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const structure = page.getByRole('navigation', { name: '模型结构树' });
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await expect(structure).toBeVisible();
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await structure.getByRole('treeitem', { name: /hinge/ }).hover();
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await expect(page.getByRole('alert')).toHaveCount(0);
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await expect(page.getByRole('button', { name: '重置关节' })).toBeVisible();
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await page.getByRole('button', { name: '高级' }).click();
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await expect(page.getByText('下限 -1.571 rad')).toBeVisible();
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await expect(page.getByText('上限 1.571 rad')).toBeVisible();
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await page.getByRole('button', { name: 'rad 弧度制' }).click();
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await expect(page.getByText('下限 -90.000°')).toBeVisible();
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await expect(page.getByText('上限 90.000°')).toBeVisible();
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await page.getByRole('button', { name: '忽略关节限位' }).click();
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await expect(page.getByRole('button', { name: '忽略关节限位' })).toHaveAttribute(
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'aria-pressed',
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'true',
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);
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await expect(page.getByText('已忽略').first()).toBeVisible();
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await page.getByRole('button', { name: '重置关节' }).click();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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});
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test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page }) => {
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await page.setViewportSize({ width: 800, height: 700 });
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await page.goto('/');
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await expect(page.getByRole('main')).toBeInViewport();
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await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
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await expect(page.getByRole('button', { name: '显示属性面板' })).toBeVisible();
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await page.getByRole('button', { name: '显示属性面板' }).click();
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await expect(
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page.getByRole('complementary').filter({ hasText: '导入模型后显示属性' }),
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).toBeVisible();
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});
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test('工作区布局与视口显示偏好在刷新后保留', async ({ page }) => {
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await page.setViewportSize({ width: 1440, height: 900 });
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await page.goto('/');
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await page.getByRole('button', { name: '隐藏工程面板' }).click();
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await page.getByRole('button', { name: '显示设置' }).click();
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await page.getByRole('switch', { name: /^坐标系/ }).click();
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await page.reload();
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await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
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await page.getByRole('button', { name: '显示设置' }).click();
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await expect(page.getByRole('switch', { name: /^坐标系/ })).toHaveAttribute(
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'aria-checked',
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'true',
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);
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});
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test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('button', { name: '源代码' }).click();
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const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await expect(dialog).toBeVisible();
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await expect(dialog.getByText('缓存文件 · 可编辑')).toBeVisible();
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await expect(dialog.getByText('转换后的 MJCF', { exact: true })).toBeVisible();
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const editor = dialog.locator('.monaco-editor');
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await editor.click({ position: { x: 240, y: 120 } });
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await page.keyboard.press('Control+a');
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await page.keyboard.insertText(SIMPLE_MODEL.replace('model="e2e"', 'model="cached-edit"'));
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await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
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await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
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timeout: 30_000,
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});
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await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '导出 URDF' })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '导出 MJCF' })).toHaveCount(0);
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});
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test('关闭已修改的 MJCF 前要求确认', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('button', { name: '源代码' }).click();
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const editorDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await editorDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
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await page.keyboard.press('Control+End');
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await page.keyboard.insertText('\n');
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await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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const confirm = page.getByRole('dialog', { name: '放弃未保存的修改？' });
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await expect(confirm).toBeVisible();
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await confirm.getByRole('button', { name: '继续编辑' }).click();
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await expect(editorDialog).toBeVisible();
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await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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await page
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.getByRole('dialog', { name: '放弃未保存的修改？' })
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.getByRole('button', { name: '放弃修改' })
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.click();
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await expect(editorDialog).toHaveCount(0);
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});
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test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles([
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fixture('mjcf_include/model.xml'),
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fixture('mjcf_include/world.xml'),
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fixture('mjcf_include/triangle.obj'),
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fixture('mjcf_include/triangle.stl'),
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fixture('mjcf_include/checker.png'),
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]);
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByText('5 个文件')).toBeVisible();
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});
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test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles([fixture('urdf_mesh/robot.urdf'), fixture('urdf_mesh/triangle.obj')]);
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const options = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
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await expect(options.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
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await expect(options.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
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await options.getByRole('button', { name: '转换并加载' }).click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByText('2 个文件')).toBeVisible();
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await page.getByRole('button', { name: 'URDF 处理方式' }).click();
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await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf');
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await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/);
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await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
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await page.keyboard.press('Escape');
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await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
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await page.getByRole('button', { name: '源代码' }).click();
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const sourceDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible();
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await sourceDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
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await page.keyboard.press('Control+End');
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await page.keyboard.insertText('\n');
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await sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
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await expect(
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sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }),
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).toBeDisabled({ timeout: 30_000 });
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await expect(page.getByText('WASM 已加载')).toBeVisible();
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await sourceDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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});
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test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', async ({ page }) => {
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const urdf = `<robot name="jointed"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><box size=".4 .4 .2"/></geometry></visual></link><link name="arm"><inertial><mass value=".2"/><origin xyz="0 0 .25"/><inertia ixx=".01" iyy=".01" izz=".01" ixy="0" ixz="0" iyz="0"/></inertial><visual><origin xyz="0 0 .25"/><geometry><box size=".1 .1 .5"/></geometry></visual></link><joint name="shoulder" type="revolute"><parent link="base"/><child link="arm"/><origin xyz="0 0 .1"/><axis xyz="0 1 0"/><limit lower="-1" upper="1" effort="10" velocity="2"/></joint></robot>`;
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({
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name: 'jointed.urdf',
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mimeType: 'application/xml',
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buffer: Buffer.from(urdf),
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});
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await page
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.getByRole('dialog', { name: '配置 URDF 仿真组件' })
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.getByRole('button', { name: '转换并加载' })
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.click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByLabel('摄像头画面')).toBeVisible();
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await page.getByRole('button', { name: '隐藏画面' }).click();
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await page.getByRole('button', { name: '显示摄像头画面' }).click();
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await expect(page.getByLabel('摄像头画面')).toBeVisible();
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器');
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await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
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await page.keyboard.press('Escape');
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await page.getByRole('tab', { name: '控制' }).click();
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await page.getByRole('button', { name: 'Actuator' }).click();
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await expect(page.getByText('shoulder_motor')).toBeVisible();
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await expect(page.getByText('关节：shoulder')).toBeVisible();
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await expect(page.getByText('N·m', { exact: true })).toBeVisible();
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await page.getByText('常用参数').click();
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const kp = page.getByLabel(/kp（MJCF stiffness/),
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kv = page.getByLabel(/kv（MJCF damping/);
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await kp.fill('150');
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await kp.press('Enter');
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await kv.fill('15');
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await kv.press('Enter');
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await expect(kp).toHaveValue('150');
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await expect(kv).toHaveValue('15');
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});
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test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }) => {
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const zip = zipSync({
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'robot/urdf/robot.urdf': new Uint8Array(
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readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf')),
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),
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'robot/dae/triangle.dae': new Uint8Array(
|
||
readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')),
|
||
),
|
||
});
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({ name: 'dae.zip', mimeType: 'application/zip', buffer: Buffer.from(zip) });
|
||
await page
|
||
.getByRole('dialog', { name: '配置 URDF 仿真组件' })
|
||
.getByRole('button', { name: '转换并加载' })
|
||
.click();
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '源代码' }).click();
|
||
const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
|
||
await dialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
|
||
await page.keyboard.press('Control+End');
|
||
await page.keyboard.insertText('\n');
|
||
await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
|
||
await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
|
||
timeout: 30_000,
|
||
});
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible();
|
||
await expect(page.getByText('模型编译失败')).toHaveCount(0);
|
||
});
|
||
|
||
test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'slide.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SLIDE_DIRECTION_MODEL),
|
||
});
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '关节拖动' }).click();
|
||
const canvas = page.locator('main canvas').first(),
|
||
box = await canvas.boundingBox();
|
||
expect(box).not.toBeNull();
|
||
const x = box!.x + box!.width / 2,
|
||
y = box!.y + box!.height / 2;
|
||
await page.mouse.move(x, y);
|
||
await page.mouse.down();
|
||
await page.mouse.move(x + 70, y, { steps: 8 });
|
||
await page.mouse.up();
|
||
await page.getByRole('tab', { name: '控制' }).click();
|
||
const jointSection = page.getByRole('button', { name: '关节 1' });
|
||
if ((await jointSection.getAttribute('aria-expanded')) === 'false') await jointSection.click();
|
||
const output = page.getByText('screen_x').locator('..').locator('output');
|
||
await expect
|
||
.poll(async () => Number.parseFloat((await output.textContent()) || '0'))
|
||
.toBeGreaterThan(0);
|
||
});
|
||
|
||
test('可导入并启用 Python 控制器', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||
await page.getByRole('tab', { name: '控制' }).click();
|
||
const python = `NAME = "测试 PD 控制器"\nCONTROL_HZ = 100\ndef init(api):\n return {"joint": api.joint("slide"), "actuator": api.actuator("motor"), "body": api.body("box")}\ndef step(ctx, state):\n assert len(ctx.body_quat(state["body"])) == 4\n assert len(ctx.body_position(state["body"])) == 3\n ctx.set_control(state["actuator"], -ctx.qpos(state["joint"]) - 0.1 * ctx.qvel(state["joint"]))\n`;
|
||
await page
|
||
.locator('input[accept=".py,text/x-python"]')
|
||
.setInputFiles({ name: 'balance.py', mimeType: 'text/x-python', buffer: Buffer.from(python) });
|
||
await expect(page.getByText('测试 PD 控制器', { exact: true })).toBeVisible({ timeout: 30_000 });
|
||
await expect(page.getByText('Python / Pyodide')).toBeVisible();
|
||
await page.getByRole('button', { name: '启用', exact: true }).click();
|
||
await expect(page.getByText('运行中')).toBeVisible();
|
||
});
|
||
|
||
test('中等规模模型持续步进并可重复加载', async ({ page }) => {
|
||
await page.goto('/');
|
||
const input = page.locator('input[type="file"]').first();
|
||
const modelFile = { name: 'large.xml', mimeType: 'text/xml', buffer: Buffer.from(LARGE_MODEL) };
|
||
await input.setInputFiles(modelFile);
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await page.waitForTimeout(2_000);
|
||
await expect(page.locator('footer')).not.toContainText('时间 0.000 s');
|
||
|
||
// 播放过程中重置必须同时暂停底层会话，之后仍可正常播放和暂停。
|
||
await page.getByRole('button', { name: '重置', exact: true }).click();
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
|
||
await expect(page.locator('footer')).toContainText('时间 0.000 s');
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await page.waitForTimeout(500);
|
||
await page.getByRole('button', { name: '⏸ 暂停' }).click();
|
||
await page.waitForTimeout(200);
|
||
const pausedTime = (await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1];
|
||
expect(Number(pausedTime)).toBeGreaterThan(0);
|
||
await page.waitForTimeout(500);
|
||
expect((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(pausedTime);
|
||
|
||
await input.setInputFiles(modelFile);
|
||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||
await expect(page.getByRole('alert')).toHaveCount(0);
|
||
});
|
||
|
||
test('无效模型显示中文诊断且保留工程树', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml'));
|
||
await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
|
||
await expect(page.getByText('invalid.xml', { exact: false }).first()).toBeVisible();
|
||
});
|