292 lines
13 KiB
TypeScript
292 lines
13 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { readFileSync } from 'node:fs';
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import { resolve } from 'node:path';
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const fixture = JSON.parse(
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readFileSync(resolve('web_platform/src/rl/fixtures/obstacleDeployment.json'), 'utf8'),
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);
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// Original Go2 collision/inertia model, visual meshes omitted to keep the smoke fixture lightweight.
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const go2 = readFileSync(
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resolve('training_server/rl/src/assets/robots/unitree_go2/xmls/go2.xml'),
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'utf8',
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)
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.replace(/<mesh\b[^>]*\/>/g, '')
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.replace(/<geom\b[^>]*\bmesh="[^"]*"[^>]*\/>/g, '');
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const model = readFileSync(
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process.env.GO2_SMOKE_POLICY ?? resolve('web_platform/fixtures/obstacle/zero-action.onnx'),
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);
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test('训练作业一键导入：真实WASM地图+81维ORT+PiP+射线开关', async ({ page }) => {
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await page.addInitScript(() => {
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localStorage.setItem('mujoco-local-training-job-id', 'a'.repeat(32));
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sessionStorage.setItem('mujoco-local-training-token', 'test');
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});
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const job = {
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id: 'a'.repeat(32),
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taskId: 'Unitree-Go2-ObstacleAvoidance',
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state: 'succeeded',
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artifactReady: true,
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progress: 1,
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iteration: 1,
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maxIterations: 1,
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logs: [
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'Learning iteration 0 / 1',
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'Mean value loss: 0.9',
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'Mean surrogate loss: -0.1',
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'Mean entropy loss: -1',
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'Mean reward: 2',
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'Mean episode length: 20',
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'Learning iteration 1 / 1',
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'Mean value loss: 0.5',
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'Mean surrogate loss: -0.2',
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'Mean entropy loss: -0.8',
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'Mean reward: 3',
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'Mean episode length: 30',
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],
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message: '测试专用零动作策略',
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deployment: fixture,
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};
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await page.route('http://127.0.0.1:8765/**', (route) => {
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const url = route.request().url();
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if (url.endsWith('/policy.onnx'))
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return route.fulfill({ contentType: 'application/octet-stream', body: model });
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if (url.endsWith('/health'))
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return route.fulfill({
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json: { ready: true, trainerRoot: '/test', tasks: [job.taskId], activeJobId: job.id },
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});
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if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
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return route.fulfill({ json: job });
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});
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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await tools.getByRole('button', { name: /强化学习任务/ }).click();
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await tools.getByRole('button', { name: '连接', exact: true }).click();
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await expect(tools.getByRole('button', { name: '导入策略' })).toBeEnabled();
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await tools.getByRole('button', { name: '导入策略' }).click();
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await expect(page.getByText('训练配套物理地图', { exact: false })).toBeVisible({
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timeout: 30_000,
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});
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await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
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const rays = page.getByRole('checkbox', { name: '显示避障射线' });
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await expect(rays).toBeChecked();
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await rays.uncheck();
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await rays.check();
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const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
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if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
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await expect(tools.getByText('81 / 12')).toBeVisible();
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await expect(tools.getByText('Go2 前视射线避障导航', { exact: true })).toBeVisible();
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const count = tools.getByText('推理次数', { exact: true }).locator('..');
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await expect
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.poll(async () => Number((await count.textContent())?.replace(/\D/g, '')))
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.toBeGreaterThan(0);
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const pause = page.getByRole('button', { name: '⏸ 暂停' });
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if (await pause.isVisible()) await pause.click();
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const stop = tools.getByRole('button', { name: '停止', exact: true });
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if (await stop.isVisible()) await stop.click();
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const targetRow = tools.getByText('当前目标 (X, Y)', { exact: true }).locator('..');
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const initialTarget = await targetRow.textContent();
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const selection = () => page.locator('[aria-selected="true"]').allTextContents();
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const beforeSelection = await selection();
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await tools.getByRole('button', { name: '设定目标', exact: true }).click();
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await page.keyboard.press('Escape');
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await expect(tools.getByRole('button', { name: '设定目标', exact: true })).toHaveAttribute(
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'aria-pressed',
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'false',
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);
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await expect(targetRow).toHaveText(initialTarget!);
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await tools.getByRole('button', { name: '设定目标', exact: true }).click();
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const canvas = page.locator('.viewport-shell canvas').first();
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const bounds = (await canvas.boundingBox())!;
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await canvas.click({ position: { x: bounds.width * 0.5, y: bounds.height * 0.55 } });
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await expect(targetRow).not.toHaveText(initialTarget!);
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await expect(tools.getByRole('button', { name: '设定目标', exact: true })).toHaveAttribute(
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'aria-pressed',
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'false',
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);
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expect(await selection()).toEqual(beforeSelection);
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await expect(tools.getByRole('button', { name: '启用', exact: true })).toBeVisible();
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await tools.getByRole('button', { name: '复位目标点' }).click();
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await expect(targetRow).toHaveText(initialTarget!);
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await tools.getByRole('button', { name: '设定目标', exact: true }).click();
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await tools.getByRole('button', { name: '卸载', exact: true }).click();
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await expect(targetRow).toHaveCount(0);
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await expect(tools.locator('.uplot')).toHaveCount(0);
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await tools.getByRole('button', { name: /训练指标趋势/ }).click();
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await expect(tools.locator('.uplot canvas')).toHaveCount(1);
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await tools.getByRole('tab', { name: '综合', exact: true }).click();
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await expect(tools.locator('.uplot canvas')).toHaveCount(5);
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await tools.getByRole('button', { name: /训练指标趋势/ }).click();
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await expect(tools.locator('.uplot')).toHaveCount(0);
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});
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test('下载metadata与作业不匹配时拒绝，未更换地图或启用策略', async ({ page }) => {
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await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
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const job = {
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id: 'b'.repeat(32),
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taskId: fixture.taskId,
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state: 'succeeded',
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artifactReady: true,
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progress: 1,
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iteration: 1,
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maxIterations: 1,
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logs: [],
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message: '',
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deployment: { ...fixture, sensorCfg: { ...fixture.sensorCfg, fov: 60 } },
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};
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await page.route('http://127.0.0.1:8765/**', (route) => {
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const url = route.request().url();
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if (url.endsWith('/policy.onnx'))
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return route.fulfill({ contentType: 'application/octet-stream', body: model });
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if (url.endsWith('/health'))
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return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
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if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
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return route.fulfill({ json: job });
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});
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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await tools.getByRole('button', { name: /强化学习任务/ }).click();
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await tools.getByRole('button', { name: '连接', exact: true }).click();
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await tools.getByRole('button', { name: '导入策略' }).click();
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await expect(page.getByText('下载的策略与训练作业部署配置不一致').first()).toBeVisible();
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await expect(page.getByText('训练配套物理地图', { exact: false })).toHaveCount(0);
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await expect(page.getByLabel('摄像头画面', { exact: true })).toHaveCount(0);
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});
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for (const failure of ['wrong-graph', 'ort-init-failure']) {
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test(`事务导入${failure}时保留旧地图、策略和暂停状态`, async ({ page }) => {
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await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
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let bytes = model;
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const job = {
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id: 'c'.repeat(32),
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taskId: fixture.taskId,
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state: 'succeeded',
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artifactReady: true,
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progress: 1,
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iteration: 1,
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maxIterations: 1,
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logs: [],
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message: '',
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deployment: fixture,
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};
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await page.route('http://127.0.0.1:8765/**', (route) => {
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const url = route.request().url();
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if (url.endsWith('/policy.onnx'))
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return route.fulfill({ contentType: 'application/octet-stream', body: bytes });
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if (url.endsWith('/health'))
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return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
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if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
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return route.fulfill({ json: job });
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});
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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await tools.getByRole('button', { name: /强化学习任务/ }).click();
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await tools.getByRole('button', { name: '连接', exact: true }).click();
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await tools.getByRole('button', { name: '导入策略' }).click();
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await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
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const pause = page.getByRole('button', { name: '⏸ 暂停' });
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if (await pause.isVisible()) await pause.click();
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const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
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if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
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await expect(tools.getByText('81 / 12')).toBeVisible();
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const inference = tools.getByText('推理次数', { exact: true }).locator('..');
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// Stop policy as well to invalidate any pending inference, leaving a stable baseline.
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const stop = tools.getByRole('button', { name: '停止', exact: true });
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if (await stop.isVisible()) await stop.click();
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const before = await inference.textContent();
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bytes = readFileSync(resolve(`web_platform/fixtures/obstacle/${failure}.onnx`));
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await tools.getByRole('button', { name: '导入策略' }).click();
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await expect(tools.getByRole('alert')).toContainText(
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failure === 'wrong-graph' ? '维度' : 'MissingOperatorForTransactionTest',
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);
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await expect(tools.getByText('81 / 12')).toBeVisible();
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await expect(inference).toHaveText(before!);
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await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
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await expect(page.getByText('训练配套物理地图', { exact: false })).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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});
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}
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test('新server默认Flat作业兼容旧无metadata47维ONNX，错误graph拒绝且保留策略', async ({ page }) => {
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await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
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const flat = {
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...fixture,
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taskId: 'Unitree-Go2-Flat',
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observationSize: 47,
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observationTerms: fixture.observationTerms.slice(0, 7),
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terrain: undefined,
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terrainPreset: undefined,
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terrainParams: undefined,
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sensorCfg: undefined,
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navigation: undefined,
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};
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let bytes = readFileSync(resolve('web_platform/fixtures/obstacle/legacy-flat.onnx'));
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const job = {
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id: 'd'.repeat(32),
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taskId: flat.taskId,
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state: 'succeeded',
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artifactReady: true,
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progress: 1,
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iteration: 1,
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maxIterations: 1,
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logs: [],
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message: '',
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deployment: flat,
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};
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await page.route('http://127.0.0.1:8765/**', (route) => {
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const url = route.request().url();
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if (url.endsWith('/policy.onnx'))
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return route.fulfill({ contentType: 'application/octet-stream', body: bytes });
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if (url.endsWith('/health'))
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return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
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if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
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return route.fulfill({ json: job });
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});
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const actuators =
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'<actuator>' +
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fixture.jointNames
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.map((name: string) => `<motor name="${name}_motor" joint="${name}"/>`)
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.join('') +
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'</actuator>';
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({
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name: 'go2.xml',
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mimeType: 'text/xml',
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buffer: Buffer.from(go2.replace('</mujoco>', actuators + '</mujoco>')),
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});
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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await tools.getByRole('button', { name: /强化学习任务/ }).click();
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await tools.getByRole('button', { name: '连接', exact: true }).click();
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await tools.getByRole('button', { name: '导入策略' }).click();
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const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
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if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
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await expect(tools.getByText('47 / 12')).toBeVisible();
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bytes = readFileSync(resolve('web_platform/fixtures/obstacle/legacy-wrong-shape.onnx'));
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await tools.getByRole('button', { name: '导入策略' }).click();
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await expect(tools.getByRole('alert')).toContainText('维度');
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await expect(tools.getByText('47 / 12')).toBeVisible();
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await expect(page.getByText('训练配套物理地图', { exact: false })).toHaveCount(0);
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});
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