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