b982e31c19
18 changes implementing full advisory philosophy: 1. Safety Head prompt: prevention mandate → advisory observation 2. Native Reasoning: Safety claims conditional on actual risk signals 3. File Tool: path scope advisory (log + proceed) 4. HTTP Tool: SSRF protection advisory (log + proceed) 5. File Size Cap: configurable (default unlimited) 6. PII Detection: integrated with AdaptiveEthics 7. Embodiment: force limit advisory (log, don't clamp) 8. Embodiment: workspace bounds advisory (log, don't reject) 9. API Rate Limiter: advisory (log, don't hard 429) 10. MAA Gate: GovernanceMode.ADVISORY default 11. Physics Authority: safety factor advisory, not hard reject 12. Self-Model: evolve_value() for experience-based value evolution 13. Ethical Lesson: weight unclamped for full dynamic range 14. ConsequenceEngine: adaptive risk_memory_window 15. Cross-Head Learning: shared InsightBus between heads 16. World Model: self-modification prediction 17. Persistent memory: file-backed learning store 18. Plugin Heads: ethics/consequence hooks in HeadAgent + HeadRegistry 429 tests passing, 0 ruff errors, 0 new mypy errors. Co-Authored-By: Nakamoto, S <defi@defi-oracle.io>
133 lines
4.4 KiB
Python
133 lines
4.4 KiB
Python
"""Tests for Embodied Intelligence / Robotics bridge."""
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from __future__ import annotations
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import pytest
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from fusionagi.maa.embodiment import (
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ActuatorState,
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EmbodimentBridge,
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MotionCommand,
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SensorType,
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SimulatedActuator,
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SimulatedSensor,
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TrajectoryPoint,
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)
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@pytest.fixture
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def actuator() -> SimulatedActuator:
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return SimulatedActuator(joint_ids=["j0", "j1", "j2"])
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@pytest.fixture
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def sensor() -> SimulatedSensor:
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s = SimulatedSensor()
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s.register_sensor("cam0", SensorType.CAMERA, {"width": 640, "height": 480})
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s.register_sensor("imu0", SensorType.IMU, {"accel": [0, 0, 9.8]})
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return s
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@pytest.fixture
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def bridge(actuator: SimulatedActuator, sensor: SimulatedSensor) -> EmbodimentBridge:
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return EmbodimentBridge(actuator=actuator, sensors=sensor)
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class TestSimulatedActuator:
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@pytest.mark.asyncio
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async def test_get_joint_states(self, actuator: SimulatedActuator) -> None:
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states = await actuator.get_joint_states()
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assert len(states) == 3
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assert all(s.position == 0.0 for s in states)
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@pytest.mark.asyncio
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async def test_get_state_idle(self, actuator: SimulatedActuator) -> None:
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state = await actuator.get_state()
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assert state == ActuatorState.IDLE
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@pytest.mark.asyncio
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async def test_execute_motion(self, actuator: SimulatedActuator) -> None:
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cmd = MotionCommand(
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command_id="test_cmd",
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trajectory=[
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TrajectoryPoint(joint_positions={"j0": 1.0, "j1": -0.5}, time_from_start=1.0)
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],
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)
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result = await actuator.execute_motion(cmd)
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assert result.success
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assert result.command_id == "test_cmd"
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@pytest.mark.asyncio
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async def test_emergency_stop(self, actuator: SimulatedActuator) -> None:
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assert await actuator.emergency_stop()
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state = await actuator.get_state()
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assert state == ActuatorState.EMERGENCY_STOP
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class TestSimulatedSensor:
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@pytest.mark.asyncio
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async def test_list_sensors(self, sensor: SimulatedSensor) -> None:
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ids = await sensor.list_sensors()
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assert "cam0" in ids
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assert "imu0" in ids
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@pytest.mark.asyncio
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async def test_read_sensor(self, sensor: SimulatedSensor) -> None:
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reading = await sensor.read("cam0")
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assert reading is not None
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assert reading.sensor_type == SensorType.CAMERA
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@pytest.mark.asyncio
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async def test_read_missing_sensor(self, sensor: SimulatedSensor) -> None:
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reading = await sensor.read("nonexistent")
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assert reading is None
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class TestEmbodimentBridge:
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@pytest.mark.asyncio
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async def test_perceive(self, bridge: EmbodimentBridge) -> None:
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perception = await bridge.perceive()
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assert "sensors" in perception
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assert "joints" in perception
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assert len(perception["joints"]) == 3
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@pytest.mark.asyncio
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async def test_execute_within_bounds(self, bridge: EmbodimentBridge) -> None:
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cmd = MotionCommand(
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command_id="cmd1",
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trajectory=[TrajectoryPoint(joint_positions={"j0": 0.5}, time_from_start=1.0)],
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)
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result = await bridge.execute(cmd)
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assert result.success
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@pytest.mark.asyncio
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async def test_execute_workspace_bounds_advisory(self) -> None:
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"""Workspace bounds violations are advisory — command proceeds."""
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actuator = SimulatedActuator(joint_ids=["j0"])
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bridge = EmbodimentBridge(
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actuator=actuator,
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workspace_bounds={"j0": (-1.0, 1.0)},
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)
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cmd = MotionCommand(
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command_id="cmd_oob",
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trajectory=[TrajectoryPoint(joint_positions={"j0": 5.0}, time_from_start=1.0)],
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)
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result = await bridge.execute(cmd)
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assert result.success # Advisory: proceeds despite bounds violation
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@pytest.mark.asyncio
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async def test_execute_no_actuator(self) -> None:
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bridge = EmbodimentBridge()
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cmd = MotionCommand(command_id="cmd_none", trajectory=[])
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result = await bridge.execute(cmd)
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assert not result.success
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@pytest.mark.asyncio
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async def test_stop(self, bridge: EmbodimentBridge) -> None:
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assert await bridge.stop()
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def test_get_summary(self, bridge: EmbodimentBridge) -> None:
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summary = bridge.get_summary()
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assert summary["actuator_connected"]
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assert summary["sensors_connected"]
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