syfffffjj
07027e8fde
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
545 lines
23 KiB
Python
545 lines
23 KiB
Python
# Copyright (c) 2025 Deep Robotics
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# SPDX-License-Identifier: BSD 3-Clause
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"""命令行入口的静态自检：不需要 Isaac Sim，也不需要 GPU。
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用桩替换 ``isaaclab.app``，从而可以单独加载 ``eval_suite.py``，检查参数解析与
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口径覆盖逻辑。仿真相关的部分（建环境、跑 rollout）不在覆盖范围内——那些必须真跑。
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运行方式（在仓库根目录）::
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python3 eval_kit/tests/test_cli.py
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"""
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from __future__ import annotations
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import importlib.util
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import sys
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import types
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from pathlib import Path
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if __package__ in (None, ""):
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sys.path.insert(0, str(Path(__file__).resolve().parents[2]))
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PROJECT_ROOT = Path(__file__).resolve().parents[2]
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EVAL_SUITE_PATH = PROJECT_ROOT / "scripts" / "reinforcement_learning" / "rsl_rl" / "eval_suite.py"
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#: ``AppLauncher.add_app_launcher_args()`` 会添加的参数名，抄自
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#: ``IsaacLab-2.3.2/source/isaaclab/isaaclab/app/app_launcher.py``。
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#: 自己的 parser 里出现任何一个都会让 argparse 抛
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#: ``ArgumentError: conflicting option string``，脚本连启动都做不到。
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#: （只有 device / headless / enable_cameras / experience / livestream /
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#: rendering_mode / xr 会被 AppLauncher 自己的显式检查拦下，--verbose / --info /
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#: --cpu 等则由 argparse 拦，所以必须把 14 个都列出来。）
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APPLAUNCHER_ARG_NAMES = (
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"--headless",
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"--livestream",
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"--enable_cameras",
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"--xr",
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"--device",
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"--cpu",
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"--verbose",
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"--info",
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"--experience",
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"--rendering_mode",
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"--kit_args",
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"--anim_recording_enabled",
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"--anim_recording_start_time",
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"--anim_recording_stop_time",
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)
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def _stub_isaaclab() -> None:
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"""装一个最小的 isaaclab.app 桩，只为让模块级 import 通过。
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桩要复刻真实 ``AppLauncher`` 的行为，否则测试放过的正是真跑会崩的地方：
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- ``add_app_launcher_args`` 会添加上面 14 个参数名
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- 如果 parser 里已经有同名参数，它**拒绝启动**而不是静默覆盖
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"""
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if "isaaclab.app" in sys.modules:
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return
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class AppLauncher: # noqa: D401 - 桩
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def __init__(self, args):
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self.app = None
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@staticmethod
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def add_app_launcher_args(parser):
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existing = {option for action in parser._actions for option in action.option_strings}
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conflict = sorted(existing & set(APPLAUNCHER_ARG_NAMES))
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if conflict:
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raise ValueError(
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f"argument {conflict[0]}: conflicting option string: {conflict[0]}"
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)
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parser.add_argument("--headless", action="store_true", default=False)
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parser.add_argument("--device", type=str, default=None)
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for name in APPLAUNCHER_ARG_NAMES:
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dest = name.lstrip("-").replace("-", "_")
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if dest in ("headless", "device"):
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continue
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parser.add_argument(name, dest=dest, nargs="?", const=True, default=None)
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return parser
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isaaclab = types.ModuleType("isaaclab")
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app = types.ModuleType("isaaclab.app")
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app.AppLauncher = AppLauncher # type: ignore[attr-defined]
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isaaclab.app = app # type: ignore[attr-defined]
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sys.modules["isaaclab"] = isaaclab
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sys.modules["isaaclab.app"] = app
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def _load_eval_suite():
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_stub_isaaclab()
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specification = importlib.util.spec_from_file_location("eval_suite_under_test", EVAL_SUITE_PATH)
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if specification is None or specification.loader is None:
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raise RuntimeError(f"无法加载 {EVAL_SUITE_PATH}")
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module = importlib.util.module_from_spec(specification)
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specification.loader.exec_module(module)
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return module
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def test_parser_defaults():
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"""默认值：协议预设名、机器人描述名、评估类型都在。"""
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module = _load_eval_suite()
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args = module._build_parser().parse_args([])
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assert args.task == "Rough-Deeprobotics-M20-v0", args.task
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assert args.profile == "solenopsis"
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assert args.protocol == "standard_v1"
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assert args.eval_type == "all"
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assert args.num_envs == 250
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assert args.terrain_type == "all"
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# 口径覆盖项默认必须为 None，否则会静默覆盖协议预设
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for name in (
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"episode_length_s", "command_x", "command_y", "command_yaw", "start_x", "start_y",
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"terrain_size", "success_distance", "tilt_threshold", "acc_threshold_g",
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"energy_convention", "robot_mass", "num_levels", "envs_per_cell", "seeds",
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"enforce_terrain_bounds", "start_z_offset",
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):
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assert getattr(args, name) is None, f"{name} 默认应为 None，实际 {getattr(args, name)!r}"
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return "默认值正确，口径覆盖项默认全部为 None"
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def test_no_terrain_bounds_flag():
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"""--no-terrain-bounds 关闭越界终止项，并改变指纹。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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preset = get_protocol("standard_v1")
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assert preset.enforce_terrain_bounds is True, "standard_v1 应保持与 eval.py 一致（保留终止项）"
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args = module._build_parser().parse_args(["--no-terrain-bounds"])
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protocol = module._apply_overrides(preset, args)
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assert protocol.enforce_terrain_bounds is False
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assert protocol.fingerprint() != preset.fingerprint(), "关闭终止项必须改变指纹"
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# 不带该开关时不覆盖
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unchanged = module._apply_overrides(preset, module._build_parser().parse_args([]))
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assert unchanged.enforce_terrain_bounds is True
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return "开关生效且反映在指纹里"
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def test_clean_protocol_uses_big_tile():
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"""standard_v1_clean 通过放大地砖来消除越界误判，而不是关掉终止项。"""
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from eval_kit.protocols import get_protocol
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clean = get_protocol("standard_v1_clean")
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parity = get_protocol("standard_v1")
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no_bounds = get_protocol("standard_v1_no_bounds")
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assert clean.terrain_size_m >= 3.8, f"地砖 {clean.terrain_size_m} 不足以消除误判"
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assert clean.enforce_terrain_bounds is True, "clean 方案应保留终止项"
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assert no_bounds.enforce_terrain_bounds is False
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# 除地砖外其余口径与 parity 方案一致，数值仍可对照
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assert clean.command == parity.command
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assert clean.success_distance_m == parity.success_distance_m
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assert clean.num_levels == parity.num_levels
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return f"clean 地砖 {clean.terrain_size_m} m，保留终止项；no_bounds 关闭终止项"
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def test_overrides_are_opt_in():
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"""不传任何覆盖项时，协议必须与预设逐字段相同。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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args = module._build_parser().parse_args([])
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preset = get_protocol("standard_v1")
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protocol = module._apply_overrides(preset, args)
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assert protocol == preset, "未传覆盖项却改变了协议"
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assert protocol.fingerprint() == preset.fingerprint()
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return "未传覆盖 → 协议与预设完全相同（含 fingerprint）"
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def test_overrides_apply_and_update_fingerprint():
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"""显式覆盖项生效，且指纹随之改变。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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args = module._build_parser().parse_args(
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[
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"--episode-length-s", "20",
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"--command-x", "0.8",
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"--command-yaw", "-0.3",
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"--success-distance", "3.5",
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"--tilt-threshold", "0.5",
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"--acc-threshold-g", "0.3",
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"--energy-convention", "signed",
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"--terrain-size", "1.5",
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"--num-levels", "4",
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"--envs-per-cell", "2",
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"--seeds", "7", "8",
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]
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)
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preset = get_protocol("standard_v1")
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protocol = module._apply_overrides(preset, args)
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assert protocol.steps == 1000, protocol.steps # 20 s / 0.02 s
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assert protocol.command == (0.8, 0.0, -0.3), protocol.command
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assert protocol.success_distance_m == 3.5
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assert protocol.tilt_threshold_rad == 0.5
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assert abs(protocol.acc_threshold_g - 0.3) < 1e-12
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assert protocol.energy_convention == "signed"
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assert protocol.terrain_size_m == 1.5
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assert protocol.num_levels == 4
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assert protocol.envs_per_cell == 2
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assert protocol.seeds == (7, 8)
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assert protocol.fingerprint() != preset.fingerprint()
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# 没覆盖的字段保持预设
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assert protocol.start_pose == preset.start_pose
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assert protocol.dt == preset.dt
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return "11 项覆盖全部生效，未覆盖字段保持预设"
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def test_command_overrides_compose_independently():
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"""单独覆盖某一个速度分量时，另两个分量保持预设。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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preset = get_protocol("standard_v1") # command = (1.0, 0.0, 0.0)
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only_y = module._apply_overrides(preset, module._build_parser().parse_args(["--command-y", "0.5"]))
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assert only_y.command == (1.0, 0.5, 0.0), only_y.command
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only_yaw = module._apply_overrides(preset, module._build_parser().parse_args(["--command-yaw", "1.2"]))
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assert only_yaw.command == (1.0, 0.0, 1.2), only_yaw.command
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both = module._apply_overrides(
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preset, module._build_parser().parse_args(["--command-y", "0.5", "--command-yaw", "1.2"])
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)
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assert both.command == (1.0, 0.5, 1.2), both.command
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only_x = module._apply_overrides(preset, module._build_parser().parse_args(["--command-x", "2.0"]))
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assert only_x.command == (2.0, 0.0, 0.0), only_x.command
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return "command 三个分量可独立覆盖"
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def test_start_pose_overrides_compose():
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"""起始位姿同理。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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preset = get_protocol("standard_v1")
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protocol = module._apply_overrides(
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preset, module._build_parser().parse_args(["--start-x", "-1.2", "--start-y", "0.4"])
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)
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assert protocol.start_pose == (-1.2, 0.4, 0.0), protocol.start_pose
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return f"start_pose = {protocol.start_pose}"
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def test_start_z_offset_override():
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"""起始高度偏移：默认 0.0（与旧 eval.py 一致），显式给出时生效并改变指纹。"""
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module = _load_eval_suite()
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from eval_kit.protocols import get_protocol
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preset = get_protocol("standard_v1")
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assert preset.start_z_offset_m == 0.0, "默认必须为 0.0，否则与 eval.py 不可比"
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parser = module._build_parser()
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unchanged = module._apply_overrides(preset, parser.parse_args([]))
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assert unchanged.start_z_offset_m == 0.0
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assert unchanged.fingerprint() == preset.fingerprint()
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lifted = module._apply_overrides(preset, parser.parse_args(["--start-z-offset", "0.3"]))
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assert lifted.start_z_offset_m == 0.3
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assert lifted.fingerprint() != preset.fingerprint(), "抬高起始高度必须改变指纹"
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# 只动高度，不动水平位姿
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assert lifted.start_pose == preset.start_pose
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return "默认 0.0，--start-z-offset 生效且反映在指纹里"
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def test_terrain_types_resolution():
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"""地形类型：all 展开成规格里的全部类型，单个类型要校验存在性。"""
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module = _load_eval_suite()
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from eval_kit.core.terrain_spec import get_terrain_spec
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spec = get_terrain_spec("standard_v1")
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all_args = module._build_parser().parse_args([])
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assert module._terrain_types_for(all_args, spec) == list(spec.types)
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single_args = module._build_parser().parse_args(["--terrain-type", "boxes"])
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assert module._terrain_types_for(single_args, spec) == ["boxes"]
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bad_args = module._build_parser().parse_args(["--terrain-type", "nonexistent"])
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try:
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module._terrain_types_for(bad_args, spec)
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except SystemExit as exc:
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assert "nonexistent" in str(exc)
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return "all / 单类型 / 非法类型校验都正确"
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raise AssertionError("非法地形类型没有报错")
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def test_all_profiles_and_protocols_are_loadable():
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"""每个机器人描述、每个协议预设都要能被命令行选中。"""
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module = _load_eval_suite()
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parser = module._build_parser()
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from eval_kit.profiles import PROFILES
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from eval_kit.protocols import PROTOCOLS
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for name in PROFILES:
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args = parser.parse_args(["--profile", name])
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assert args.profile == name
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for name in PROTOCOLS:
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args = parser.parse_args(["--protocol", name])
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protocol = module._apply_overrides(PROTOCOLS[name], args)
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assert protocol.steps >= 1
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assert protocol.seeds, f"协议 {name} 没有种子"
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return f"{len(PROFILES)} 个描述、{len(PROTOCOLS)} 个协议预设都可加载"
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def test_eval_types_match_report_module():
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"""命令行的评估类型必须与指标筛选表一致，避免出现选了却没指标的项。"""
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module = _load_eval_suite()
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from eval_kit.core.report import EVAL_TYPES, METRIC_SELECTION
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args = module._build_parser().parse_args([])
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choices = args.eval_type
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assert choices in EVAL_TYPES
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for eval_type in EVAL_TYPES:
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if eval_type in ("all", "upper_limits"):
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continue
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assert eval_type in METRIC_SELECTION, f"{eval_type} 没有对应的指标筛选规则"
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return f"{len(EVAL_TYPES)} 个评估类型，与 METRIC_SELECTION 对齐"
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def test_parser_compatible_with_app_launcher():
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"""自身的参数不能和 AppLauncher 冲突。
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main() 的顺序是「先 _build_parser()，再 AppLauncher.add_app_launcher_args()」。
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这里复刻同样的顺序：任何冲突都会在这一步抛错，也就是脚本连启动都做不到。
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真跑时曾两次撞上这个坑（先是 --device、后是 --verbose），所以这个检查必须留下。
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"""
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module = _load_eval_suite()
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parser = module._build_parser()
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parser = module.AppLauncher.add_app_launcher_args(parser)
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args = parser.parse_args([])
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# --device / --headless 由 AppLauncher 提供，自己的 parser 里不能再定义
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assert args.device is None
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assert args.headless is False
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assert args.task == "Rough-Deeprobotics-M20-v0"
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assert args.num_envs == 250
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return "与 AppLauncher 的 14 个参数名无冲突，--device/--headless 由其提供"
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def test_no_option_string_collisions_with_app_launcher():
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"""直接枚举检查：自身 parser 的任何 option string 都不能落在 AppLauncher 的名单里。"""
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module = _load_eval_suite()
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parser = module._build_parser()
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own = {option for action in parser._actions for option in action.option_strings}
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conflicts = sorted(own & set(APPLAUNCHER_ARG_NAMES))
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assert not conflicts, (
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f"与 AppLauncher 冲突: {conflicts} —— 真实启动时会抛 "
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"argparse.ArgumentError: conflicting option string"
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)
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return f"自身 {len(own)} 个 option string 与 AppLauncher 的 {len(APPLAUNCHER_ARG_NAMES)} 个均不冲突"
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def test_verbose_terrain_flag_replaces_verbose():
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"""--verbose 归 AppLauncher，自己的逐格调试用 --verbose-terrain。"""
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module = _load_eval_suite()
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parser = module._build_parser()
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args = parser.parse_args(["--verbose-terrain"])
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assert args.verbose_terrain is True
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plain = parser.parse_args([])
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assert plain.verbose_terrain is False
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return "--verbose-terrain 生效，未占用 --verbose"
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def test_output_path_defaults_next_to_checkpoint():
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"""默认输出落在 checkpoint 同目录的 eval_kit/ 下，不覆盖 eval.py 的 eval/。"""
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module = _load_eval_suite()
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import tempfile
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with tempfile.TemporaryDirectory() as directory:
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checkpoint = str(Path(directory) / "model_100.pt")
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Path(checkpoint).write_bytes(b"")
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args = module._build_parser().parse_args([])
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path = module._resolve_output_path(args, checkpoint, "all")
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assert "/eval_kit/" in path, path
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assert path.endswith(".json")
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assert "all_" in Path(path).name
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return f"默认输出目录为 <checkpoint 目录>/eval_kit/"
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def test_livestream_value_falls_back_to_env_var():
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"""--livestream 默认 -1 表示「听 LIVESTREAM 环境变量」，不能当成 0。"""
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import os
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module = _load_eval_suite()
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parser = module._build_parser()
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||
args = parser.parse_args([])
|
||
args.livestream = -1
|
||
previous = os.environ.get("LIVESTREAM")
|
||
os.environ.pop("LIVESTREAM", None)
|
||
try:
|
||
assert module._livestream_value(args) == 0, "没设环境变量时应视为关闭"
|
||
os.environ["LIVESTREAM"] = "2"
|
||
assert module._livestream_value(args) == 2, "应回退读 LIVESTREAM 环境变量"
|
||
|
||
explicit = parser.parse_args([])
|
||
explicit.livestream = 1
|
||
assert module._livestream_value(explicit) == 1, "命令行显式值优先于环境变量"
|
||
finally:
|
||
if previous is None:
|
||
os.environ.pop("LIVESTREAM", None)
|
||
else:
|
||
os.environ["LIVESTREAM"] = previous
|
||
return "命令行 > LIVESTREAM 环境变量 > 关闭"
|
||
|
||
|
||
def test_viewer_env_index_covers_livestream():
|
||
"""推流也要设视口相机；真 headless（且不推流）才返回 None。
|
||
|
||
这条决定推流画面能不能看到机器人：``AppLauncher`` 在开启推流时会把
|
||
``headless`` 改写成 True，所以不能按 ``headless`` 判断「用户要不要看画面」。
|
||
"""
|
||
module = _load_eval_suite()
|
||
# --headless 由 AppLauncher 提供，所以这里要按 main() 的顺序加上
|
||
parser = module.AppLauncher.add_app_launcher_args(module._build_parser())
|
||
|
||
plain_headless = parser.parse_args(["--headless"])
|
||
plain_headless.livestream = 0
|
||
assert module._viewer_env_index(plain_headless) is None, "headless 且不推流时不应设视口相机"
|
||
|
||
streamed = parser.parse_args(["--headless", "--view-env", "7"])
|
||
streamed.livestream = 2
|
||
assert module._viewer_env_index(streamed) == 7, "推流时视口相机应生效并跟随 --view-env"
|
||
|
||
default_target = parser.parse_args([])
|
||
default_target.livestream = 2
|
||
assert module._viewer_env_index(default_target) == 0, "不传 --view-env 时默认跟随 env 0"
|
||
|
||
gui = parser.parse_args([])
|
||
gui.livestream = 0
|
||
assert module._viewer_env_index(gui) == 0, "本地 GUI（非 headless）仍然跟随 env 0"
|
||
|
||
# 自由视角：不跟随，且 --free-camera 优先于 --view-env
|
||
free = parser.parse_args(["--headless", "--free-camera"])
|
||
free.livestream = 2
|
||
assert module._viewer_env_index(free) is None, "--free-camera 时不应跟随任何环境"
|
||
both = parser.parse_args(["--headless", "--free-camera", "--view-env", "3"])
|
||
both.livestream = 2
|
||
assert module._viewer_env_index(both) is None, "--free-camera 与 --view-env 同时给出时以前者为准"
|
||
return "headless→None；推流 / 本地 GUI→跟随 --view-env（默认 0）；--free-camera 优先于跟随"
|
||
|
||
|
||
def test_free_camera_only_applies_with_a_picture():
|
||
"""--free-camera 只在有画面时生效；给定 --view-env 也让位于它。"""
|
||
module = _load_eval_suite()
|
||
parser = module.AppLauncher.add_app_launcher_args(module._build_parser())
|
||
|
||
headless = parser.parse_args(["--headless", "--free-camera"])
|
||
headless.livestream = 0
|
||
assert module._display_enabled(headless) is False, "headless 且不推流时没有画面"
|
||
assert module._viewer_env_index(headless) is None
|
||
|
||
streamed = parser.parse_args(["--free-camera"])
|
||
streamed.livestream = 2
|
||
assert module._display_enabled(streamed) is True, "推流算有画面"
|
||
assert module._viewer_env_index(streamed) is None, "有画面 + --free-camera → 不跟随"
|
||
|
||
# 显式给出 --view-env 但没有 --free-camera：仍然跟随
|
||
following = parser.parse_args(["--view-env", "2"])
|
||
following.livestream = 2
|
||
assert module._viewer_env_index(following) == 2
|
||
return "无画面时 --free-camera 无效果；有画面时不跟随；未给该参数时行为不变"
|
||
|
||
|
||
def test_pause_defaults_to_connection_window_only_when_streaming():
|
||
"""--pause-s 是给推流客户端留连接时间的，默认值在 main() 里按是否推流决定。"""
|
||
module = _load_eval_suite()
|
||
# --livestream 由 AppLauncher 提供，所以这里要按 main() 的顺序加上
|
||
parser = module.AppLauncher.add_app_launcher_args(module._build_parser())
|
||
|
||
assert parser.parse_args([]).pause_s is None, "默认必须是 None，否则区分不出用户显式传的 0"
|
||
assert parser.parse_args(["--pause-s", "0"]).pause_s == 0.0
|
||
assert parser.parse_args(["--pause-s", "12.5"]).pause_s == 12.5
|
||
|
||
def resolve(arguments):
|
||
"""复刻 main() 里的取值规则。"""
|
||
parsed = parser.parse_args(arguments)
|
||
streaming = module._livestream_value(parsed) > 0
|
||
return parsed.pause_s if parsed.pause_s is not None else (30.0 if streaming else 0.0)
|
||
|
||
assert resolve([]) == 0.0, "不推流时不该停顿"
|
||
assert resolve(["--livestream", "2"]) == 30.0, "推流时默认留 30 s 连接时间"
|
||
assert resolve(["--livestream", "2", "--pause-s", "0"]) == 0.0, "显式 0 可以关掉停顿"
|
||
assert resolve(["--livestream", "1"]) == 30.0, "公网推流同样要留连接时间"
|
||
return "不推流默认 0 s；推流默认 30 s；显式值优先"
|
||
|
||
|
||
def test_local_ipv4_addresses_skips_loopback():
|
||
"""打印给 WebRTC 客户端的地址里不能出现回环地址。"""
|
||
module = _load_eval_suite()
|
||
addresses = module._local_ipv4_addresses()
|
||
assert all(not address.startswith("127.") for address in addresses), addresses
|
||
assert all(address.count(".") == 3 for address in addresses), addresses
|
||
return f"拿到 {len(addresses)} 个非回环地址：{addresses}"
|
||
|
||
|
||
def test_record_frames_defaults_off():
|
||
"""抓帧是可选功能：默认不抓，给了目录和间隔才生效。"""
|
||
module = _load_eval_suite()
|
||
parser = module._build_parser()
|
||
|
||
plain = parser.parse_args([])
|
||
assert plain.record_frames is None, "默认不应抓帧"
|
||
assert plain.record_every == 5, "默认每 5 步一张（0.1 s 仿真时间，合成 10 fps 视频）"
|
||
|
||
on = parser.parse_args(["--record-frames", "/tmp/frames", "--record-every", "1"])
|
||
assert on.record_frames == "/tmp/frames"
|
||
assert on.record_every == 1
|
||
return "默认关闭；--record-frames 指定目录、--record-every 指定间隔"
|
||
|
||
|
||
def main() -> int:
|
||
tests = [value for name, value in sorted(globals().items()) if name.startswith("test_")]
|
||
failures: list[tuple[str, str]] = []
|
||
for test in tests:
|
||
name = test.__name__
|
||
try:
|
||
note = test()
|
||
except (Exception, SystemExit) as exc: # noqa: BLE001
|
||
# 也要接住 SystemExit：argparse 参数写错会直接 SystemExit(2)，
|
||
# 不接的话整个测试文件当场退出，后面的测试一条都不跑、也没有汇总行。
|
||
failures.append((name, f"{type(exc).__name__}: {exc}"))
|
||
print(f"FAIL {name}\n {type(exc).__name__}: {exc}")
|
||
else:
|
||
print(f"ok {name}" + (f" — {note}" if note else ""))
|
||
|
||
print()
|
||
if failures:
|
||
print(f"{len(failures)}/{len(tests)} 个测试失败")
|
||
return 1
|
||
print(f"全部 {len(tests)} 个测试通过")
|
||
return 0
|
||
|
||
|
||
if __name__ == "__main__":
|
||
raise SystemExit(main())
|