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fix(pages): preserve checkpoint nesting so deployed 3D scenes resolve #227

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Merged
MiaoDX merged 1 commit into from
May 22, 2026
Merged

fix(pages): preserve checkpoint nesting so deployed 3D scenes resolve #227

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33 changes: 21 additions & 12 deletions .github/workflows/pages.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -91,32 +91,41 @@ jobs:
- name: Build demo reports
run: |
# --- Demo 1: Simple Grasp (with Meshcat 3D) ---
# The report's iframe src values are relative to the harness output
# root (e.g. mujoco_grasp/trial_001/<cp>/meshcat_scene.html), so the
# deployed checkpoint assets must preserve that nesting under
# _site/grasp/ or the 3D scenes 404.
mkdir -p _site/grasp
cp harness_output/report.html _site/grasp/index.html
for cp_dir in harness_output/mujoco_grasp/trial_001/*/; do
cp_name=$(basename "$cp_dir")
mkdir -p "_site/grasp/${cp_name}"
cp "${cp_dir}"*_rgb.png "_site/grasp/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"*_depth_viz.png "_site/grasp/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"meshcat_scene.html "_site/grasp/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"metadata.json "_site/grasp/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"state.json "_site/grasp/${cp_name}/" 2>/dev/null || true
dest="_site/grasp/mujoco_grasp/trial_001/${cp_name}"
mkdir -p "$dest"
cp "${cp_dir}"*_rgb.png "$dest/" 2>/dev/null || true
cp "${cp_dir}"*_depth_viz.png "$dest/" 2>/dev/null || true
cp "${cp_dir}"meshcat_scene.html "$dest/" 2>/dev/null || true
cp "${cp_dir}"metadata.json "$dest/" 2>/dev/null || true
cp "${cp_dir}"state.json "$dest/" 2>/dev/null || true
done
cp harness_output/mujoco_grasp/trial_001/autonomous_report.json _site/grasp/ 2>/dev/null || true
cp harness_output/mujoco_grasp/trial_001/alarms.json _site/grasp/ 2>/dev/null || true
cp harness_output/mujoco_grasp/trial_001/phase_manifest.json _site/grasp/ 2>/dev/null || true

# --- Demo 2: G1 WBC Reach ---
# As with the grasp demo, the report references meshcat scenes by
# their output-relative path (g1_wbc_reach/trial_001/<cp>/...), so the
# deployed assets keep that nesting under _site/g1-reach/.
mkdir -p _site/g1-reach
cp harness_output/g1_wbc_reach_report.html _site/g1-reach/index.html
for cp_dir in harness_output/g1_wbc_reach/trial_001/*/; do
cp_name=$(basename "$cp_dir")
mkdir -p "_site/g1-reach/${cp_name}"
cp "${cp_dir}"*_rgb.png "_site/g1-reach/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"*_depth_viz.png "_site/g1-reach/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"meshcat_scene.html "_site/g1-reach/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"metadata.json "_site/g1-reach/${cp_name}/" 2>/dev/null || true
cp "${cp_dir}"state.json "_site/g1-reach/${cp_name}/" 2>/dev/null || true
dest="_site/g1-reach/g1_wbc_reach/trial_001/${cp_name}"
mkdir -p "$dest"
cp "${cp_dir}"*_rgb.png "$dest/" 2>/dev/null || true
cp "${cp_dir}"*_depth_viz.png "$dest/" 2>/dev/null || true
cp "${cp_dir}"meshcat_scene.html "$dest/" 2>/dev/null || true
cp "${cp_dir}"metadata.json "$dest/" 2>/dev/null || true
cp "${cp_dir}"state.json "$dest/" 2>/dev/null || true
done

# --- Demo 3: LeRobot G1 Locomotion ---
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