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76 lines
2.8 KiB
Python
76 lines
2.8 KiB
Python
"""Deterministic native-math oracle, consumed by Vitest. Run from repository root."""
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import json
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from pathlib import Path
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import numpy as np
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from training_server.mobile_manipulator.kernel import ROBOTS, TASK, TaskKernel, decode_action
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from training_server.mobile_manipulator.motion import SafeActionController
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def generate():
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rng = np.random.default_rng(2026)
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cases = []
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for config in ROBOTS:
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kernel = TaskKernel(config)
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for i in range(20):
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s = rng.uniform(-2, 2, TASK["stateSize"])
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for start in [3, 33, 40, 50]:
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q = rng.normal(size=4)
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s[start : start + 4] = q / np.linalg.norm(q)
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s[29] = rng.uniform(0, 1)
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action = rng.uniform(-1.5, 1.5, TASK["actionSize"]).astype(np.float32)
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kernel.reset()
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kernel.has_lifted = bool(i % 2)
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obs, reward, terminated, truncated, info = kernel.evaluate(s)
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cases.append(
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{
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"robotId": config["id"],
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"state": s.tolist(),
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"action": action.tolist(),
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"lifted": bool(i % 2),
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"observation": obs.tolist(),
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"control": decode_action(config, action).tolist(),
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"reward": reward,
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"terminated": terminated,
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"truncated": truncated,
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"info": info,
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}
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)
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target = Path(__file__).resolve().parents[2] / "contracts/fixtures/mobile-golden.json"
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target.write_text(json.dumps(cases, indent=2) + "\n")
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motion_cases = []
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for config in ROBOTS:
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for stage in ("navigate", "reach", "pick-place"):
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s = np.zeros(TASK["stateSize"])
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s[[3, 33, 40, 50]] = 1
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s[37:40] = [*TASK["navigationOffset"][:2], TASK["objectStart"][2]]
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s[29] = 1
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for i, joint in enumerate(config["armJoints"]):
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s[13 + i] = joint["neutral"]
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motion = SafeActionController(config)
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motion.reset(s)
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frames = []
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for _ in range(12):
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action = rng.uniform(-2, 2, TASK["actionSize"]).astype(np.float32)
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motion.apply(action, s, stage, False)
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frames.append(
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dict(
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action=action.tolist(),
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control=motion.control.tolist(),
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applied=motion.applied.tolist(),
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targets=motion.targets.tolist(),
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)
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)
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motion_cases.append(
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dict(robotId=config["id"], stage=stage, state=s.tolist(), frames=frames)
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)
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target.with_name("mobile-motion-v2-golden.json").write_text(
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json.dumps(motion_cases, indent=2) + "\n"
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)
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if __name__ == "__main__":
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generate()
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