feat(training-server): release V0.7.3 整合强化学习服务器

training_server/server.py

@@ -25,7 +25,7 @@ from pathlib import Path
 from typing import Any
 from urllib.parse import unquote, urlsplit
 
-VERSION = "0.2.0"
+VERSION = "0.3.0"
 # 浏览器当前 ONNX 运行时只实现 Go2 的 47→12 部署契约；其他任务须由服务启动参数显式放行。
 DEFAULT_TASKS = ("Unitree-Go2-Flat",)
 ACTIVE_STATES = {"queued", "running"}
@@ -130,7 +130,7 @@ class TrainingManager:
         if self.check_environment and self._environment_error is False:
             probe = (
                 "import importlib.util,sys; "
-                "missing=[m for m in ('mjlab','torch','tyro') "
+                "missing=[m for m in ('mjlab','torch','tyro','wandb') "
                 "if importlib.util.find_spec(m) is None]; "
                 "print(','.join(missing)); sys.exit(bool(missing))"
             )
@@ -414,7 +414,7 @@ class TrainingRequestHandler(BaseHTTPRequestHandler):
     manager: TrainingManager
     allowed_origins: tuple[str, ...] = ()
     access_token = ""
-    server_version = "MuJoCoLocalTraining/0.2"
+    server_version = "MuJoCoLocalTraining/0.3"
 
     def log_message(self, format: str, *args: Any) -> None:
         sys.stderr.write(f"[{self.log_date_time_string()}] {format % args}\n")
@@ -553,8 +553,7 @@ def default_trainer_root() -> Path:
     configured = os.environ.get("UNITREE_RL_MJLAB_ROOT")
     if configured:
         return Path(configured)
-    repository = Path(__file__).resolve().parents[2]
-    return repository.parent.parent / "unitree_rl_mjlab"
+    return Path(__file__).resolve().parent / "rl"
 
 
 def parse_args() -> argparse.Namespace:
@@ -570,7 +569,7 @@ def parse_args() -> argparse.Namespace:
         "--trainer-root",
         type=Path,
         default=default_trainer_root(),
-        help="unitree_rl_mjlab 工程目录",
+        help="训练工程目录；默认使用仓库内置的 Go2 训练器",
     )
     parser.add_argument(
         "--trainer-python", default=sys.executable, help="已安装 mjlab/torch 的 Python 解释器"