feat(web-platform): release V0.4.2 RL Module
This commit is contained in:
Generated
+126
-3
@@ -14,6 +14,7 @@
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"fflate": "^0.8.3",
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"lucide-react": "^0.555.0",
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"monaco-editor": "^0.55.1",
|
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"onnxruntime-web": "^1.29.0",
|
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"pyodide": "^0.29.4",
|
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"react": "^19.2.8",
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"react-dom": "^19.2.8",
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@@ -1056,6 +1057,63 @@
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"node": ">=20"
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}
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},
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"license": "BSD-3-Clause"
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"license": "BSD-3-Clause"
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"license": "BSD-3-Clause"
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},
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"node_modules/@protobufjs/fetch": {
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"license": "BSD-3-Clause",
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"dependencies": {
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"@protobufjs/aspromise": "^1.1.1"
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}
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},
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"node_modules/@protobufjs/float": {
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"node_modules/@protobufjs/path": {
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"license": "BSD-3-Clause"
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"node_modules/@protobufjs/pool": {
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"version": "1.1.0",
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"license": "BSD-3-Clause"
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"node_modules/@protobufjs/utf8": {
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"version": "1.1.2",
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"license": "BSD-3-Clause"
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},
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"node_modules/@rolldown/binding-android-arm64": {
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"version": "1.0.3",
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"resolved": "https://registry.npmjs.org/@rolldown/binding-android-arm64/-/binding-android-arm64-1.0.3.tgz",
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@@ -1535,7 +1593,6 @@
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"version": "24.9.2",
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"resolved": "https://registry.npmjs.org/@types/node/-/node-24.9.2.tgz",
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"dev": true,
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"dependencies": {
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"undici-types": "~7.16.0"
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}
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@@ -3048,6 +3105,12 @@
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"node": ">=16"
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}
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},
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"node_modules/flatbuffers": {
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"version": "25.9.23",
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"resolved": "https://registry.npmjs.org/flatbuffers/-/flatbuffers-25.9.23.tgz",
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"license": "Apache-2.0"
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},
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"node_modules/flatted": {
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"version": "3.4.4",
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"resolved": "https://registry.npmjs.org/flatted/-/flatted-3.4.4.tgz",
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@@ -3168,6 +3231,12 @@
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"url": "https://github.com/sponsors/sindresorhus"
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}
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},
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"node_modules/guid-typescript": {
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"version": "1.0.9",
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"resolved": "https://registry.npmjs.org/guid-typescript/-/guid-typescript-1.0.9.tgz",
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"license": "ISC"
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},
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"node_modules/hasown": {
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"version": "2.0.4",
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"resolved": "https://registry.npmjs.org/hasown/-/hasown-2.0.4.tgz",
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@@ -3807,6 +3876,12 @@
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"url": "https://github.com/sponsors/sindresorhus"
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}
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},
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"node_modules/long": {
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"version": "5.3.2",
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"resolved": "https://registry.npmjs.org/long/-/long-5.3.2.tgz",
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"license": "Apache-2.0"
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},
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"node_modules/lru-cache": {
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"version": "10.4.3",
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"resolved": "https://registry.npmjs.org/lru-cache/-/lru-cache-10.4.3.tgz",
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@@ -4056,6 +4131,26 @@
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"node": ">=12.20.0"
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}
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},
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"node_modules/onnxruntime-common": {
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"version": "1.29.0",
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"resolved": "https://registry.npmjs.org/onnxruntime-common/-/onnxruntime-common-1.29.0.tgz",
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"integrity": "sha512-/F63/e2VJoaVXGGNu6S5QH7jivBThGO95OzAVXXQ8hTta/b1QxI8udHa6cI3+3mAb5WWIIaMMwfZw01oivjJ1g==",
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"license": "MIT"
|
||||
},
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"node_modules/onnxruntime-web": {
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"version": "1.29.0",
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"resolved": "https://registry.npmjs.org/onnxruntime-web/-/onnxruntime-web-1.29.0.tgz",
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"integrity": "sha512-LuQlpX6MFLJZu756erwUeb1mNfoJGbs1kzDwJGNlf5RvfYMdqhcY3vNpDPK40CUV2HoWTkIj+uS0o36GFHjeYw==",
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"license": "MIT",
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"dependencies": {
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"flatbuffers": "^25.1.24",
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"guid-typescript": "^1.0.9",
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"long": "^5.2.3",
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"onnxruntime-common": "1.29.0",
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"platform": "^1.3.6",
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"protobufjs": "^7.2.4"
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}
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},
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"node_modules/optionator": {
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"version": "0.9.4",
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"resolved": "https://registry.npmjs.org/optionator/-/optionator-0.9.4.tgz",
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@@ -4204,6 +4299,12 @@
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"node": ">= 6"
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}
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},
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"node_modules/platform": {
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"version": "1.3.6",
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"resolved": "https://registry.npmjs.org/platform/-/platform-1.3.6.tgz",
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"integrity": "sha512-fnWVljUchTro6RiCFvCXBbNhJc2NijN7oIQxbwsyL0buWJPG85v81ehlHI9fXrJsMNgTofEoWIQeClKpgxFLrg==",
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"license": "MIT"
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},
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"node_modules/playwright": {
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"version": "1.62.1",
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"resolved": "https://registry.npmjs.org/playwright/-/playwright-1.62.1.tgz",
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@@ -4458,6 +4559,29 @@
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"url": "https://github.com/chalk/ansi-styles?sponsor=1"
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}
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},
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"node_modules/protobufjs": {
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"version": "7.6.5",
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"resolved": "https://registry.npmjs.org/protobufjs/-/protobufjs-7.6.5.tgz",
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"hasInstallScript": true,
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"license": "BSD-3-Clause",
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"dependencies": {
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"@protobufjs/aspromise": "^1.1.2",
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"@protobufjs/base64": "^1.1.2",
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"@protobufjs/codegen": "^2.0.5",
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"@protobufjs/eventemitter": "^1.1.1",
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"@protobufjs/fetch": "^1.1.1",
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"@protobufjs/float": "^1.0.2",
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"@protobufjs/path": "^1.1.2",
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"@protobufjs/pool": "^1.1.0",
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"@protobufjs/utf8": "^1.1.1",
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"@types/node": ">=13.7.0",
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"long": "^5.3.2"
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},
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"engines": {
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"node": ">=12.0.0"
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}
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},
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"node_modules/punycode": {
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"version": "2.3.1",
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"resolved": "https://registry.npmjs.org/punycode/-/punycode-2.3.1.tgz",
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@@ -5241,8 +5365,7 @@
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"node_modules/undici-types": {
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"version": "7.16.0",
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"resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.16.0.tgz",
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"dev": true
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"integrity": "sha512-Zz+aZWSj8LE6zoxD+xrjh4VfkIG8Ya6LvYkZqtUQGJPZjYl53ypCaUwWqo7eI0x66KBGeRo+mlBEkMSeSZ38Nw=="
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},
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"node_modules/update-browserslist-db": {
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"version": "1.3.1",
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@@ -61,6 +61,7 @@
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"fflate": "^0.8.3",
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"lucide-react": "^0.555.0",
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"monaco-editor": "^0.55.1",
|
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"onnxruntime-web": "^1.29.0",
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"pyodide": "^0.29.4",
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"react": "^19.2.8",
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"react-dom": "^19.2.8",
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@@ -13,6 +13,7 @@
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- 播放、暂停、单步、重置、0.25×–4× 速度
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- actuator 滑杆、hinge/slide 关节拖动、动态 body 外力拖拽
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- 导入单文件 `.py` 控制器，通过本地 Pyodide 在 `mj_step` 前按仿真时间同步执行
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- 导入 mjlab 导出的 `policy.onnx`，在浏览器本地执行 Go2-W 平衡/速度策略推理
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- FPS、物理耗时和主线程步进预算提示
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## 开发
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@@ -62,6 +63,30 @@ Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, stat
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当前 Python 与 MuJoCo 都运行在主线程，以保证闭环调用严格位于 `mj_step` 前。仅运行可信脚本；死循环仍可能阻塞页面。Pyodide 及 Python 标准库由 npm 包随生产构建离线发布，不从 CDN 下载；暂不支持第三方 Python 包、`pip` 或多文件 import。
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## ONNX 强化学习策略
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平台只负责策略推理，训练仍在 Python/mjlab 中完成。当前内置任务兼容 `unitree_rl_mjlab` Go2 velocity 的部署观测顺序：
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```text
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base_ang_vel(3) + projected_gravity(3) + velocity_command(3)
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+ gait_phase(2) + joint_pos_rel(12) + joint_vel_rel(12) + last_action(12)
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= 47 维观测
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```
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策略必须具有一个 `float32` 输入和至少一个 `float32` 输出，输入末维为 47、输出末维为 12。动作按 `FL、FR、RL、RR` 的 hip/thigh/calf 顺序解释，转换为 `default_joint_pos + 0.25 * action` 的关节目标。对于 motor 模型，平台使用与部署配置一致的 kp/kd 执行位置 PD；对于 position actuator，直接写入目标位置。Go2-W 的四个轮电机在此首版腿式策略中保持零力矩。
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使用步骤：
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1. 导入浮动基座 Go2-W MJCF/URDF，确保腿部关节与 actuator 使用 Unitree 标准命名；
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2. 打开右侧“控制 → ONNX 强化学习策略”；
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3. 从工程中选择或单独导入 `policy.onnx`；
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4. 加载策略，设置前向、侧向和偏航速度，启用策略后播放仿真。
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ONNX Runtime Web 的推理接口是异步的。物理循环会在每个 `mj_step` 前持续施加最近一次已完成的动作，并以 50 Hz 提交新观测；界面会显示推理耗时和次数。ONNX 与 Python 控制器互斥，启用其中一个会停止另一个。
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> [!IMPORTANT]
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> 当前内置契约是参考 mjlab Go2 的 12 腿关节策略，不是包含四个轮电机动作的 16 自由度 Go2-W 专用策略。若训练 Go2-W 轮式策略，需要后续同时扩展训练端部署配置和浏览器任务清单，确保观测、动作及归一化完全一致。
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## 示例
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`fixtures/` 包含（用于测试和手工验收，不会打进生产构建）：
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@@ -78,6 +103,7 @@ Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, stat
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- 仅面向桌面版 Chrome、Edge、Firefox；未适配手机和平板。
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- 物理运行在主线程、单线程 WASM。超出每帧预算时限制追帧并提示。
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- ONNX Runtime Web 当前使用单线程 WASM；策略必须将观测归一化包含在导出的 ONNX 图内，平台不会额外加载训练 checkpoint 的运行均值。
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- 不支持 Xacro、账号或云端保存；Python 控制器暂不支持第三方包和不可信代码隔离。
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- 关节拖动只支持 hinge/slide；ball/free joint 只读。
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- MuJoCo WASM 本身不支持 DAE mesh。平台会移除 DAE visual，并以 collision 几何显示；DAE collision 会替换为半径 0.05 m 的占位球体并在界面警告。高精度仿真应先将 DAE 转为 OBJ/STL 或改为 URDF primitive。
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@@ -2,11 +2,12 @@
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/* eslint-disable react-hooks/exhaustive-deps */
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import {useCallback,useEffect,useRef,useState,type ChangeEvent,type DragEvent} from 'react';
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||||
import {Camera,ChevronLeft,ChevronRight,CircleHelp,Code2,Crosshair,Download,Hand,Maximize,MousePointer2,PanelsTopLeft,Pause,Play,RotateCcw,Settings as SettingsIcon,SunMoon} from 'lucide-react';
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||||
import type {ProjectManifest} from '../project/types';
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import {DEFAULT_IMPORT_LIMITS,type ProjectManifest} from '../project/types';
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import {filesFromDrop,importBrowserFiles,normalizeProjectPath,ProjectImportError} from '../project/importer';
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||||
import {MainThreadPhysicsAdapter,type UrdfBaseMode,type UrdfEnhancementOptions,type UrdfLoadMode} from '../simulation/PhysicsAdapter';
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||||
import type {ActuatorParameters} from '../simulation/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 {MuJoCoViewer,type InteractionMode,type ViewerTheme} from '../viewer/MuJoCoViewer';
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||||
import {useAppStore,type AppDiagnostic} from '../stores/useAppStore';
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||||
import {WorkbenchHeader} from './components/WorkbenchHeader';
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@@ -37,24 +38,24 @@ function urdfLinkNames(project:ProjectManifest|null,path:string|undefined):strin
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export function App(){
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||||
const state=useAppStore();
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||||
const manifest=useRef<ProjectManifest|null>(null),notificationId=useRef(0),loadInFlight=useRef(false),importInFlight=useRef(false),adapter=useRef(new MainThreadPhysicsAdapter()),root=useRef<HTMLDivElement>(null),viewerHost=useRef<HTMLDivElement>(null),viewer=useRef<MuJoCoViewer|null>(null),urdfEnhancementsRef=useRef<UrdfEnhancementOptions>({addActuators:true,addSensors:true,sensorType:'camera'});
|
||||
const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>(),[selectedControllerPath,setSelectedControllerPath]=useState<string>(),[controllerStatus,setControllerStatus]=useState<ControllerStatus>();
|
||||
const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>(),[selectedControllerPath,setSelectedControllerPath]=useState<string>(),[controllerStatus,setControllerStatus]=useState<ControllerStatus>(),[selectedPolicyPath,setSelectedPolicyPath]=useState<string>(),[policyStatus,setPolicyStatus]=useState<RLPolicyStatus>();
|
||||
const [urdfMode,setUrdfMode]=useState<UrdfLoadMode>('mjcf'),urdfModeRef=useRef<UrdfLoadMode>('mjcf');
|
||||
const [baseMode,setBaseMode]=useState<UrdfBaseMode>('floating'),baseModeRef=useRef<UrdfBaseMode>('floating');
|
||||
const [showCollision,setShowCollision]=useState(false),[showSensorCamera,setShowSensorCamera]=useState(true),[theme,setTheme]=useState<ViewerTheme>(initialTheme),[jointAdvanced,setJointAdvanced]=useState(false),[ignoreJointLimits,setIgnoreJointLimits]=useState(false),[angleUnit,setAngleUnit]=useState<'rad'|'deg'>('rad');
|
||||
useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot){state.setSnapshot(snapshot);setControllerStatus(snapshot.controller);if(snapshot.controller?.error)state.setPaused(true);}},onError:error=>state.setDiagnostic(diagnostic(error.message.includes('控制器')?'仿真':'渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
|
||||
useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot){state.setSnapshot(snapshot);setControllerStatus(snapshot.controller);setPolicyStatus(snapshot.rlPolicy);if(snapshot.controller?.error||snapshot.rlPolicy?.error){adapter.current.setPaused(true);state.setPaused(true);}}},onError:error=>state.setDiagnostic(diagnostic(error.message.includes('控制器')?'仿真':'渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
|
||||
useEffect(()=>{viewer.current?.setMode(state.mode);},[state.mode]);
|
||||
useEffect(()=>{if(viewer.current)viewer.current.forceScale=forceScale;},[forceScale]);
|
||||
useEffect(()=>{viewer.current?.setShowCollision(showCollision);},[showCollision]);
|
||||
useEffect(()=>{viewer.current?.setShowSensorCamera(showSensorCamera);},[showSensorCamera]);
|
||||
useEffect(()=>{viewer.current?.setTheme(theme);document.documentElement.style.colorScheme=theme;try{localStorage.setItem('mujoco-platform-theme',theme);}catch{/* 当前会话仍可切换 */}},[theme]);
|
||||
useEffect(()=>{const change=()=>setFullscreen(document.fullscreenElement===root.current);document.addEventListener('fullscreenchange',change);return()=>document.removeEventListener('fullscreenchange',change);},[]);
|
||||
const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);setControllerStatus(undefined);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
|
||||
const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);setControllerStatus(undefined);setPolicyStatus(undefined);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
|
||||
const requestLoadEntry=useCallback(async(path:string)=>{const entry=manifest.current?.entries.find(candidate=>candidate.path===path);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,path));setPendingUrdfPath(path);return;}await loadEntry(path);},[loadEntry]);
|
||||
const confirmUrdfOptions=(options:UrdfEnhancementOptions)=>{const path=pendingUrdfPath;if(!path)return;urdfEnhancementsRef.current=options;setPendingUrdfPath(undefined);setPendingUrdfMounts([]);void loadEntry(path);};
|
||||
const skipUrdfOptions=()=>confirmUrdfOptions({addActuators:false,addSensors:false,sensorType:'camera'});
|
||||
const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;setSelectedControllerPath(next.files.find(file=>/\.py$/i.test(file.path))?.path);state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
|
||||
const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;setSelectedControllerPath(next.files.find(file=>/\.py$/i.test(file.path))?.path);setSelectedPolicyPath(next.files.find(file=>/\.onnx$/i.test(file.path))?.path);state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
|
||||
const removeProject=()=>{if(state.projectName)setRemoveConfirmOpen(true);};
|
||||
const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);setSelectedControllerPath(undefined);setControllerStatus(undefined);state.clearProject();setRemoveConfirmOpen(false);};
|
||||
const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);setSelectedControllerPath(undefined);setControllerStatus(undefined);setSelectedPolicyPath(undefined);setPolicyStatus(undefined);state.clearProject();setRemoveConfirmOpen(false);};
|
||||
const changeUrdfMode=(value:UrdfLoadMode)=>{setUrdfMode(value);urdfModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format!=='urdf')return;if(value==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,entry.path));setPendingUrdfPath(entry.path);}else void loadEntry(entry.path,value);};
|
||||
const changeBaseMode=(value:UrdfBaseMode)=>{setBaseMode(value);baseModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf')void loadEntry(entry.path,'mjcf');};
|
||||
const changeFiles=(event:ChangeEvent<HTMLInputElement>)=>{void ingest(Array.from(event.target.files??[]));event.target.value='';};
|
||||
@@ -72,9 +73,15 @@ export function App(){
|
||||
const loadControllerSource=async(source:string,path:string)=>{state.setLoading(true);setImportProgress({label:'初始化 Python 运行时并加载控制器',value:.5});state.setDiagnostic(undefined);try{const status=await adapter.current.loadPythonController(source,path);setControllerStatus(status);state.setSnapshot(adapter.current.snapshot()??undefined);notify('Python 控制器已加载',`${status.name} · ${status.controlHz} Hz`);}catch(error){state.setDiagnostic(diagnostic('仿真',error,path));}finally{setImportProgress(undefined);state.setLoading(false);}};
|
||||
const loadControllerPath=(path:string)=>{const file=manifest.current?.files.find(candidate=>candidate.path===path);if(!file){state.setDiagnostic(diagnostic('仿真',new Error('工程中找不到控制脚本'),path));return;}setSelectedControllerPath(path);void loadControllerSource(new TextDecoder().decode(file.data),path);};
|
||||
const importController=(file:File)=>{void (async()=>{try{if(!/\.py$/i.test(file.name))throw new Error('请选择 .py 文件');if(file.size>1024*1024)throw new Error('Python 控制脚本不能超过 1 MiB');const path=normalizeProjectPath(file.name),data=new Uint8Array(await file.arrayBuffer());if(manifest.current){const index=manifest.current.files.findIndex(candidate=>candidate.path===path),files=manifest.current.files.slice(),entry={path,data,size:data.byteLength,source:'file' as const,mimeType:file.type||'text/x-python'};if(index>=0)files[index]=entry;else files.push(entry);manifest.current={...manifest.current,files,totalBytes:files.reduce((total,item)=>total+item.size,0)};state.setProject(manifest.current.name,files.map(({path:filePath,size})=>({path:filePath,size})),manifest.current.entries,manifest.current.selectedEntry);state.setSnapshot(adapter.current.snapshot()??undefined);}setSelectedControllerPath(path);await loadControllerSource(new TextDecoder().decode(data),path);}catch(error){state.setDiagnostic(diagnostic('仿真',error,file.name));}})();};
|
||||
const toggleController=(enabled:boolean)=>{adapter.current.setControllerEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);};
|
||||
const toggleController=(enabled:boolean)=>{adapter.current.setControllerEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);setPolicyStatus(snapshot?.rlPolicy);state.setSnapshot(snapshot);};
|
||||
const sendControllerCommand=(command:ControllerCommand)=>{try{adapter.current.sendControllerCommand(command);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);}catch(error){state.setDiagnostic(diagnostic('仿真',error,selectedControllerPath));}};
|
||||
const removeController=()=>{adapter.current.removeController();setControllerStatus(undefined);state.setSnapshot(adapter.current.snapshot()??undefined);};
|
||||
const loadPolicyBytes=async(data:Uint8Array,path:string)=>{state.setLoading(true);setImportProgress({label:'初始化 ONNX Runtime 并加载策略',value:.55});state.setDiagnostic(undefined);try{const status=await adapter.current.loadRLPolicy(data,path);setPolicyStatus(status);state.setSnapshot(adapter.current.snapshot()??undefined);notify('ONNX 策略已加载',`${status.taskName} · ${status.observationSize} → ${status.actionSize}`);}catch(error){state.setDiagnostic(diagnostic('仿真',error,path));}finally{setImportProgress(undefined);state.setLoading(false);}};
|
||||
const loadPolicyPath=(path:string)=>{const file=manifest.current?.files.find(candidate=>candidate.path===path);if(!file){state.setDiagnostic(diagnostic('仿真',new Error('工程中找不到 ONNX 策略'),path));return;}setSelectedPolicyPath(path);void loadPolicyBytes(file.data,path);};
|
||||
const importPolicy=(file:File)=>{void (async()=>{try{if(!/\.onnx$/i.test(file.name))throw new Error('请选择 .onnx 文件');if(file.size>64*1024*1024)throw new Error('ONNX 策略不能超过 64 MiB');const path=normalizeProjectPath(file.name),data=new Uint8Array(await file.arrayBuffer());if(manifest.current){const index=manifest.current.files.findIndex(candidate=>candidate.path===path),files=manifest.current.files.slice(),entry={path,data,size:data.byteLength,source:'file' as const,mimeType:file.type||'application/octet-stream'};if(index>=0)files[index]=entry;else files.push(entry);const totalBytes=files.reduce((total,item)=>total+item.size,0);if(totalBytes>DEFAULT_IMPORT_LIMITS.maxTotalBytes)throw new Error('加入 ONNX 后工程总大小超过 512 MiB');manifest.current={...manifest.current,files,totalBytes};state.setProject(manifest.current.name,files.map(({path:filePath,size})=>({path:filePath,size})),manifest.current.entries,manifest.current.selectedEntry);state.setSnapshot(adapter.current.snapshot()??undefined);}setSelectedPolicyPath(path);await loadPolicyBytes(data,path);}catch(error){state.setDiagnostic(diagnostic('仿真',error,file.name));}})();};
|
||||
const togglePolicy=(enabled:boolean)=>{adapter.current.setRLPolicyEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setPolicyStatus(snapshot?.rlPolicy);setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);};
|
||||
const setPolicyCommand=(command:RLCommand)=>{adapter.current.setRLCommand(command);const snapshot=adapter.current.snapshot()??undefined;setPolicyStatus(snapshot?.rlPolicy);state.setSnapshot(snapshot);};
|
||||
const removePolicy=()=>{adapter.current.removeRLPolicy();setPolicyStatus(undefined);state.setSnapshot(adapter.current.snapshot()??undefined);};
|
||||
const notify=(title:string,detail:string,tone:WorkbenchNotification['tone']='success')=>{const notice:WorkbenchNotification={id:++notificationId.current,title,detail,tone,at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);};
|
||||
const saveCachedSource=async(path:string,text:string)=>{if(!manifest.current)return;manifest.current=upsertCachedMjcf(manifest.current,path,text);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);notify('转换后的 MJCF 已保存到缓存',path);await loadEntry(path);};
|
||||
const exportUrdf=()=>{if(!manifest.current||selectedFormat!=='urdf'||!state.selectedEntry)return;const text=readCachedText(manifest.current,state.selectedEntry);downloadBytes(new TextEncoder().encode(text),exportedFileName(manifest.current.name,'urdf'));notify('URDF 已导出',state.selectedEntry);};
|
||||
@@ -101,7 +108,7 @@ export function App(){
|
||||
];
|
||||
return <div ref={root} className={`${theme==='light'?'theme-light':'theme-dark'} flex h-screen min-w-[1024px] flex-col overflow-hidden bg-app text-text-primary`} onDragOver={event=>event.preventDefault()} onDrop={drop}>
|
||||
<WorkbenchHeader paused={state.paused} ready={Boolean(state.snapshot)} speed={state.speed} theme={theme} loading={state.loading} leftOpen={leftOpen} rightOpen={rightOpen} fullscreen={fullscreen} hasProject={Boolean(generatedMjcf)} onFiles={changeFiles} onFolder={changeFiles} onOpenSource={()=>setSourceOpen(true)} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} onToggleLeft={()=>setLeftOpen(value=>!value)} onToggleRight={()=>setRightOpen(value=>!value)} onToggleTheme={()=>setTheme(value=>value==='dark'?'light':'dark')} onHelp={()=>setHelpOpen(true)} endActions={<><NotificationCenter items={notifications} onDismiss={id=>setNotifications(items=>items.filter(item=>item.id!==id))} onClear={()=>setNotifications([])} onOpenLog={()=>setDiagnosticsOpen(true)}/><span className="hidden items-center gap-0.5 xl:flex"><IconButton tooltip="布局设置" aria-label="布局设置" onClick={()=>setLayoutOpen(true)}><PanelsTopLeft className="h-4 w-4"/></IconButton><IconButton tooltip="工作台设置" aria-label="工作台设置" onClick={()=>setSettingsOpen(true)}><SettingsIcon className="h-4 w-4"/></IconButton></span></>} compactMenu={<ToolbarOverflowMenu fullscreen={fullscreen} onCommands={()=>setCommandOpen(true)} onLayout={()=>setLayoutOpen(true)} onSettings={()=>setSettingsOpen(true)} onFullscreen={toggleFullscreen} onHelp={()=>setHelpOpen(true)} onTheme={()=>setTheme(value=>value==='dark'?'light':'dark')}/>} onCommands={()=>setCommandOpen(true)} onToggleFullscreen={toggleFullscreen} center={<ViewerToolDock mode={state.mode} onModeChange={mode} onResetCamera={()=>viewer.current?.resetCamera()}/>}/>
|
||||
<div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-video w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} controllerPaths={state.files.filter(file=>/\.py$/i.test(file.path)).map(file=>file.path)} selectedControllerPath={selectedControllerPath} controllerStatus={controllerStatus} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale} onSelectControllerPath={setSelectedControllerPath} onLoadControllerPath={loadControllerPath} onImportController={importController} onToggleController={toggleController} onControllerCommand={sendControllerCommand} onRemoveController={removeController}/></div>
|
||||
<div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-video w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} controllerPaths={state.files.filter(file=>/\.py$/i.test(file.path)).map(file=>file.path)} selectedControllerPath={selectedControllerPath} controllerStatus={controllerStatus} policyPaths={state.files.filter(file=>/\.onnx$/i.test(file.path)).map(file=>file.path)} selectedPolicyPath={selectedPolicyPath} policyStatus={policyStatus} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale} onSelectControllerPath={setSelectedControllerPath} onLoadControllerPath={loadControllerPath} onImportController={importController} onToggleController={toggleController} onControllerCommand={sendControllerCommand} onRemoveController={removeController} onSelectPolicyPath={setSelectedPolicyPath} onLoadPolicyPath={loadPolicyPath} onImportPolicy={importPolicy} onTogglePolicy={togglePolicy} onPolicyCommand={setPolicyCommand} onRemovePolicy={removePolicy}/></div>
|
||||
{pendingUrdfPath&&<UrdfImportOptionsDialog open path={pendingUrdfPath} mountBodies={pendingUrdfMounts} onConfirm={confirmUrdfOptions} onSkip={skipUrdfOptions}/>}{sourceOpen&&generatedMjcf&&generatedMjcfPath&&<SourceEditorDialog open code={generatedMjcf} filePath={generatedMjcfPath} theme={theme} onClose={()=>setSourceOpen(false)} onSave={saveCachedSource}/>}<ShortcutHelpDialog open={helpOpen} onClose={()=>setHelpOpen(false)}/><DiagnosticsDrawer open={diagnosticsOpen} items={notifications} onClose={()=>setDiagnosticsOpen(false)} onClear={()=>setNotifications([])}/><SettingsDialog open={settingsOpen} onClose={()=>setSettingsOpen(false)} theme={theme} angleUnit={angleUnit} showCollision={showCollision} jointAdvanced={jointAdvanced} forceScale={forceScale} onTheme={setTheme} onAngleUnit={setAngleUnit} onShowCollision={setShowCollision} onJointAdvanced={setJointAdvanced} onForceScale={setForceScale}/><LayoutSettingsDialog open={layoutOpen} onClose={()=>setLayoutOpen(false)} leftOpen={leftOpen} rightOpen={rightOpen} onLeftOpen={setLeftOpen} onRightOpen={setRightOpen} onPreset={applyLayoutPreset} onReset={()=>applyLayoutPreset('default')}/><CommandPalette open={commandOpen} onClose={()=>setCommandOpen(false)} commands={commands}/><ConfirmDialog open={removeConfirmOpen} title="移除当前工程" confirmLabel="移除工程" danger onConfirm={confirmRemoveProject} onClose={()=>setRemoveConfirmOpen(false)}><p className="text-sm text-text-secondary">确定从当前会话中移除“<strong className="text-text-primary">{state.projectName}</strong>”吗？</p><p className="mt-2 text-xs text-text-tertiary">该操作不会删除本地文件。</p></ConfirmDialog><StatusBar time={state.snapshot?.time} fps={state.fps} stepMs={state.stepMs} memoryMb={state.memoryMb} loaded={Boolean(state.snapshot)} overBudget={state.overBudget}/>
|
||||
</div>;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
import {useRef,type ChangeEvent} from 'react';
|
||||
import {BrainCircuit,FileUp,Power,RotateCw,Trash2} from 'lucide-react';
|
||||
import type {RLCommand,RLPolicyStatus} from '../../rl/types';
|
||||
import {Badge,Button,PropertyRow,Select} from '../../components/ui';
|
||||
|
||||
export interface RLPolicyPanelProps {
|
||||
paths:string[];selectedPath?:string;status?:RLPolicyStatus;loading:boolean;
|
||||
onSelectPath(path:string):void;onLoadPath(path:string):void;onImport(file:File):void;
|
||||
onToggle(enabled:boolean):void;onCommand(command:RLCommand):void;onRemove():void;
|
||||
}
|
||||
|
||||
export function RLPolicyPanel({paths,selectedPath,status,loading,onSelectPath,onLoadPath,onImport,onToggle,onCommand,onRemove}:RLPolicyPanelProps){
|
||||
const input=useRef<HTMLInputElement>(null);
|
||||
const importFile=(event:ChangeEvent<HTMLInputElement>)=>{const file=event.target.files?.[0];if(file)onImport(file);event.target.value='';};
|
||||
const command=status?.command??{linearX:0,linearY:0,angularZ:0};
|
||||
return <div>
|
||||
<input ref={input} className="hidden" type="file" accept=".onnx,application/octet-stream" onChange={importFile}/>
|
||||
{paths.length>0&&<label className="mb-3 block text-xs text-text-secondary"><span className="mb-1 block">工程内策略</span><Select aria-label="ONNX 策略" className="w-full" value={selectedPath??''} disabled={loading} onChange={event=>onSelectPath(event.target.value)}><option value="">选择 .onnx 文件</option>{paths.map(path=><option key={path} value={path}>{path}</option>)}</Select></label>}
|
||||
<div className="grid grid-cols-2 gap-2"><Button icon={<FileUp className="h-3.5 w-3.5"/>} disabled={loading} onClick={()=>input.current?.click()}>导入 ONNX</Button><Button icon={<RotateCw className="h-3.5 w-3.5"/>} disabled={loading||!selectedPath} onClick={()=>selectedPath&&onLoadPath(selectedPath)}>加载策略</Button></div>
|
||||
{status?<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
|
||||
<div className="mb-2 flex items-center justify-between gap-2"><span className="flex min-w-0 items-center gap-1.5 truncate text-xs font-medium text-text-primary" title={status.path}><BrainCircuit className="h-3.5 w-3.5 shrink-0 text-accent"/>{status.taskName}</span><Badge>{status.enabled?'推理中':'已停止'}</Badge></div>
|
||||
<PropertyRow label="控制频率" value={`${status.controlHz} Hz`}/><PropertyRow label="观测 / 动作" value={`${status.observationSize} / ${status.actionSize}`}/><PropertyRow label="推理次数" value={status.inferenceCount}/><PropertyRow label="上次推理" value={`${status.lastInferenceMs.toFixed(2)} ms`}/>
|
||||
<div className="mt-3 border-t border-border pt-3"><p className="mb-2 text-[10px] text-text-tertiary">速度指令（机身坐标系）</p><CommandInput label="前向 m/s" value={command.linearX} min={-0.5} max={1} onChange={linearX=>onCommand({...command,linearX})}/><CommandInput label="侧向 m/s" value={command.linearY} min={-0.5} max={0.5} onChange={linearY=>onCommand({...command,linearY})}/><CommandInput label="偏航 rad/s" value={command.angularZ} min={-1} max={1} onChange={angularZ=>onCommand({...command,angularZ})}/><Button className="mt-1 w-full" onClick={()=>onCommand({linearX:0,linearY:0,angularZ:0})}>停止移动</Button></div>
|
||||
{status.error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{status.error}</p>}
|
||||
<div className="mt-3 grid grid-cols-2 gap-2"><Button variant={status.enabled?'secondary':'primary'} icon={<Power className="h-3.5 w-3.5"/>} disabled={Boolean(status.error)} onClick={()=>onToggle(!status.enabled)}>{status.enabled?'停止':'启用'}</Button><Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5"/>} onClick={onRemove}>卸载</Button></div>
|
||||
</div>:<p className="mt-3 text-xs leading-5 text-text-tertiary">加载 mjlab 导出的单输入、单动作输出 policy.onnx。首个内置任务使用 47 维 Go2 actor 观测和 12 维腿部关节位置动作；Go2-W 轮电机保持零力矩。</p>}
|
||||
</div>;
|
||||
}
|
||||
|
||||
function CommandInput({label,value,min,max,onChange}:{label:string;value:number;min:number;max:number;onChange(value:number):void}){return <label className="mb-2 grid grid-cols-[1fr_72px] items-center gap-2 text-[10px] text-text-tertiary"><span>{label}</span><input className="field h-7 w-full px-2 text-right text-xs text-text-primary" type="number" step="0.05" min={min} max={max} value={value} onChange={event=>onChange(Number(event.target.value))}/></label>;}
|
||||
@@ -7,10 +7,12 @@ import type {ActuatorInfo,ActuatorParameters,SimulationSnapshot} from '../../sim
|
||||
import type {UrdfBaseMode,UrdfLoadMode} from '../../simulation/PhysicsAdapter';
|
||||
import type {ViewerSelection} from '../../viewer/MuJoCoViewer';
|
||||
import type {ControllerCommand,ControllerStatus} from '../../controller/types';
|
||||
import type {RLCommand,RLPolicyStatus} from '../../rl/types';
|
||||
import {Badge,Button,CollapsibleSection,CopyButton,PropertyRow,ResizablePanel,Select,Tabs} from '../../components/ui';
|
||||
import {TreeSearchField} from './TreeSearchField';
|
||||
import {ProjectBreadcrumb} from './ProjectBreadcrumb';
|
||||
import {PythonControllerPanel} from './PythonControllerPanel';
|
||||
import {RLPolicyPanel} from './RLPolicyPanel';
|
||||
|
||||
export function SidebarPanel({title,side,children,visible=true}:{title:string;side:'left'|'right';children:ReactNode;visible?:boolean}){return <ResizablePanel side={side} storageKey={`mujoco-${side}-sidebar-width`} visible={visible}><aside className={`flex h-full w-full min-w-0 flex-col overflow-hidden bg-panel ${side==='left'?'border-r':'border-l'} border-border`}><h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-panel px-3 text-sm font-semibold text-text-primary"><Settings2 aria-hidden="true" className="h-4 w-4 text-accent"/>{title}</h2>{children}</aside></ResizablePanel>;}
|
||||
|
||||
@@ -20,16 +22,18 @@ interface ModelControlsProps{
|
||||
snapshot?:SimulationSnapshot;selection:ViewerSelection|null;selectedFormat?:ModelEntry['format'];loading:boolean;visible?:boolean;
|
||||
urdfMode:UrdfLoadMode;baseMode:UrdfBaseMode;showCollision:boolean;ignoreJointLimits:boolean;jointAdvanced:boolean;angleUnit:'rad'|'deg';forceScale:number;
|
||||
controllerPaths:string[];selectedControllerPath?:string;controllerStatus?:ControllerStatus;
|
||||
policyPaths:string[];selectedPolicyPath?:string;policyStatus?:RLPolicyStatus;
|
||||
onUrdfMode:(value:UrdfLoadMode)=>void;onBaseMode:(value:UrdfBaseMode)=>void;onShowCollision:(value:boolean)=>void;
|
||||
onResetJoints:()=>void;onToggleJointLimits:()=>void;onToggleAdvanced:()=>void;onToggleAngleUnit:()=>void;
|
||||
onActuator:(id:number,value:number)=>void;onActuatorParameters:(id:number,parameters:ActuatorParameters)=>void;onJoint:(id:number,value:number)=>void;onForceScale:(value:number)=>void;
|
||||
onSelectControllerPath:(path:string)=>void;onLoadControllerPath:(path:string)=>void;onImportController:(file:File)=>void;onToggleController:(enabled:boolean)=>void;onControllerCommand:(command:ControllerCommand)=>void;onRemoveController:()=>void;
|
||||
onSelectPolicyPath:(path:string)=>void;onLoadPolicyPath:(path:string)=>void;onImportPolicy:(file:File)=>void;onTogglePolicy:(enabled:boolean)=>void;onPolicyCommand:(command:RLCommand)=>void;onRemovePolicy:()=>void;
|
||||
}
|
||||
export function ModelControlsSidebar(props:ModelControlsProps){const [tab,setTab]=useState<'properties'|'controls'>('properties'),s=props.snapshot;if(!s)return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><div className="p-4 text-sm text-text-tertiary">导入模型后显示属性</div></SidebarPanel>;
|
||||
const properties=<><CollapsibleSection title="模型信息" defaultOpen badge={<Badge>{s.model.nbody} Body</Badge>}><div><PropertyRow label="Body" value={s.model.nbody}/><PropertyRow label="Joint" value={s.model.njnt}/><PropertyRow label="Geom" value={s.model.ngeom}/><PropertyRow label="Actuator" value={s.model.nactuator}/><PropertyRow label="qpos / qvel" value={`${s.model.nq} / ${s.model.nv}`}/></div></CollapsibleSection>
|
||||
{props.selectedFormat==='urdf'&&<CollapsibleSection title="URDF 处理方式" defaultOpen={false}><Select aria-label="URDF 处理方式" className="w-full" value={props.urdfMode} disabled={props.loading} onChange={event=>props.onUrdfMode(event.target.value as UrdfLoadMode)}><option value="mjcf">转换为 MJCF（推荐）</option><option value="native">MuJoCo 原生 URDF</option></Select><label className="mt-3 block text-xs text-text-secondary"><span className="mb-1 block">基座类型</span><Select aria-label="URDF 基座类型" className="w-full" value={props.baseMode} disabled={props.loading||props.urdfMode==='native'} onChange={event=>props.onBaseMode(event.target.value as UrdfBaseMode)}><option value="floating">浮动基座（Free Joint）</option><option value="fixed">固定基座（连接世界）</option></Select></label><p className="mt-2 text-xs text-text-tertiary">MJCF 模式保留 visual mesh、添加物理地面，并将模型最低点对齐到 z=0。</p><Check label="显示碰撞几何" checked={props.showCollision} onChange={props.onShowCollision}/></CollapsibleSection>}
|
||||
<CollapsibleSection title="当前选择" defaultOpen>{props.selection?<div className="text-xs"><PropertyRow label="Body" value={props.selection.bodyName} action={<CopyButton value={props.selection.bodyName} label="复制 Body 名称"/>}/><PropertyRow label="标识" value={`${props.selection.bodyId} / ${props.selection.geomId} / ${props.selection.geomType}`} action={<CopyButton value={`body ${props.selection.bodyId}, geom ${props.selection.geomId}, type ${props.selection.geomType}`} label="复制标识"/>}/><PropertyRow label="位置" value={props.selection.position.map(value=>value.toFixed(3)).join(', ')} action={<CopyButton value={props.selection.position.join(', ')} label="复制位置"/>}/></div>:<p className="flex items-center gap-2 text-xs text-text-tertiary"><Info className="h-3.5 w-3.5"/>在视口中单击物体</p>}</CollapsibleSection></>;
|
||||
const controls=<><CollapsibleSection title="Python 控制器" defaultOpen badge={s.controller?<Badge>{s.controller.enabled?'运行':'停止'}</Badge>:undefined}><PythonControllerPanel paths={props.controllerPaths} selectedPath={props.selectedControllerPath} status={props.controllerStatus??s.controller} loading={props.loading} onSelectPath={props.onSelectControllerPath} onLoadPath={props.onLoadControllerPath} onImport={props.onImportController} onToggle={props.onToggleController} onCommand={props.onControllerCommand} onRemove={props.onRemoveController}/></CollapsibleSection><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
|
||||
const controls=<><CollapsibleSection title="ONNX 强化学习策略" defaultOpen badge={s.rlPolicy?<Badge>{s.rlPolicy.enabled?'推理':'停止'}</Badge>:undefined}><RLPolicyPanel paths={props.policyPaths} selectedPath={props.selectedPolicyPath} status={props.policyStatus??s.rlPolicy} loading={props.loading} onSelectPath={props.onSelectPolicyPath} onLoadPath={props.onLoadPolicyPath} onImport={props.onImportPolicy} onToggle={props.onTogglePolicy} onCommand={props.onPolicyCommand} onRemove={props.onRemovePolicy}/></CollapsibleSection><CollapsibleSection title="Python 控制器" defaultOpen badge={s.controller?<Badge>{s.controller.enabled?'运行':'停止'}</Badge>:undefined}><PythonControllerPanel paths={props.controllerPaths} selectedPath={props.selectedControllerPath} status={props.controllerStatus??s.controller} loading={props.loading} onSelectPath={props.onSelectControllerPath} onLoadPath={props.onLoadControllerPath} onImport={props.onImportController} onToggle={props.onToggleController} onCommand={props.onControllerCommand} onRemove={props.onRemoveController}/></CollapsibleSection><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
|
||||
<CollapsibleSection title="关节" defaultOpen badge={<Badge>{s.joints.length}</Badge>}><div className="mb-4 grid grid-cols-2 gap-2"><Button onClick={props.onResetJoints}>重置关节</Button><Button variant={props.ignoreJointLimits?'primary':'secondary'} aria-pressed={props.ignoreJointLimits} onClick={props.onToggleJointLimits}>忽略关节限位</Button><Button variant={props.jointAdvanced?'primary':'secondary'} aria-pressed={props.jointAdvanced} onClick={props.onToggleAdvanced}>高级</Button><Button variant={props.angleUnit==='deg'?'primary':'secondary'} aria-pressed={props.angleUnit==='deg'} onClick={props.onToggleAngleUnit}>{props.angleUnit==='rad'?'rad 弧度制':'° 角度制'}</Button></div>{s.joints.map(joint=>{const scale=joint.type===3&&props.angleUnit==='deg'?180/Math.PI:1,unit=joint.type===3?(props.angleUnit==='deg'?'°':' rad'):joint.type===2?' m':'';return <ControlSlider key={joint.id} label={`${joint.name}${joint.editable?'':'（只读）'}`} value={joint.value*scale} min={joint.min*scale} max={joint.max*scale} unit={unit} advanced={props.jointAdvanced} limited={joint.limited} limitsIgnored={joint.limitsIgnored} limitMin={joint.limitMin*scale} limitMax={joint.limitMax*scale} disabled={!joint.editable} onChange={value=>props.onJoint(joint.id,value/scale)}/>;})}</CollapsibleSection>
|
||||
<CollapsibleSection title="外力强度" defaultOpen={false}><ControlSlider label={`${props.forceScale.toFixed(0)} N/屏幕单位`} value={props.forceScale} min={5} max={200} onChange={props.onForceScale}/><p className="text-xs text-text-tertiary">选择“外力施加”，在动态物体上按住拖动，松开即清零。</p></CollapsibleSection></>;
|
||||
return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><Tabs label="模型控制侧栏" value={tab} onValueChange={setTab} items={[{value:'properties',label:'属性',icon:<Info className="h-3.5 w-3.5"/>,content:properties},{value:'controls',label:'控制',icon:<SlidersHorizontal className="h-3.5 w-3.5"/>,content:controls}]}/></SidebarPanel>;
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
import type {MjData,MjModel} from '@mujoco/mujoco';
|
||||
import {buildGo2wObservation,GO2W_VELOCITY_TASK} from '../tasks/go2wVelocity';
|
||||
import type {JointBinding,RLCommand} from '../types';
|
||||
import type {PolicyRuntimeBindings} from './OnnxPolicyRuntime';
|
||||
|
||||
interface BoundJoint extends JointBinding {positionActuator:boolean;controlScale:number;}
|
||||
|
||||
function rotateInverse(quaternion:readonly number[],vector:readonly number[]):[number,number,number]{
|
||||
const [w,x,y,z]=quaternion,[vx,vy,vz]=vector;
|
||||
const tx=2*(y*vz-z*vy),ty=2*(z*vx-x*vz),tz=2*(x*vy-y*vx);
|
||||
return [vx-w*tx+(y*tz-z*ty),vy-w*ty+(z*tx-x*tz),vz-w*tz+(x*ty-y*tx)];
|
||||
}
|
||||
|
||||
/** 将 mjlab Go2 velocity 的 47 维 actor 观测和 12 维关节位置动作映射到 MuJoCo。 */
|
||||
export class Go2wPolicyBindings implements PolicyRuntimeBindings {
|
||||
private readonly joints:BoundJoint[];
|
||||
private readonly baseBodyId:number;
|
||||
private readonly baseFreeJointId:number;
|
||||
private readonly gyroSensorId?:number;
|
||||
private readonly wheelActuatorIds:number[];
|
||||
|
||||
constructor(private readonly model:MjModel,private readonly data:MjData,private readonly setActuator:(id:number,value:number)=>void){
|
||||
const jointIds=new Map<string,number>(),actuatorIds=new Map<string,number>(),sensorIds=new Map<string,number>(),bodyIds=new Map<string,number>();
|
||||
for(let id=0;id<model.njnt;id+=1){const item=model.jnt(id);try{if(item.name)jointIds.set(item.name,id);}finally{item.delete();}}
|
||||
for(let id=0;id<model.nactuator;id+=1){const item=model.actuator(id);try{if(item.name)actuatorIds.set(item.name,id);}finally{item.delete();}}
|
||||
for(let id=0;id<model.nsensor;id+=1){const item=model.sensor(id);try{if(item.name)sensorIds.set(item.name,id);}finally{item.delete();}}
|
||||
for(let id=0;id<model.nbody;id+=1){const item=model.body(id);try{if(item.name)bodyIds.set(item.name,id);}finally{item.delete();}}
|
||||
this.baseBodyId=bodyIds.get('base_link')??bodyIds.get('base')??this.findFloatingBaseBody();
|
||||
this.baseFreeJointId=this.findFreeJoint(this.baseBodyId);
|
||||
const gyroCandidate=sensorIds.get('imu_gyro')??sensorIds.get('__platform_imu_gyro__');
|
||||
this.gyroSensorId=gyroCandidate!==undefined&&this.isBaseAlignedGyro(gyroCandidate)?gyroCandidate:undefined;
|
||||
this.joints=GO2W_VELOCITY_TASK.jointNames.map((name,index)=>{
|
||||
const jointId=jointIds.get(name);if(jointId===undefined)throw new Error(`Go2-W 策略找不到关节：${name}`);
|
||||
const short=name.replace(/_joint$/,'');
|
||||
const actuatorId=actuatorIds.get(short)??actuatorIds.get(`${name}_motor`);
|
||||
if(actuatorId===undefined)throw new Error(`Go2-W 策略找不到驱动器：${short} 或 ${name}_motor`);
|
||||
const joint=model.jnt(jointId),actuator=model.actuator(actuatorId);
|
||||
try{
|
||||
const address=Number(model.actuator_ctrladr[actuatorId]??actuatorId),nextAddress=actuatorId+1<model.nactuator?Number(model.actuator_ctrladr[actuatorId+1]):model.nu;
|
||||
if(nextAddress-address!==1||Number(actuator.trntype)!==0||Number(actuator.trnid[0])!==jointId)throw new Error(`驱动器 ${actuator.name||actuatorId} 不是关节 ${name} 的标量 joint transmission`);
|
||||
if(Number(actuator.gaintype)!==0||Number(actuator.dyntype)!==0)throw new Error(`驱动器 ${actuator.name||actuatorId} 必须使用 fixed gain 和无激活动力学`);
|
||||
const gear=Number(actuator.gear[0]),gain=Number(actuator.gainprm[0]),positionActuator=Number(actuator.biastype)===1&&Math.abs(Number(actuator.biasprm[1])+gain)<1e-5;
|
||||
const motorActuator=Number(actuator.biastype)===0;
|
||||
if(!positionActuator&&!motorActuator)throw new Error(`驱动器 ${actuator.name||actuatorId} 不是受支持的 motor/position 类型`);
|
||||
if(positionActuator&&(Math.abs(gear-1)>1e-5||Math.abs(gain-GO2W_VELOCITY_TASK.stiffness[index])>1e-4||Math.abs(Number(actuator.biasprm[2])+GO2W_VELOCITY_TASK.damping[index])>1e-4))throw new Error(`position 驱动器 ${actuator.name||actuatorId} 的 gear/kp/kd 与 mjlab deploy 配置不一致`);
|
||||
const controlScale=gear*gain;
|
||||
if(!Number.isFinite(controlScale)||Math.abs(controlScale)<1e-9)throw new Error(`驱动器 ${actuator.name||actuatorId} 的 gear × gain 无效`);
|
||||
return {name,jointId,qposAddress:Number(joint.qposadr),qvelAddress:Number(joint.dofadr),actuatorId,positionActuator,controlScale};
|
||||
}finally{actuator.delete();joint.delete();}
|
||||
});
|
||||
this.wheelActuatorIds=['FL','FR','RL','RR'].flatMap(prefix=>{
|
||||
const id=actuatorIds.get(`${prefix}_wheel`)??actuatorIds.get(`${prefix}_wheel_joint_motor`)??actuatorIds.get(`${prefix}_foot_joint_motor`);
|
||||
return id===undefined?[]:[id];
|
||||
});
|
||||
}
|
||||
|
||||
observe(time:number,lastAction:Float32Array,command:RLCommand):Float32Array{
|
||||
const quaternion=Array.from(this.data.xquat.subarray(this.baseBodyId*4,this.baseBodyId*4+4),Number);
|
||||
const projectedGravity=rotateInverse(quaternion,[0,0,-1]);
|
||||
let angularVelocity:[number,number,number];
|
||||
if(this.gyroSensorId!==undefined){const address=Number(this.model.sensor_adr[this.gyroSensorId]);angularVelocity=[Number(this.data.sensordata[address]),Number(this.data.sensordata[address+1]),Number(this.data.sensordata[address+2])];}
|
||||
else {const joint=this.model.jnt(this.baseFreeJointId);try{const address=Number(joint.dofadr)+3;angularVelocity=[Number(this.data.qvel[address]),Number(this.data.qvel[address+1]),Number(this.data.qvel[address+2])];}finally{joint.delete();}}
|
||||
return buildGo2wObservation({angularVelocity,projectedGravity,command,time,jointPosition:this.joints.map(item=>Number(this.data.qpos[item.qposAddress])),jointVelocity:this.joints.map(item=>Number(this.data.qvel[item.qvelAddress])),lastAction:Array.from(lastAction)});
|
||||
}
|
||||
|
||||
apply(action:Float32Array):void{
|
||||
for(let index=0;index<this.joints.length;index+=1){
|
||||
const item=this.joints[index],target=GO2W_VELOCITY_TASK.defaultJointPosition[index]+GO2W_VELOCITY_TASK.actionScale[index]*action[index];
|
||||
const torque=GO2W_VELOCITY_TASK.stiffness[index]*(target-Number(this.data.qpos[item.qposAddress]))-GO2W_VELOCITY_TASK.damping[index]*Number(this.data.qvel[item.qvelAddress]);
|
||||
this.setActuator(item.actuatorId,item.positionActuator?target:torque/item.controlScale);
|
||||
}
|
||||
for(const id of this.wheelActuatorIds)this.setActuator(id,0);
|
||||
}
|
||||
clear():void{for(const item of this.joints)this.setActuator(item.actuatorId,0);for(const id of this.wheelActuatorIds)this.setActuator(id,0);}
|
||||
|
||||
private isBaseAlignedGyro(sensorId:number):boolean{const siteId=Number(this.model.sensor_objid[sensorId]);if(Number(this.model.sensor_dim[sensorId])!==3||siteId<0||siteId>=this.model.nsite||Number(this.model.site_bodyid[siteId])!==this.baseBodyId)return false;const offset=siteId*4;return Math.abs(Number(this.model.site_quat[offset])-1)<1e-5&&Math.abs(Number(this.model.site_quat[offset+1]))<1e-5&&Math.abs(Number(this.model.site_quat[offset+2]))<1e-5&&Math.abs(Number(this.model.site_quat[offset+3]))<1e-5;}
|
||||
private findFloatingBaseBody():number{for(let jointId=0;jointId<this.model.njnt;jointId+=1)if(Number(this.model.jnt_type[jointId])===0)return Number(this.model.jnt_bodyid[jointId]);throw new Error('Go2-W 策略需要浮动基座（free joint）');}
|
||||
private findFreeJoint(bodyId:number):number{for(let jointId=0;jointId<this.model.njnt;jointId+=1)if(Number(this.model.jnt_type[jointId])===0&&Number(this.model.jnt_bodyid[jointId])===bodyId)return jointId;throw new Error('Go2-W 基座没有 free joint，请使用浮动基座模型');}
|
||||
}
|
||||
@@ -0,0 +1,83 @@
|
||||
import * as ort from 'onnxruntime-web/wasm';
|
||||
import {GO2W_VELOCITY_TASK,clampGo2wCommand} from '../tasks/go2wVelocity';
|
||||
import type {RLCommand,RLPolicyStatus} from '../types';
|
||||
|
||||
ort.env.wasm.numThreads=1;
|
||||
ort.env.wasm.proxy=false;
|
||||
|
||||
export interface PolicyRuntimeBindings {
|
||||
observe(time:number,lastAction:Float32Array,command:RLCommand):Float32Array;
|
||||
apply(action:Float32Array):void;
|
||||
clear():void;
|
||||
}
|
||||
|
||||
function message(error:unknown):string{return error instanceof Error?error.message:String(error);}
|
||||
|
||||
/**
|
||||
* ONNX Runtime Web 的 run() 是异步 API。物理循环会在每个 mj_step 前持续施加最近一次
|
||||
* 完成的动作，并按控制频率启动下一次推理，避免阻塞 MuJoCo 的同步步进循环。
|
||||
*/
|
||||
export class OnnxPolicyRuntime {
|
||||
private enabled=false;
|
||||
private disposed=false;
|
||||
private inFlight=false;
|
||||
private nextInferenceTime=0;
|
||||
private action=new Float32Array(GO2W_VELOCITY_TASK.actionSize);
|
||||
private commandValue:RLCommand={linearX:0,linearY:0,angularZ:0};
|
||||
private inferenceCount=0;
|
||||
private lastInferenceMs=0;
|
||||
private error?:string;
|
||||
private epoch=0;
|
||||
private runPromise?:Promise<void>;
|
||||
|
||||
private constructor(private readonly session:ort.InferenceSession,private readonly bindings:PolicyRuntimeBindings,private readonly path:string,private readonly inputName:string,private readonly outputName:string){}
|
||||
|
||||
static async load(model:Uint8Array,path:string,bindings:PolicyRuntimeBindings):Promise<OnnxPolicyRuntime>{
|
||||
const session=await ort.InferenceSession.create(model.slice(),{executionProviders:['wasm'],graphOptimizationLevel:'all'});
|
||||
try{
|
||||
if(session.inputNames.length!==1)throw new Error(`当前仅支持单输入策略，模型包含 ${session.inputNames.length} 个输入`);
|
||||
if(session.outputNames.length<1)throw new Error('ONNX 策略没有输出');
|
||||
const input=session.inputMetadata[0],output=session.outputMetadata[0];
|
||||
if(!input?.isTensor||input.type!=='float32')throw new Error('策略输入必须是 float32 Tensor');
|
||||
if(!output?.isTensor||output.type!=='float32')throw new Error('策略输出必须是 float32 Tensor');
|
||||
if(input.shape.length!==2||output.shape.length!==2)throw new Error(`策略输入/输出必须是二维 [batch, features]，实际为 [${input.shape}] / [${output.shape}]`);
|
||||
const inputBatch=input.shape[0],outputBatch=output.shape[0],fixedInput=input.shape[1],fixedOutput=output.shape[1];
|
||||
if(typeof inputBatch==='number'&&inputBatch!==-1&&inputBatch!==1)throw new Error(`策略输入 batch 必须为 1 或动态维度，实际为 ${inputBatch}`);
|
||||
if(typeof outputBatch==='number'&&outputBatch!==-1&&outputBatch!==1)throw new Error(`策略输出 batch 必须为 1 或动态维度，实际为 ${outputBatch}`);
|
||||
if(typeof fixedInput==='number'&&fixedInput>0&&fixedInput!==GO2W_VELOCITY_TASK.observationSize)throw new Error(`策略观测维度不匹配：模型 ${fixedInput}，任务 ${GO2W_VELOCITY_TASK.observationSize}`);
|
||||
if(typeof fixedOutput==='number'&&fixedOutput>0&&fixedOutput!==GO2W_VELOCITY_TASK.actionSize)throw new Error(`策略动作维度不匹配：模型 ${fixedOutput}，任务 ${GO2W_VELOCITY_TASK.actionSize}`);
|
||||
return new OnnxPolicyRuntime(session,bindings,path,session.inputNames[0],session.outputNames[0]);
|
||||
}catch(error){await session.release();throw error;}
|
||||
}
|
||||
|
||||
status():RLPolicyStatus{return {taskId:GO2W_VELOCITY_TASK.id,taskName:GO2W_VELOCITY_TASK.name,path:this.path,loaded:!this.disposed,enabled:this.enabled,controlHz:GO2W_VELOCITY_TASK.controlHz,observationSize:GO2W_VELOCITY_TASK.observationSize,actionSize:GO2W_VELOCITY_TASK.actionSize,inputName:this.inputName,outputName:this.outputName,command:{...this.commandValue},inferenceCount:this.inferenceCount,lastInferenceMs:this.lastInferenceMs,error:this.error};}
|
||||
setCommand(command:RLCommand):void{this.commandValue=clampGo2wCommand(command);}
|
||||
setEnabled(enabled:boolean,time:number):void{if(this.disposed)return;this.epoch+=1;this.enabled=enabled;this.error=undefined;this.nextInferenceTime=time;if(!enabled){this.action.fill(0);this.bindings.clear();}}
|
||||
reset(time:number):void{this.epoch+=1;this.action.fill(0);this.nextInferenceTime=time;this.error=undefined;this.bindings.clear();}
|
||||
|
||||
step(time:number):void{
|
||||
if(!this.enabled||this.disposed)return;
|
||||
this.bindings.apply(this.action);
|
||||
if(this.inFlight||time+1e-9<this.nextInferenceTime)return;
|
||||
let observation:Float32Array;
|
||||
try{observation=this.bindings.observe(time,this.action,this.commandValue);}
|
||||
catch(error){this.fail(error);return;}
|
||||
this.inFlight=true;
|
||||
this.nextInferenceTime=time+1/GO2W_VELOCITY_TASK.controlHz;
|
||||
const started=performance.now(),epoch=this.epoch;
|
||||
const input=new ort.Tensor('float32',observation,[1,observation.length]);
|
||||
this.runPromise=this.session.run({[this.inputName]:input}).then(outputs=>{
|
||||
try{
|
||||
const output=outputs[this.outputName];
|
||||
if(!output||output.type!=='float32')throw new Error(`找不到 float32 输出：${this.outputName}`);
|
||||
if(output.data.length!==GO2W_VELOCITY_TASK.actionSize)throw new Error(`策略动作维度错误：期望 ${GO2W_VELOCITY_TASK.actionSize}，实际 ${output.data.length}`);
|
||||
const next=Float32Array.from(output.data as Float32Array,Number);
|
||||
for(const value of next)if(!Number.isFinite(value))throw new Error('策略输出包含非有限数');
|
||||
if(!this.disposed&&this.enabled&&epoch===this.epoch){this.action=next;this.inferenceCount+=1;this.lastInferenceMs=performance.now()-started;}
|
||||
}finally{for(const value of Object.values(outputs))value.dispose();}
|
||||
}).catch(error=>{if(epoch===this.epoch)this.fail(error);}).finally(()=>{input.dispose();this.inFlight=false;this.runPromise=undefined;});
|
||||
}
|
||||
|
||||
private fail(error:unknown):void{if(this.disposed)return;this.error=message(error);this.enabled=false;this.bindings.clear();}
|
||||
dispose():void{if(this.disposed)return;this.disposed=true;this.enabled=false;this.epoch+=1;this.bindings.clear();const pending=this.runPromise??Promise.resolve();void pending.catch(()=>{}).finally(()=>this.session.release().catch(error=>console.warn('[ONNX] 释放推理会话失败',error)));}
|
||||
}
|
||||
@@ -0,0 +1,28 @@
|
||||
import {describe,expect,it} from 'vitest';
|
||||
import {buildGo2wObservation,clampGo2wCommand,go2wGaitPhase,GO2W_VELOCITY_TASK} from './go2wVelocity';
|
||||
|
||||
describe('Go2-W velocity task',()=>{
|
||||
it('按 mjlab deploy 顺序构造 47 维 actor 观测',()=>{
|
||||
const jointPosition=GO2W_VELOCITY_TASK.defaultJointPosition.map(value=>value+0.1);
|
||||
const observation=buildGo2wObservation({angularVelocity:[1,2,3],projectedGravity:[0,0,-1],command:{linearX:0.5,linearY:-0.25,angularZ:0.2},time:0,jointPosition,jointVelocity:Array(12).fill(0.3),lastAction:Array(12).fill(-0.4)});
|
||||
expect(observation).toHaveLength(47);
|
||||
[1,2,3,0,0,-1,0.5,-0.25,0.2,0,1].forEach((value,index)=>expect(observation[index]).toBeCloseTo(value));
|
||||
for(const value of observation.slice(11,23))expect(value).toBeCloseTo(0.1);
|
||||
for(const value of observation.slice(23,35))expect(value).toBeCloseTo(0.3);
|
||||
for(const value of observation.slice(35,47))expect(value).toBeCloseTo(-0.4);
|
||||
});
|
||||
|
||||
it('静止时关闭步态相位，并限制速度命令范围',()=>{
|
||||
expect(go2wGaitPhase(0.15,{linearX:0,linearY:0,angularZ:0})).toEqual([0,0]);
|
||||
const moving=go2wGaitPhase(0.15,{linearX:1,linearY:0,angularZ:0});
|
||||
expect(moving[0]).toBeCloseTo(1);
|
||||
expect(moving[1]).toBeCloseTo(0);
|
||||
expect(clampGo2wCommand({linearX:4,linearY:-4,angularZ:3})).toEqual({linearX:1,linearY:-0.5,angularZ:1});
|
||||
});
|
||||
|
||||
it('拒绝维度错误或非有限观测',()=>{
|
||||
const valid={angularVelocity:[0,0,0],projectedGravity:[0,0,-1],command:{linearX:0,linearY:0,angularZ:0},time:0,jointPosition:Array(12).fill(0),jointVelocity:Array(12).fill(0),lastAction:Array(12).fill(0)};
|
||||
expect(()=>buildGo2wObservation({...valid,lastAction:[0]})).toThrow(/观测维度/);
|
||||
expect(()=>buildGo2wObservation({...valid,angularVelocity:[Number.NaN,0,0]})).toThrow(/非有限数/);
|
||||
});
|
||||
});
|
||||
@@ -0,0 +1,57 @@
|
||||
import type {RLCommand} from '../types';
|
||||
|
||||
export const GO2W_VELOCITY_TASK={
|
||||
id:'unitree-go2w-velocity' as const,
|
||||
name:'Unitree Go2-W 平衡/速度控制',
|
||||
controlHz:50,
|
||||
gaitPeriod:0.6,
|
||||
observationSize:47,
|
||||
actionSize:12,
|
||||
commandLimits:{linearX:[-0.5,1] as const,linearY:[-0.5,0.5] as const,angularZ:[-1,1] as const},
|
||||
jointNames:[
|
||||
'FL_hip_joint','FL_thigh_joint','FL_calf_joint',
|
||||
'FR_hip_joint','FR_thigh_joint','FR_calf_joint',
|
||||
'RL_hip_joint','RL_thigh_joint','RL_calf_joint',
|
||||
'RR_hip_joint','RR_thigh_joint','RR_calf_joint',
|
||||
] as const,
|
||||
defaultJointPosition:[-0.1,0.9,-1.8,0.1,0.9,-1.8,-0.1,0.9,-1.8,0.1,0.9,-1.8] as const,
|
||||
actionScale:[0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25] as const,
|
||||
stiffness:[20,20,40,20,20,40,20,20,40,20,20,40] as const,
|
||||
damping:[1,1,2,1,1,2,1,1,2,1,1,2] as const,
|
||||
};
|
||||
|
||||
export function clampGo2wCommand(command:RLCommand):RLCommand {
|
||||
const limits=GO2W_VELOCITY_TASK.commandLimits;
|
||||
const clamp=(value:number,range:readonly[number,number])=>Math.min(range[1],Math.max(range[0],Number.isFinite(value)?value:0));
|
||||
return {linearX:clamp(command.linearX,limits.linearX),linearY:clamp(command.linearY,limits.linearY),angularZ:clamp(command.angularZ,limits.angularZ)};
|
||||
}
|
||||
|
||||
export function go2wGaitPhase(time:number,command:RLCommand):[number,number] {
|
||||
if(Math.hypot(command.linearX,command.linearY,command.angularZ)<0.1)return [0,0];
|
||||
const phase=((time/GO2W_VELOCITY_TASK.gaitPeriod)%1+1)%1;
|
||||
return [Math.sin(phase*2*Math.PI),Math.cos(phase*2*Math.PI)];
|
||||
}
|
||||
|
||||
export function buildGo2wObservation(values:{
|
||||
angularVelocity:readonly number[];
|
||||
projectedGravity:readonly number[];
|
||||
command:RLCommand;
|
||||
time:number;
|
||||
jointPosition:readonly number[];
|
||||
jointVelocity:readonly number[];
|
||||
lastAction:readonly number[];
|
||||
}):Float32Array {
|
||||
const phase=go2wGaitPhase(values.time,values.command);
|
||||
const observation=new Float32Array([
|
||||
...values.angularVelocity.slice(0,3),
|
||||
...values.projectedGravity.slice(0,3),
|
||||
values.command.linearX,values.command.linearY,values.command.angularZ,
|
||||
...phase,
|
||||
...values.jointPosition.map((value,index)=>value-GO2W_VELOCITY_TASK.defaultJointPosition[index]),
|
||||
...values.jointVelocity,
|
||||
...values.lastAction,
|
||||
]);
|
||||
if(observation.length!==GO2W_VELOCITY_TASK.observationSize)throw new Error(`Go2-W 观测维度错误：期望 ${GO2W_VELOCITY_TASK.observationSize}，实际 ${observation.length}`);
|
||||
for(const value of observation)if(!Number.isFinite(value))throw new Error('Go2-W 观测包含非有限数');
|
||||
return observation;
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
export interface RLCommand {
|
||||
linearX:number;
|
||||
linearY:number;
|
||||
angularZ:number;
|
||||
}
|
||||
|
||||
export interface RLPolicyStatus {
|
||||
taskId:'unitree-go2w-velocity';
|
||||
taskName:string;
|
||||
path:string;
|
||||
loaded:boolean;
|
||||
enabled:boolean;
|
||||
controlHz:number;
|
||||
observationSize:number;
|
||||
actionSize:number;
|
||||
inputName:string;
|
||||
outputName:string;
|
||||
command:RLCommand;
|
||||
inferenceCount:number;
|
||||
lastInferenceMs:number;
|
||||
error?:string;
|
||||
}
|
||||
|
||||
export interface JointBinding {
|
||||
name:string;
|
||||
jointId:number;
|
||||
qposAddress:number;
|
||||
qvelAddress:number;
|
||||
actuatorId:number;
|
||||
}
|
||||
@@ -5,6 +5,7 @@ import {enhanceConvertedMjcf,groundConvertedMjcf,type UrdfBaseMode,type UrdfEnha
|
||||
import {MemfsWorkspace} from '../project/workspace';
|
||||
import {SimulationSession,type ActuatorParameters,type FrameResult,type SimulationSnapshot} from './SimulationSession';
|
||||
import type {ControllerCommand,ControllerStatus} from '../controller/types';
|
||||
import type {RLCommand,RLPolicyStatus} from '../rl/types';
|
||||
|
||||
export type UrdfLoadMode='mjcf'|'native';
|
||||
export type {UrdfBaseMode,UrdfEnhancementOptions};
|
||||
@@ -28,6 +29,10 @@ export interface PhysicsAdapter {
|
||||
setControllerEnabled(enabled:boolean):void;
|
||||
sendControllerCommand(command:ControllerCommand):void;
|
||||
removeController():void;
|
||||
loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>;
|
||||
setRLPolicyEnabled(enabled:boolean):void;
|
||||
setRLCommand(command:RLCommand):void;
|
||||
removeRLPolicy():void;
|
||||
cachedSupportFiles():ProjectFile[];
|
||||
exportMjcf(): Uint8Array;
|
||||
dispose(): void;
|
||||
@@ -94,6 +99,10 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
|
||||
setControllerEnabled(enabled:boolean):void{this.session?.setControllerEnabled(enabled);}
|
||||
sendControllerCommand(command:ControllerCommand):void{this.session?.sendControllerCommand(command);}
|
||||
removeController():void{this.session?.removeController();}
|
||||
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);}
|
||||
setRLPolicyEnabled(enabled:boolean):void{this.session?.setRLPolicyEnabled(enabled);}
|
||||
setRLCommand(command:RLCommand):void{this.session?.setRLCommand(command);}
|
||||
removeRLPolicy():void{this.session?.removeRLPolicy();}
|
||||
cachedSupportFiles():ProjectFile[]{return this.supportFiles.map(file=>({...file,data:file.data.slice()}));}
|
||||
exportMjcf():Uint8Array{
|
||||
if(!this.session||!this.workspace)throw new Error('尚未加载可导出的模型');
|
||||
|
||||
@@ -2,12 +2,15 @@ import type {MainModule, MjData, MjModel, MjvPerturb, MjvScene} from '@mujoco/mu
|
||||
import {meshIdFromSceneDataId} from './geometry';
|
||||
import {PythonControllerRuntime} from '../controller/PythonControllerRuntime';
|
||||
import type {ControllerBindings,ControllerCommand,ControllerStatus} from '../controller/types';
|
||||
import {Go2wPolicyBindings} from '../rl/runtime/Go2wPolicyBindings';
|
||||
import {OnnxPolicyRuntime} from '../rl/runtime/OnnxPolicyRuntime';
|
||||
import type {RLCommand,RLPolicyStatus} from '../rl/types';
|
||||
|
||||
export interface ActuatorParameters {gear:number;gain:number;kp:number;kv:number;ctrlLimited:boolean;ctrlMin:number;ctrlMax:number;forceLimited:boolean;forceMin:number;forceMax:number;}
|
||||
export interface ActuatorInfo extends ActuatorParameters {id:number;name:string;value:number;min:number;max:number;limited:boolean;jointId?:number;jointName?:string;jointType?:number;unit:string;kind:'motor'|'position'|'velocity'|'other';controlCount:number;}
|
||||
export interface JointInfo {id:number;name:string;type:number;value:number;min:number;max:number;limitMin:number;limitMax:number;limited:boolean;limitsIgnored:boolean;editable:boolean;bodyId:number;axis:[number,number,number];}
|
||||
export interface BodyInfo {id:number;name:string;parentId:number;}
|
||||
export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; controller?:ControllerStatus; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
|
||||
export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; controller?:ControllerStatus; rlPolicy?:RLPolicyStatus; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
|
||||
export interface FrameResult {steps: number; stepMs: number; overBudget: boolean;}
|
||||
|
||||
export class SimulationSession {
|
||||
@@ -27,6 +30,8 @@ export class SimulationSession {
|
||||
private jointLimits:{limited:boolean;min:number;max:number;type:number}[]=[];
|
||||
private pythonController?:PythonControllerRuntime;
|
||||
private controllerLoadGeneration=0;
|
||||
private rlPolicy?:OnnxPolicyRuntime;
|
||||
private rlPolicyLoadGeneration=0;
|
||||
|
||||
constructor(readonly module: MainModule, modelPath: string, readonly warnings: string[] = []) {
|
||||
let model: MjModel | undefined; let data: MjData | undefined; let perturb: MjvPerturb | undefined;
|
||||
@@ -43,7 +48,7 @@ export class SimulationSession {
|
||||
|
||||
setPaused(paused: boolean): void {this.paused = paused; this.accumulator = 0; this.lastNow = undefined;}
|
||||
setSpeed(speed: number): void {this.speed = Math.min(4, Math.max(0.1, speed));}
|
||||
reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();this.data.ctrl.fill(0);this.pythonController?.reset(Number(this.data.time));}
|
||||
reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();this.data.ctrl.fill(0);this.pythonController?.reset(Number(this.data.time));this.rlPolicy?.reset(Number(this.data.time));}
|
||||
singleStep(): void {this.runController();this.applyForce();this.module.mj_step(this.model,this.data);}
|
||||
|
||||
advance(now: number): FrameResult {
|
||||
@@ -69,16 +74,35 @@ export class SimulationSession {
|
||||
}
|
||||
|
||||
setControllerEnabled(enabled:boolean):void {
|
||||
if(enabled&&this.pythonController){this.data.ctrl.fill(0);this.rlPolicy?.setEnabled(false,Number(this.data.time));}
|
||||
this.pythonController?.setEnabled(enabled,Number(this.data.time));
|
||||
if(!enabled)this.data.ctrl.fill(0);
|
||||
}
|
||||
|
||||
async loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>{
|
||||
const generation=++this.rlPolicyLoadGeneration;
|
||||
const bindings=new Go2wPolicyBindings(this.model,this.data,(id,value)=>this.setActuator(id,value));
|
||||
const runtime=await OnnxPolicyRuntime.load(model,path,bindings);
|
||||
if(this.disposed||generation!==this.rlPolicyLoadGeneration){runtime.dispose();throw new Error('模型已切换，ONNX 策略加载已取消');}
|
||||
this.data.ctrl.fill(0);this.rlPolicy?.dispose();this.rlPolicy=runtime;
|
||||
return runtime.status();
|
||||
}
|
||||
|
||||
setRLPolicyEnabled(enabled:boolean):void {
|
||||
if(enabled&&this.rlPolicy){this.data.ctrl.fill(0);this.pythonController?.setEnabled(false,Number(this.data.time));}
|
||||
this.rlPolicy?.setEnabled(enabled,Number(this.data.time));
|
||||
if(!enabled)this.data.ctrl.fill(0);
|
||||
}
|
||||
|
||||
setRLCommand(command:RLCommand):void {this.rlPolicy?.setCommand(command);}
|
||||
removeRLPolicy():void {this.rlPolicyLoadGeneration+=1;this.rlPolicy?.dispose();this.rlPolicy=undefined;this.data.ctrl.fill(0);}
|
||||
|
||||
sendControllerCommand(command:ControllerCommand):void {this.pythonController?.command(command);}
|
||||
|
||||
removeController():void {this.controllerLoadGeneration+=1;this.pythonController?.dispose();this.pythonController=undefined;this.data.ctrl.fill(0);}
|
||||
|
||||
private runController():void {
|
||||
try{this.pythonController?.stepIfDue(Number(this.data.time));}
|
||||
try{this.pythonController?.stepIfDue(Number(this.data.time));this.rlPolicy?.step(Number(this.data.time));}
|
||||
catch(error){this.setPaused(true);this.data.ctrl.fill(0);throw error;}
|
||||
}
|
||||
|
||||
@@ -224,7 +248,7 @@ export class SimulationSession {
|
||||
try {return {id,name:body.name||`body_${id}`,parentId:Number(this.model.body_parentid[id])};}
|
||||
finally { body.delete(); }
|
||||
});
|
||||
return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,controller:this.pythonController?.status(),model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
|
||||
return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,controller:this.pythonController?.status(),rlPolicy:this.rlPolicy?.status(),model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
|
||||
}
|
||||
dispose(): void {if(this.disposed)return;this.disposed=true;this.removeController();this.clearExternalForce();this.perturb.delete();this.data.delete();this.model.delete();}
|
||||
dispose(): void {if(this.disposed)return;this.disposed=true;this.removeController();this.removeRLPolicy();this.clearExternalForce();this.perturb.delete();this.data.delete();this.model.delete();}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user