更新3D文件以及pick and place方法与yaml

tests/app/__init__.py

@@ -0,0 +1,172 @@
+"""normalize_model_for_upload 单元测试"""
+
+import unittest
+import sys
+import os
+
+# 添加项目根目录到 sys.path
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
+
+from unilabos.app.register import normalize_model_for_upload
+
+
+class TestNormalizeModelForUpload(unittest.TestCase):
+    """测试 Registry YAML model 字段标准化"""
+
+    def test_empty_input(self):
+        """空 dict 直接返回"""
+        self.assertEqual(normalize_model_for_upload({}), {})
+        self.assertIsNone(normalize_model_for_upload(None))
+
+    def test_format_infer_xacro(self):
+        """自动从 path 后缀推断 format=xacro"""
+        model = {
+            "path": "https://oss.example.com/devices/arm/macro_device.xacro",
+            "mesh": "arm_slider",
+            "type": "device",
+        }
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["format"], "xacro")
+
+    def test_format_infer_urdf(self):
+        """自动推断 format=urdf"""
+        model = {"path": "https://example.com/robot.urdf", "type": "device"}
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["format"], "urdf")
+
+    def test_format_infer_stl(self):
+        """自动推断 format=stl"""
+        model = {"path": "https://example.com/part.stl"}
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["format"], "stl")
+
+    def test_format_infer_gltf(self):
+        """自动推断 format=gltf（.gltf 和 .glb）"""
+        for ext in [".gltf", ".glb"]:
+            model = {"path": f"https://example.com/model{ext}"}
+            result = normalize_model_for_upload(model)
+            self.assertEqual(result["format"], "gltf", f"failed for {ext}")
+
+    def test_format_not_overwritten(self):
+        """已有 format 字段时不覆盖"""
+        model = {
+            "path": "https://example.com/model.xacro",
+            "format": "custom",
+        }
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["format"], "custom")
+
+    def test_format_no_path(self):
+        """没有 path 时不推断 format"""
+        model = {"mesh": "arm_slider", "type": "device"}
+        result = normalize_model_for_upload(model)
+        self.assertNotIn("format", result)
+
+    def test_children_mesh_string_to_struct(self):
+        """将 children_mesh 字符串（旧格式）转为结构化对象"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "type": "resource",
+            "children_mesh": "tip/meshes/tip.stl",
+            "children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
+            "children_mesh_path": "https://oss.example.com/tip.stl",
+        }
+        result = normalize_model_for_upload(model)
+
+        # children_mesh 应变为 dict
+        cm = result["children_mesh"]
+        self.assertIsInstance(cm, dict)
+        self.assertEqual(cm["path"], "https://oss.example.com/tip.stl")  # 优先使用 OSS URL
+        self.assertEqual(cm["format"], "stl")
+        self.assertTrue(cm["default_visible"])
+        self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
+        self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
+
+        # 旧字段应被移除
+        self.assertNotIn("children_mesh_tf", result)
+        self.assertNotIn("children_mesh_path", result)
+
+    def test_children_mesh_no_oss_fallback(self):
+        """children_mesh 无 OSS URL 时 fallback 到本地路径"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "children_mesh": "plate_96/meshes/plate_96.stl",
+        }
+        result = normalize_model_for_upload(model)
+        cm = result["children_mesh"]
+        self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
+        self.assertEqual(cm["format"], "stl")
+
+    def test_children_mesh_gltf_format(self):
+        """children_mesh .glb 文件推断 format=gltf"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "children_mesh": "meshes/child.glb",
+        }
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["children_mesh"]["format"], "gltf")
+
+    def test_children_mesh_partial_tf(self):
+        """children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "children_mesh": "tip.stl",
+            "children_mesh_tf": [0.01, 0.02, 0.03],
+        }
+        result = normalize_model_for_upload(model)
+        cm = result["children_mesh"]
+        self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
+        self.assertNotIn("local_rotation", cm)
+
+    def test_children_mesh_no_tf(self):
+        """children_mesh 无 tf 时不加 offset/rotation"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "children_mesh": "tip.stl",
+        }
+        result = normalize_model_for_upload(model)
+        cm = result["children_mesh"]
+        self.assertNotIn("local_offset", cm)
+        self.assertNotIn("local_rotation", cm)
+
+    def test_children_mesh_already_dict(self):
+        """children_mesh 已经是 dict 时不重新映射"""
+        model = {
+            "path": "https://example.com/rack.xacro",
+            "children_mesh": {
+                "path": "https://example.com/tip.stl",
+                "format": "stl",
+                "default_visible": False,
+            },
+        }
+        result = normalize_model_for_upload(model)
+        cm = result["children_mesh"]
+        self.assertIsInstance(cm, dict)
+        self.assertFalse(cm["default_visible"])
+
+    def test_original_not_mutated(self):
+        """原始 dict 不被修改"""
+        original = {
+            "path": "https://example.com/model.xacro",
+            "mesh": "arm",
+        }
+        original_copy = {**original}
+        normalize_model_for_upload(original)
+        self.assertEqual(original, original_copy)
+
+    def test_preserves_existing_fields(self):
+        """所有原始字段都被保留"""
+        model = {
+            "path": "https://example.com/model.xacro",
+            "mesh": "arm_slider",
+            "type": "device",
+            "mesh_tf": [0, 0, 0, 0, 0, 0],
+            "custom_field": "should_survive",
+        }
+        result = normalize_model_for_upload(model)
+        self.assertEqual(result["custom_field"], "should_survive")
+        self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
+
+
+if __name__ == "__main__":
+    unittest.main()