File size: 7,483 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 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 | """Native-free checks for the single public RoboDojo server."""
from __future__ import annotations
from contextlib import redirect_stdout
import hashlib
import io
import json
import os
from pathlib import Path
import subprocess
import sys
import tempfile
import unittest
from unittest.mock import Mock, patch
from benchmarks.simBenchmarks.RoboDojo.bench_server import adapter as adapter_module
from benchmarks.simBenchmarks.RoboDojo import server
from benchmarks.simBenchmarks.RoboDojo.bench_server.protocol.robot_feedback import SCHEMA
from benchmarks.simBenchmarks.RoboDojo.bench_server.protocol.task_catalog import load_catalog
DIRECTORY = Path(__file__).resolve().parents[1]
SEED = 20260907
def example():
return json.loads((DIRECTORY / "server.example.json").read_text())
class RoboDojoServerChecks(unittest.TestCase):
def build(self, values=None):
with patch.object(adapter_module, "load_runtime", return_value={"python": "/native/bin/python"}):
return server.make_robodojo(example() if values is None else values)
def test_example_is_the_single_catalog_task_and_protocol(self):
value = self.build()
catalog = load_catalog()
episodes = value.episodes(SEED)
self.assertEqual(value.descriptor.name, "robodojo")
self.assertEqual(value.descriptor.protocol_version, catalog["interface_protocol"])
self.assertEqual([episode.task for episode in episodes], ["classify_objects"] * 5)
self.assertEqual([episode.metadata["layout_id"] for episode in episodes], list(range(5)))
self.assertEqual(value.native_horizon, 1100)
self.assertEqual(value.environment_step_cap, 1100)
self.assertIsNone(value.max_policy_calls)
self.assertIsNone(value.replan_interval)
self.assertEqual(value.robot_feedback, SCHEMA)
self.assertEqual(value.observation_spec.control_feedback_schema, SCHEMA)
self.assertEqual(value.action_spec.size, 16)
def test_factory_rejects_protocol_selectors_unknown_tasks_and_bad_panels(self):
for update in ({"protocol_track": "reference-eef-v2"}, {"robot_feedback": SCHEMA},
{"task_id": "arrange_largest_number"}, {"layout_ids": [0, 1]},
{"panel": "unknown"}, {"policy": "hidden-policy"}):
with self.subTest(update=update), self.assertRaises((TypeError, ValueError)):
self.build({**example(), **update})
def test_entrypoint_captures_only_final_runtime_sources(self):
self.assertEqual(server.SUPPLEMENTAL_FILES, (
"benchmarks/simBenchmarks/RoboDojo/__init__.py",
"benchmarks/simBenchmarks/RoboDojo/server.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/__init__.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/adapter.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/native_worker_client.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/protocol/__init__.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/protocol/robot_feedback.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/protocol/task_catalog.json",
"benchmarks/simBenchmarks/RoboDojo/bench_server/protocol/task_catalog.py",
"benchmarks/simBenchmarks/RoboDojo/environment/__init__.py",
"benchmarks/simBenchmarks/RoboDojo/environment/asset_reference.py",
"benchmarks/simBenchmarks/RoboDojo/environment/eef_kinematics.py",
"benchmarks/simBenchmarks/RoboDojo/environment/reference_eef_runtime.py",
"benchmarks/simBenchmarks/RoboDojo/environment/reference_eef_snapshot.json",
"benchmarks/simBenchmarks/RoboDojo/environment/worker_runtime.py",
"benchmarks/simBenchmarks/RoboDojo/environment/native_eef_worker.py",
"benchmarks/simBenchmarks/RoboDojo/bench_server/official_adapter.py",
"benchmarks/simBenchmarks/RoboDojo/environment/official_runtime.py",
"benchmarks/simBenchmarks/RoboDojo/environment/official_worker.py",
))
with patch.object(server, "launch", return_value=0) as launch:
self.assertEqual(server.main(["--help"]), 0)
launch.assert_called_once_with(server.make_robodojo, excluded_artifact_directories=("cache",),
require_complete_schedule=True,
supplemental_sources=server.SUPPLEMENTAL_FILES, argv=["--help"])
def test_launcher_describes_final_service_without_opening_native_worker(self):
with tempfile.TemporaryDirectory() as directory:
output = Path(directory) / "server"
http = Mock(server_port=8767)
seen = []
def connect(service, **kwargs):
seen.append(service.dispatch("describe", {}))
return http
with (patch.dict(os.environ, {"RSI_SIM_SERVER_TOKEN": "s" * 48}),
patch.object(adapter_module, "load_runtime", return_value={"python": "/native/bin/python"}),
patch("benchkit.sim_server.launch.make_http_server", side_effect=connect),
patch.object(adapter_module.DirectEEFBenchmarkAdapter, "open_episode",
side_effect=AssertionError("native open")),
redirect_stdout(io.StringIO()) as stdout):
result = server.main(["--parameters", str(DIRECTORY / "server.example.json"),
"--seed", str(SEED),
"--output-dir", str(output), "--port", "8767"])
self.assertEqual(result, 0)
self.assertEqual(json.loads(stdout.getvalue())["native_resets"], 0)
description = seen[0]
self.assertEqual(description["descriptor"]["protocol_version"], load_catalog()["interface_protocol"])
self.assertEqual(description["episodes"][0]["task"], "classify_objects")
self.assertEqual(len(description["episodes"]), 5)
self.assertEqual(description["budget"]["environment_step_cap"], 1100)
self.assertIsNone(description["budget"]["max_policy_calls"])
self.assertEqual(len(description["source"]["supplemental_files"]), len(server.SUPPLEMENTAL_FILES))
for item in description["source"]["supplemental_files"]:
relative = item["path"]
expected = (DIRECTORY.parents[2] / relative).read_bytes()
self.assertEqual(item["sha256"], hashlib.sha256(expected).hexdigest())
self.assertEqual((output / "service_source" / relative).read_bytes(), expected)
def test_import_does_not_load_native_worker_or_model(self):
code = ("import json,sys; import benchmarks.simBenchmarks.RoboDojo.server; "
"blocked=('isaacsim','isaaclab','omni','torch','AgentPolicies',"
"'benchmarks.simBenchmarks.RoboDojo.environment.worker_runtime',"
"'benchmarks.simBenchmarks.RoboDojo.environment.native_eef_worker'); "
"print(json.dumps([name for name in blocked if any(k==name or k.startswith(name+'.') for k in sys.modules)]))")
result = subprocess.run([sys.executable, "-B", "-c", code], cwd=DIRECTORY.parents[2],
text=True, capture_output=True, check=True)
self.assertEqual(json.loads(result.stdout), [])
if __name__ == "__main__":
unittest.main()
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