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Native preparation and direct-control boundary

The inspected public source is h-embodvis/DOMINO at 9c94f2d3a700fff3b65f041df4038d497139ed1f.

git clone https://github.com/h-embodvis/DOMINO.git /absolute/new-domino
git -C /absolute/new-domino checkout --detach 9c94f2d3a700fff3b65f041df4038d497139ed1f
git -C /absolute/new-domino diff --exit-code HEAD

Native assets/_download.py requests background_texture.zip, embodiments.zip and objects.zip from the public TianxingChen/RoboTwin2.0 dataset. Training demonstrations and PUMA/model weights are not simulator assets. Matching existing assets can be verified and reused read-only. Otherwise pin the dataset revision, download the required archives, record their hashes and extract into a fresh asset root after checking archive paths and links. Never merge blindly over an existing deployment or assume a current dataset equals a historical local asset tree.

Do not run the native installation script against an existing shared environment. It edits SAPIEN/MPLib package code and clones CuRobo without a fixed revision. A portable deployment needs its own environment, recorded native package/source identities, explicit path-only configuration derivations and a verified controller contract. The RoboTwin server's source pin is not a DOMINO source pin.

Why assets alone do not complete the interface

The pinned native evaluator normally executes an expert to screen candidate seeds and recover dynamic-motion information. Its optional fixed-episode manifest avoids online screening but still contains expert-screened scene/trajectory data. Neither mode is an unscreened once-per-selected-seed fast protocol.

A direct-control service must freeze and document its scene distribution before evaluation, keep all dynamic-trajectory and metric-tracker data private, and never offer expert action proposals to the model. Do not replace the dynamic task with a static lookalike merely because its assets load. Preserving native SR/MS also requires the native route-completion, contact-stop, lifting and out-of-bounds logic, not only the task's cached success flag.

The implemented service now selects the bounded click_bell fixed-manifest SM120 compatibility track. Native preparation and service validation remain unfinished; this is not a passed native-run claim. See the evaluation protocol.

Prepare a fresh owned deployment

deployment.py verifies the public Git blob identities of DOMINO and CuRobo, copies only those verified source paths, copies the selected aloha/bell assets, and derives only the two native CuRobo asset-root substitutions. It captures selected compatibility package versions and SAPIEN/MPLib/TOPPRA file hashes. It never invokes an installer, expert, simulator or model. Existing destinations are refused. Untracked compiled CuRobo extensions are not copied; new JIT builds belong to an episode-owned cache, never source or a colleague's environment.

With the declared compatibility interpreter and verified owned SAPIEN/OIDN2.3.3 overlay already selected on PYTHONPATH:

python -B -m benchmarks.simBenchmarks.DOMINO.environment.deployment \
  --source /absolute/pinned-domino-source \
  --source-git /absolute/public-domino-git-reference \
  --assets /absolute/verified-robotwin-assets \
  --curobo /absolute/pinned-curobo-source \
  --curobo-git /absolute/public-curobo-git-reference \
  --destination /absolute/new-owned-domino-deployment

The Git references must contain DOMINO revision 9c94f2d3a700fff3b65f041df4038d497139ed1f and CuRobo v0.7.8 revision d64c4b005459db10c5dd867d8b30a87d5bda9bdb. No global Git setting is modified. Retain the returned manifest SHA256 and do not change the captured deployment. Source verification includes unknown executable/bytecode detection at runtime; launch with -B and never add caches to source trees.

The minimal asset closure is aloha-agilex plus bell variants0/1, including collision/visual geometry, robot meshes, SRDF and native configs. Native clean mode uses no randomized background/clutter textures. File closure does not prove release identity or successful rendering. More tasks require separately verified assets and declarations, not copying task names from the horizon file.

Private fixed-episode preparation gate

No ready-made DOMINO fixed manifests are shipped in the inspected source. Upstream screen_episodes.py can search many candidates and run multiple resets; do not execute it under permission for one diagnostic task attempt.

A separately authorized, bounded preparation may inspect exactly one declared candidate and preserve rejection without scanning for a replacement. It must retain expert preparation and dynamic-validation reset counts, source/deployment identities and any failure, then freeze a trusted manifest before policy use. The server accepts only a manifest pinned to the native revision and checks the chosen seed and dynamic-motion payload. It never prepares, edits or searches the manifest while a policy runs. A manifest is private native reset data; pickle requires a trusted local origin and hash, not arbitrary policy input.

The current native import path still initializes CuRobo planners even though policy controls use qpos/TOPP. The compatibility environment needs a compatible CUDA compiler for fresh JIT builds. GPU names alone do not establish architecture; verify compute capability and actual renderer device on the assigned node. The inspected SM120 track requires Torch2.7.1+CUDA12.8; substituting native Torch2.4.1 on that hardware is not a validated fix.

For a Conda-layout CUDA toolkit, nvcc may find its own headers while the host C++ compiler cannot find cuda_runtime_api.h. Before claiming a task, verify the compiler and header locations, then select the existing toolkit only in the launch environment, for example:

export CUDA_HOME=/absolute/verified-cuda-toolkit
export PATH="$CUDA_HOME/bin:$PATH"
export CPATH="$CUDA_HOME/targets/x86_64-linux/include${CPATH:+:$CPATH}"
export TORCH_CUDA_ARCH_LIST=12.0

Use the actual selected GPU architecture, not 12.0 on a different device. Do not patch a shared environment or copy unverified compiled CuRobo extensions into the native source. Record compiler and Torch CUDA versions independently: the inspected compatibility preflight used nvcc12.9.86 with Torch CUDA12.8, not an exact toolkit-version match. Build/import readiness, synthetic rendering, robot-only planner warmup and a task reset are separate checks. Native source and assets must remain unchanged; isolate JIT, Warp and driver caches in owned diagnostic storage. These setup checks are not policy trials or task scores.