210 lines
8.6 KiB
TypeScript
210 lines
8.6 KiB
TypeScript
import { expect, test } from '@playwright/test';
|
|
import { readFileSync, writeFileSync } from 'node:fs';
|
|
import { resolve } from 'node:path';
|
|
|
|
// Opt-in real source-derived actor, not a constant fixture. Run against the Vite dev server.
|
|
const policyPath = process.env.GO2_PRETRAINED_NAV_POLICY;
|
|
test('真实warm-start策略连续行走超过20秒并换目标，不重载策略或自动启用', async ({
|
|
page,
|
|
}, testInfo) => {
|
|
test.skip(
|
|
!policyPath,
|
|
'设置GO2_PRETRAINED_NAV_POLICY为真实47→81/97 warm-start导出，并运行Vite dev :4173',
|
|
);
|
|
const xml = readFileSync(
|
|
resolve('training_server/rl/src/assets/robots/unitree_go2/xmls/go2.xml'),
|
|
'utf8',
|
|
)
|
|
.replace(/<mesh\b[^>]*\/>/g, '')
|
|
.replace(/<geom\b[^>]*\bmesh="[^"]*"[^>]*\/>/g, '');
|
|
const policy = Array.from(readFileSync(policyPath!));
|
|
await page.goto(process.env.GO2_PRETRAINED_DEV_URL ?? 'http://127.0.0.1:4174');
|
|
const result = await page.evaluate(
|
|
async ({ xml, policy }) => {
|
|
const adapterPath = '/src/simulation/PhysicsAdapter.ts';
|
|
const deploymentPath = '/src/rl/deployment.ts';
|
|
const navigationPath = '/src/rl/tasks/go2ObstacleAvoidance.ts';
|
|
const { MainThreadPhysicsAdapter } = (await import(
|
|
adapterPath
|
|
)) as typeof import('../src/simulation/PhysicsAdapter');
|
|
const { readPolicyDeployment } = (await import(
|
|
deploymentPath
|
|
)) as typeof import('../src/rl/deployment');
|
|
const { obstacleNavigation } = (await import(
|
|
navigationPath
|
|
)) as typeof import('../src/rl/tasks/go2ObstacleAvoidance');
|
|
const bytes = new Uint8Array(policy),
|
|
data = new TextEncoder().encode(xml);
|
|
const deployment = readPolicyDeployment(bytes)!;
|
|
const adapter = new MainThreadPhysicsAdapter();
|
|
try {
|
|
await adapter.load(
|
|
{
|
|
id: 'real-pretrained',
|
|
name: 'go2',
|
|
files: [
|
|
{ path: 'go2.xml', data, size: data.length, source: 'file', mimeType: 'text/xml' },
|
|
],
|
|
entries: [{ path: 'go2.xml', format: 'mjcf', label: 'Go2' }],
|
|
maps: [],
|
|
totalBytes: data.length,
|
|
},
|
|
'go2.xml',
|
|
{
|
|
trainingDeployment: deployment,
|
|
trainingPolicy: { data: bytes, path: 'user-warmstart.onnx' },
|
|
},
|
|
);
|
|
const session = adapter.session!;
|
|
const originalPolicy = (session as unknown as { rlPolicy: object }).rlPolicy;
|
|
const initial = adapter.snapshot()!;
|
|
const samples: {
|
|
time: number;
|
|
x: number;
|
|
y: number;
|
|
z: number;
|
|
enabled?: boolean;
|
|
error?: string;
|
|
}[] = [];
|
|
const run = async (seconds: number) => {
|
|
const target = Number(session.data.time) + seconds;
|
|
while (Number(session.data.time) < target) {
|
|
for (let i = 0; i < 10; i++) adapter.singleStep();
|
|
await new Promise((resolve) => setTimeout(resolve, 0));
|
|
if (!adapter.snapshot()?.rlPolicy?.enabled) break;
|
|
}
|
|
const s = adapter.snapshot()!;
|
|
samples.push({
|
|
time: s.time,
|
|
x: s.qpos[0],
|
|
y: s.qpos[1],
|
|
z: s.qpos[2],
|
|
enabled: s.rlPolicy?.enabled,
|
|
error: s.rlPolicy?.error,
|
|
});
|
|
return s;
|
|
};
|
|
const before = await run(21);
|
|
const navBefore = obstacleNavigation(
|
|
before.qpos.slice(0, 3),
|
|
before.qpos.slice(3, 7),
|
|
before.rlPolicy!.navigation!.target,
|
|
deployment.terrain!.size,
|
|
deployment.navigation?.speed,
|
|
);
|
|
// Nearby diagonal target exercises both heading and velocity command; no pose teleport.
|
|
adapter.setNavigationTarget([before.qpos[0] - 2, before.qpos[1] + 2]);
|
|
const changed = adapter.snapshot()!;
|
|
const navChanged = obstacleNavigation(
|
|
changed.qpos.slice(0, 3),
|
|
changed.qpos.slice(3, 7),
|
|
changed.rlPolicy!.navigation!.target,
|
|
deployment.terrain!.size,
|
|
deployment.navigation?.speed,
|
|
);
|
|
const after = await run(4);
|
|
adapter.setRLPolicyEnabled(false);
|
|
adapter.setNavigationTarget([0, 0]);
|
|
const disabled = adapter.snapshot()!;
|
|
return {
|
|
initial: { time: initial.time, qpos: initial.qpos },
|
|
before: {
|
|
time: before.time,
|
|
qpos: before.qpos,
|
|
ctrl: before.ctrl,
|
|
status: before.rlPolicy,
|
|
},
|
|
after: { time: after.time, qpos: after.qpos, ctrl: after.ctrl, status: after.rlPolicy },
|
|
samples,
|
|
navBefore,
|
|
navChanged,
|
|
sameSession: adapter.session === session,
|
|
samePolicy: (session as unknown as { rlPolicy: object }).rlPolicy === originalPolicy,
|
|
heldControlUnchangedOnTarget: changed.ctrl.every((v, i) => v === before.ctrl[i]),
|
|
countBeforeTarget: before.rlPolicy!.inferenceCount,
|
|
countAfterTarget: changed.rlPolicy!.inferenceCount,
|
|
disabledAfterNewTarget: !disabled.rlPolicy!.enabled,
|
|
};
|
|
} finally {
|
|
adapter.dispose();
|
|
}
|
|
},
|
|
{ xml, policy },
|
|
);
|
|
const evidence = testInfo.outputPath('real-navigation-measurements.json');
|
|
writeFileSync(evidence, JSON.stringify(result, null, 2));
|
|
await testInfo.attach('real-navigation-measurements.json', {
|
|
path: evidence,
|
|
contentType: 'application/json',
|
|
});
|
|
expect(result.before.time).toBeGreaterThan(20);
|
|
expect(result.before.status?.enabled).toBe(true);
|
|
expect(result.after.status?.enabled).toBe(true);
|
|
expect(
|
|
Math.hypot(
|
|
result.before.qpos[0] - result.initial.qpos[0],
|
|
result.before.qpos[1] - result.initial.qpos[1],
|
|
),
|
|
).toBeGreaterThan(0.5);
|
|
expect(result.navChanged.command).not.toEqual(result.navBefore.command);
|
|
expect(result.navChanged.targetError).not.toEqual(result.navBefore.targetError);
|
|
expect(result.after.ctrl).not.toEqual(result.before.ctrl);
|
|
expect(result.after.status!.navigation!.distance).toBeLessThan(2 * Math.SQRT2);
|
|
expect(result.countAfterTarget).toBe(result.countBeforeTarget);
|
|
expect(result.after.status!.inferenceCount).toBeGreaterThan(result.countBeforeTarget);
|
|
expect(result.sameSession).toBe(true);
|
|
expect(result.samePolicy).toBe(true);
|
|
expect(result.heldControlUnchangedOnTarget).toBe(true);
|
|
expect(result.disabledAfterNewTarget).toBe(true);
|
|
});
|
|
|
|
test('用户原始47维ONNX通过普通Flat面板加载，不新增点击导航模式', async ({ page }) => {
|
|
const source = process.env.GO2_PRETRAINED_FLAT_POLICY;
|
|
const robotXml = process.env.GO2_PRETRAINED_FLAT_XML;
|
|
test.skip(!source || !robotXml, '设置原始47维ONNX与同源带actuator的机器人XML路径');
|
|
const xml = readFileSync(robotXml!, 'utf8')
|
|
.replace(/<mesh\b[^>]*\/>/g, '')
|
|
.replace(/<geom\b[^>]*\bmesh="[^"]*"[^>]*\/>/g, '');
|
|
await page.goto(process.env.GO2_PRETRAINED_DEV_URL ?? 'http://127.0.0.1:4174');
|
|
await page
|
|
.locator('input[type="file"]')
|
|
.first()
|
|
.setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(xml) });
|
|
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
|
await page.getByRole('tab', { name: '控制台' }).click();
|
|
const tools = page.getByRole('tabpanel', { name: '控制台' });
|
|
const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
|
|
if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
|
|
const chooser = page.waitForEvent('filechooser');
|
|
await tools.getByRole('button', { name: '导入 ONNX' }).click();
|
|
await (await chooser).setFiles(source!);
|
|
await expect
|
|
.poll(
|
|
async () =>
|
|
(await tools.getByText('47 / 12').count()) +
|
|
(await page.getByRole('button', { name: '技术详情', exact: true }).count()),
|
|
)
|
|
.toBeGreaterThan(0);
|
|
const details = page.getByRole('button', { name: '技术详情', exact: true });
|
|
if (await details.isVisible()) {
|
|
await details.click();
|
|
throw new Error((await page.getByRole('alert').allTextContents()).join('\n'));
|
|
}
|
|
await expect(tools.getByText('47 / 12')).toBeVisible({ timeout: 30_000 });
|
|
const enable = tools.getByRole('button', { name: '启用', exact: true });
|
|
if (await enable.isVisible()) await enable.click();
|
|
const play = page.getByRole('button', { name: '▶ 播放', exact: true });
|
|
if (await play.isVisible()) await play.click();
|
|
await expect
|
|
.poll(async () =>
|
|
Number(
|
|
(await tools.getByText('推理次数', { exact: true }).locator('..').textContent())?.replace(
|
|
/\D/g,
|
|
'',
|
|
),
|
|
),
|
|
)
|
|
.toBeGreaterThan(2);
|
|
await expect(tools.getByRole('button', { name: '设定目标', exact: true })).toHaveCount(0);
|
|
});
|