"""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()