새로운 시연 확장하기

set -euo pipefail
cd "$ROBOT_LAB"
test -f infra/workshop-binding.json
rg -n 'OBJECT_IDS|SCENARIO_IDS|TARGET_IDS|validatePlan' shared
rg -n 'validate_candidate|destinations|objectId' agent/planner.py agent/toolkit.json
rg -n 'SCENARIOS|OBJECT|target|actions' simulation/runtime.py simulation/scene.py

cd "$ROBOT_LAB"
mkdir -p .local/evidence/extension
.venv/bin/python -m simulation.cli \
  --scenario stack --seed 314 \
  --actions '[{"objectId":"orange","target":"tower"},{"objectId":"blue","target":"tower"},{"objectId":"red","target":"tower"}]' \
  --output .local/evidence/extension/orange-first-314.json

.venv/bin/python - <<'PY'
import json, math
from pathlib import Path
r = json.loads(Path(".local/evidence/extension/orange-first-314.json").read_text())
assert r["engine"] == "MuJoCo" and r["seed"] == 314
assert r["status"] == "succeeded" and r["metrics"]["success"]
assert r["metrics"]["placed"] == 3 and all(c["passed"] for c in r["checks"])
assert [step["objectId"] for step in r["steps"]] == ["orange", "blue", "red"]
final = r["frames"][-1]["bodies"]
for name, expected_z in (("orange", 0.025), ("blue", 0.075), ("red", 0.125)):
    p = final[name]["position"]
    assert abs(p[2] - expected_z) < 0.003, (name, p)
    resting = [f["bodies"][name]["position"] for f in r["frames"]
               if f["t"] >= r["duration"] - 0.75]
    assert max(math.dist(p, q) for q in resting) < 0.003, name
print(json.dumps({"order": ["orange", "blue", "red"], "metrics": r["metrics"]}, indent=2))
PY

cd "$ROBOT_LAB"
ROBOT_NEGATIVE_STATUS=0
.venv/bin/python -m simulation.cli \
  --scenario transfer --seed 314 --grip-force 0 \
  --actions '[{"objectId":"red","target":"tray"}]' \
  --output .local/evidence/extension/no-grip-314.json \
  || ROBOT_NEGATIVE_STATUS=$?
test "$ROBOT_NEGATIVE_STATUS" -eq 1

.venv/bin/python - <<'PY'
import json
from pathlib import Path
r = json.loads(Path(".local/evidence/extension/no-grip-314.json").read_text())
assert r["engine"] == "MuJoCo"
assert r["status"] == "failed" and not r["metrics"]["success"]
assert r["metrics"]["placed"] == 0
assert any(not c["passed"] for c in r["checks"])
assert r["steps"] and all(s["status"] == "failed" for s in r["steps"])
print("PASS: 접촉으로 잡지 못한 물체는 실패로 남았습니다.")
PY

cd "$ROBOT_LAB"
for ROBOT_SCENARIO in lineup kit pyramid unstack restock push; do
  .venv/bin/python -m simulation.cli \
    --scenario "$ROBOT_SCENARIO" --seed 314 \
    --output ".local/evidence/extension/$ROBOT_SCENARIO-314.json"
done

.venv/bin/python - <<'PY'
import json, math
from pathlib import Path
from shared.workcell import definition, normalize_actions, target_for_action

for scenario in ("lineup", "kit", "pyramid", "unstack", "restock", "push"):
    r = json.loads(Path(f".local/evidence/extension/{scenario}-314.json").read_text())
    assert r["engine"] == "MuJoCo" and r["scenario"] == scenario and r["seed"] == 314
    assert r["status"] == "succeeded" and r["metrics"]["placed"] == r["metrics"]["total"] == 3
    assert r["checks"] and all(c["passed"] for c in r["checks"])
    actions = normalize_actions(scenario)
    assert [s["objectId"] for s in r["steps"]] == [a["objectId"] for a in actions]
    first, final = r["frames"][0]["bodies"], r["frames"][-1]["bodies"]
    for index, action in enumerate(actions):
        name = action["objectId"]
        target = target_for_action(scenario, actions, index)
        assert math.dist(final[name]["position"], target) < definition(scenario)["positionTolerance"]
        if scenario == "push":
            start_z = first[name]["position"][2]
            assert max(f["bodies"][name]["position"][2] - start_z for f in r["frames"]) < 0.02
            assert math.dist(first[name]["position"][:2], final[name]["position"][:2]) > 0.2
    print(scenario, r["metrics"])
PY

npm test
npm run build
.venv/bin/python -m unittest discover -s agent/tests -v
.venv/bin/python -m unittest discover -s tests/simulation -v