#!/usr/bin/env python3 """简洁的任务冒烟测试脚本：批量渲染 seed_tasks 并保存关键帧。""" from __future__ import annotations import argparse import importlib import os import pkgutil import sys import traceback from pathlib import Path from typing import Iterable, List from PIL import Image REPO_ROOT = Path(__file__).resolve().parent VLABENCH_ROOT = REPO_ROOT / "VLABench" TASK_MODULE_PREFIX = "VLABench.tasks" REQUIRED_FRAMES = 3 if str(REPO_ROOT) not in sys.path: sys.path.append(str(REPO_ROOT)) os.environ.setdefault("VLABENCH_ROOT", str(VLABENCH_ROOT)) os.environ.setdefault("MUJOCO_GL", "egl") from VLABench.envs import load_env # noqa: E402 pylint: disable=wrong-import-position from VLABench.robots import * # noqa: F403,F401,E402 pylint: disable=wildcard-import,unused-wildcard-import from VLABench.utils.register import register # noqa: E402 pylint: disable=wrong-import-position def import_all_task_modules() -> None: """导入 VLABench.tasks 包下的所有模块，确保任务已注册。""" try: package = importlib.import_module(TASK_MODULE_PREFIX) except ModuleNotFoundError as exc: # pragma: no cover - 直接失败更清晰 raise RuntimeError(f"无法导入任务包 {TASK_MODULE_PREFIX}: {exc}") from exc for module_info in pkgutil.walk_packages(package.__path__, prefix=f"{TASK_MODULE_PREFIX}."): if module_info.name in sys.modules: continue try: importlib.import_module(module_info.name) except Exception as exc: # pylint: disable=broad-except print(f"导入任务模块失败：{module_info.name} -> {exc}") def collect_task_names() -> List[str]: import_all_task_modules() return sorted(getattr(register, "_tasks").keys()) def save_frames(task_name: str, frames: List, root_dir: Path) -> None: task_dir = root_dir / task_name task_dir.mkdir(parents=True, exist_ok=True) for idx, frame in enumerate(frames, start=1): Image.fromarray(frame).save(task_dir / f"frame{idx}.png") def run_smoke_test(task_name: str, camera: int, height: int, width: int, save_dir: Path | None, skip_skills: bool, task_variant: str | None) -> bool: env = None frames: List = [] saved_path: Path | None = None try: env = load_env(task_name, task_variant=task_variant) env.reset() frames.append(env.render(camera_id=camera, height=height, width=width)) skill_error = None if not skip_skills: skill_sequence = env.get_expert_skill_sequence() if skill_sequence: for skill in skill_sequence: try: skill(env) except Exception as exc: # pylint: disable=broad-except skill_error = exc break if len(frames) < REQUIRED_FRAMES: try: frames.append(env.render(camera_id=camera, height=height, width=width)) except Exception as exc: # pylint: disable=broad-except skill_error = exc break else: print(f"{task_name}: 未提供专家技能序列，仅使用初始帧。") else: print(f"{task_name}: 跳过技能执行，仅渲染初始帧。") if len(frames) < REQUIRED_FRAMES: try: frames.extend([ env.render(camera_id=camera, height=height, width=width) for _ in range(REQUIRED_FRAMES - len(frames)) ]) except Exception as exc: # pylint: disable=broad-except print(f"{task_name}: 渲染补帧失败 -> {exc}") return False if save_dir is not None: save_dir.mkdir(parents=True, exist_ok=True) save_frames(task_name, frames[:REQUIRED_FRAMES], save_dir) saved_path = save_dir / task_name if skill_error: print(f"{task_name}: 技能执行中断 -> {skill_error}") return False message = f"{task_name}: 完成冒烟测试，已渲染 {REQUIRED_FRAMES} 帧。" if saved_path is not None: message += f" 已保存至 {saved_path}。" else: message += " 未指定 --save-dir，未写入磁盘。" print(message) return True except Exception as exc: # pylint: disable=broad-except print(f"{task_name}: 冒烟测试失败 -> {exc}") traceback.print_exc() return False finally: if env is not None: env.close() def parse_args() -> argparse.Namespace: parser = argparse.ArgumentParser(description="渲染 seed_tasks 中的任务并保存关键帧") parser.add_argument("--task", help="仅渲染指定任务", default=None) parser.add_argument( "--tasks", nargs="+", help="一次渲染多个任务，空格分隔，例如 --tasks task_a task_b", default=None, ) parser.add_argument("--list", action="store_true", help="仅列出任务名") parser.add_argument("--camera", type=int, default=2, help="相机编号") parser.add_argument("--height", type=int, default=640, help="渲染高度") parser.add_argument("--width", type=int, default=640, help="渲染宽度") parser.add_argument("--save-dir", type=Path, default=None, help="保存渲染结果的目录") parser.add_argument("--skip-skills", action="store_true", help="仅渲染初始状态，不调用专家技能") parser.add_argument( "--task-variant", choices=["A", "B", "C", "D"], default=None, help="可选：指定任务的 A/B/C/D 布局模式。", ) return parser.parse_args() def main() -> None: args = parse_args() task_names = collect_task_names() if not task_names: print("未找到可用任务，请确认模块路径无误。") return if args.list: for name in task_names: print(name) return tasks: Iterable[str] = task_names selected: List[str] | None = None if args.tasks: missing = [name for name in args.tasks if name not in task_names] if missing: print("以下任务未找到：") for name in missing: print(f" - {name}") return selected = args.tasks elif args.task: if args.task not in task_names: print(f"未找到指定任务: {args.task}") return selected = [args.task] if selected is not None: # 去重同时保持顺序 seen = set() filtered = [] for name in selected: if name in seen: continue seen.add(name) filtered.append(name) tasks = filtered total = 0 success = 0 failed: List[str] = [] save_root = Path(args.save_dir) if args.save_dir else None for name in tasks: total += 1 if run_smoke_test(name, args.camera, args.height, args.width, save_root, args.skip_skills, args.task_variant): success += 1 else: failed.append(name) print(f"完成冒烟测试 {success}/{total} 个任务。") if failed: print("失败的任务:") for name in failed: print(f" - {name}") if __name__ == "__main__": main()