File size: 4,086 Bytes
e8d112c 8a22488 e8d112c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | // The MJCF validator's batch: every asset it checked, its settle and drop replayed in 3D from MuJoCo's traces, and each
// check with what it measured (scripts/validate_mjcf.py).
import { SimViewer } from "./viewer.js";
const $ = (id) => document.getElementById(id);
const el = (tag, cls, text) => { const e = document.createElement(tag); if (cls) e.className = cls; if (text !== undefined) e.textContent = text; return e; };
const ICON = { pass: "✓", warn: "⚠", fail: "✗" };
const CLS = { pass: "ok", warn: "warn", fail: "bad" };
const RUNS = { settle: "Settle on the floor", drop: "Drop from 10 cm" };
export async function mount() {
const index = await (await fetch("validator/index.json")).json();
const v = new SimViewer($("va-view"), { onFrame: (st) => { $("va-label").hidden = !(st && st.label); $("va-label").textContent = (st && st.label) || ""; } });
let report = null, run = "settle";
const counts = { pass: 0, warn: 0, fail: 0 };
index.forEach((a) => { counts[a.verdict] += 1; });
$("va-sum").textContent = `${index.length} assets: ${counts.fail} fail, ${counts.warn} pass with warnings, ${counts.pass} pass.`;
index.forEach((a, i) => {
const b = el("button", "btn va-asset");
b.append(el("span", `va-dot ${CLS[a.verdict]}`, ICON[a.verdict]), el("span", "", a.name.replace(/_/g, " ")));
b.title = [a.fails.length ? `fails: ${a.fails.join(", ")}` : "", a.warns.length ? `warns: ${a.warns.join(", ")}` : ""].filter(Boolean).join("; ");
b.onclick = () => open(i);
$("va-assets").append(b);
});
for (const [k, lab] of Object.entries(RUNS)) {
const b = el("button", "btn", lab);
b.dataset.k = k;
b.onclick = () => { run = k; play(); };
$("va-runs").append(b);
}
$("va-replay").onclick = () => play();
function play() {
[...$("va-runs").children].forEach((b) => b.classList.toggle("pri", b.dataset.k === run));
const t = report && report.traces && report.traces[run];
if (t) v.play(t);
}
async function open(i) {
const a = index[i];
[...$("va-assets").children].forEach((b, j) => b.classList.toggle("pri", j === i));
report = await (await fetch(`validator/${a.file}`)).json();
if (report.scene) {
const meta = await (await fetch(`validator/${report.scene.replace(/\.glb$/, ".scene.json")}`)).json();
await v.load(`validator/${report.scene}`, meta);
$("va-grid").textContent = v.gridLabel;
}
$("va-title").textContent = report.name.replace(/_/g, " ");
$("va-facts").textContent = report.bodies !== undefined
? `${report.mjcf}: ${report.bodies} ${report.bodies === 1 ? "body" : "bodies"}, ${report.mass_kg} kg, ${report.joints} ${report.joints === 1 ? "joint" : "joints"}, a ${(report.timestep * 1000).toFixed(1)} ms step` + (report.floor_added ? ", on a floor the validator adds" : "")
: report.mjcf;
const t = $("va-checks");
t.textContent = "";
const head = el("tr");
for (const h of ["", "Check", "What it found"]) head.append(el("th", "", h));
t.append(head);
for (const c of report.checks) {
const tr = el("tr");
tr.append(el("td", CLS[c.level], ICON[c.level]), el("td", "", c.id), el("td", "", c.message));
t.append(tr);
}
$("va-verdict").textContent = `${report.verdict === "pass" ? "Passes every check" : report.verdict === "warn" ? "Passes, with warnings" : "Fails"}: ` +
`${report.checks.filter((c) => c.level === "fail").length} fail, ${report.checks.filter((c) => c.level === "warn").length} warn, ${report.checks.filter((c) => c.level === "pass").length} pass`;
$("va-verdict").className = "vr-verdict " + (report.verdict === "fail" ? "bad" : "ok");
$("va-md").href = `validator/${a.file.replace(/\.json$/, ".md")}`;
// a scene with furniture isn't dropped, so it has no drop to replay
[...$("va-runs").children].forEach((b) => { b.disabled = !(report.traces && report.traces[b.dataset.k]); });
if (!(report.traces && report.traces[run])) run = "settle";
play();
}
await open(Math.max(0, index.findIndex((a) => a.verdict === "fail")));
}
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