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f3a8a38acd
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集成同源 BYOK 会话隔离、精简模型设置、官方订阅入口和 HTTPS 发布运维；保留本地训练/调参与控制能力。同步 npm 版本及 CHANGELOG，记录公网真实 API 验收仍待用户凭据。
94 lines
3.6 KiB
Python
94 lines
3.6 KiB
Python
"""Dependency-free task registry and bounded PPO settings."""
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import json
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import math
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import re
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from pathlib import Path
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CONTRACTS = Path(__file__).resolve().parents[2] / "contracts"
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TASK = json.loads((CONTRACTS / "mobile-manipulator-v2.json").read_text())
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ROBOTS = {r["id"]: r for r in json.loads((CONTRACTS / "mobile-robots-v1.json").read_text())}
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MOBILE_TASKS = {
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"MobileManipulator-LeKiwi-v1": "lekiwi-v1",
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"MobileManipulator-LeKiwi-Bundle": "lekiwi-bundle",
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}
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def validate_mobile_params(value):
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if not isinstance(value, dict) or value.keys() - {
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"rolloutSteps",
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"objectPosition",
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"goalPosition",
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"stage",
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"sourceJobId",
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"positionJitter",
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"evaluationEpisodes",
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"navigationBootstrapSteps",
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}:
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raise ValueError("mobileParams 包含未知参数")
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steps = value.get("rolloutSteps", 128)
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if isinstance(steps, bool) or not isinstance(steps, int) or not 8 <= steps <= 4096:
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raise ValueError("rolloutSteps 必须为 8–4096 的整数")
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stage = value.get("stage", "navigate")
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if stage not in ("navigate", "reach", "pick-place"):
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raise ValueError("stage 必须为 navigate / reach / pick-place")
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source = value.get("sourceJobId")
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if source is not None and (
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not isinstance(source, str) or not re.fullmatch(r"[0-9a-f]{32}", source)
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):
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raise ValueError("sourceJobId 必须是服务内的训练作业 ID，不接受 checkpoint 路径")
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jitter = value.get("positionJitter", 0.1)
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if isinstance(jitter, bool) or not isinstance(jitter, (int, float)) or not 0 <= jitter <= 0.3:
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raise ValueError("positionJitter 必须在 0–0.3 m 内")
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episodes = value.get("evaluationEpisodes", 10)
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if isinstance(episodes, bool) or not isinstance(episodes, int) or not 2 <= episodes <= 64:
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raise ValueError("evaluationEpisodes 必须为 2–64 的整数")
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bootstrap = value.get("navigationBootstrapSteps", 4096)
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if isinstance(bootstrap, bool) or not isinstance(bootstrap, int) or not 0 <= bootstrap <= 10000:
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raise ValueError("navigationBootstrapSteps 必须为 0–10000 的整数")
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result = {
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"navigationBootstrapSteps": bootstrap,
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"rolloutSteps": steps,
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"stage": stage,
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"positionJitter": jitter,
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"evaluationEpisodes": episodes,
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}
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if source is not None:
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result["sourceJobId"] = source
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for key, default in (
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("objectPosition", TASK["objectStart"]),
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("goalPosition", TASK["goalStart"]),
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):
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position = value.get(key, default)
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if (
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not isinstance(position, list)
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or len(position) != 3
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or any(
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isinstance(x, bool)
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or not isinstance(x, (float, int))
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or not -TASK["positionScale"] <= x <= TASK["positionScale"]
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or not math.isfinite(x)
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for x in position
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)
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or position[2] < TASK["objectStart"][2]
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):
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raise ValueError(f"{key} 必须是任务范围内的三维坐标，z 不低于物体半高")
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result[key] = position.copy()
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return result
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def mobile_metadata(task_id):
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return {
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"id": task_id,
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"name": f"移动操作 · {ROBOTS[MOBILE_TASKS[task_id]]['label']}",
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"family": "mobile-manipulator",
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"robotId": MOBILE_TASKS[task_id],
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"browserCompatible": True,
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"terrainPresets": [],
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"terrainParameters": {},
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"sensorTypes": [],
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"sensorParameters": {},
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"mapSyncScope": "当前移动操作场景快照",
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"controlDt": TASK["controlDt"],
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}
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