MuJoCo에서 집고 옮기고 쌓기

cd "$ROBOT_LAB"
MUJOCO_GL=disable .venv/bin/python -m uvicorn simulation.service:app \
  --host 127.0.0.1 --port "$ROBOT_SIM_PORT"

cd "$ROBOT_LAB"
NODE_ENV=development HOST=127.0.0.1 PORT="$ROBOT_API_PORT" \
  PUBLIC_ORIGIN="$ROBOT_BROWSER_ORIGIN" \
  SIMULATION_URL="http://127.0.0.1:$ROBOT_SIM_PORT" \
  LOCAL_RUNS_DIR=.local/runs MAX_ACTIVE_RUNS=1 \
  MODEL_ID="" AGENTCORE_RUNTIME_ARN="" RUNS_TABLE="" REPLAY_BUCKET="" \
  ORIGIN_GATE="" SESSION_SECRET="" \
  npm run server

curl --fail --silent --show-error "http://127.0.0.1:$ROBOT_SIM_PORT/health"
curl --fail --silent --show-error "$ROBOT_API_URL/healthz"
curl --fail --silent --show-error "$ROBOT_API_URL/readyz"

cd "$ROBOT_LAB"
mkdir -p .local/evidence
.venv/bin/python -m simulation.cli \
  --scenario transfer --seed 42 \
  --actions '[{"objectId":"red","target":"tray"}]' \
  --output .local/evidence/red-only-42.json

.venv/bin/python -m simulation.cli \
  --scenario stack --seed 2026 \
  --actions '[{"objectId":"blue","target":"tower"},{"objectId":"red","target":"tower"},{"objectId":"orange","target":"tower"}]' \
  --output .local/evidence/blue-first-2026.json

.venv/bin/python - <<'PY'
import json
import math
from pathlib import Path

root = Path(".local/evidence")
red = json.loads((root / "red-only-42.json").read_text())
tower = json.loads((root / "blue-first-2026.json").read_text())
for replay, count in ((red, 1), (tower, 3)):
    assert replay["engine"] == "MuJoCo"
    assert replay["status"] == "succeeded", replay["checks"]
    assert replay["metrics"]["success"] is True
    assert replay["metrics"]["placed"] == replay["metrics"]["total"] == count
    assert all(check["passed"] for check in replay["checks"]), replay["checks"]
    assert replay["provenance"]["learning"] == "none"
    assert replay["metrics"]["physicsSteps"] > 1000
    print(replay["scenario"], replay["seed"], replay["metrics"])

first, last = red["frames"][0]["bodies"], red["frames"][-1]["bodies"]
assert last["red"]["position"][1] < -0.10
for name in ("blue", "orange"):
    assert last[name]["position"][1] > 0.17
    assert math.dist(first[name]["position"], last[name]["position"]) < 0.008

final = tower["frames"][-1]["bodies"]
assert [step["objectId"] for step in tower["steps"]] == ["blue", "red", "orange"]
for name, height in (("blue", 0.025), ("red", 0.075), ("orange", 0.125)):
    x, y, z = final[name]["position"]
    assert abs(x - 0.50) < 0.008 and abs(y + 0.20) < 0.008
    assert abs(z - height) < 0.003, (name, z, height)
print("단일 물체 이동과 파랑→빨강→주황 타워의 위치 확인")
PY

cd "$ROBOT_LAB"
(
set -eu
if [ -e .local/evidence/no-grip-42.json ]; then
  printf '%s\n' '기존 실패 기록을 먼저 확인하세요. 재실행하려면 이 블록의 출력·읽기 경로를 새 파일명으로 함께 바꾸세요.'
  exit 1
fi
ROBOT_NEGATIVE_STATUS=0
.venv/bin/python -m simulation.cli \
  --scenario transfer --seed 42 --grip-force 0 \
  --actions '[{"objectId":"red","target":"tray"}]' \
  --output .local/evidence/no-grip-42.json \
  || ROBOT_NEGATIVE_STATUS=$?
test "$ROBOT_NEGATIVE_STATUS" -eq 1

.venv/bin/python - <<'PY'
import json
from pathlib import Path
replay = json.loads(Path(".local/evidence/no-grip-42.json").read_text())
assert replay["status"] == "failed"
assert replay["metrics"]["success"] is False
assert replay["metrics"]["placed"] == 0
assert replay["metrics"]["total"] == 1
failed = [check for check in replay["checks"] if not check["passed"]]
assert failed, "실패 근거가 있어야 합니다."
assert replay["frames"][-1]["bodies"]["red"]["position"][1] > 0.17
print("실패를 올바르게 검출:", json.dumps(failed, ensure_ascii=False))
PY
)

cd "$ROBOT_LAB"
.venv/bin/python -m unittest discover -s tests/simulation -v