File size: 3,622 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 | """Public RoboDojo Direct-control SIM server with explicit deployment identity."""
from collections.abc import Mapping
from benchmarks.simBenchmarks.RoboDojo.bench_server.adapter import DirectEEFBenchmarkAdapter, INTERFACE_PROTOCOL
from benchkit.sim_server.launch import main as launch
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",
)
SERVER_PARAMETERS = frozenset({"task_id", "runtime_manifest", "runtime_manifest_sha256",
"panel", "gpu_id", "worker_timeout", "deployment_track"})
def make_robodojo(parameters: Mapping[str, object]) -> DirectEEFBenchmarkAdapter:
"""Keep historical and official-source deployments distinctly identified.
Both use the same fixed sensors/control conversion and named schedule. A
deployment cannot impersonate the other track's manifest or protocol ID.
"""
values = dict(parameters)
if "protocol_track" in values or "robot_feedback" in values:
raise ValueError("RoboDojo server protocol is fixed; remove protocol selectors")
unknown = set(values) - SERVER_PARAMETERS
if unknown:
raise ValueError(f"unknown RoboDojo server parameters: {sorted(unknown)}")
track = values.pop("deployment_track", "reference")
if track == "official":
from benchmarks.simBenchmarks.RoboDojo.bench_server.official_adapter import OfficialEEFBenchmarkAdapter
from benchmarks.simBenchmarks.RoboDojo.environment.official_runtime import PROTOCOL
adapter_type, expected_protocol = OfficialEEFBenchmarkAdapter, PROTOCOL
elif track == "reference":
adapter_type, expected_protocol = DirectEEFBenchmarkAdapter, INTERFACE_PROTOCOL
else:
raise ValueError("deployment_track must be reference or official")
adapter = adapter_type(**values, diagnostic=False)
if adapter.descriptor.protocol_version != expected_protocol:
raise ValueError("RoboDojo adapter and task-catalog interface protocols differ")
return adapter
def main(argv=None) -> int:
"""Capture the final private worker while excluding only runtime cache."""
return launch(make_robodojo, excluded_artifact_directories=("cache",), require_complete_schedule=True,
supplemental_sources=SUPPLEMENTAL_FILES, argv=argv)
if __name__ == "__main__":
raise SystemExit(main())
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