assests / common /source /starBenchserver /benchmarks /simBenchmarks /RoboDojo /checks /test_server.py
| """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() | |