assests / common /source /starBenchserver /benchmarks /simBenchmarks /LIBERO /checks /test_server.py
| """Native-free LIBERO server construction; not renderer or capability tests.""" | |
| 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.LIBERO import server | |
| from benchmarks.simBenchmarks.LIBERO.bench_server.adapter import FIRST_PASS_SEED, LiberoBenchmarkAdapter | |
| from benchkit.source_snapshot import SERVICE_SOURCE_FILES | |
| DIRECTORY = Path(__file__).resolve().parents[1] | |
| def example(): | |
| return json.loads((DIRECTORY / "server.example.json").read_text()) | |
| class LiberoServerChecks(unittest.TestCase): | |
| def test_canonical_entrypoint_has_no_compatibility_files(self): | |
| from benchmarks.simBenchmarks.LIBERO.bench_server import adapter as canonical | |
| self.assertFalse((DIRECTORY / "adapter.py").exists()) | |
| self.assertFalse((DIRECTORY / "evaluation/plan.py").exists()) | |
| self.assertTrue((DIRECTORY / "bench_server/protocol/plan.py").is_file()) | |
| self.assertIs(server.make_libero, canonical.make_libero) | |
| def test_nested_catalog_preserves_all_pinned_task_data(self): | |
| from importlib import resources | |
| catalog = resources.files("benchmarks.simBenchmarks.LIBERO.bench_server.protocol").joinpath( | |
| "libero_catalog.json") | |
| self.assertEqual(hashlib.sha256(catalog.read_bytes()).hexdigest(), | |
| "0081b6347bdd438a3659de222f38fec019cda593dde81b030014fe8a63cf8814") | |
| def test_example_selects_one_fixed_rgb_task_and_explicit_decision_track(self): | |
| adapter = server.make_libero(example()) | |
| episode, = adapter.episodes(FIRST_PASS_SEED) | |
| self.assertEqual(adapter.descriptor.name, "libero") | |
| self.assertEqual(adapter.descriptor.source_revision, "8f1084e3132a39270c3a13ebe37270a43ece2a01") | |
| self.assertEqual(episode.task, "libero_10/task-0") | |
| self.assertEqual(episode.metadata["initial_state_index"], 0) | |
| self.assertEqual(episode.metadata["attempt"], 1) | |
| self.assertEqual(adapter.observation_spec.cameras, ("agentview", "robot0_eye_in_hand")) | |
| self.assertEqual(adapter.observation_spec.state_names, ()) | |
| self.assertEqual(adapter.action_spec.size, 7) | |
| self.assertEqual((adapter.budget_mode, adapter.max_policy_calls, adapter.replan_interval), | |
| ("decisions", 200, 5)) | |
| self.assertEqual(adapter.environment_step_cap, 1000) | |
| self.assertEqual(adapter.native_horizon, 520) | |
| self.assertEqual(adapter.native_engine_horizon, 1010) | |
| def test_example_cannot_select_unknown_tasks_or_ambiguous_limits(self): | |
| for update in ({"task_ids": [0, 0]}, {"task_ids": [10]}, {"suite": "libero_plus"}, | |
| {"budget_mode": "horizon"}, {"max_policy_calls": True}, | |
| {"replan_interval": 0}, {"policy": "hidden-policy"}): | |
| with self.subTest(update=update), self.assertRaises(ValueError): | |
| server.make_libero({**example(), **update}) | |
| adapter = server.make_libero(example()) | |
| with self.assertRaises(ValueError): | |
| adapter.episodes(FIRST_PASS_SEED, 2) | |
| with self.assertRaises(ValueError): | |
| adapter.episodes(0) | |
| def test_entrypoint_uses_only_its_benchmark_factory(self): | |
| with patch.object(server, "launch", return_value=0) as launch: | |
| self.assertEqual(server.main(["--help"]), 0) | |
| launch.assert_called_once_with(server.make_libero, | |
| supplemental_sources=server.SUPPLEMENTAL_FILES, | |
| argv=["--help"]) | |
| def test_launcher_describes_and_captures_sources_without_opening_native(self): | |
| with tempfile.TemporaryDirectory() as directory: | |
| output = Path(directory) / "server" | |
| http = Mock(server_port=8766) | |
| seen = [] | |
| def connect(service, **kwargs): | |
| seen.append(service.dispatch("describe", {})) | |
| self.assertEqual(service.claims, set()) | |
| self.assertEqual(service.sessions, {}) | |
| self.assertEqual(service.excluded, ()) | |
| return http | |
| with (patch.dict(os.environ, {"RSI_SIM_SERVER_TOKEN": "s" * 48}), | |
| patch("benchkit.sim_server.launch.make_http_server", side_effect=connect), | |
| patch.object(LiberoBenchmarkAdapter, "open_episode", side_effect=AssertionError("native open")), | |
| redirect_stdout(io.StringIO()) as stdout): | |
| result = server.main(["--parameters", str(DIRECTORY / "server.example.json"), | |
| "--seed", str(FIRST_PASS_SEED), "--episodes", "1", | |
| "--output-dir", str(output), "--port", "8766"]) | |
| self.assertEqual(result, 0) | |
| self.assertEqual(json.loads(stdout.getvalue())["native_resets"], 0) | |
| http.serve_forever.assert_called_once_with(poll_interval=0.25) | |
| http.server_close.assert_called_once() | |
| self.assertEqual(seen[0]["descriptor"]["name"], "libero") | |
| self.assertEqual(seen[0]["budget"]["environment_step_cap"], 1000) | |
| supplemental = seen[0]["source"]["supplemental_files"] | |
| self.assertEqual({row["path"] for row in supplemental}, set(server.SUPPLEMENTAL_FILES)) | |
| index = json.loads((output / "harness_source/index.json").read_text()) | |
| shared = {row["path"]: row for row in index["files"]} | |
| selected = {row["path"]: row for row in supplemental} | |
| self.assertEqual(set(shared), set(SERVICE_SOURCE_FILES)) | |
| self.assertFalse(set(shared) & set(selected)) | |
| self.assertNotIn("benchmarks/simBenchmarks/LIBERO/adapter.py", shared.keys() | selected.keys()) | |
| # Plan assembly belongs to the separately retained campaign capture, | |
| # not the service runtime selected by this benchmark's wrapper. | |
| self.assertNotIn("benchmarks/simBenchmarks/LIBERO/bench_server/protocol/plan.py", | |
| shared.keys() | selected.keys()) | |
| for captured_root, inventory in (("harness_source/files", shared), ("service_source", selected)): | |
| for relative, row in inventory.items(): | |
| original = (DIRECTORY.parents[2] / relative).read_bytes() | |
| captured = (output / captured_root / relative).read_bytes() | |
| self.assertEqual(captured, original) | |
| self.assertEqual(row["size_bytes"], len(captured)) | |
| self.assertEqual(row["sha256"], hashlib.sha256(captured).hexdigest()) | |
| def test_example_factory_does_not_import_simulators_or_models(self): | |
| code = """ | |
| import json, sys | |
| from benchmarks.simBenchmarks.LIBERO.server import make_libero | |
| with open('benchmarks/simBenchmarks/LIBERO/server.example.json') as stream: | |
| adapter = make_libero(json.load(stream)) | |
| assert len(adapter.episodes(20260907)) == 1 | |
| for name in ('numpy', 'libero', 'robosuite', 'mujoco', 'torch', 'AgentPolicies'): | |
| assert not any(key == name or key.startswith(name + '.') for key in sys.modules), name | |
| """ | |
| completed = subprocess.run([sys.executable, "-B", "-S", "-c", code], | |
| cwd=DIRECTORY.parents[2], capture_output=True, text=True, timeout=30) | |
| self.assertEqual(completed.returncode, 0, completed.stderr) | |
| if __name__ == "__main__": | |
| unittest.main() | |