78 lines
2.9 KiB
Python
78 lines
2.9 KiB
Python
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#!/usr/bin/env python3
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"""启动 Isaac Sim 后验证全部 Gen2 Task 注册和 Train/Play 契约。"""
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from __future__ import annotations
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import importlib
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import sys
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from pathlib import Path
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REPO_ROOT = Path(__file__).resolve().parents[1]
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SOURCE_ROOT = REPO_ROOT / "source"
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if str(SOURCE_ROOT) not in sys.path:
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sys.path.insert(0, str(SOURCE_ROOT))
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from isaaclab.app import AppLauncher
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# Isaac Lab 配置模块依赖 pxr，必须先启动 App，再导入 engineai_lab.tasks。
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app_launcher = AppLauncher(headless=True)
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simulation_app = app_launcher.app
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def _load_class(entry_point: str):
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module_name, class_name = entry_point.rsplit(":", 1)
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return getattr(importlib.import_module(module_name), class_name)
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def main() -> None:
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import gymnasium as gym
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import engineai_lab.tasks # noqa: F401
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from engineai_lab.tasks.velocity.config.gen2.agents.rsl_rl_ppo_cfg import (
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Gen2FastPPORunnerCfg as LegacyFastRunnerCfg,
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)
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from engineai_lab.tasks.velocity.config.gen2.agents.fast_ppo_cfg import Gen2FastPPORunnerCfg
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from engineai_lab.tasks.velocity.config.gen2.flat_env_cfg import Gen2FastEnvCfg as LegacyFastEnvCfg
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from engineai_lab.tasks.velocity.config.gen2.registry import GEN2_TASK_SPECS
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from engineai_lab.tasks.velocity.config.gen2.stages.fast import Gen2FastEnvCfg
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# 旧模块现在是兼容层；类对象必须与新阶段模块完全相同。
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assert LegacyFastEnvCfg is Gen2FastEnvCfg
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assert LegacyFastRunnerCfg is Gen2FastPPORunnerCfg
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configs = {}
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for task_id, _, _ in GEN2_TASK_SPECS:
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spec = gym.spec(task_id)
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env_cfg_cls = _load_class(spec.kwargs["env_cfg_entry_point"])
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runner_cfg_cls = _load_class(spec.kwargs["rsl_rl_cfg_entry_point"])
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env_cfg = env_cfg_cls()
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runner_cfg = runner_cfg_cls()
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configs[task_id] = env_cfg
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assert runner_cfg.experiment_name == "velocity_flat_terrain_gen2"
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assert len(env_cfg.actions.joint_pos.joint_names) == 28
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assert env_cfg.observations.policy.joint_pos.history_length == 15
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print(f"OK {task_id}: {env_cfg_cls.__module__}.{env_cfg_cls.__name__}", flush=True)
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train_play_pairs = (
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("Flat-Gen2-v0", "Flat-Gen2-Play-v0"),
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("Flat-Gen2-Speed-v0", "Flat-Gen2-Speed-Play-v0"),
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("Flat-Gen2-Natural-v0", "Flat-Gen2-Natural-Play-v0"),
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("Flat-Gen2-Fast-v0", "Flat-Gen2-Fast-Play-v0"),
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("Flat-Gen2-Sprint-v0", "Flat-Gen2-Sprint-Play-v0"),
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("Flat-Gen2-NaturalRun-v0", "Flat-Gen2-NaturalRun-Play-v0"),
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)
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for train_id, play_id in train_play_pairs:
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train_cfg = configs[train_id]
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play_cfg = configs[play_id]
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assert train_cfg.actions.joint_pos.joint_names == play_cfg.actions.joint_pos.joint_names
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assert train_cfg.actions.joint_pos.scale == play_cfg.actions.joint_pos.scale
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print(f"RESULT=PASS tasks={len(configs)} train_play_pairs={len(train_play_pairs)}", flush=True)
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if __name__ == "__main__":
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main()
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