File size: 3,619 Bytes
6aa6c12 | 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 | """Read-only pinned source/reset/BDDL checks, with optional import preflight.
No native environment is constructed and no pickle, reset, step or model is
executed. Complete asset rendering still requires a separate native diagnostic.
"""
from __future__ import annotations
import argparse
import importlib
import json
from pathlib import Path
adapter = importlib.import_module("benchmarks.simBenchmarks.LIBERO-plus.bench_server.adapter")
catalog = importlib.import_module("benchmarks.simBenchmarks.LIBERO-plus.bench_server.protocol.catalog")
def verify_inputs(upstream: Path, suites=None) -> dict:
root = upstream.resolve()
source = adapter.verify_native_source(root)
suites = tuple(catalog.COUNTS) if suites is None else tuple(suites)
if not suites or len(set(suites)) != len(suites) or any(name not in catalog.COUNTS for name in suites):
raise ValueError("suites must be a nonempty unique subset of the four frozen suites")
cache = {}
count = 0
for suite in suites:
for row in catalog.task_catalog(suite)["tasks"]:
names = catalog.native_files(suite, row["native_name"])
for prefix, name, expected in (("bddl_files", names["bddl"], row["bddl_sha256"]),
("init_files", names["initial_file"], row["initial_file_sha256"])):
path = (root / "libero/libero" / prefix / name).resolve()
if not path.is_relative_to(root):
raise ValueError("native catalog input resolves outside the source checkout")
if path not in cache:
cache[path] = catalog.file_sha256(path)
if cache[path] != expected:
raise ValueError(f"native {prefix} differs from frozen catalog: {name}")
count += 1
assets = root / "libero/libero/assets"
required = ("articulated_objects", "new_objects", "scenes", "stable_hope_objects",
"stable_scanned_objects", "textures", "turbosquid_objects")
missing = [name for name in required if not (assets / name).is_dir()]
if missing:
raise ValueError(f"native asset folders are missing: {missing}")
return {"schema_version": "starvla-rsi.libero-plus-readiness/v1", "upstream_revision": catalog.REVISION,
"native_source_files": len(source["files"]), "source_manifest_sha256": source["manifest_sha256"],
"catalog_variants_checked": count, "unique_bddl_reset_files_checked": len(cache),
"suites": list(suites), "asset_folder_check": "present; not complete archive/content validation",
"native_environments_constructed": 0, "native_resets": 0, "native_controls": 0}
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--upstream", type=Path, required=True)
parser.add_argument("--suite", choices=tuple(catalog.COUNTS), action="append")
parser.add_argument("--check-imports", action="store_true",
help="also import native dependencies with configured EGL; never construct an environment")
args = parser.parse_args()
result = verify_inputs(args.upstream, args.suite)
if args.check_imports:
adapter.prepare_native_import(args.upstream.resolve())
importlib.import_module("libero.libero.envs")
importlib.import_module("OpenGL.EGL")
result["image_magick"] = adapter.image_magick_receipt()
result["native_imports"] = "passed; not render/reset validation"
print(json.dumps(result, indent=2, sort_keys=True))
if __name__ == "__main__":
main()
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