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Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
95 lines
3.6 KiB
Python
95 lines
3.6 KiB
Python
# Copyright (c) 2025 Deep Robotics
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# SPDX-License-Identifier: BSD 3-Clause
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"""按正则列表解析名字，与 IsaacLab 的 ``resolve_matching_names`` 语义一致，
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但**匹配不到不抛异常**。
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IsaacLab 的实现用 ``re.fullmatch`` 逐个比对，并且：某个名字同时命中多个正则会报错，
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某个正则一个都没命中也报错。对环境配置来说这种严格是有用的（写错了应该立刻发现），
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但评价代码不该因为「这个机器人没有轮子」就崩掉——那时正确行为是跳过依赖轮子的指标。
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这个模块是纯逻辑，不依赖 isaaclab，因此可以单独测试。
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"""
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from __future__ import annotations
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import re
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from typing import Sequence
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class NameResolution:
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"""一次名字解析的结果。"""
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__slots__ = ("indices", "names", "unmatched_patterns", "ambiguous_names")
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def __init__(
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self,
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indices: list[int],
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names: list[str],
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unmatched_patterns: list[str],
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ambiguous_names: list[tuple[str, list[str]]],
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) -> None:
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self.indices = indices
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self.names = names
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#: 一个都没命中的正则。
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self.unmatched_patterns = unmatched_patterns
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#: 同时命中多个正则的名字，以及命中的正则。
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self.ambiguous_names = ambiguous_names
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def __bool__(self) -> bool:
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return bool(self.indices)
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def __len__(self) -> int:
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return len(self.indices)
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def __repr__(self) -> str:
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return (
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f"NameResolution({len(self.indices)} 项, "
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f"未命中={self.unmatched_patterns}, 多重命中={self.ambiguous_names})"
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)
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def resolve_matching_indices(patterns: Sequence[str], names: Sequence[str]) -> NameResolution:
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"""把正则列表解析成 ``names`` 中的下标。
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行为与 IsaacLab 的 ``resolve_matching_names`` 一致之处：用 ``re.fullmatch``；
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返回顺序遵循 ``patterns`` 的顺序。
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不同之处：不抛异常，而是把「未命中」和「多重命中」记在返回值里，由调用方决定
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是警告还是忽略。
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Args:
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patterns: 正则列表，例如 ``("base_link", ".*_knee")``。
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names: 候选名字，例如 ``articulation.body_names``。
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"""
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hits: dict[int, list[str]] = {}
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pattern_hits: dict[str, int] = {pattern: 0 for pattern in patterns}
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for index, name in enumerate(names):
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for pattern in patterns:
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try:
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matched = re.fullmatch(pattern, name) is not None
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except re.error as exc: # 正则本身写错，属于配置错误，应当立刻暴露
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raise ValueError(f"机器人描述里的正则 {pattern!r} 无法编译：{exc}") from exc
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if matched:
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hits.setdefault(index, []).append(pattern)
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pattern_hits[pattern] += 1
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indices: list[int] = []
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resolved_names: list[str] = []
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ambiguous: list[tuple[str, list[str]]] = []
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taken: set[int] = set()
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# 按 patterns 顺序输出，跳过已被更早的正则取走的下标
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for pattern in patterns:
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for index, matched_patterns in hits.items():
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if pattern not in matched_patterns or index in taken:
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continue
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taken.add(index)
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indices.append(index)
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resolved_names.append(names[index])
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if len(matched_patterns) > 1:
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ambiguous.append((names[index], list(matched_patterns)))
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unmatched = [pattern for pattern, count in pattern_hits.items() if count == 0]
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return NameResolution(indices, resolved_names, unmatched, ambiguous)
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