fix(ai): map team-relative rotation actions

training/test_action_space.py

@@ -17,6 +17,7 @@ Usage:
 """
 
 import sys
+from pathlib import Path
 
 import gymnasium as gym
 import numpy as np
@@ -30,6 +31,7 @@ from export_policy import ACTION_HEADS
 # out of order too, not just catch nothing because both sides changed
 # together.
 EXPECTED_ORDER = ["rot_x", "rot_y", "rot_z", "thrust_x", "thrust_y", "thrust_z", "turbo"]
+GAME_SCRIPTS = Path(__file__).resolve().parents[1] / "Game" / "scripts"
 
 
 def check_action_heads_match_expected_order() -> None:
@@ -87,12 +89,23 @@ def check_round_trip_preserves_per_head_values() -> None:
         np.testing.assert_array_equal(np.asarray(original[head_index]), expected_column)
 
 
+def check_team_frame_mapping_is_shared() -> None:
+    codec = (GAME_SCRIPTS / "ship_action_codec.gd").read_text()
+    training = (GAME_SCRIPTS / "ship_ai_controller.gd").read_text()
+    inference = (GAME_SCRIPTS / "ai_ship_controller.gd").read_text()
+    assert "action.rotation.x = -action.rotation.x" in codec
+    assert "action.rotation.z = -action.rotation.z" in codec
+    assert "ShipActionCodec.apply_team_frame(" in training
+    assert "ShipActionCodec.apply_team_frame(" in inference
+
+
 def main() -> int:
     checks = [
         check_action_heads_match_expected_order,
         check_gymnasium_sorts_to_expected_order,
         check_action_space_processor_produces_expected_multi_discrete,
         check_round_trip_preserves_per_head_values,
+        check_team_frame_mapping_is_shared,
     ]
     for check in checks:
         check()