refactor(web-platform): release V0.6 精简代码

web_platform/src/simulation/PhysicsAdapter.ts

@@ -0,0 +1,120 @@
+import loadMujoco, {type MainModule} from '@mujoco/mujoco';
+import type {ProjectFile,ProjectManifest} from '../project/types';
+import {prepareProjectForMujoco} from '../project/importer';
+import {enhanceConvertedMjcf,groundConvertedMjcf,type UrdfBaseMode,type UrdfEnhancementOptions} from '../project/urdfToMjcf';
+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};
+
+export interface PhysicsAdapter {
+  load(manifest:ProjectManifest,entryPath:string,urdfMode?:UrdfLoadMode,baseMode?:UrdfBaseMode,enhancements?:UrdfEnhancementOptions):Promise<SimulationSnapshot>;
+  advance(now: number): FrameResult;
+  snapshot(): SimulationSnapshot | null;
+  setPaused(paused: boolean): void;
+  setSpeed(speed: number): void;
+  reset(): void;
+  singleStep(): void;
+  setActuator(id: number, value: number): void;
+  setActuatorParameters(id:number,parameters:ActuatorParameters):boolean;
+  setJointPosition(id:number,value:number):boolean;
+  resetJoints():void;
+  setIgnoreJointLimits(ignore:boolean):void;
+  setExternalForce(bodyId: number, force: [number, number, number]): void;
+  clearExternalForce(): void;
+  loadPythonController(source:string,path:string):Promise<ControllerStatus>;
+  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;
+}
+
+let modulePromise: Promise<MainModule> | undefined;
+export function getMujocoModule(): Promise<MainModule> {
+  if (!modulePromise) {
+    console.info('[MuJoCo] 开始初始化单线程 WASM');
+    modulePromise = loadMujoco().then((module) => {
+      console.info('[MuJoCo] WASM 初始化完成');
+      return module;
+    });
+  }
+  return modulePromise;
+}
+
+export class MainThreadPhysicsAdapter implements PhysicsAdapter {
+  session: SimulationSession | null = null;
+  workspace: MemfsWorkspace | null = null;
+  private supportFiles:ProjectFile[]=[];
+
+  async load(manifest:ProjectManifest,entryPath:string,urdfMode:UrdfLoadMode='mjcf',baseMode:UrdfBaseMode='floating',enhancements:UrdfEnhancementOptions={addActuators:false,addSensors:false,sensorType:'camera'}):Promise<SimulationSnapshot> {
+    this.releaseCurrent();const module=await getMujocoModule();const workspace=new MemfsWorkspace(module,manifest.id);const prepared=prepareProjectForMujoco(manifest,entryPath);
+    this.supportFiles=prepared.manifest.files.filter(file=>!manifest.files.some(original=>original.path===file.path));
+    try{
+      console.info('[MuJoCo] 写入 MEMFS',prepared.manifest.files.length);workspace.mount(prepared.manifest);
+      const entry=prepared.manifest.entries.find(candidate=>candidate.path===entryPath);let modelPath=workspace.path(entryPath);const warnings=[...prepared.warnings];
+      if(entry?.format==='urdf'&&urdfMode==='mjcf'){
+        console.info('[MuJoCo] 编译 URDF 中间模型',entryPath);const intermediate=new SimulationSession(module,modelPath);
+        try{
+          const minimumZ=intermediate.minimumGeometryZ();const slash=entryPath.lastIndexOf('/');const directory=slash>=0?entryPath.slice(0,slash+1):'';const convertedPath=`${directory}.__mujoco_converted_${manifest.id.replace(/[^a-zA-Z0-9_-]/g,'_')}.xml`;
+          if(module.mj_saveLastXML(workspace.path(convertedPath),intermediate.model)===0)throw new Error('MuJoCo 无法导出中间 MJCF');
+          const grounded=groundConvertedMjcf(new TextEncoder().encode(workspace.readText(convertedPath)),minimumZ,baseMode);
+          const enhanced=enhanceConvertedMjcf(grounded,enhancements);
+          workspace.writeGenerated(convertedPath,enhanced.data);modelPath=workspace.path(convertedPath);
+          warnings.push(`URDF 已转换为 MJCF（${baseMode==='floating'?'浮动基座':'固定基座'}），并整体平移 ${(-minimumZ).toFixed(4)} m，使最低点接触 z=0 地面`);
+          if(enhanced.actuatorCount)warnings.push(`已为 ${enhanced.actuatorCount} 个 hinge/slide 关节生成 motor 驱动器（控制输入不限幅；hinge 输出单位 N·m，slide 输出单位 N）`);
+          if(enhanced.unitreeGo2wTuned)warnings.unshift('已识别 Unitree Go2-W，并补齐官方 MuJoCo 关节惯量/阻尼、力矩限幅和轮胎接触参数');
+          if(enhanced.imuAdded)warnings.unshift('已在浮动基座添加6轴 IMU：imu_gyro（三轴角速度）和 imu_acc（三轴加速度）');
+          if(enhanced.cameraAdded)warnings.push(`已将 640×480 摄像头固连到 ${enhancements.cameraMountBody||'自动选择的头部/末端 body'}，局部位置 ${(enhancements.cameraPosition??[.1,0,.05]).join(' ')} m，朝向 ${enhancements.cameraDirection??'+X'}`);
+        }finally{intermediate.dispose();}
+      }
+      console.info('[MuJoCo] 编译模型',modelPath);const session=new SimulationSession(module,modelPath,warnings);
+      if(entry?.format==='urdf'&&urdfMode==='native'){const offset=session.alignLowestPointToGround();warnings.push(`原生 URDF 已整体平移 ${offset.toFixed(4)} m，使最低点位于 z=0`);}
+      if(warnings.length)console.info('[MuJoCo] URDF 兼容处理',warnings);
+      console.info('[MuJoCo] 模型编译完成');this.workspace=workspace;this.session=session;const snapshot=session.snapshot();console.info('[MuJoCo] 状态快照完成');return snapshot;
+    }catch(error){workspace.dispose();throw new Error(`模型编译失败（${entryPath}）：${error instanceof Error?error.message:String(error)}`,{cause:error});}
+  }
+  advance(now:number):FrameResult{return this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false};}
+  snapshot():SimulationSnapshot|null{return this.session?.snapshot()??null;}
+  setPaused(value:boolean):void{this.session?.setPaused(value);}
+  setSpeed(value:number):void{this.session?.setSpeed(value);}
+  reset():void{this.session?.reset();}
+  singleStep():void{this.session?.singleStep();}
+  setActuator(id:number,value:number):void{this.session?.setActuator(id,value);}
+  setActuatorParameters(id:number,parameters:ActuatorParameters):boolean{return this.session?.setActuatorParameters(id,parameters)??false;}
+  setJointPosition(id:number,value:number):boolean{return this.session?.setJointPosition(id,value)??false;}
+  resetJoints():void {this.session?.resetJoints();}
+  setIgnoreJointLimits(ignore:boolean):void {this.session?.setIgnoreJointLimits(ignore);}
+  setExternalForce(bodyId:number,force:[number,number,number]):void{this.session?.setExternalForce(bodyId,force);}
+  clearExternalForce():void{this.session?.clearExternalForce();}
+  async loadPythonController(source:string,path:string):Promise<ControllerStatus>{if(!this.session)throw new Error('请先加载模型');return this.session.loadPythonController(source,path);}
+  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');
+    const relative='.__platform_export__.xml';
+    if(this.session.module.mj_saveLastXML(this.workspace.path(relative),this.session.model)===0)throw new Error('MuJoCo 无法生成 MJCF');
+    const source=this.workspace.readText(relative),document=new DOMParser().parseFromString(source,'application/xml'),actuatorSection=document.querySelector('mujoco > actuator');
+    if(document.querySelector('parsererror'))return new TextEncoder().encode(source);
+    const snapshot=this.session.snapshot();
+    if(actuatorSection){for(const info of snapshot.actuators){const element=Array.from(actuatorSection.children).find(candidate=>candidate.getAttribute('name')===info.name);if(!element)continue;element.setAttribute('ctrllimited',info.ctrlLimited?'true':'false');element.setAttribute('forcelimited',info.forceLimited?'true':'false');}}
+    for(const info of snapshot.actuators){if(info.kind!=='motor'||!info.jointName)continue;const joint=Array.from(document.querySelectorAll('worldbody joint[name]')).find(candidate=>candidate.getAttribute('name')===info.jointName);if(joint){joint.setAttribute('stiffness',String(info.kp));joint.setAttribute('damping',String(info.kv));}}
+    const output=new TextEncoder().encode(new XMLSerializer().serializeToString(document));this.workspace.writeGenerated(relative,output);return output;
+  }
+  private releaseCurrent():void{this.session?.dispose(); this.session=null; this.workspace?.dispose(); this.workspace=null;this.supportFiles=[];}
+  dispose():void{this.releaseCurrent();}
+}