chore(web-platform): release V0.6.1 工程质量优化
This commit is contained in:
@@ -1,17 +1,33 @@
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import loadMujoco, {type MainModule} from '@mujoco/mujoco';
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import type {ProjectFile,ProjectManifest} from '../project/types';
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import {prepareProjectForMujoco} from '../project/importer';
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import {enhanceConvertedMjcf,groundConvertedMjcf,type UrdfBaseMode,type UrdfEnhancementOptions} from '../project/urdfToMjcf';
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import {MemfsWorkspace} from '../project/workspace';
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import {SimulationSession,type ActuatorParameters,type FrameResult,type SimulationSnapshot} from './SimulationSession';
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import type {ControllerCommand,ControllerStatus} from '../controller/types';
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import type {RLCommand,RLPolicyStatus} from '../rl/types';
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import loadMujoco, { type MainModule } from '@mujoco/mujoco';
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import type { ProjectFile, ProjectManifest } from '../project/types';
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import { prepareProjectForMujoco } from '../project/importer';
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import {
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enhanceConvertedMjcf,
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groundConvertedMjcf,
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type UrdfBaseMode,
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type UrdfEnhancementOptions,
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} from '../project/urdfToMjcf';
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import { MemfsWorkspace } from '../project/workspace';
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import {
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SimulationSession,
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type ActuatorParameters,
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type FrameResult,
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type SimulationSnapshot,
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} from './SimulationSession';
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import type { ControllerCommand, ControllerStatus } from '../controller/types';
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import type { RLCommand, RLPolicyStatus } from '../rl/types';
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export type UrdfLoadMode='mjcf'|'native';
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export type {UrdfBaseMode,UrdfEnhancementOptions};
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export type UrdfLoadMode = 'mjcf' | 'native';
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export type { UrdfBaseMode, UrdfEnhancementOptions };
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export interface PhysicsAdapter {
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load(manifest:ProjectManifest,entryPath:string,urdfMode?:UrdfLoadMode,baseMode?:UrdfBaseMode,enhancements?:UrdfEnhancementOptions):Promise<SimulationSnapshot>;
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load(
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manifest: ProjectManifest,
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entryPath: string,
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urdfMode?: UrdfLoadMode,
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baseMode?: UrdfBaseMode,
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enhancements?: UrdfEnhancementOptions,
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): Promise<SimulationSnapshot>;
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advance(now: number): FrameResult;
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snapshot(): SimulationSnapshot | null;
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setPaused(paused: boolean): void;
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@@ -19,21 +35,21 @@ export interface PhysicsAdapter {
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reset(): void;
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singleStep(): void;
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setActuator(id: number, value: number): void;
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setActuatorParameters(id:number,parameters:ActuatorParameters):boolean;
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setJointPosition(id:number,value:number):boolean;
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resetJoints():void;
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setIgnoreJointLimits(ignore:boolean):void;
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setActuatorParameters(id: number, parameters: ActuatorParameters): boolean;
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setJointPosition(id: number, value: number): boolean;
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resetJoints(): void;
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setIgnoreJointLimits(ignore: boolean): void;
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setExternalForce(bodyId: number, force: [number, number, number]): void;
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clearExternalForce(): void;
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loadPythonController(source:string,path:string):Promise<ControllerStatus>;
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setControllerEnabled(enabled:boolean):void;
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sendControllerCommand(command:ControllerCommand):void;
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removeController():void;
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loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>;
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setRLPolicyEnabled(enabled:boolean):void;
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setRLCommand(command:RLCommand):void;
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removeRLPolicy():void;
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cachedSupportFiles():ProjectFile[];
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loadPythonController(source: string, path: string): Promise<ControllerStatus>;
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setControllerEnabled(enabled: boolean): void;
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sendControllerCommand(command: ControllerCommand): void;
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removeController(): void;
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loadRLPolicy(model: Uint8Array, path: string): Promise<RLPolicyStatus>;
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setRLPolicyEnabled(enabled: boolean): void;
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setRLCommand(command: RLCommand): void;
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removeRLPolicy(): void;
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cachedSupportFiles(): ProjectFile[];
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exportMjcf(): Uint8Array;
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dispose(): void;
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}
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@@ -53,68 +69,204 @@ export function getMujocoModule(): Promise<MainModule> {
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export class MainThreadPhysicsAdapter implements PhysicsAdapter {
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session: SimulationSession | null = null;
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workspace: MemfsWorkspace | null = null;
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private supportFiles:ProjectFile[]=[];
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private supportFiles: ProjectFile[] = [];
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async load(manifest:ProjectManifest,entryPath:string,urdfMode:UrdfLoadMode='mjcf',baseMode:UrdfBaseMode='floating',enhancements:UrdfEnhancementOptions={addActuators:false,addSensors:false,sensorType:'camera'}):Promise<SimulationSnapshot> {
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this.releaseCurrent();const module=await getMujocoModule();const workspace=new MemfsWorkspace(module,manifest.id);const prepared=prepareProjectForMujoco(manifest,entryPath);
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this.supportFiles=prepared.manifest.files.filter(file=>!manifest.files.some(original=>original.path===file.path));
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try{
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console.info('[MuJoCo] 写入 MEMFS',prepared.manifest.files.length);workspace.mount(prepared.manifest);
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const entry=prepared.manifest.entries.find(candidate=>candidate.path===entryPath);let modelPath=workspace.path(entryPath);const warnings=[...prepared.warnings];
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if(entry?.format==='urdf'&&urdfMode==='mjcf'){
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console.info('[MuJoCo] 编译 URDF 中间模型',entryPath);const intermediate=new SimulationSession(module,modelPath);
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try{
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const minimumZ=intermediate.minimumGeometryZ();const slash=entryPath.lastIndexOf('/');const directory=slash>=0?entryPath.slice(0,slash+1):'';const convertedPath=`${directory}.__mujoco_converted_${manifest.id.replace(/[^a-zA-Z0-9_-]/g,'_')}.xml`;
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if(module.mj_saveLastXML(workspace.path(convertedPath),intermediate.model)===0)throw new Error('MuJoCo 无法导出中间 MJCF');
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const grounded=groundConvertedMjcf(new TextEncoder().encode(workspace.readText(convertedPath)),minimumZ,baseMode);
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const enhanced=enhanceConvertedMjcf(grounded,enhancements);
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workspace.writeGenerated(convertedPath,enhanced.data);modelPath=workspace.path(convertedPath);
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warnings.push(`URDF 已转换为 MJCF（${baseMode==='floating'?'浮动基座':'固定基座'}），并整体平移 ${(-minimumZ).toFixed(4)} m，使最低点接触 z=0 地面`);
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if(enhanced.actuatorCount)warnings.push(`已为 ${enhanced.actuatorCount} 个 hinge/slide 关节生成 motor 驱动器（控制输入不限幅；hinge 输出单位 N·m，slide 输出单位 N）`);
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if(enhanced.unitreeGo2wTuned)warnings.unshift('已识别 Unitree Go2-W，并补齐官方 MuJoCo 关节惯量/阻尼、力矩限幅和轮胎接触参数');
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if(enhanced.imuAdded)warnings.unshift('已在浮动基座添加6轴 IMU：imu_gyro（三轴角速度）和 imu_acc（三轴加速度）');
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if(enhanced.cameraAdded)warnings.push(`已将 640×480 摄像头固连到 ${enhancements.cameraMountBody||'自动选择的头部/末端 body'}，局部位置 ${(enhancements.cameraPosition??[.1,0,.05]).join(' ')} m，朝向 ${enhancements.cameraDirection??'+X'}`);
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}finally{intermediate.dispose();}
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async load(
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manifest: ProjectManifest,
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entryPath: string,
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urdfMode: UrdfLoadMode = 'mjcf',
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baseMode: UrdfBaseMode = 'floating',
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enhancements: UrdfEnhancementOptions = {
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addActuators: false,
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addSensors: false,
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sensorType: 'camera',
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},
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): Promise<SimulationSnapshot> {
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this.releaseCurrent();
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const module = await getMujocoModule();
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const workspace = new MemfsWorkspace(module, manifest.id);
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const prepared = prepareProjectForMujoco(manifest, entryPath);
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this.supportFiles = prepared.manifest.files.filter(
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(file) => !manifest.files.some((original) => original.path === file.path),
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);
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try {
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console.info('[MuJoCo] 写入 MEMFS', prepared.manifest.files.length);
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workspace.mount(prepared.manifest);
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const entry = prepared.manifest.entries.find((candidate) => candidate.path === entryPath);
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let modelPath = workspace.path(entryPath);
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const warnings = [...prepared.warnings];
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if (entry?.format === 'urdf' && urdfMode === 'mjcf') {
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console.info('[MuJoCo] 编译 URDF 中间模型', entryPath);
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const intermediate = new SimulationSession(module, modelPath);
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try {
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const minimumZ = intermediate.minimumGeometryZ();
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const slash = entryPath.lastIndexOf('/');
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const directory = slash >= 0 ? entryPath.slice(0, slash + 1) : '';
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const convertedPath = `${directory}.__mujoco_converted_${manifest.id.replace(/[^a-zA-Z0-9_-]/g, '_')}.xml`;
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if (module.mj_saveLastXML(workspace.path(convertedPath), intermediate.model) === 0)
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throw new Error('MuJoCo 无法导出中间 MJCF');
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const grounded = groundConvertedMjcf(
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new TextEncoder().encode(workspace.readText(convertedPath)),
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minimumZ,
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baseMode,
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);
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const enhanced = enhanceConvertedMjcf(grounded, enhancements);
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workspace.writeGenerated(convertedPath, enhanced.data);
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modelPath = workspace.path(convertedPath);
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warnings.push(
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`URDF 已转换为 MJCF（${baseMode === 'floating' ? '浮动基座' : '固定基座'}），并整体平移 ${(-minimumZ).toFixed(4)} m，使最低点接触 z=0 地面`,
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);
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if (enhanced.actuatorCount)
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warnings.push(
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`已为 ${enhanced.actuatorCount} 个 hinge/slide 关节生成 motor 驱动器（控制输入不限幅；hinge 输出单位 N·m，slide 输出单位 N）`,
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);
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if (enhanced.unitreeGo2wTuned)
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warnings.unshift(
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'已识别 Unitree Go2-W，并补齐官方 MuJoCo 关节惯量/阻尼、力矩限幅和轮胎接触参数',
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);
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if (enhanced.imuAdded)
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warnings.unshift(
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'已在浮动基座添加6轴 IMU：imu_gyro（三轴角速度）和 imu_acc（三轴加速度）',
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);
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if (enhanced.cameraAdded)
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warnings.push(
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`已将 640×480 摄像头固连到 ${enhancements.cameraMountBody || '自动选择的头部/末端 body'}，局部位置 ${(enhancements.cameraPosition ?? [0.1, 0, 0.05]).join(' ')} m，朝向 ${enhancements.cameraDirection ?? '+X'}`,
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);
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} finally {
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intermediate.dispose();
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}
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}
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console.info('[MuJoCo] 编译模型',modelPath);const session=new SimulationSession(module,modelPath,warnings);
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if(entry?.format==='urdf'&&urdfMode==='native'){const offset=session.alignLowestPointToGround();warnings.push(`原生 URDF 已整体平移 ${offset.toFixed(4)} m，使最低点位于 z=0`);}
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if(warnings.length)console.info('[MuJoCo] URDF 兼容处理',warnings);
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console.info('[MuJoCo] 模型编译完成');this.workspace=workspace;this.session=session;const snapshot=session.snapshot();console.info('[MuJoCo] 状态快照完成');return snapshot;
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}catch(error){workspace.dispose();throw new Error(`模型编译失败（${entryPath}）：${error instanceof Error?error.message:String(error)}`,{cause:error});}
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console.info('[MuJoCo] 编译模型', modelPath);
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const session = new SimulationSession(module, modelPath, warnings);
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if (entry?.format === 'urdf' && urdfMode === 'native') {
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const offset = session.alignLowestPointToGround();
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warnings.push(`原生 URDF 已整体平移 ${offset.toFixed(4)} m，使最低点位于 z=0`);
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}
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if (warnings.length) console.info('[MuJoCo] URDF 兼容处理', warnings);
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console.info('[MuJoCo] 模型编译完成');
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this.workspace = workspace;
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this.session = session;
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const snapshot = session.snapshot();
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console.info('[MuJoCo] 状态快照完成');
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return snapshot;
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} catch (error) {
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workspace.dispose();
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throw new Error(
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`模型编译失败（${entryPath}）：${error instanceof Error ? error.message : String(error)}`,
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{ cause: error },
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);
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}
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}
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advance(now:number):FrameResult{return this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false};}
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snapshot():SimulationSnapshot|null{return this.session?.snapshot()??null;}
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setPaused(value:boolean):void{this.session?.setPaused(value);}
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setSpeed(value:number):void{this.session?.setSpeed(value);}
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reset():void{this.session?.reset();}
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singleStep():void{this.session?.singleStep();}
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setActuator(id:number,value:number):void{this.session?.setActuator(id,value);}
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setActuatorParameters(id:number,parameters:ActuatorParameters):boolean{return this.session?.setActuatorParameters(id,parameters)??false;}
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setJointPosition(id:number,value:number):boolean{return this.session?.setJointPosition(id,value)??false;}
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resetJoints():void {this.session?.resetJoints();}
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setIgnoreJointLimits(ignore:boolean):void {this.session?.setIgnoreJointLimits(ignore);}
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setExternalForce(bodyId:number,force:[number,number,number]):void{this.session?.setExternalForce(bodyId,force);}
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clearExternalForce():void{this.session?.clearExternalForce();}
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async loadPythonController(source:string,path:string):Promise<ControllerStatus>{if(!this.session)throw new Error('请先加载模型');return this.session.loadPythonController(source,path);}
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setControllerEnabled(enabled:boolean):void{this.session?.setControllerEnabled(enabled);}
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sendControllerCommand(command:ControllerCommand):void{this.session?.sendControllerCommand(command);}
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removeController():void{this.session?.removeController();}
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async loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>{if(!this.session)throw new Error('请先加载模型');return this.session.loadRLPolicy(model,path);}
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setRLPolicyEnabled(enabled:boolean):void{this.session?.setRLPolicyEnabled(enabled);}
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setRLCommand(command:RLCommand):void{this.session?.setRLCommand(command);}
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removeRLPolicy():void{this.session?.removeRLPolicy();}
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cachedSupportFiles():ProjectFile[]{return this.supportFiles.map(file=>({...file,data:file.data.slice()}));}
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exportMjcf():Uint8Array{
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if(!this.session||!this.workspace)throw new Error('尚未加载可导出的模型');
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const relative='.__platform_export__.xml';
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if(this.session.module.mj_saveLastXML(this.workspace.path(relative),this.session.model)===0)throw new Error('MuJoCo 无法生成 MJCF');
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const source=this.workspace.readText(relative),document=new DOMParser().parseFromString(source,'application/xml'),actuatorSection=document.querySelector('mujoco > actuator');
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if(document.querySelector('parsererror'))return new TextEncoder().encode(source);
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const snapshot=this.session.snapshot();
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if(actuatorSection){for(const info of snapshot.actuators){const element=Array.from(actuatorSection.children).find(candidate=>candidate.getAttribute('name')===info.name);if(!element)continue;element.setAttribute('ctrllimited',info.ctrlLimited?'true':'false');element.setAttribute('forcelimited',info.forceLimited?'true':'false');}}
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for(const info of snapshot.actuators){if(info.kind!=='motor'||!info.jointName)continue;const joint=Array.from(document.querySelectorAll('worldbody joint[name]')).find(candidate=>candidate.getAttribute('name')===info.jointName);if(joint){joint.setAttribute('stiffness',String(info.kp));joint.setAttribute('damping',String(info.kv));}}
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const output=new TextEncoder().encode(new XMLSerializer().serializeToString(document));this.workspace.writeGenerated(relative,output);return output;
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advance(now: number): FrameResult {
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return this.session?.advance(now) ?? { steps: 0, stepMs: 0, overBudget: false };
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}
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snapshot(): SimulationSnapshot | null {
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return this.session?.snapshot() ?? null;
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}
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setPaused(value: boolean): void {
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this.session?.setPaused(value);
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}
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setSpeed(value: number): void {
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this.session?.setSpeed(value);
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}
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reset(): void {
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this.session?.reset();
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}
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singleStep(): void {
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this.session?.singleStep();
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}
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setActuator(id: number, value: number): void {
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this.session?.setActuator(id, value);
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}
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setActuatorParameters(id: number, parameters: ActuatorParameters): boolean {
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return this.session?.setActuatorParameters(id, parameters) ?? false;
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}
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setJointPosition(id: number, value: number): boolean {
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return this.session?.setJointPosition(id, value) ?? false;
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}
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resetJoints(): void {
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this.session?.resetJoints();
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}
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setIgnoreJointLimits(ignore: boolean): void {
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this.session?.setIgnoreJointLimits(ignore);
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}
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setExternalForce(bodyId: number, force: [number, number, number]): void {
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this.session?.setExternalForce(bodyId, force);
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}
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clearExternalForce(): void {
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this.session?.clearExternalForce();
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}
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async loadPythonController(source: string, path: string): Promise<ControllerStatus> {
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if (!this.session) throw new Error('请先加载模型');
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return this.session.loadPythonController(source, path);
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}
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setControllerEnabled(enabled: boolean): void {
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this.session?.setControllerEnabled(enabled);
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}
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sendControllerCommand(command: ControllerCommand): void {
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this.session?.sendControllerCommand(command);
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}
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removeController(): void {
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this.session?.removeController();
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}
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async loadRLPolicy(model: Uint8Array, path: string): Promise<RLPolicyStatus> {
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if (!this.session) throw new Error('请先加载模型');
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return this.session.loadRLPolicy(model, path);
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}
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setRLPolicyEnabled(enabled: boolean): void {
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this.session?.setRLPolicyEnabled(enabled);
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}
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setRLCommand(command: RLCommand): void {
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this.session?.setRLCommand(command);
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}
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removeRLPolicy(): void {
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this.session?.removeRLPolicy();
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}
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cachedSupportFiles(): ProjectFile[] {
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return this.supportFiles.map((file) => ({ ...file, data: file.data.slice() }));
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}
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exportMjcf(): Uint8Array {
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if (!this.session || !this.workspace) throw new Error('尚未加载可导出的模型');
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const relative = '.__platform_export__.xml';
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if (this.session.module.mj_saveLastXML(this.workspace.path(relative), this.session.model) === 0)
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throw new Error('MuJoCo 无法生成 MJCF');
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const source = this.workspace.readText(relative),
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document = new DOMParser().parseFromString(source, 'application/xml'),
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actuatorSection = document.querySelector('mujoco > actuator');
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if (document.querySelector('parsererror')) return new TextEncoder().encode(source);
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const snapshot = this.session.snapshot();
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if (actuatorSection) {
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for (const info of snapshot.actuators) {
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const element = Array.from(actuatorSection.children).find(
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(candidate) => candidate.getAttribute('name') === info.name,
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);
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if (!element) continue;
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element.setAttribute('ctrllimited', info.ctrlLimited ? 'true' : 'false');
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element.setAttribute('forcelimited', info.forceLimited ? 'true' : 'false');
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}
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}
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for (const info of snapshot.actuators) {
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if (info.kind !== 'motor' || !info.jointName) continue;
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const joint = Array.from(document.querySelectorAll('worldbody joint[name]')).find(
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(candidate) => candidate.getAttribute('name') === info.jointName,
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);
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if (joint) {
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joint.setAttribute('stiffness', String(info.kp));
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joint.setAttribute('damping', String(info.kv));
|
||||
}
|
||||
}
|
||||
const output = new TextEncoder().encode(new XMLSerializer().serializeToString(document));
|
||||
this.workspace.writeGenerated(relative, output);
|
||||
return output;
|
||||
}
|
||||
private releaseCurrent(): void {
|
||||
this.session?.dispose();
|
||||
this.session = null;
|
||||
this.workspace?.dispose();
|
||||
this.workspace = null;
|
||||
this.supportFiles = [];
|
||||
}
|
||||
dispose(): void {
|
||||
this.releaseCurrent();
|
||||
}
|
||||
private releaseCurrent():void{this.session?.dispose(); this.session=null; this.workspace?.dispose(); this.workspace=null;this.supportFiles=[];}
|
||||
dispose():void{this.releaseCurrent();}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user