| """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()) |
|
|
