feat(training): release V0.9.1 避障训练与基础策略迁移

2026-09-08 10:50:13 +08:00
parent fa5485049a
commit 438e56bcc8
113 changed files with 15027 additions and 539 deletions
@@ -0,0 +1,83 @@
+import json
+import math
+import sys
+import unittest
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from task_config import (  # noqa: E402
+    FLAT_TASK,
+    OBSTACLE_TASK,
+    TERRAIN_PRESETS,
+    build_terrain_layout,
+    deployment_metadata,
+    navigation_candidates,
+    validate_task_config,
+)
+
+
+class TaskConfigTest(unittest.TestCase):
+    def test_flat_legacy_request_does_not_override_environment(self):
+        self.assertIsNone(validate_task_config(FLAT_TASK, {}, 42))
+        self.assertNotIn("terrain", deployment_metadata(FLAT_TASK, None, 42))
+
+    def test_layouts_are_bounded_finite_and_leave_flat_spawn_goal(self):
+        for preset in (p for p in TERRAIN_PRESETS if p != "custom_boxes"):
+            with self.subTest(preset=preset):
+                custom = validate_task_config(OBSTACLE_TASK, {"terrainPreset": preset}, 42)
+                layout = build_terrain_layout(custom)
+                self.assertLessEqual(len(layout["boxes"]), 257)
+                self.assertLess(len(json.dumps(layout)), 64 * 1024)
+                self.assertEqual(layout["spawn"], [-5, 0, 0.32])
+                self.assertEqual(layout["target"], [5, 0])
+                for box in layout["boxes"]:
+                    self.assertTrue(all(math.isfinite(v) for v in box["pos"] + box["size"]))
+                    self.assertTrue(all(v > 0 for v in box["size"]))
+                    self.assertEqual(box["yaw"], 0)
+                for box in layout["boxes"][1:]:
+                    self.assertGreaterEqual(box["pos"][0] - box["size"][0], -4)
+                    self.assertLessEqual(box["pos"][0] + box["size"][0], 4)
+
+    def test_layout_is_deterministic_and_export_is_authoritative(self):
+        custom = validate_task_config(OBSTACLE_TASK, {}, 42)
+        original = build_terrain_layout(custom)
+        self.assertEqual(original, build_terrain_layout(custom))
+        self.assertNotEqual(original, build_terrain_layout({**custom, "seed": 43}))
+        metadata = deployment_metadata(OBSTACLE_TASK, custom, 42)
+        self.assertEqual(metadata["terrain"], original)
+        self.assertEqual(metadata["observationSize"], 47 + 32 + 2)
+        self.assertEqual(metadata["jointNames"][0], "FL_hip_joint")
+        self.assertEqual(metadata["navigation"]["distanceScale"], 12)
+        self.assertTrue(metadata["sensorCfg"]["includeGround"])
+        self.assertEqual(metadata["navigation"]["trainingReset"], "random-connected-free-pair")
+
+    def test_navigation_candidates_are_safe_connected_and_have_distant_fallbacks(self):
+        layout = build_terrain_layout(validate_task_config(OBSTACLE_TASK, {}, 42))
+        candidates = navigation_candidates(layout)
+        self.assertGreater(len(candidates["points"]), 2)
+        self.assertEqual(len(candidates["componentStarts"]), len(candidates["fallbackPairs"]))
+        for point in candidates["points"]:
+            self.assertTrue(all(abs(value) <= layout["size"] / 2 - 0.55 for value in point))
+            for box in layout["boxes"][1:]:
+                distance = math.hypot(
+                    max(abs(point[0] - box["pos"][0]) - box["size"][0], 0),
+                    max(abs(point[1] - box["pos"][1]) - box["size"][1], 0),
+                )
+                self.assertGreater(distance, candidates["clearance"])
+        for first, second in candidates["fallbackPairs"]:
+            self.assertGreaterEqual(math.dist(first, second), candidates["minDistance"])
+
+    def test_obstacle_count_is_capped_by_spacing_capacity(self):
+        custom = validate_task_config(
+            OBSTACLE_TASK,
+            {
+                "terrainParams": {"size": 8, "spacing": 3, "obstacle_count": 100},
+            },
+            0,
+        )
+        layout = build_terrain_layout(custom)
+        self.assertEqual(layout["actualObstacleCount"], 2)
+
+
+if __name__ == "__main__":
+    unittest.main()