fix(training): release V0.9.2 自定义地图自动同步

web_platform/src/training/LocalTrainingPanel.tsx

@@ -81,7 +81,6 @@ export function LocalTrainingPanel({
 
   const [terrainPreset, setTerrainPreset] = useState('');
   const [customTerrainBoxes, setCustomTerrainBoxes] = useState<TrainingTerrain>();
-  const [syncedScene, setSyncedScene] = useState<string>();
   const [terrainParams, setTerrainParams] = useState<Record<string, number>>({});
   const [sensorMode, setSensorMode] = useState<'single_ring_raycast' | 'multi_ring_raycast'>(
     'single_ring_raycast',
@@ -96,7 +95,6 @@ export function LocalTrainingPanel({
   const selectTask = (id: string) => {
     setTaskId(id);
     setCustomTerrainBoxes(undefined);
-    setSyncedScene(undefined);
     setRewardPresetId('');
     setTerrainParams({});
     setSensorCfg({});
@@ -109,20 +107,10 @@ export function LocalTrainingPanel({
       if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
       if (!metadata?.terrainPresets.includes('custom_boxes'))
         throw new Error('当前服务/任务不支持custom_boxes，请升级训练服务');
-      setSyncedScene(undefined);
-      const layout = compileScene(
-        customTerrainBoxes
-          ? {
-              spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-              target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-            }
-          : undefined,
-      );
+      const layout = validateCustomTerrain(compileScene());
       setCustomTerrainBoxes(layout);
       setTerrainPreset('custom_boxes');
       setTerrainParams({ size: layout.size, friction: layout.friction });
-      validateCustomTerrain(layout);
-      setSyncedScene(JSON.stringify(sceneMaps));
       setError(undefined);
     } catch (value) {
       setError(errorText(value));
@@ -235,20 +223,18 @@ export function LocalTrainingPanel({
       const source = event.source as Window;
       if (data.type === 'mujoco-tuning-ready') {
         try {
+          let resolvedCustomTerrain = customTerrainBoxes;
+          let resolvedTerrainParams = terrainParams;
           if (taskId === OBSTACLE_TASK_ID && terrainPreset === 'custom_boxes') {
-            if (
-              sceneDirty ||
-              syncedScene !== JSON.stringify(sceneMaps) ||
-              !compileScene ||
-              !customTerrainBoxes
-            )
-              throw new Error('自定义地图已过时，请重新同步后打开调参');
-            const current = compileScene({
-              spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-              target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-            });
-            if (JSON.stringify(current) !== JSON.stringify(customTerrainBoxes))
-              throw new Error('碰撞场景已过时，请重新同步');
+            if (sceneDirty) throw new Error('请先应用地图草稿，再打开调参');
+            if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
+            resolvedCustomTerrain = validateCustomTerrain(compileScene());
+            resolvedTerrainParams = {
+              size: resolvedCustomTerrain.size,
+              friction: resolvedCustomTerrain.friction,
+            };
+            setCustomTerrainBoxes(resolvedCustomTerrain);
+            setTerrainParams(resolvedTerrainParams);
           }
           source.postMessage(
             {
@@ -263,10 +249,12 @@ export function LocalTrainingPanel({
                   ? {
                       taskConfig: {
                         terrainPreset,
-                        terrainParams,
+                        terrainParams: resolvedTerrainParams,
                         sensorType: 'raycast',
                         sensorCfg: { ...sensorCfg, sensorMode },
-                        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes } : {}),
+                        ...(terrainPreset === 'custom_boxes'
+                          ? { customTerrainBoxes: resolvedCustomTerrain }
+                          : {}),
                       },
                     }
                   : {}),
@@ -332,7 +320,6 @@ export function LocalTrainingPanel({
     sensorCfg,
     sensorMode,
     customTerrainBoxes,
-    syncedScene,
     sceneMaps,
     sceneDirty,
     compileScene,
@@ -387,22 +374,18 @@ export function LocalTrainingPanel({
         throw new Error('障碍物最小高度不能超过最大高度');
       if ((sensorCfg.safetyDistance ?? 0.5) >= (sensorCfg.maxDistance ?? 4))
         throw new Error('安全距离必须小于探测距离');
+      let resolvedCustomTerrain = customTerrainBoxes;
+      let resolvedTerrainParams = terrainParams;
       if (terrainPreset === 'custom_boxes') {
-        if (
-          sceneDirty ||
-          !syncedScene ||
-          syncedScene !== JSON.stringify(sceneMaps) ||
-          !compileScene ||
-          !customTerrainBoxes
-        )
-          throw new Error('自定义地图未同步或场景/坐标已更改，请重新同步');
-        validateCustomTerrain(customTerrainBoxes);
-        const current = compileScene({
-          spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-          target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-        });
-        if (JSON.stringify(current) !== JSON.stringify(customTerrainBoxes))
-          throw new Error('已编译碰撞场景已过时，请重新同步');
+        if (sceneDirty) throw new Error('请先应用地图草稿，再训练');
+        if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
+        resolvedCustomTerrain = validateCustomTerrain(compileScene());
+        resolvedTerrainParams = {
+          size: resolvedCustomTerrain.size,
+          friction: resolvedCustomTerrain.friction,
+        };
+        setCustomTerrainBoxes(resolvedCustomTerrain);
+        setTerrainParams(resolvedTerrainParams);
       }
       const next = await new LocalTrainingClient(endpoint, token).start({
         taskId,
@@ -415,8 +398,8 @@ export function LocalTrainingPanel({
         wandbMode,
         rewardPresetId: taskId === 'Unitree-Go2-Flat' ? rewardPresetId || undefined : undefined,
         ...(pretrainedSourceId ? { pretrainedSourceId } : {}),
-        ...(terrainPreset ? { terrainPreset, terrainParams } : {}),
-        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes } : {}),
+        ...(terrainPreset ? { terrainPreset, terrainParams: resolvedTerrainParams } : {}),
+        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes: resolvedCustomTerrain } : {}),
         ...(taskId === OBSTACLE_TASK_ID
           ? { sensorType: 'raycast' as const, sensorCfg: { ...sensorCfg, sensorMode } }
           : {}),
@@ -572,7 +555,6 @@ export function LocalTrainingPanel({
                   onChange={(e) => {
                     setTerrainPreset(e.target.value);
                     setCustomTerrainBoxes(undefined);
-                    setSyncedScene(undefined);
                     setTerrainParams({});
                   }}
                 >
@@ -585,47 +567,16 @@ export function LocalTrainingPanel({
                 </Select>
               </Field>
               <Button disabled={busy} onClick={syncMap}>
-                同步当前场景地图
+                检查当前场景地图（可选）
               </Button>
               <p className="text-[10px] text-text-tertiary">
-                从全部已应用实例的实际碰撞几何编译世界AABB；旋转障碍会膨胀，底板标准化为z=[-0.2,0]，出生高度标准化为0.32m。仅保证训练与浏览器使用相同boxes，不等于原OBB。mesh/hfield、地下结构、混合摩擦明确拒绝。
+                启动训练时会自动从全部已应用实例重新编译并校验世界AABB，无需预先同步。旋转障碍会膨胀，底板标准化为z=[-0.2,0]；仅保证训练与浏览器使用相同boxes，不等于原OBB。mesh/hfield、地下结构、混合摩擦明确拒绝。
               </p>
-              {terrainPreset === 'custom_boxes' && customTerrainBoxes && (
-                <>
-                  <div className="grid grid-cols-2 gap-2">
-                    {(['spawn', 'target'] as const).flatMap((key) =>
-                      [0, 1].map((i) => (
-                        <NumberField
-                          key={`${key}${i}`}
-                          label={`${key === 'spawn' ? '出生' : '目标'} ${i === 0 ? 'X' : 'Y'}`}
-                          value={customTerrainBoxes[key][i]}
-                          min={-12}
-                          max={12}
-                          step={0.1}
-                          onChange={(value) => {
-                            setSyncedScene(undefined);
-                            setCustomTerrainBoxes(
-                              (old) =>
-                                old && {
-                                  ...old,
-                                  [key]: old[key].map((v, j) => (i === j ? value : v)),
-                                },
-                            );
-                          }}
-                        />
-                      )),
-                    )}
-                  </div>
-                  <p>
-                    此处起终点仅用于固定评估和部署初始演示，训练会在同一连通自由区域内逐episode随机采样。参考点须保留0.5m圆形安全区；修改后请重新同步。
-                  </p>
-                  {syncedScene === JSON.stringify(sceneMaps) && !sceneDirty && (
-                    <p role="status">
-                      已将视口中 {customTerrainBoxes.actualObstacleCount}{' '}
-                      个自定义障碍物编译为训练地图布局
-                    </p>
-                  )}
-                </>
+              {terrainPreset === 'custom_boxes' && customTerrainBoxes && !sceneDirty && (
+                <p role="status">
+                  已读取视口中 {customTerrainBoxes.actualObstacleCount}{' '}
+                  个自定义障碍物；启动训练时会自动重新编译并校验地图
+                </p>
               )}
               {terrainPreset && terrainPreset !== 'custom_boxes' && (
                 <div className="grid grid-cols-2 gap-2">