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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。
48 lines
1.7 KiB
Python
48 lines
1.7 KiB
Python
"""Compare browser-exported fixed actions/rollout with the same native MJCF."""
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import argparse
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import json
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from pathlib import Path
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import mujoco
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import numpy as np
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from gymnasium.utils.env_checker import check_env
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from .env import MobileManipulatorEnv
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def validate(package, rollout, atol=2e-5):
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reference = json.loads(Path(rollout).read_text())
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env = MobileManipulatorEnv(package)
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maxima = dict(qpos=0.0, observation=0.0, control=0.0, reward=0.0)
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try:
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for action, expected in zip(reference["actions"], reference["rollout"], strict=True):
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observation, reward, _, _, info = env.step(action)
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for name, actual, target in [
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("qpos", env.data.qpos, expected["qpos"]),
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("observation", observation, expected["observation"]),
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("control", env.data.ctrl, expected["ctrl"]),
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("reward", reward, expected["reward"]),
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]:
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error = float(np.max(np.abs(np.asarray(actual) - np.asarray(target))))
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maxima[name] = max(maxima[name], error)
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np.testing.assert_allclose(actual, target, atol=atol, rtol=0, err_msg=name)
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if info["stage"] != expected["stage"]:
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raise AssertionError("stage mismatch")
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check_env(env, skip_render_check=True)
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finally:
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env.close()
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return dict(mujoco=mujoco.__version__, steps=len(reference["actions"]), max_error=maxima)
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--package", required=True)
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parser.add_argument("--rollout", required=True)
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args = parser.parse_args()
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print(json.dumps(validate(args.package, args.rollout), indent=2))
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if __name__ == "__main__":
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main()
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