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。
47 lines
1.9 KiB
TypeScript
47 lines
1.9 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { startBridge } from './fixtures/controlBridge';
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import type {} from '../physics/runner';
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test('通用单关节：真实 Python SDK ↔ 本机桥接 ↔ 浏览器 WASM，断开后安全保持', async ({ page }) => {
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const bridge = await startBridge();
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try {
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await page.goto('http://127.0.0.1:4174/physics/runner.html');
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await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
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await page.evaluate(() => window.lekiwiPhysics.bootSingle());
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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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start=time.monotonic()
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for i in range(60):
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accepted=robot.send_action({'slider.position': .5})
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obs=robot.get_observation()
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time.sleep(max(0,start+(i+1)/30-time.monotonic()))
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print(json.dumps({'accepted':accepted['values'], 'measured':obs['values'], 'seq':obs['appliedActionSeq']}))
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`);
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const result = JSON.parse(run.stdout.trim()) as {
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accepted: Record<string, number>;
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measured: Record<string, number>;
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seq: number;
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};
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expect(result.accepted['slider.position']).toBe(0.5);
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expect(result.measured['slider.position']).toBeGreaterThan(0.48);
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expect(result.measured['slider.position']).toBeLessThan(0.51);
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expect(result.seq).toBeGreaterThan(55);
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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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