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