From a8106201df10d71b1d1103eb03d725a0d69eba2d Mon Sep 17 00:00:00 2001 From: PengYue Date: Sat, 25 Jul 2026 02:48:54 +0800 Subject: [PATCH 01/10] feat(hal): add Galaxea A1 real deployment path Signed-off-by: PengYue --- Justfile | 13 +- README.md | 2 +- docker/galaxea_a1_sidecar/Dockerfile | 40 + docker/galaxea_a1_sidecar/entrypoint.sh | 14 + docker/inference/Dockerfile.x86 | 5 +- docs/architecture/repo-state-map.html | 11 +- docs/methods/00-core-schemas.md | 6 +- docs/methods/01-hal.md | 264 +++++- docs/methods/05-inference-runner.md | 26 +- docs/methods/12-tests-hil.md | 9 +- docs/reference/robots.md | 1 + .../openral_hal_galaxea_a1/CMakeLists.txt | 25 + packages/openral_hal_galaxea_a1/README.md | 46 + .../openral_hal_galaxea_a1/__init__.py | 1 + .../openral_hal_galaxea_a1/lifecycle_node.py | 9 + packages/openral_hal_galaxea_a1/package.xml | 27 + .../test/test_lifecycle_safety.py | 171 ++++ .../launch/sim_e2e.launch.py | 53 +- .../openral_rskill_ros/rskill_runner_node.py | 19 +- .../test/test_no_dashboard_otlp_env.py | 50 +- pyproject.toml | 1 + python/cli/src/openral_cli/deploy_sim.py | 20 + python/core/src/openral_core/schemas.py | 20 +- python/hal/README.md | 6 +- python/hal/src/openral_hal/__init__.py | 31 +- python/hal/src/openral_hal/galaxea_a1.py | 787 ++++++++++++++++++ python/hal/src/openral_hal/lifecycle.py | 104 ++- python/hal/src/openral_hal/protocol.py | 65 +- .../backends/galaxea_a1_camera_bridge.py | 129 +++ python/runner/src/openral_runner/factory.py | 44 +- .../sim/src/openral_sim/policies/__init__.py | 1 + .../src/openral_sim/policies/lingbot_va_a1.py | 452 ++++++++++ python/sim/src/openral_sim/policy_deps.py | 7 + robots/galaxea_a1/robot.yaml | 167 ++++ .../README.md | 146 ++++ .../rskill.yaml | 99 +++ scenes/deploy/galaxea_a1_bench.yaml | 72 ++ tests/hil/test_galaxea_a1.py | 268 ++++++ tests/hil/test_galaxea_a1_deploy.py | 397 +++++++++ tests/unit/test_all_manifests_validate.py | 2 + tests/unit/test_deploy_run_real_resolution.py | 32 +- tests/unit/test_eval_registry_and_runner.py | 1 + tests/unit/test_galaxea_a1.py | 749 +++++++++++++++++ .../test_intree_manifests_have_processors.py | 6 + ...est_robot_manifests_match_hal_constants.py | 2 + tools/galaxea_a1_ros1_sidecar.py | 774 +++++++++++++++++ tools/run_galaxea_a1_sidecar.sh | 134 +++ uv.lock | 2 + 48 files changed, 5204 insertions(+), 106 deletions(-) create mode 100644 docker/galaxea_a1_sidecar/Dockerfile create mode 100644 docker/galaxea_a1_sidecar/entrypoint.sh create mode 100644 packages/openral_hal_galaxea_a1/CMakeLists.txt create mode 100644 packages/openral_hal_galaxea_a1/README.md create mode 100644 packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/__init__.py create mode 100755 packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/lifecycle_node.py create mode 100644 packages/openral_hal_galaxea_a1/package.xml create mode 100644 packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py create mode 100644 python/hal/src/openral_hal/galaxea_a1.py create mode 100644 python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py create mode 100644 python/sim/src/openral_sim/policies/lingbot_va_a1.py create mode 100644 robots/galaxea_a1/robot.yaml create mode 100644 rskills/lingbot-va-galaxea-a1-fruit-placement/README.md create mode 100644 rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml create mode 100644 scenes/deploy/galaxea_a1_bench.yaml create mode 100644 tests/hil/test_galaxea_a1.py create mode 100644 tests/hil/test_galaxea_a1_deploy.py create mode 100644 tests/unit/test_galaxea_a1.py create mode 100755 tools/galaxea_a1_ros1_sidecar.py create mode 100755 tools/run_galaxea_a1_sidecar.sh diff --git a/Justfile b/Justfile index d8687a5..1ea1a15 100644 --- a/Justfile +++ b/Justfile @@ -164,15 +164,16 @@ docker-build-x86: # (ros-tee / perception-tee / nvmm-source) moved to openral-pro with it. # GStreamer-free deploy smoke inside the open x86 image: asserts `import gi` -# is absent, cv2 / feetech (scservo_sdk) / onnxruntime / omdet are present, and -# `deploy run --config so101_bench.yaml --dry-run` resolves the launch. This is -# what CI (`docker-build.yml`) runs on the built image. Exits non-zero on failure. +# is absent, cv2 / feetech (scservo_sdk) / onnxruntime / omdet plus the LingBot +# msgpack/websocket protocol dependencies are present, and `deploy run --config +# so101_bench.yaml --dry-run` resolves the launch. This is what CI +# (`docker-build.yml`) runs on the built image. Exits non-zero on failure. docker-smoke-x86-deploy: docker-build-x86 docker run --rm --entrypoint /entrypoint.sh openral:x86 \ bash -lc 'set -e; \ - python -c "import cv2, scservo_sdk, onnxruntime; from transformers import AutoModelForZeroShotObjectDetection; \ + python -c "import cv2, msgpack, scservo_sdk, onnxruntime, websockets.sync.client; from transformers import AutoModelForZeroShotObjectDetection; \ import importlib.util as u; assert u.find_spec(\"gi\") is None, \"gi present — expected gstreamer-free\"; \ - print(\"OK: cv2\", cv2.__version__, \"| feetech + onnxruntime + omdet present | gi absent\")"; \ + print(\"OK: cv2\", cv2.__version__, \"| feetech + onnxruntime + omdet + LingBot protocol present | gi absent\")"; \ openral deploy run --config scenes/deploy/so101_bench.yaml --dry-run | grep -q "hal_mode:=real" \ && echo "OK: deploy run --dry-run resolves"' @@ -395,6 +396,7 @@ ros2-build: --packages-select openral_msgs \ opentelemetry_cpp_vendor \ openral_hal_so100 \ + openral_hal_galaxea_a1 \ openral_hal_panda_mobile \ openral_hal_openarm \ openral_hal_franka \ @@ -494,6 +496,7 @@ ros2-test: --packages-select openral_msgs \ opentelemetry_cpp_vendor \ openral_hal_so100 \ + openral_hal_galaxea_a1 \ openral_hal_panda_mobile \ openral_hal_openarm \ openral_hal_franka \ diff --git a/README.md b/README.md index 83b8567..8c2a575 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ We compose ROS 2, tf2, MoveIt 2 (with optional CUDA-accelerated **cuMotion** pla **Shipped today** (all workspace packages at `0.1.0`): - `openral_core` schemas + the `openral` CLI (bare `openral` drops into a REPL) -- HAL adapters for [17 robot platforms](docs/reference/robots.md) — manipulators, mobile manipulators, bimanual arms, humanoids +- HAL adapters for [18 robot platforms](docs/reference/robots.md) — manipulators, mobile manipulators, bimanual arms, humanoids - [Sensor catalog](docs/reference/sensors_landscape.md) — RGB-D, F/T, and USB-UVC adapters - `WorldStateAggregator` — 30 Hz tf2-aware snapshot with lifted object detections - [rSkill packages](docs/reference/rskills.md) spanning every kind — VLA policies (SmolVLA, π0.5, xVLA, MolmoAct2, ACT, Diffusion Policy, 3D Diffuser Actor, RLDX-1, OpenVLA-OFT, GR00T N1.7), open-vocabulary detectors (RT-DETR, OmDet-Turbo, LocateAnything), the Qwen3.5-4B scene VLM (`kind: vlm`), the Robometer-4B reward/progress monitor (`kind: reward`), MoveIt / Nav2 classical-control skills (`kind: ros_action`), and human-authored reasoner playbooks (`kind: playbook`) diff --git a/docker/galaxea_a1_sidecar/Dockerfile b/docker/galaxea_a1_sidecar/Dockerfile new file mode 100644 index 0000000..681b908 --- /dev/null +++ b/docker/galaxea_a1_sidecar/Dockerfile @@ -0,0 +1,40 @@ +FROM ros:noetic-ros-base-focal + +ENV DEBIAN_FRONTEND=noninteractive +ENV LANG=C.UTF-8 +ENV LC_ALL=C.UTF-8 + +# The vendor SDK is never copied into this image. Operators mount a separately +# obtained, already-built A1_SDK tree read-only at run time. +RUN apt-get update && apt-get install -y --no-install-recommends \ + libconsole-bridge0.4 \ + libassimp5 \ + liboctomap-dev \ + liborocos-kdl1.4 \ + python3-serial \ + ros-noetic-controller-interface \ + ros-noetic-controller-manager \ + ros-noetic-joint-state-controller \ + ros-noetic-interactive-markers \ + ros-noetic-kdl-parser \ + ros-noetic-pluginlib \ + ros-noetic-robot-state-publisher \ + ros-noetic-ros-control \ + ros-noetic-ros-controllers \ + ros-noetic-tf \ + ros-noetic-tf-conversions \ + ros-noetic-tf2-ros \ + ros-noetic-trac-ik-lib \ + ros-noetic-urdf \ + ros-noetic-urdf-parser-plugin \ + ros-noetic-xacro \ + && rm -rf /var/lib/apt/lists/* + +ENV ROS_MASTER_URI=http://127.0.0.1:11311 +ENV ROS_HOSTNAME=127.0.0.1 + +COPY entrypoint.sh /usr/local/bin/openral-a1-entrypoint +RUN chmod 0755 /usr/local/bin/openral-a1-entrypoint + +ENTRYPOINT ["/usr/local/bin/openral-a1-entrypoint"] +CMD ["bash"] diff --git a/docker/galaxea_a1_sidecar/entrypoint.sh b/docker/galaxea_a1_sidecar/entrypoint.sh new file mode 100644 index 0000000..ac68ab7 --- /dev/null +++ b/docker/galaxea_a1_sidecar/entrypoint.sh @@ -0,0 +1,14 @@ +#!/usr/bin/env bash +set -euo pipefail + +# shellcheck disable=SC1091 +source /opt/ros/noetic/setup.bash + +if [[ -z "${A1_SDK_ROOT:-}" || ! -f "${A1_SDK_ROOT}/install/setup.bash" ]]; then + echo "A1_SDK_ROOT must point to a mounted, built Galaxea A1 SDK" >&2 + exit 2 +fi + +# shellcheck disable=SC1090 +source "${A1_SDK_ROOT}/install/setup.bash" +exec "$@" diff --git a/docker/inference/Dockerfile.x86 b/docker/inference/Dockerfile.x86 index dee24b8..20cc14a 100644 --- a/docker/inference/Dockerfile.x86 +++ b/docker/inference/Dockerfile.x86 @@ -137,6 +137,8 @@ COPY python/ python/ # load time (needed on REAL hardware too). # omdet — the open-vocabulary object detector (omdet-turbo, transformers-based) # the ros_image_detector_node runs when enable_object_detector is on. +# lingbot — the msgpack + synchronous-websocket protocol dependencies used by +# the out-of-process LingBot policy adapters, including Galaxea A1. # The `opencv_thread` camera path needs cv2 (opencv-python). It is a per-member # EXTRA (openral-runner `opencv`), NOT pulled by `uv sync --all-packages`, so it # is installed explicitly post-sync alongside onnxruntime (which lives only in @@ -147,7 +149,7 @@ COPY python/ python/ # uv.lock. TensorRT (`--group tensorrt`) is an OpenRAL Pro plugin — never here. RUN --mount=type=cache,target=/root/.cache/uv \ uv sync --frozen --all-packages \ - --group sim --group omdet \ + --group sim --group omdet --group lingbot \ && uv pip install --python /workspace/.venv/bin/python onnxruntime opencv-python # Copy the colcon-buildable trees AFTER the venv resolve so a packages/ tweak @@ -185,6 +187,7 @@ RUN bash -lc 'set -eo pipefail \ --packages-select openral_msgs \ opentelemetry_cpp_vendor \ openral_hal_so100 \ + openral_hal_galaxea_a1 \ openral_hal_openarm \ openral_world_state \ openral_reasoner_ros \ diff --git a/docs/architecture/repo-state-map.html b/docs/architecture/repo-state-map.html index 08c8bbf..d58509b 100644 --- a/docs/architecture/repo-state-map.html +++ b/docs/architecture/repo-state-map.html @@ -700,6 +700,15 @@

Schemas registry

outputs: ["JointTrajectory", "/error_recovery/goal"], schemas: ["RobotDescription", "JointState", "Action"], }, + { + title: "HAL · Galaxea A1 (real-HW)", + pkg: "python/hal · galaxea_a1.py · tools/galaxea_a1_ros1_sidecar.py · docker/galaxea_a1_sidecar · packages/openral_hal_galaxea_a1", + status: "yellow", + desc: "Real-only six-axis A1 HAL over an isolated ROS 1 Noetic sidecar. The operator provides the official SDK; OpenRAL bundles no vendor code. A background loopback transport keeps network I/O off the HAL hot path. The sidecar owns roscore + official serial driver + joint tracker and stops the full process group on command-lease expiry, disconnect, motor fault, or e-stop. Its locked staged-command relay blocks the tracker's compiled startup pose until it aligns with fresh measured feedback. Manifest at robots/galaxea_a1/robot.yaml; unit, socket, ROS lifecycle, and read-only preflight coverage are complete. Real HIL has passed observation, current hold, a bounded 0.01 rad joint round trip, a 10 mm gripper round trip, and current hold through candidate_action → the C++ kernel → safe_action → the real HAL. The LingBot-VA A1 rSkill consumes the external A1 Runtime's public paired-camera/model/EEF-IK contracts, explicitly subdivides IK solutions by the manifest-owned HAL step limit, and returns typed joint + gripper actions to the same OpenRAL safety path.", + inputs: ["Action (6-D + gripper)", "/joint_states_host", "/arm_status_host"], + outputs: ["/arm_joint_target_position", "/gripper_position_control_host", "JointState"], + schemas: ["RobotDescription", "JointState", "Action"], + }, { title: "HAL · Sawyer (real-HW)", pkg: "python/hal · sawyer_real.py", @@ -1569,7 +1578,7 @@

Schemas registry

title: "Tests · HIL", pkg: "tests/hil", status: "yellow", - desc: "7 files: test_ur5e, test_ur10e, test_franka_panda, test_sawyer, test_aloha (real-hardware HALs gated by self-hosted [lab-] runner labels + UR{5,10}E_HOST / *_FCI_HOST env vars), plus test_detect_jetson_live for the auto-provisioning probe. SO-100 / SO-101 / RealSense HIL gates were removed until matching lab hardware exists. The shared rclpy bridge lives in _ros_control_transport.py (RosControlHILTransport) and _aloha_ros_transport.py (4-way ALOHA fan-out). The L4T HIL workflow (`hil-l4t.yml`) that PR #93 added was removed by the 2026-05-14 single-Dockerfile consolidation amendment — L4T returns when the `[self-hosted, l4t]` runner pool is online.", + desc: "8 files: test_ur5e, test_ur10e, test_franka_panda, test_sawyer, test_aloha (real-hardware HALs gated by self-hosted [lab-] runner labels + UR{5,10}E_HOST / *_FCI_HOST env vars), test_galaxea_a1 (direct HAL observation/hold/joint/gripper gates), test_galaxea_a1_deploy (full candidate_action → C++ kernel → safe_action → real HAL → ROS 1 relay hold + mandatory e-stop), plus test_detect_jetson_live for the auto-provisioning probe. SO-100 / SO-101 / RealSense HIL gates were removed until matching lab hardware exists. The shared rclpy bridge lives in _ros_control_transport.py (RosControlHILTransport) and _aloha_ros_transport.py (4-way ALOHA fan-out). The L4T HIL workflow (`hil-l4t.yml`) that PR #93 added was removed by the 2026-05-14 single-Dockerfile consolidation amendment — L4T returns when the `[self-hosted, l4t]` runner pool is online.", }, { title: "CI · Docker image build", diff --git a/docs/methods/00-core-schemas.md b/docs/methods/00-core-schemas.md index 142f27e..f998ff5 100644 --- a/docs/methods/00-core-schemas.md +++ b/docs/methods/00-core-schemas.md @@ -45,7 +45,7 @@ _openral schema v0 — normative Pydantic v2 contracts for all layers._ `APACHE_2_0, MIT, BSD, PERMISSIVE_RESEARCH, NVIDIA_NON_COMMERCIAL, NVIDIA_OPEN_MODEL, RLWRLD_NON_COMMERCIAL, PROPRIETARY, UNKNOWN` (NVIDIA_OPEN_MODEL = GR00T N1.7+, commercial OK) - `class RSkillRuntime(str, Enum)` — Manifest runtime hint. (L2775) `PYTORCH, ONNX, TENSORRT, TRT_LLM, VLLM, GGUF, MLX, JAX` -- `class PhysicsBackend(str, Enum)` — Sim backend. (L6520) +- `class PhysicsBackend(str, Enum)` — Sim backend. (L6530) `MUJOCO, MUJOCO_MJX, PYBULLET, SAPIEN, ISAACSIM, COPPELIASIM, GENESIS, MOCK` (SAPIEN = ManiSkill3 / RoboTwin engine; RoboTwin uses it via a py3.10 sidecar; `COPPELIASIM` = CoppeliaSim/PyRep RLBench backend, out-of-process py3.10 sidecar) **Pydantic models — robot manifest hierarchy** @@ -66,7 +66,7 @@ _openral schema v0 — normative Pydantic v2 contracts for all layers._ - `class ComputeSpec(BaseModel)` — Compute profile for one deployment tier (edge / local / cloud). Populated by `openral_detect._enrich_compute` from GPU probe results; attached to `RobotDescription.compute_edge`, `compute_local`, or `compute_cloud`. (L667) fields: `compute_tops, system_memory_gb, num_gpus, gpu_vram_gb, cuda_compute_capability, cuda_toolkit_version, tensorrt_version, gpu_supported_runtimes, gpu_supported_dtypes, nvmm_available, endpoint, network_latency_ms`. Shared across all three tiers — `endpoint` and `network_latency_ms` are `None` for edge/local. `nvmm_available` is probed on all tiers (returns `False` gracefully when absent). `num_gpus > 1` captures cloud multi-GPU pods. GPU/runtime fields moved here from `RobotCapabilities` to separate physical robot capabilities from host compute properties. - `supports_cumotion() -> bool` — True when the host meets the cuMotion (Isaac ROS) GPU floor: compute capability >= (8, 0), CUDA toolkit major >= 13, and `gpu_vram_gb` >= `_CUMOTION_MIN_VRAM_GIB` (7.5; nominal-8 GB cards report ~7.99 GiB). The MoveIt planner gate uses it to pick cuMotion vs OMPL. False on non-CUDA hosts or when the CUDA toolkit version is unknown. -- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8065) +- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8079) - `class RobotCapabilities(BaseModel)` — Physical capability flags for skill compatibility. (L760) fields: `locomotion, can_lift_kg, has_dexterous_hands, has_tactile, has_force_control, has_vision, has_lidar, has_vision_slam, has_audio, bimanual, supported_control_modes, supported_vla_embodiments, embodiment_tags`. GPU/compute fields moved to `ComputeSpec` (attached at `RobotDescription.compute`). **`has_vision_slam`** gates the camera-based cuVSLAM+nvblox SLAM backend for lidar-less robots; independent of `has_lidar` (lidar backend wins when both set). - `class SafetyEnvelope(BaseModel)` — Constraints enforced by C++ safety kernel. (L808) @@ -258,7 +258,7 @@ On-disk + runtime contracts for the hardware inference runner (`openral deploy - - `_decode_data(cls, value: Any) -> bytes | None` [@field_validator("data", mode="before")] — Accept raw `bytes` or a base64-encoded `str` on JSON parse. (L614) - `_encode_data(self, value: bytes | None) -> str | None` [@field_serializer("data", when_used="json")] — JSON-serialize the binary payload as base64. (L632) - `model_post_init(_context: object) -> None` — Cross-field validation: exactly one of `(data, topic, handle)` must be set. (L637) -- `class SensorReaderBackend(str, Enum)` — Which `SensorReader` implementation a sensor uses. (L1691) +- `class SensorReaderBackend(str, Enum)` — Which `SensorReader` implementation a sensor uses. Includes `galaxea_a1_camera_bridge`, which consumes the paired raw-frame owner exposed by an external A1 Runtime checkout without reopening either RealSense device. (L1691) `OPENCV_THREAD, ROS2_IMAGE, GSTREAMER` - `class DeadlineOverrunPolicy(str, Enum)` — Behaviour when a tick exceeds `1 / rate_hz`. (L1706) `WARN, DROP, RAISE` diff --git a/docs/methods/01-hal.md b/docs/methods/01-hal.md index 3fe5480..3a08400 100644 --- a/docs/methods/01-hal.md +++ b/docs/methods/01-hal.md @@ -3,15 +3,23 @@ > Part of the OpenRAL [public-symbol inventory](../METHODS.md). Hand-curated; `(LNN)` markers are refreshed by `tools/refresh_methods_linenos.py`. ### `python/hal/src/openral_hal/protocol.py` -_HAL Protocol — the normative interface every HAL adapter must satisfy._ +_Normative HAL protocol plus explicit optional lifecycle extensions._ -- `class HAL(Protocol)` — Structural protocol every HAL adapter must satisfy. (L26) +- `class HAL(Protocol)` — Structural protocol every HAL adapter must satisfy. - attr `description: RobotDescription` - - `connect() -> None` — Open connection to robot/sim. (L43) - - `disconnect() -> None` — Close connection (idempotent). (L53) - - `read_state() -> JointState` — Latest joint state snapshot (hot path). (L61) - - `send_action(action: Action) -> None` — Forward action chunk to controller (hot path). (L75) - - `estop() -> None` — Trigger emergency stop, always raises `ROSEStopRequested`. (L91) + - `connect() -> None` — Open connection to robot/sim. + - `disconnect() -> None` — Close connection (idempotent). + - `read_state() -> JointState` — Latest joint state snapshot (hot path). + - `send_action(action: Action) -> None` — Forward action chunk to controller (hot path). + - `estop() -> None` — Trigger emergency stop, always raises `ROSEStopRequested`. +- `class LifecycleEStopHAL(Protocol)` — Opt-in propagation of the generic + lifecycle e-stop to downstream hardware or owned processes. +- `class ResettableLifecycleEStopHAL(LifecycleEStopHAL, Protocol)` — Opt-in + in-process recovery contract. +- `class EStopRecovery(StrEnum)` — Declares whether recovery is resettable or + requires a full lifecycle restart. +- `class HALHealthProvider(Protocol)` / `class HALHealthReport` — Cached, + I/O-free diagnostics consumed by the generic lifecycle heartbeat. ### `python/hal/src/openral_hal/_mujoco_arm.py` _Internal MuJoCo-backed HAL implementation shared by UR / Franka / SO-100 / G1 / H1 / Rizon-4 / OpenArm / ALOHA adapters. Reads its wiring from `RobotDescription.sim`._ @@ -169,6 +177,232 @@ _SO100FollowerHAL — wraps lerobot's SO-100 follower arm USB driver._ - `_rad_to_deg(rad) -> float` (L238) - const `SO100_DESCRIPTION = RobotDescription(...)` (L88) +### `python/hal/src/openral_hal/galaxea_a1.py` +_Real-only Galaxea A1 HAL. OpenRAL stays ROS 2 / Python 3.12; the operator's +official ROS 1 Noetic SDK runs out of process behind a loopback JSON-lines +sidecar. No vendor source, binary, or message package is distributed._ + +- `class GalaxeaA1HAL(HALBase)` — six-axis joint-position + normalized + gripper adapter. `read_state` and `send_action` use a cached snapshot/latest + target so network I/O stays off the HAL hot path. Commands fail closed on + stale state/status, unaccepted motor bits, non-finite values, initial target + misalignment, or an excessive feedback-relative target step. Command limits + remain exact; a separately tracked 0.01 rad feedback-only endpoint tolerance + absorbs encoder zero/quantization at a nominal URDF boundary. `estop` asks + the sidecar to stop its owned ROS 1 stack and always raises + `ROSEStopRequested`. +- const `GALAXEA_A1_DESCRIPTION` — real-only `RobotDescription`, mirrored by + `robots/galaxea_a1/robot.yaml`; official A1 URDF joint names/limits, explicit + sidecar deadlines, motor masks, 0..104 mm normalized gripper mapping, and + the calibrated D455 front / D405 wrist RGB observation contracts. +- `tools/galaxea_a1_ros1_sidecar.py` — Python-3.8-compatible ROS 1 process that + owns `roscore`, `signal_arm/single_arm_node.launch`, and the official + `mobiman/jointTracker_demo_node` binary. The tracker publishes to + `/openral/arm_joint_command_staged`; a sidecar-owned relay is the sole + publisher to `/arm_joint_command_host`. The relay stays `LOCKED` until the + first target, then `ARMING` until a fresh, valid tracker command is aligned + with both that target and measured joint feedback. Only `ACTIVE` forwards + unchanged tracker commands. Repeated identical joint and gripper setpoints + refresh the command lease without restarting the official tracker. A command + lease, alignment timeout, malformed command, stale feedback, motor fault, + client disconnect, or e-stop stops the complete owned process group. +- `tools/run_galaxea_a1_sidecar.sh` — Docker launcher. Requires an explicit + operator-provided image and SDK path; mounts both read-only and claims only the + selected serial device. The SDK remains read-only; the official tracker's + generated CppAD files go to + `$XDG_CACHE_HOME/openral/galaxea-a1/x1_robot` (or the equivalent path below + `~/.cache`). `--check-only` verifies the local image, required SDK files, + cache parent, serial ownership, loopback port, container name, and process + lock without opening the serial device or starting a container. + +#### Galaxea A1 hardware bring-up + +The first session is observation-only until the HAL graph is healthy. Ensure no +other process/container owns the serial device, the arm workspace is clear, and +the physical e-stop is reachable. + +```bash +# One-time: build OpenRAL's vendor-free Noetic runtime image. The official SDK +# is mounted at run time and is never copied into the image. +docker build \ + -t openral/galaxea-a1-sidecar:noetic \ + docker/galaxea_a1_sidecar + +# One-time: build OpenRAL's standard public x86 deploy image (Jazzy/Python 3.12). +just docker-build-x86 + +# Read-only gate — checks the image, SDK, serial ownership, port, and lock. +tools/run_galaxea_a1_sidecar.sh \ + --image openral/galaxea-a1-sidecar:noetic \ + --sdk-root /absolute/path/to/A1_SDK \ + --serial /dev/a1 \ + --check-only + +# Terminal 1 — isolated ROS 1 bridge network; only TCP 46011 reaches loopback. +tools/run_galaxea_a1_sidecar.sh \ + --image openral/galaxea-a1-sidecar:noetic \ + --sdk-root /absolute/path/to/A1_SDK \ + --serial /dev/a1 + +# Terminal 2 — OpenRAL's standard real-hardware path. The OpenRAL container uses +# host networking only for ROS 2 DDS and the sidecar's loopback TCP port; it owns +# no Galaxea serial device and cannot see the ROS 1 master inside the sidecar. +docker run --rm --name openral-galaxea-a1 --network host \ + --volume "$(pwd)/robots:/workspace/robots:ro" \ + --volume "$(pwd)/scenes:/workspace/scenes:ro" \ + --volume "$(pwd)/tests:/workspace/tests:ro" \ + openral:x86 \ + --config scenes/deploy/galaxea_a1_bench.yaml + +# Terminal 3 — observation gate: six named joints update; diagnostics are clean. +docker exec openral-galaxea-a1 bash -lc \ + 'source /opt/ros/jazzy/setup.bash && source /workspace/install/setup.bash && \ + ros2 topic echo /joint_states --once && ros2 topic echo /diagnostics --once' +``` + +An optional HAL-level HIL gate can run between Terminal 1 and the full deploy. +It opens one sidecar session, validates three fresh finite named-joint samples +plus cached motor health, and ends by verifying that downstream e-stop stops the +owned ROS 1 stack. Restart Terminal 1 afterwards: + +```bash +GALAXEA_A1_HIL=1 just hil galaxea_a1 +``` + +Only after that observation-only run passes, opt into a measured-current-pose +hold. Feedback within the tracked 0.01 rad endpoint tolerance is projected to +the exact command limit; any larger projection fails before publication. The +test also waits for the sidecar relay to report `ACTIVE`, proving the official +tracker has converged from its compiled `task.info` initial pose before any +host motor command is forwarded: + +```bash +GALAXEA_A1_HIL=1 GALAXEA_A1_ALLOW_HOLD=1 just hil galaxea_a1 +``` + +After the hold passes, a separate lab opt-in moves `arm_joint1` by +0.01 rad, +requires it to settle within 0.006 rad (above the observed 0.001 rad encoder +quantization), continuously bounds all six joint excursions, returns to the +measured start, and then performs the same downstream e-stop: + +```bash +GALAXEA_A1_HIL=1 GALAXEA_A1_ALLOW_NUDGE=1 just hil galaxea_a1 +``` + +The G2 gripper has its own opt-in. It uses the vendor example's 10 mm step, +mapped through the normalized `0..1` contract over the configured 104 mm +stroke, chooses the direction away from the nearest endpoint, verifies feedback +within the measured 2.5 mm steady-state tolerance, and returns to the measured +opening even when the outbound-leg assertion fails: + +```bash +GALAXEA_A1_HIL=1 GALAXEA_A1_ALLOW_GRIPPER=1 just hil galaxea_a1 +``` + +After the HAL-level gates pass, the full-graph HIL runs inside the deploy +container. It captures the current named-joint feedback itself, requires the +C++ kernel and real HAL to be active while the relay is still `LOCKED`, then +publishes only that measured hold through `candidate_action`. It verifies the +matching `safe_action`, exact staged/forwarded targets, zero kernel drops, and +less than one degree of drift. Its `finally` path publishes `/openral/estop` +three times and requires the HAL diagnostics to confirm the latch: + +```bash +docker exec \ + --env GALAXEA_A1_DEPLOY_HIL=1 \ + --env GALAXEA_A1_ALLOW_HOLD=1 \ + openral-galaxea-a1 \ + bash -lc 'source /opt/ros/jazzy/setup.bash && \ + source /workspace/install/setup.bash && \ + pytest -q /workspace/tests/hil/test_galaxea_a1_deploy.py' +``` + +After the current-pose full-graph gate passes, the same fixture has a separate +motion opt-in. It moves `arm_joint1` by +0.01 rad through +`candidate_action -> C++ safety kernel -> safe_action`, bounds all six joint +excursions, and returns to the measured start before the downstream e-stop: + +```bash +docker exec \ + --env GALAXEA_A1_DEPLOY_HIL=1 \ + --env GALAXEA_A1_ALLOW_HOLD=1 \ + --env GALAXEA_A1_ALLOW_NUDGE=1 \ + openral-galaxea-a1 \ + bash -lc 'source /opt/ros/jazzy/setup.bash && \ + source /workspace/install/setup.bash && \ + pytest -q /workspace/tests/hil/test_galaxea_a1_deploy.py' +``` + +This test intentionally ends the hardware session. Restart both the sidecar +and deploy container before any later motion test. + +Do not start a policy on the first pass. Stop both commands and investigate if +feedback/status becomes stale, a motor code other than the manifest's explicit +idle/gripper masks appears, joint order differs, the sidecar exits, or the arm +moves before an approved safe action. Motion validation then proceeds with a +current-pose hold and a single <=0.01 rad joint increment through OpenRAL's +standard candidate-action → C++ kernel → safe-action path, then return-to-start; +only afterwards run an A1-specific rSkill. + +#### LingBot-VA rSkill through the complete OpenRAL path + +`rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml` is the first +checkpoint-specific A1 rSkill. The dependency direction is deliberate: + +```text +A1 Camera Bridge -> OpenRAL WorldState -> LingBot-VA rSkill + -> A1 Runtime EEF validation + IK + -> OpenRAL candidate_action -> C++ safety kernel -> safe_action + -> GalaxeaA1HAL -> isolated ROS 1 sidecar -> official A1 driver +``` + +The A1 Runtime is a public capability provider, not a second controller: +start only its persistent camera owner and LingBot policy server. Do not start +its LingBot ROS execution bridge or A1 joint runtime while OpenRAL owns the +deployment. The rSkill reads `max_target_step_rad` from the same +`RobotDescription` used to construct the HAL, takes the tighter of the tracked +policy bound and `initial_alignment_tolerance_rad`, and explicitly subdivides a +larger IK result. The policy substep is 0.045 rad, above the official tracker's +observed 0.03..0.038 rad steady-state residual but below the 0.05 rad locked-relay +alignment bound. The independent HAL/sidecar limit is 0.08 rad, leaving 0.035 +rad of feedback/transport headroom and remaining far below the A1 Runtime's +validated 1.70 rad IK-solution bound. An action already within the policy bound +advances in one 30 Hz model tick, matching the A1 Runtime LingBot rollout +cadence. A larger IK solution is subdivided from fresh measured feedback until +it reaches the requested solution. Tracker steady-state error is not a +completion gate. Neither limit is bypassed or duplicated. + +```bash +# Terminal A — A1 Runtime capability providers only (no ROS command publisher). +cd /absolute/path/to/A1-Research +just cameras start +scripts/apps/lingbot/a1_lingbot_runtime.sh server + +# Terminal B — official ROS 1 sidecar, as in the bring-up section above. +cd /absolute/path/to/OpenRAL +tools/run_galaxea_a1_sidecar.sh \ + --image openral/galaxea-a1-sidecar:noetic \ + --sdk-root /absolute/path/to/A1_SDK \ + --serial /dev/a1 + +# Terminal C — the complete OpenRAL real deployment. +cd /absolute/path/to/OpenRAL +export OPENRAL_GALAXEA_A1_RUNTIME_ROOT=/absolute/path/to/A1-Research +uv run --group lingbot openral deploy run \ + --config scenes/deploy/galaxea_a1_bench.yaml +``` + +Submit the exact trained prompt (for example, `put the red mango into the blue +plate`) through the dashboard. Before allowing a task motion, first repeat the +observation, hold, joint-nudge, gripper, and full-graph gates above. Stop the +LingBot server afterwards with +`scripts/apps/lingbot/a1_lingbot_runtime.sh server-stop`. + +The A1 opts into hardware-downstream e-stop: `/openral/estop` stops the +sidecar-owned tracker and driver immediately. The generic +`/openral/estop_cleared` broadcast cannot re-arm this HAL; restart the lifecycle +and sidecar, re-read motor health, and repeat initial alignment instead. + ### `python/hal/src/openral_hal/h1.py` _MuJoCo digital twin for the Unitree H1 humanoid (Menagerie MJCF). Contract validator only — falls without an S0 cerebellum; gravity must be disabled in closed-loop tests (CLAUDE.md §6.2). Unlike the G1 / UR / Franka / SO-100 MJCFs, the H1 menagerie ships ``motor`` (torque) actuators, so this HAL runs a software PD position loop every physics step._ @@ -294,15 +528,15 @@ _Generic ROS 2 managed lifecycle node wrapper for every HAL adapter — UR5e / U - `class HALLifecycleNodeBase(LifecycleNode)` — Public base class. Owns the standard `/joint_states` + `~/joint_states` publishers, the `/openral/safe_action` + `/openral/estop` subscribers, the 1 Hz `DiagnosticsHeartbeat`, the per-tick `hal.read_state` + `hal.send_action` OTel spans, the estop latch, and the full configure → activate → deactivate → cleanup → shutdown transition wiring. The formerly used `~/command` (`trajectory_msgs/JointTrajectory`) subscriber + its `_on_command` callback + the `_subscriber` field were removed; `_send_action_traced` is now driven only by `_on_safe_action`. (L322) - `_create_hal(self) -> HAL` — **Subclass hook (required)**: construct and return a HAL instance. Reads ROS-parameter-driven constructor args via `self.get_parameter(...)`. (L381) - `_heartbeat_extra_fields(self) -> dict[str, str]` — Subclass hook (optional): extra key/values for the `/diagnostics` payload (e.g. `{"port": "/dev/ttyUSB0"}` for SO-100, `{"mjcf": "..."}` for OpenArm). Default: `{}`. (L393) - - `on_configure_post_hal(self) -> TransitionCallbackReturn` — Subclass hook (optional): robot-specific setup after the HAL connects (e.g. opening a camera renderer on OpenArm). Default: `SUCCESS`. (L405) - - `on_activate_post_subs(self) -> TransitionCallbackReturn` — Subclass hook (optional): robot-specific timers/publishers after the base wires its subs (e.g. the OpenArm camera-render timer). Default: `SUCCESS`. (L414) - - `on_deactivate_pre_teardown(self) -> None` — Subclass hook (optional): stop robot-specific timers before base teardown. Default: no-op. (L422) - - `on_cleanup_pre_disconnect(self) -> None` — Subclass hook (optional): tear down robot-specific resources (viewers, renderers) before HAL.disconnect(). Default: no-op. (L429) - - `_publish_joint_state(self) -> None` — Timer callback. Wraps `self._hal.read_state()` in a `hal.read_state` span (identity attrs + `producer.record_joint_state`) and publishes the standard `/joint_states` + `~/joint_states` messages. Subclasses may override + call `super()._publish_joint_state()` to extend (OpenArm does this for viewer-sync). (L744) - - `_on_safe_action(self, msg) -> None` — `/openral/safe_action` callback. Decodes the `openral_msgs/ActionChunk` into an `openral_core.Action` and forwards through `_send_action_traced(action, source="safe_action")`. (L808) - - `_send_action_traced(self, action, *, source) -> None` — Forward `action` to `self._hal.send_action` inside a `hal.send_action` span. The `source` attribute disambiguates the origin on the dashboard's Commands card (kept on the span so future subscriber additions can fan in without changing the span shape). (L828) + - `on_configure_post_hal(self) -> TransitionCallbackReturn` — Subclass hook (optional): robot-specific setup after the HAL connects (e.g. opening a camera renderer on OpenArm). Default: `SUCCESS`. (L445) + - `on_activate_post_subs(self) -> TransitionCallbackReturn` — Subclass hook (optional): robot-specific timers/publishers after the base wires its subs (e.g. the OpenArm camera-render timer). Default: `SUCCESS`. (L454) + - `on_deactivate_pre_teardown(self) -> None` — Subclass hook (optional): stop robot-specific timers before base teardown. Default: no-op. (L462) + - `on_cleanup_pre_disconnect(self) -> None` — Subclass hook (optional): tear down robot-specific resources (viewers, renderers) before HAL.disconnect(). Default: no-op. (L469) + - `_publish_joint_state(self) -> None` — Timer callback. Wraps `self._hal.read_state()` in a `hal.read_state` span (identity attrs + `producer.record_joint_state`) and publishes the standard `/joint_states` + `~/joint_states` messages. Subclasses may override + call `super()._publish_joint_state()` to extend (OpenArm does this for viewer-sync). (L775) + - `_on_safe_action(self, msg) -> None` — `/openral/safe_action` callback. Decodes the `openral_msgs/ActionChunk` into an `openral_core.Action` and forwards through `_send_action_traced(action, source="safe_action")`. (L840) + - `_send_action_traced(self, action, *, source) -> None` — Forward `action` to `self._hal.send_action` inside a `hal.send_action` span. The `source` attribute disambiguates the origin on the dashboard's Commands card (kept on the span so future subscriber additions can fan in without changing the span shape). (L860) - `make_lifecycle_main(node_name, hal_factory) -> Callable[[], None]` — Build a `main()` entry point for a zero-parameter HAL adapter. Internally constructs a `_FactoryHALLifecycleNode(HALLifecycleNodeBase)` whose `_create_hal()` returns `hal_factory()`. Superseded for the standard arms by `make_lifecycle_main_from_manifest`; retained for bespoke nodes. (L194) -- `class ManifestHALLifecycleNode(HALLifecycleNodeBase)` — Public generic manifest-driven lifecycle node (promoted from the private `_ManifestHALLifecycleNode` under issue #191). Reads `robot_yaml` + `hal_mode` + sensor knobs as ROS params and builds its HAL via `openral_hal.build_hal`, so a robot's construction kwargs come from the manifest's `hal.parameters.defaults` — no bespoke `_create_hal` subclass. Attaches `SimSensorBridge` (cameras / depth / scan / viewer) in `on_activate_post_subs`. In `on_configure_post_hal`, **reflects** on the built HAL and opens `/openral//reset_to_pose` (`openral_msgs/srv/ResetToPose`) iff it exposes `reset_to_pose` — generalising the openarm-only service to every `MujocoArmHAL` sim arm (issue #191 Phase 2); HALs without the method (panda_mobile, scene-attached twins) get no service. In `_create_hal`, when a scene composition is declared (and not scene-attaching), calls the named composer and threads the composed MJCF in as the HAL's `mjcf_path` (issue #191 Phase 3b — openarm tabletop); the composition is read from the `scene_composition_json` ROS param (the DeployScene's own `composition`) which **takes precedence** over the robot manifest's `scene_defaults.composition` (back-compat fallback) — so the scene owns its arena, the robot manifest describes the robot. Bare-twin camera robots (so100/so101) need no composition: their cameras are spliced by the generic camera rig at HAL connect from `sensors[].sim_placement`. In `on_activate_post_subs`, when the manifest declares a planar base (`base_joints`), also attaches a `MobileBaseBridge` (`/odom` + `odom->base_link` TF + `/cmd_vel`→BODY_TWIST) — so panda_mobile runs on this node with no subclass (issue #191 Phase 3a). The per-robot lifecycle packages collapse into this node (issue #191 Phases 2-3). A back-compat alias `_ManifestHALLifecycleNode` is retained. (L940) +- `class ManifestHALLifecycleNode(HALLifecycleNodeBase)` — Public generic manifest-driven lifecycle node (promoted from the private `_ManifestHALLifecycleNode` under issue #191). Reads `robot_yaml` + `hal_mode` + sensor knobs as ROS params and builds its HAL via `openral_hal.build_hal`, so a robot's construction kwargs come from the manifest's `hal.parameters.defaults` — no bespoke `_create_hal` subclass. Attaches `SimSensorBridge` (cameras / depth / scan / viewer) in `on_activate_post_subs`. In `on_configure_post_hal`, **reflects** on the built HAL and opens `/openral//reset_to_pose` (`openral_msgs/srv/ResetToPose`) iff it exposes `reset_to_pose` — generalising the openarm-only service to every `MujocoArmHAL` sim arm (issue #191 Phase 2); HALs without the method (panda_mobile, scene-attached twins) get no service. In `_create_hal`, when a scene composition is declared (and not scene-attaching), calls the named composer and threads the composed MJCF in as the HAL's `mjcf_path` (issue #191 Phase 3b — openarm tabletop); the composition is read from the `scene_composition_json` ROS param (the DeployScene's own `composition`) which **takes precedence** over the robot manifest's `scene_defaults.composition` (back-compat fallback) — so the scene owns its arena, the robot manifest describes the robot. Bare-twin camera robots (so100/so101) need no composition: their cameras are spliced by the generic camera rig at HAL connect from `sensors[].sim_placement`. In `on_activate_post_subs`, when the manifest declares a planar base (`base_joints`), also attaches a `MobileBaseBridge` (`/odom` + `odom->base_link` TF + `/cmd_vel`→BODY_TWIST) — so panda_mobile runs on this node with no subclass (issue #191 Phase 3a). The per-robot lifecycle packages collapse into this node (issue #191 Phases 2-3). A back-compat alias `_ManifestHALLifecycleNode` is retained. (L1016) - `make_lifecycle_main_from_manifest(node_name) -> Callable[[], None]` — Build a `main()` that spins up `ManifestHALLifecycleNode`. The node reads `robot_yaml` + `hal_mode` ("sim"|"real") ROS params and constructs its HAL via `openral_hal.build_hal(description, mode=hal_mode)` — one node class serves both modes for every robot. Used by franka / ur5e / ur10e / aloha / g1 / h1 / rizon4 / so100 / so101 (issue #191 Phase 2 migrated so100/so101 off their bespoke node); `openral deploy sim` injects `hal_mode="sim"`, `openral deploy run` injects `hal_mode="real"`. A robot lacking the requested mode raises `ROSCapabilityMismatch`. (L252) - `decode_action_chunk(msg) -> Action | None` — Inverse of `ros_publishing_hal._flatten_action_payload`. Decodes the `ActionChunk` wire shape (`flat` + `n_dof` + `horizon` + `control_mode`) back into a typed `openral_core.Action` with the per-mode payload field populated (`cartesian_delta` / `gripper` / `body_twist` / `joint_*`). Returns `None` for degenerate chunks (`flat=[]`, `n_dof≤0`) and for modes the F1/F5 publisher doesn't encode (`CARTESIAN_POSE`, `FOOT_PLACEMENT`, `DEX_HAND_JOINT`). Used by `HALLifecycleNodeBase._on_safe_action`; lives at module scope so unit tests in `tests/unit/test_lifecycle_action_chunk_decoder.py` exercise it without a ROS 2 install. (L103) diff --git a/docs/methods/05-inference-runner.md b/docs/methods/05-inference-runner.md index 676dcec..4c37953 100644 --- a/docs/methods/05-inference-runner.md +++ b/docs/methods/05-inference-runner.md @@ -61,6 +61,17 @@ _:class:`OpenCVThreadSensorReader` — default backend. Mirrors lerobot's per-ca - `read_latest(max_age_ms: int | None = None) -> SensorFrame` — Lock-protected snapshot of the `_latest_frame` slot; constructs a `SensorFrame` with inlined raw bytes; raises `ROSPerceptionStale` on no-frame-yet or staleness, `RuntimeError` on closed reader. (L173) - `_read_loop()` — Background daemon: `cv2.VideoCapture.read` → `_latest_frame + _latest_stamp_*_ns` under lock; sleeps `1/fps` on read failure / EOF. (L228) +### `python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py` +_Real-deploy reader for the public A1 Runtime paired-frame bridge. It never +opens a camera device; the A1 camera monitor stays the only RealSense owner._ + +- `class GalaxeaA1CameraBridgeReader` — Reads either the `front` or `wrist` + member of a fresh synchronized pair and returns an inline RGB8 + `SensorFrame`. The A1 Runtime root is named by the scene's + `runtime_root_env`; the tracked LingBot deployment config supplies camera + geometry, freshness, crop, and pair-skew rules. Missing roots/configs, + stale pairs, wrong shapes, and unknown backend params fail explicitly. + ### `python/runner/src/openral_runner/backends/__init__.py` _Per-backend `SensorReader` implementations. Default `OpenCVThreadSensorReader` is always available; `GStreamerSensorReader` (PR I) + `Ros2ImageSensorReader` gate on optional deps._ @@ -165,12 +176,15 @@ _Public surface of the inference runner. Imports are PEP 562 lazy (M8 PR I/8): h ### `python/runner/src/openral_runner/factory.py` _Library deploy runner used by runtime nodes; the public deploy CLI now shells the ROS graph from a `DeployScene`._ -- `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L84) -- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`. (L246) -- `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L40) -- `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L61) -- `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L90) -- `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L130) +- `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L86) +- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L287) +- `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L42) +- `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L63) +- `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L92) +- `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L132) +- `_make_galaxea_a1_camera_bridge_reader(cfg) -> SensorReader` — Builds the + A1 Runtime paired-camera connector. Accepts only `camera`, + `runtime_root_env`, and `deployment_config`; unknown values are rejected. ### `python/runner/src/openral_runner/deploy_runner.py` _:class:`DeployRunner` — concrete `InferenceRunnerBase` subclass composing HAL + Skill + WorldStateAggregator + SensorReaders + SafetyClient._ diff --git a/docs/methods/12-tests-hil.md b/docs/methods/12-tests-hil.md index 784cbee..95d1455 100644 --- a/docs/methods/12-tests-hil.md +++ b/docs/methods/12-tests-hil.md @@ -9,6 +9,14 @@ injected `publish_fn` / `state_fn` callables. Off-lab they are guarded behind `importlib.util.find_spec("rclpy") is None` plus a per-robot env probe; the unit-lane conformance tests use `SimTransport` instead. +The Galaxea A1 uses an isolated ROS 1 sidecar rather than a +`ros2_control` bridge. Its HAL-level gate lives in +`tests/hil/test_galaxea_a1.py`; the separate +`tests/hil/test_galaxea_a1_deploy.py` gate runs inside an active deploy +container and proves a measured hold across the real C++ kernel, ROS 2 HAL, +and staged ROS 1 command relay. Both are environment-gated, time-bounded, and +end by stopping the sidecar through the downstream e-stop path. + ### `tests/hil/_ros_control_transport.py` _Single-controller bridge. Used by UR5e, UR10e, Franka Panda, Sawyer._ @@ -21,4 +29,3 @@ _4-way fan-out bridge for the bimanual ALOHA HAL._ - `AlohaHILTransport(node, joint_names, *, left_arm_command_topic, right_arm_command_topic, left_gripper_command_topic, right_gripper_command_topic, joint_state_topic)` — Owns four `JointTrajectory` publishers (two arms 6-DOF + two grippers 1-DOF — Trossen gripper modeled as a 1-DOF `JointTrajectoryController`) and one aggregated `JointState` subscriber. `publish(topic, msg)` dispatches by topic match; unknown topics raise `ValueError`. (L67) - `make_aloha_hil_transport(node_name, *, left/right arm + gripper command topics, joint_state_topic) -> tuple[Node, AlohaHILTransport, Callable[[], None]]` — Factory; derives the canonical 14 joint names from the public `ALOHA_REAL_DESCRIPTION.joints` so the bridge stays in lock-step with the HAL manifest. (L228) - diff --git a/docs/reference/robots.md b/docs/reference/robots.md index e35f4cd..6a1da65 100644 --- a/docs/reference/robots.md +++ b/docs/reference/robots.md @@ -8,6 +8,7 @@ Every embodiment is a typed `RobotDescription` manifest under `robots/ |---|---|---|---| | SO-100 (LeRobot follower arm) | [`robots/so100_follower/`](https://github.com/OpenRAL/openral/tree/master/robots/so100_follower/) | `SO100FollowerHAL` (real) + `SO100MujocoHAL` (sim) + `openral_hal_so100` lifecycle node | ✓ HW + sim | | SO-101 (LeRobot follower arm) | [`robots/so101_follower/`](https://github.com/OpenRAL/openral/tree/master/robots/so101_follower/) | shares SO-100 family — `SO100FollowerHAL` (real) + `SO100MujocoHAL` (sim) + `openral_hal_so100` lifecycle node | ✓ HW + sim | +| Galaxea A1 | [`robots/galaxea_a1/`](https://github.com/OpenRAL/openral/tree/master/robots/galaxea_a1/) | `GalaxeaA1HAL` (real-only) + isolated operator-provided ROS 1 SDK sidecar + `openral_hal_galaxea_a1` lifecycle node | ✓ unit + offline integration + real observation/hold/joint/gripper + C++ kernel HIL | | Franka Panda | [`robots/franka_panda/`](https://github.com/OpenRAL/openral/tree/master/robots/franka_panda/) | `FrankaPandaHAL` (`MujocoArmHAL`) + `openral_hal_franka` | ✓ sim · HW bring-up M3 (#56) | | UR5e | [`robots/ur5e/`](https://github.com/OpenRAL/openral/tree/master/robots/ur5e/) | `UR5eHAL` (`MujocoArmHAL`) + `openral_hal_ur5e` | ✓ sim · HW bring-up M3 | | UR10e | [`robots/ur10e/`](https://github.com/OpenRAL/openral/tree/master/robots/ur10e/) | `UR10eHAL` (`MujocoArmHAL`) + `openral_hal_ur10e` | ✓ sim · HW bring-up M3 | diff --git a/packages/openral_hal_galaxea_a1/CMakeLists.txt b/packages/openral_hal_galaxea_a1/CMakeLists.txt new file mode 100644 index 0000000..f9a92c8 --- /dev/null +++ b/packages/openral_hal_galaxea_a1/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.8) +project(openral_hal_galaxea_a1) + +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install( + PROGRAMS openral_hal_galaxea_a1/lifecycle_node.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(ament_cmake_pytest REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() + + ament_add_pytest_test(test_lifecycle_safety test/test_lifecycle_safety.py + TIMEOUT 60 + ) +endif() + +ament_package() diff --git a/packages/openral_hal_galaxea_a1/README.md b/packages/openral_hal_galaxea_a1/README.md new file mode 100644 index 0000000..0e1a868 --- /dev/null +++ b/packages/openral_hal_galaxea_a1/README.md @@ -0,0 +1,46 @@ +# `openral_hal_galaxea_a1` + +ROS 2 lifecycle host for the real-only Galaxea A1 HAL. The Python HAL talks to +`tools/galaxea_a1_ros1_sidecar.py`; the sidecar runs in an operator-provisioned +ROS Noetic environment and owns the official SDK driver and joint tracker. + +The vendor SDK is not bundled. See `docs/methods/01-hal.md` for the deployment +and hardware bring-up sequence. + +Before opening the serial device, run the launcher's read-only preflight: + +```bash +tools/run_galaxea_a1_sidecar.sh \ + --image openral/galaxea-a1-sidecar:noetic \ + --sdk-root /absolute/path/to/A1_SDK \ + --serial /dev/a1 \ + --check-only +``` + +The SDK mount stays read-only. The official joint tracker writes its generated +CppAD artifacts only to the launcher's dedicated XDG cache under the operator's +home directory. + +The lab-gated HIL test uses one sidecar session and ends by stopping the owned +ROS 1 stack: + +```bash +GALAXEA_A1_HIL=1 just hil galaxea_a1 +``` + +Set `GALAXEA_A1_ALLOW_HOLD=1` only after the observation-only run passes. It +replays the measured current joint pose and verifies less than one degree of +drift. A feedback value within the tracked endpoint tolerance is projected to +the exact command limit; a larger projection is rejected before publication. + +After the hold gate passes, `GALAXEA_A1_ALLOW_NUDGE=1` performs a bounded +`arm_joint1` +0.01 rad round trip, while `GALAXEA_A1_ALLOW_GRIPPER=1` performs +the official G2 example's 10 mm gripper step and returns to the measured +opening. Each gate implies the hold gate and ends through the downstream +e-stop path. + +The final deployment gate is `tests/hil/test_galaxea_a1_deploy.py`. Run it +inside an active `openral deploy run` container with both +`GALAXEA_A1_DEPLOY_HIL=1` and `GALAXEA_A1_ALLOW_HOLD=1`. It verifies the +measured hold through the C++ Safety Kernel and ROS 1 relay, then intentionally +ends the session through `/openral/estop`. diff --git a/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/__init__.py b/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/__init__.py new file mode 100644 index 0000000..2da1bb6 --- /dev/null +++ b/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/__init__.py @@ -0,0 +1 @@ +"""ROS 2 lifecycle package for the Galaxea A1 HAL.""" diff --git a/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/lifecycle_node.py b/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/lifecycle_node.py new file mode 100755 index 0000000..72da8a1 --- /dev/null +++ b/packages/openral_hal_galaxea_a1/openral_hal_galaxea_a1/lifecycle_node.py @@ -0,0 +1,9 @@ +#!/usr/bin/env python3 +"""Manifest-driven lifecycle entrypoint for the Galaxea A1 real HAL.""" + +from openral_hal.lifecycle import make_lifecycle_main_from_manifest + +main = make_lifecycle_main_from_manifest(node_name="openral_hal_galaxea_a1") + +if __name__ == "__main__": + main() diff --git a/packages/openral_hal_galaxea_a1/package.xml b/packages/openral_hal_galaxea_a1/package.xml new file mode 100644 index 0000000..5973beb --- /dev/null +++ b/packages/openral_hal_galaxea_a1/package.xml @@ -0,0 +1,27 @@ + + + + openral_hal_galaxea_a1 + 0.1.0 + Manifest-driven OpenRAL lifecycle node for the Galaxea A1 arm. + OpenRAL Contributors + Apache-2.0 + + ament_cmake + ament_cmake_python + rclpy + sensor_msgs + trajectory_msgs + diagnostic_msgs + std_msgs + openral_msgs + lifecycle_msgs + rclpy_lifecycle + python3-openral-hal + python3-openral-observability + ament_copyright + ament_cmake_pytest + ament_flake8 + ament_pep257 + ament_cmake + diff --git a/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py b/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py new file mode 100644 index 0000000..1c795fa --- /dev/null +++ b/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py @@ -0,0 +1,171 @@ +"""Hardware-free lifecycle safety wiring for the Galaxea A1 package.""" + +from __future__ import annotations + +from types import SimpleNamespace +from typing import cast + +import pytest + +rclpy = pytest.importorskip("rclpy") + +from openral_core.exceptions import ROSEStopRequested +from openral_hal.lifecycle import ManifestHALLifecycleNode +from openral_hal.protocol import HAL, EStopRecovery, HALHealthReport +from openral_observability import Level + + +class _FakeRealHAL: + description = SimpleNamespace(name="galaxea_a1") + estop_recovery = EStopRecovery.RESTART_REQUIRED + + def __init__(self) -> None: + self.estop_calls = 0 + + def estop(self) -> None: + self.estop_calls += 1 + raise ROSEStopRequested("fake A1 sidecar stopped") + + def health(self) -> HALHealthReport: + return HALHealthReport( + message="A1 healthy", + fields={"motor_status_codes": "0,0,0,0,0,0,0"}, + ) + + +class _FakeLatchOnlyHAL: + description = SimpleNamespace(name="legacy_hal") + + def __init__(self) -> None: + self.estop_calls = 0 + + def estop(self) -> None: + self.estop_calls += 1 + raise ROSEStopRequested("must not be forwarded without explicit opt-in") + + +class _FakeResettableHAL(_FakeRealHAL): + estop_recovery = EStopRecovery.RESETTABLE + + def __init__(self) -> None: + super().__init__() + self.reset_calls = 0 + + def reset_estop(self) -> None: + self.reset_calls += 1 + + +class _FakeFailingEStopHAL(_FakeRealHAL): + def estop(self) -> None: + self.estop_calls += 1 + raise RuntimeError("fake downstream stop failed") + + +def test_estop_reaches_real_hal_and_reset_requires_restart() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_galaxea_a1") + hal = _FakeRealHAL() + node._hal = cast(HAL, hal) + try: + node._on_estop(object()) + assert node._estopped + assert hal.estop_calls == 1 + + node._on_estop_cleared(object()) + assert node._estopped + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() + + +def test_estopped_node_does_not_poll_disconnected_real_hal() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_galaxea_a1") + node._hal = cast(HAL, _FakeRealHAL()) + node._publisher = object() + node._estopped = True + try: + node._publish_joint_state() + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() + + +def test_downstream_estop_failure_stays_latched_without_crashing_callback() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_galaxea_a1") + hal = _FakeFailingEStopHAL() + node._hal = cast(HAL, hal) + try: + node._on_estop(object()) + assert node._estopped + assert hal.estop_calls == 1 + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() + + +def test_diagnostics_include_cached_a1_health() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_galaxea_a1") + node._hal = cast(HAL, _FakeRealHAL()) + try: + level, message, fields = node._heartbeat_status("galaxea_a1") + assert level == Level.OK + assert message == "A1 healthy" + assert fields["motor_status_codes"] == "0,0,0,0,0,0,0" + + node._estopped = True + level, message, fields = node._heartbeat_status("galaxea_a1") + assert level == Level.ERROR + assert message == "estop latched" + assert fields["estopped"] == "true" + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() + + +def test_hal_without_lifecycle_estop_extension_keeps_latch_only_behavior() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_legacy") + hal = _FakeLatchOnlyHAL() + node._hal = cast(HAL, hal) + try: + node._on_estop(object()) + assert node._estopped + assert hal.estop_calls == 0 + + node._on_estop_cleared(object()) + assert not node._estopped + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() + + +def test_resettable_lifecycle_estop_clears_only_after_hal_reset() -> None: + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_resettable") + hal = _FakeResettableHAL() + node._hal = cast(HAL, hal) + try: + node._on_estop(object()) + node._on_estop_cleared(object()) + + assert hal.estop_calls == 1 + assert hal.reset_calls == 1 + assert not node._estopped + finally: + node.destroy_node() + finally: + rclpy.try_shutdown() diff --git a/packages/openral_rskill_ros/launch/sim_e2e.launch.py b/packages/openral_rskill_ros/launch/sim_e2e.launch.py index e397a92..56aff82 100644 --- a/packages/openral_rskill_ros/launch/sim_e2e.launch.py +++ b/packages/openral_rskill_ros/launch/sim_e2e.launch.py @@ -608,6 +608,11 @@ def compose_runtime_graph(context: LaunchContext, *_args: object, **_kwargs: obj "true", "yes", ) + enable_reasoner = LaunchConfiguration("enable_reasoner").perform(context).lower() in ( + "1", + "true", + "yes", + ) # Read-only Foxglove live-scene bridge. Off by default; # ``openral deploy sim --foxglove`` opts in. enable_foxglove = LaunchConfiguration("enable_foxglove").perform(context).lower() in ( @@ -1055,24 +1060,25 @@ def compose_runtime_graph(context: LaunchContext, *_args: object, **_kwargs: obj # (VRAM eviction only evicts the detectors, not the reasoner), so a one-shot drive to active is # behaviour-preserving — exactly as for the HAL block below. _reasoner_autostart_path = str(_REPO_ROOT / "tools" / "lifecycle_autostart.py") - autostart.append( - ExecuteProcess( - cmd=[ - sys.executable, - _reasoner_autostart_path, - "--node", - "/openral_reasoner", - "--target", - "active", - "--service-timeout-s", - "60.0", - "--transition-timeout-s", - "300.0", - ], - output="log", + if enable_reasoner: + autostart.append( + ExecuteProcess( + cmd=[ + sys.executable, + _reasoner_autostart_path, + "--node", + "/openral_reasoner", + "--target", + "active", + "--service-timeout-s", + "60.0", + "--transition-timeout-s", + "300.0", + ], + output="log", + ) ) - ) - autostart += _autostart_lifecycle(prompt_router, "openral_prompt_router") + autostart += _autostart_lifecycle(prompt_router, "openral_prompt_router") # HAL autostart goes through ``tools/lifecycle_autostart.py`` rather # than ``_autostart_lifecycle`` because launch_ros's # ``lifecycle_event_manager`` race on Jazzy (same one documented for @@ -1695,11 +1701,11 @@ def compose_runtime_graph(context: LaunchContext, *_args: object, **_kwargs: obj nodes: list = [ safety_kernel, runtime, - reasoner, - prompt_router, hal, *extra_nodes, ] + if enable_reasoner: + nodes[2:2] = [reasoner, prompt_router] # Dashboard is opt-out (default on). ``openral deploy sim --no-dashboard`` # threads ``enable_dashboard:=false`` to skip the spawn entirely — # useful for headless CI and avoids the @@ -2175,6 +2181,15 @@ def generate_launch_description() -> LaunchDescription: "locator. Ignored unless enable_object_detector is true." ), ), + DeclareLaunchArgument( + "enable_reasoner", + default_value="true", + description=( + "Spawn the reasoner and prompt-router lifecycle nodes. Disable " + "for direct-rSkill deployments that submit an explicit " + "/openral/execute_rskill goal and do not require LLM planning." + ), + ), DeclareLaunchArgument( "enable_dashboard", default_value="true", diff --git a/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py b/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py index a2f08f2..53b4305 100644 --- a/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py +++ b/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py @@ -1852,7 +1852,7 @@ def _build_runtime_skill_from_manifest( # `openral sim run` uses can find the manifest on disk. weights_uri=str(yaml_path.parent), device="auto", - extra={}, + extra={"latency_budget_ms": manifest.latency_budget.per_chunk_ms}, ) # The policy factories only access `env_cfg.vla`; a SimpleNamespace # wrapper is enough to avoid building a full Pydantic SimEnvironment @@ -1870,7 +1870,11 @@ def _build_runtime_skill_from_manifest( # which `resolve_camera_keys` still honours first. The obs-image keys are # realigned to match in `_PolicyAdapterSkill._step_impl`. effective_scene_cameras = _required_vla_camera_slots(manifest, description) or scene_cameras - env_stub = _SimpleEnvCfg(vla=vla, cameras=effective_scene_cameras) + env_stub = _SimpleEnvCfg( + vla=vla, + cameras=effective_scene_cameras, + robot_description=description, + ) try: adapter = make_policy(env_stub) # type: ignore[arg-type] except ImportError as exc: @@ -1915,11 +1919,18 @@ def __init__(self, *, cameras: list[str] | tuple[str, ...]) -> None: class _SimpleEnvCfg: - """Minimal `env_cfg` carrier — `.vla` and `.scene.cameras` are read by policy factories.""" + """Minimal policy factory input with VLA, camera, and robot contracts.""" - def __init__(self, *, vla: object, cameras: list[str] | tuple[str, ...] = ()) -> None: + def __init__( + self, + *, + vla: object, + cameras: list[str] | tuple[str, ...] = (), + robot_description: RobotDescription | None = None, + ) -> None: self.vla = vla self.scene = _SimpleSceneCfg(cameras=cameras) + self.robot_description = robot_description def _effective_perm(robot_to_policy: list[int] | None, n: int) -> list[int]: diff --git a/packages/openral_rskill_ros/test/test_no_dashboard_otlp_env.py b/packages/openral_rskill_ros/test/test_no_dashboard_otlp_env.py index 35c38c7..d93331a 100644 --- a/packages/openral_rskill_ros/test/test_no_dashboard_otlp_env.py +++ b/packages/openral_rskill_ros/test/test_no_dashboard_otlp_env.py @@ -87,37 +87,26 @@ def _import_launch_module() -> Any: return module -def _make_launch_context(*, enable_dashboard: bool) -> Any: - """Return a :class:`launch.LaunchContext` pre-populated with the defaults. - - Mirrors the ``DeclareLaunchArgument(default_value=…)`` block at the - bottom of ``sim_e2e.launch.py`` and pins ``enable_dashboard`` to the - value the test cares about. Only ``robot_yaml`` / ``hal_*`` lack - defaults (CLI-required) so we set them by hand to a representative HAL. - """ +def _make_launch_context(*, enable_dashboard: bool, enable_reasoner: bool = True) -> Any: + """Return a launch context populated from the launch's own declarations.""" from launch import LaunchContext + from launch.actions import DeclareLaunchArgument + module = _import_launch_module() ctx = LaunchContext() cfg = ctx.launch_configurations + # Required CLI-provided arguments have no defaults. cfg["robot_yaml"] = str(_REPO_ROOT / "robots" / _REPRESENTATIVE_ROBOT / "robot.yaml") cfg["hal_package"] = "openral_hal_openarm" cfg["hal_executable"] = "lifecycle_node.py" cfg["hal_node_name"] = "openral_hal_test" cfg["hal_params_file"] = "/tmp/openral-test-hal-params.yaml" - cfg["reset_to_pose_service"] = "" - cfg["dashboard_port"] = "4318" - cfg["reasoner_provider"] = "" - cfg["reasoner_model"] = "gpt-5.5" - cfg["reasoner_endpoint"] = "" - cfg["spatial_memory_path"] = "" - cfg["spatial_memory_ingest"] = "false" - cfg["hal_mode"] = "sim" - cfg["enable_slam"] = "false" - cfg["enable_nav2"] = "false" - cfg["enable_octomap"] = "false" - cfg["octomap_cloud_topic"] = "/openral/cameras/front_depth/points" - cfg["enable_object_detector"] = "false" - cfg["object_detector_onnx"] = str(_REPO_ROOT / "rskills" / "rtdetr-coco-r18" / "model.onnx") + + for entity in module.generate_launch_description().entities: + if isinstance(entity, DeclareLaunchArgument): + entity.execute(ctx) + + cfg["enable_reasoner"] = "true" if enable_reasoner else "false" cfg["enable_dashboard"] = "true" if enable_dashboard else "false" return ctx @@ -221,6 +210,23 @@ def test_reasoner_uses_model_first_env() -> None: assert "OPENRAL_REASONER_LLM_PROVIDER" not in reasoner_env +def test_direct_rskill_mode_omits_reasoner_and_prompt_router() -> None: + from launch_ros.actions import LifecycleNode, Node + + module = _import_launch_module() + ctx = _make_launch_context(enable_dashboard=False, enable_reasoner=False) + entities = module.compose_runtime_graph(ctx) + packages = { + getattr(entity, "_Node__package", None) + for entity in entities + if isinstance(entity, Node | LifecycleNode) + } + assert "openral_reasoner_ros" not in packages + assert "openral_prompt_router" not in packages + assert "openral_safety_kernel" in packages + assert "openral_rskill_ros" in packages + + def test_dashboard_enabled_forwards_otlp_endpoint_to_every_node() -> None: """Default (``--dashboard``) → every node points OTLP at the dashboard port. diff --git a/pyproject.toml b/pyproject.toml index f272d64..78fc5b8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -338,6 +338,7 @@ lingbot = [ # transformers==4.57.3 + custom Triton MoE kernels, incompatible with this # repo's torch>=2.9 / transformers>=5 (CLAUDE.md §3). Apache-2.0 code + weights. { include-group = "sidecar-wire" }, + "websockets>=15", ] locateanything = [ # Opt-in LocateAnything-3B open-vocab VLM detector. diff --git a/python/cli/src/openral_cli/deploy_sim.py b/python/cli/src/openral_cli/deploy_sim.py index 26cc2fe..e4442a0 100644 --- a/python/cli/src/openral_cli/deploy_sim.py +++ b/python/cli/src/openral_cli/deploy_sim.py @@ -297,6 +297,14 @@ class _HalSpec: default_params={}, manifest_driven=True, ), + "galaxea_a1": _HalSpec( + package="openral_hal_galaxea_a1", + executable="lifecycle_node.py", + node_name="openral_hal_galaxea_a1", + supported_robot_names=frozenset({"galaxea_a1"}), + default_params={}, + manifest_driven=True, + ), } # The lidar-less visual-SLAM twin reuses panda_mobile's HAL verbatim (same node, @@ -943,6 +951,7 @@ def resolve_launch_invocation( # noqa: PLR0912, PLR0915 # reason: a flat resol deploy_config: Path | None = None, hal_param_overrides: dict[str, object] | None = None, hal_mode: str = "sim", + enable_reasoner: bool | None = None, enable_slam: bool | None = None, enable_nav2: bool | None = None, enable_octomap: bool | None = None, @@ -1025,6 +1034,8 @@ def _scene_path(value: str | None) -> str | None: return str(cand) return value + if enable_reasoner is None: + enable_reasoner = rt.enable_reasoner enable_slam = enable_slam if enable_slam is not None else rt.enable_slam enable_nav2 = enable_nav2 if enable_nav2 is not None else rt.enable_nav2 enable_octomap = enable_octomap if enable_octomap is not None else rt.enable_octomap @@ -1057,12 +1068,20 @@ def _scene_path(value: str | None) -> str | None: slam_mono_camera = rt.slam_mono_camera slam_depth_sidecar_autostart = rt.slam_depth_sidecar_autostart # Built-in defaults for the tri-state flags nothing pinned. + if enable_reasoner is None: + enable_reasoner = True if enable_octomap_kernel_check is None: enable_octomap_kernel_check = True if enable_reward_monitor is None: enable_reward_monitor = False if enable_critic is None: enable_critic = False + if not enable_reasoner and _resolved_initial_prompt: + raise ROSConfigError( + "an initial task requires runtime.enable_reasoner=true; " + "submit a specific rSkill through /openral/execute_rskill when " + "running a direct-rSkill deployment" + ) # Established default: the Isaac ROS composable node. Do NOT auto-pick # pycuvslam just because its wheel is importable (§1.4 — explicit). if slam_visual_impl is None: @@ -1334,6 +1353,7 @@ def _scene_path(value: str | None) -> str | None: # → ``hal_mode="sim"`` (default; the scene's robosuite OSC controller # synthesises cartesian/OSC modes); ``deploy run`` → ``"real"``. f"hal_mode:={hal_mode}", + f"enable_reasoner:={'true' if enable_reasoner else 'false'}", f"enable_slam:={'true' if enable_slam else 'false'}", f"slam_backend:={slam_backend}", f"slam_visual_impl:={slam_visual_impl}", diff --git a/python/core/src/openral_core/schemas.py b/python/core/src/openral_core/schemas.py index b855948..309fb2c 100644 --- a/python/core/src/openral_core/schemas.py +++ b/python/core/src/openral_core/schemas.py @@ -4309,6 +4309,7 @@ class EmbodimentExtra(BaseModel): "custom", "franka_panda", "g1", + "galaxea_a1", "google_robot", "gr1", "h1", @@ -4400,6 +4401,7 @@ class EmbodimentExtra(BaseModel): "openvla", "lingbot_vla2", "lingbot_vla", + "lingbot_va_a1", "internvla_n1", ] """VLA / policy family the skill belongs to. @@ -4428,6 +4430,11 @@ class EmbodimentExtra(BaseModel): ``lerobot==0.4.2`` venv, driven by ``tools/_lingbot_vla2_server.py --variant v1`` (adapter: ``openral_sim.policies.lingbot_vla2`` id ``lingbot_vla``). +``lingbot_va_a1`` is a checkpoint-specific real-deployment connector. It +uses a separately maintained A1 Runtime checkout for the contract-checked +LingBot service, paired camera bridge, EEF transforms, and IK, then returns +joint/gripper actions through the normal OpenRAL safety and HAL path. + ``openvla`` (OpenVLA / OpenVLA-OFT) is a transformers *custom-code* model loaded in-process (``trust_remote_code``, gated by ``OPENRAL_ALLOW_REMOTE_CODE=1``); the adapter de-normalizes the policy's @@ -5987,6 +5994,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "3d_diffuser_actor", # family diffuser_actor "lingbot_vla", # family lingbot_vla "lingbot_vla2", # family lingbot_vla2 + "lingbot_va", # family lingbot_va_a1 "internvla_n1", # family internvla_n1 (InternVLA-N1 / DualVLN) # Non-VLA tool-model tokens (detector / vlm / reward). "omdet_turbo", @@ -6020,6 +6028,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": "openvla_oft", "lingbot_vla": "lingbot_vla", "lingbot_vla2": "lingbot_vla2", + "lingbot_va_a1": "lingbot_va", "internvla_n1": "internvla_n1", } """VLA :data:`ModelFamily` → its canonical ```` *suggestion* token @@ -6039,6 +6048,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": frozenset({"openvla", "openvla_oft"}), "lingbot_vla": frozenset({"lingbot_vla"}), "lingbot_vla2": frozenset({"lingbot_vla2"}), + "lingbot_va_a1": frozenset({"lingbot_va"}), "internvla_n1": frozenset({"internvla_n1"}), } """The documented **family → allowed ```` tokens** map: when a manifest @@ -6979,6 +6989,7 @@ class DeployRuntime(BaseModel): model_config = ConfigDict(extra="forbid") + enable_reasoner: bool | None = None enable_slam: bool | None = None enable_nav2: bool | None = None enable_octomap: bool | None = None @@ -7319,9 +7330,11 @@ def model_post_init(self, _context: object) -> None: class SensorReaderBackend(str, Enum): """Which :class:`SensorReader` implementation to instantiate. - Four backends are reserved. ``opencv_thread`` - is the default and mirrors lerobot's per-camera background-thread - pattern. ``ros2_image`` subscribes to a ROS 2 image topic published by + ``opencv_thread`` is the default and mirrors lerobot's per-camera + background-thread pattern. ``galaxea_a1_camera_bridge`` consumes the + paired raw-frame service owned by an external A1 Runtime checkout without + opening either RealSense device. Three additional backends are reserved. + ``ros2_image`` subscribes to a ROS 2 image topic published by a vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink delivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86). @@ -7337,6 +7350,7 @@ class SensorReaderBackend(str, Enum): ROS2_IMAGE = "ros2_image" GSTREAMER = "gstreamer" HOLOSCAN = "holoscan" + GALAXEA_A1_CAMERA_BRIDGE = "galaxea_a1_camera_bridge" class DeadlineOverrunPolicy(str, Enum): diff --git a/python/hal/README.md b/python/hal/README.md index 671dace..c0b4f2f 100644 --- a/python/hal/README.md +++ b/python/hal/README.md @@ -36,6 +36,7 @@ satisfies it. There is no inheritance requirement. | `ros_control.py` | `RosControlHAL` — adapter on top of `ros2_control` (no real ROS 2 import; works against `SimTransport` for unit tests and the live transport at runtime). | | `sim_transport.py` | `SimTransport` — typed in-memory `ros2_control` transport for unit tests. | | `so100_follower.py` | `SO100FollowerHAL` + `SO100_DESCRIPTION` + `so100_with_sensors` — real SO-100 follower arm via the `lerobot` SDK. | +| `galaxea_a1.py` | `GalaxeaA1HAL` + `GALAXEA_A1_DESCRIPTION` — real-only six-axis A1 and normalized gripper over a loopback JSON-lines transport. The operator-provided ROS 1 SDK stays in an isolated sidecar; OpenRAL bundles no vendor code. | | `so100_sim.py` | `SO100DigitalTwin` + `SO100DigitalTwinConfig` — pure-Python in-process simulator (used by smoketests, sim tests, and as a stand-in when no hardware is connected). | | `so100_mujoco.py` | `SO100MujocoHAL` — MuJoCo digital twin for the SO-100 follower, driving the `mujoco_menagerie` MJCF with the same 6-DoF action layout as `SO100FollowerHAL`. | | `_mujoco_arm.py` | `MujocoArmHAL` + `MujocoArmHAL.from_description` (MJCF resolved via `openral_core.assets.resolve_asset`) — shared MuJoCo backend for the arms below. It self-constructs from `RobotDescription.sim` (`SimDescription`), so per-robot subclasses are 5-line wrappers and **no Python file is required to add a new MuJoCo HAL** — declare a `sim:` block in `robots//robot.yaml` and call `MujocoArmHAL.from_description(desc)`. | @@ -59,6 +60,7 @@ satisfies it. There is no inheritance requirement. | Robot | Adapter | Status | Notes | | --- | --- | --- | --- | | LeRobot SO-100 follower arm | `SO100FollowerHAL` | ✓ unit + sim | Embodiment tag: `so100_follower`. | +| Galaxea A1 (real-HW) | `GalaxeaA1HAL` | ✓ unit + offline socket · HIL fixture | Joint-position + normalized-gripper only; official ROS 1 driver and joint tracker run in a separately owned sidecar. Lab-gated HIL via `tests/hil/test_galaxea_a1.py`. | | SO-100 (pure-Python sim) | `SO100DigitalTwin` | ✓ sim | In-process; no MuJoCo, no GPU. Used by the smoketest and CI. | | SO-100 (MuJoCo digital twin) | `SO100MujocoHAL` | ✓ sim (`tests/sim/test_so100_follower_hal_mujoco.py`) | Real MuJoCo physics on the `mujoco_menagerie` MJCF; same 6-DoF action layout as `SO100FollowerHAL`. | | Franka Panda (sim) | `FrankaPandaHAL` | ✓ sim | MuJoCo-backed. | @@ -152,6 +154,7 @@ Each HAL adapter has (or will have) a thin ROS 2 lifecycle node under | ROS package | Wraps | Status | | --- | --- | --- | | `openral_hal_so100` | `SO100FollowerHAL` | ✓ working (unit + sim coverage) | +| `openral_hal_galaxea_a1` | `GalaxeaA1HAL` | ✓ real observation/hold/joint/gripper + full C++ kernel graph HIL | | `openral_hal_franka` | `FrankaPandaHAL` (planned) | skeleton | | `openral_hal_ur5e` | `UR5eHAL` (sim) / `UR5eRealHAL` (real HW) | skeleton | | `openral_hal_ur10e` | `UR10eHAL` (sim) / `UR10eRealHAL` (real HW) | skeleton | @@ -192,7 +195,8 @@ and topic names. plugin workaround baked in. - HIL: `tests/hil/test_franka_panda.py`, `tests/hil/test_sawyer.py`, `tests/hil/test_aloha.py`, - `tests/hil/test_ur5e.py`, `tests/hil/test_ur10e.py` — lab runners only + `tests/hil/test_ur5e.py`, `tests/hil/test_ur10e.py`, + `tests/hil/test_galaxea_a1.py` — lab runners only (`UR5E_HOST` / `UR10E_HOST` env vars + `[self-hosted, lab-ur*]` runner labels for the UR pair). - HIL transport bridges (lab-only): `tests/hil/_ros_control_transport.py` exposes `RosControlHILTransport` + `make_hil_transport` for the diff --git a/python/hal/src/openral_hal/__init__.py b/python/hal/src/openral_hal/__init__.py index b8e7bc7..aa5d76d 100644 --- a/python/hal/src/openral_hal/__init__.py +++ b/python/hal/src/openral_hal/__init__.py @@ -2,6 +2,10 @@ Public surface: - ``HAL``: structural Protocol every adapter must satisfy (RFC §8.2). +- ``LifecycleEStopHAL`` / ``ResettableLifecycleEStopHAL``: optional typed + lifecycle e-stop propagation and recovery contracts. +- ``HALHealthProvider`` / ``HALHealthReport``: optional cached diagnostics + contract for the generic lifecycle heartbeat. - ``RosControlHAL``: ros2_control-backed adapter. - ``SO100FollowerHAL``: lerobot SO-100 follower arm adapter. - ``SO100_DESCRIPTION`` / ``so100_with_sensors``: canonical SO-100 description @@ -57,11 +61,13 @@ fetched at a pinned SHA from ``bensonlee5/anvil-openarm-mujoco`` by ``openral_hal._anvil_openarm_v2_assets`` (``openarm:anvil_v2_bimanual``). - ``SimTransport``: typed in-memory ros2_control transport for unit tests. +- ``GalaxeaA1HAL`` / ``GALAXEA_A1_DESCRIPTION``: real Galaxea A1 through an + isolated ROS 1 Noetic sidecar (the vendor SDK remains operator-provided). -All ``*_REAL_DESCRIPTION`` constants are derived from their sim siblings via -``openral_hal._real_description.make_real_description``; they share the same -``hal`` entrypoints (``hal.sim`` / ``hal.real``) and differ only in -``sdk_kind``. +Where a sim sibling exists, ``*_REAL_DESCRIPTION`` constants are derived via +``openral_hal._real_description.make_real_description`` and share its HAL +entrypoints. Real-only platforms such as the Galaxea A1 publish one description +directly until a licensed digital-twin asset is available. """ from openral_hal.aloha import ( @@ -82,6 +88,7 @@ FrankaPandaRealHAL, ) from openral_hal.g1 import G1_DESCRIPTION, G1MujocoHAL +from openral_hal.galaxea_a1 import GALAXEA_A1_DESCRIPTION, GalaxeaA1HAL from openral_hal.h1 import H1_DESCRIPTION, H1MujocoHAL from openral_hal.openarm import OPENARM_DESCRIPTION, OpenArmMujocoHAL from openral_hal.panda_mobile import ( @@ -89,7 +96,14 @@ PANDA_MOBILE_JOINT_NAMES, PandaMobileHAL, ) -from openral_hal.protocol import HAL +from openral_hal.protocol import ( + HAL, + EStopRecovery, + HALHealthProvider, + HALHealthReport, + LifecycleEStopHAL, + ResettableLifecycleEStopHAL, +) from openral_hal.resolver import build_hal from openral_hal.ros_control import RosControlHAL from openral_hal.sawyer_real import ( @@ -127,6 +141,7 @@ "FRANKA_PANDA_DESCRIPTION", "FRANKA_PANDA_REAL_DESCRIPTION", "G1_DESCRIPTION", + "GALAXEA_A1_DESCRIPTION", "H1_DESCRIPTION", "HAL", "OPENARM_DESCRIPTION", @@ -139,12 +154,18 @@ "AlohaHAL", "AlohaMujocoHAL", "AnvilOpenArmV2MujocoHAL", + "EStopRecovery", "FrankaPandaHAL", "FrankaPandaRealHAL", "G1MujocoHAL", + "GalaxeaA1HAL", "H1MujocoHAL", + "HALHealthProvider", + "HALHealthReport", + "LifecycleEStopHAL", "OpenArmMujocoHAL", "PandaMobileHAL", + "ResettableLifecycleEStopHAL", "Rizon4MujocoHAL", "RosControlHAL", "SO100DigitalTwin", diff --git a/python/hal/src/openral_hal/galaxea_a1.py b/python/hal/src/openral_hal/galaxea_a1.py new file mode 100644 index 0000000..bf56c6f --- /dev/null +++ b/python/hal/src/openral_hal/galaxea_a1.py @@ -0,0 +1,787 @@ +"""Real-hardware HAL for the Galaxea A1 arm via an isolated ROS 1 sidecar. + +The vendor stack is ROS 1 Noetic while OpenRAL is ROS 2 / Python 3.12. This +adapter therefore owns no vendor imports: an operator-provisioned sidecar runs +the official SDK and streams typed JSON records over loopback TCP. Network I/O +lives on a worker thread so ``read_state`` and ``send_action`` never block. +""" + +from __future__ import annotations + +import contextlib +import json +import math +import select +import socket +import threading +import time +from dataclasses import dataclass +from typing import Protocol + +import structlog +from openral_core.exceptions import ( + ROSConfigError, + ROSEStopRequested, + ROSPerceptionStale, + ROSRuntimeError, +) +from openral_core.schemas import ( + Action, + ControlMode, + EmbodimentKind, + EndEffectorSpec, + HalEntrypoints, + IntrinsicsPinhole, + JointSpec, + JointState, + JointType, + RobotCapabilities, + RobotDescription, + SafetyEnvelope, + SensorModality, + SensorSpec, +) + +from openral_hal._base import HALBase +from openral_hal.protocol import EStopRecovery, HALHealthReport + +__all__ = ["GALAXEA_A1_DESCRIPTION", "GalaxeaA1HAL"] + +log = structlog.get_logger(__name__) + +_JOINT_NAMES = tuple(f"arm_joint{i}" for i in range(1, 7)) +_JOINT_LIMITS = ( + (-2.8798, 2.8798), + (0.0, 3.1415), + (-3.3161, 0.0), + (-2.8798, 2.8798), + (-1.6581, 1.6581), + (-2.8798, 2.8798), +) +_PROTOCOL_VERSION = 1 +_GRIPPER_STATUS_INDEX = len(_JOINT_NAMES) +_MAX_TCP_PORT = 65536 +_MAX_STATUS_MASK = 0xFFFFFFFF + + +GALAXEA_A1_DESCRIPTION = RobotDescription( + name="galaxea_a1", + embodiment_kind=EmbodimentKind.MANIPULATOR, + base_frame="base_link", + joints=[ + JointSpec( + name=name, + joint_type=JointType.REVOLUTE, + parent_link="base_link" if index == 1 else f"arm_seg{index - 1}", + child_link=f"arm_seg{index}", + position_limits=limits, + velocity_limit=velocity, + effort_limit=effort, + actuator_kind="bldc", + ) + for index, (name, limits, velocity, effort) in enumerate( + zip( + _JOINT_NAMES, + _JOINT_LIMITS, + (20.944, 20.944, 7.5398, 25.133, 25.133, 25.133), + (40.0, 40.0, 27.0, 7.0, 7.0, 7.0), + strict=True, + ), + start=1, + ) + ], + end_effectors=[ + EndEffectorSpec( + name="gripper", + kind="parallel_gripper", + n_dof=1, + ) + ], + sensors=[ + SensorSpec( + name="front", + modality=SensorModality.RGB, + frame_id="a1_front_camera", + rate_hz=30.0, + encoding="rgb8", + intrinsics=IntrinsicsPinhole( + width=480, + height=480, + fx=387.67059326171875, + fy=386.86669921875, + cx=220.1776123046875, + cy=250.0211944580078, + distortion_model="plumb_bob", + distortion_coeffs=[ + -0.05492031201720238, + 0.06242402642965317, + -0.0008095245575532317, + 0.00015016942052170634, + -0.020708303898572922, + ], + ), + vla_feature_key="observation.images.front", + vendor="Intel", + model="RealSense D455", + metadata={ + "output_width": 480, + "output_height": 480, + "crop": "x=103,y=0,width=480,height=480", + }, + ), + SensorSpec( + name="wrist", + modality=SensorModality.RGB, + frame_id="a1_wrist_camera", + parent_frame="arm_seg6", + rate_hz=30.0, + encoding="rgb8", + intrinsics=IntrinsicsPinhole( + width=640, + height=480, + fx=392.2943115234375, + fy=391.7977294921875, + cx=320.1477355957031, + cy=241.63327026367188, + distortion_model="plumb_bob", + distortion_coeffs=[ + -0.05426114425063133, + 0.05990355461835861, + 0.0004118939395993948, + 0.000653077382594347, + -0.019962556660175323, + ], + ), + vla_feature_key="observation.images.wrist", + vendor="Intel", + model="RealSense D405", + metadata={"output_width": 640, "output_height": 480}, + ), + ], + capabilities=RobotCapabilities( + can_lift_kg=5.0, + has_vision=True, + supported_control_modes=[ControlMode.JOINT_POSITION, ControlMode.GRIPPER_POSITION], + embodiment_tags=["galaxea_a1"], + ), + safety=SafetyEnvelope( + max_ee_speed_m_s=0.25, + max_joint_speed_factor=0.05, + max_force_n=40.0, + max_torque_nm=40.0, + deadman_required=True, + ), + sdk_kind="closed_with_api", + hal=HalEntrypoints( + real="openral_hal.galaxea_a1:GalaxeaA1HAL", + parameters={ + "defaults": { + "host": "127.0.0.1", + "port": 46011, + "state_timeout_s": 0.5, + "status_timeout_s": 1.0, + "feedback_limit_tolerance_rad": 0.01, + "initial_alignment_tolerance_rad": 0.05, + "tracker_alignment_timeout_s": 5.0, + "max_target_step_rad": 0.08, + "policy_substep_rad": 0.045, + "command_lease_s": 0.5, + "idle_timeout_error_mask": 64, + "gripper_ignored_error_mask": 8, + "gripper_stroke_min_mm": 0.0, + "gripper_stroke_max_mm": 104.0, + } + }, + ), +) + + +@dataclass(frozen=True) +class _Snapshot: + position: tuple[float, ...] + velocity: tuple[float, ...] + effort: tuple[float, ...] + stamp_ns: int + received_monotonic: float + status_codes: tuple[int, ...] + status_received_monotonic: float + gripper_norm: float + relay_state: str = "LOCKED" + staged_position: tuple[float, ...] = () + forwarded_position: tuple[float, ...] = () + sidecar_action_count: int = 0 + + +class _A1Transport(Protocol): + def connect(self, hello: dict[str, object], timeout_s: float) -> None: ... + + def close(self) -> None: ... + + def snapshot(self) -> _Snapshot: ... + + def send(self, message: dict[str, object]) -> None: ... + + def estop(self, timeout_s: float) -> None: ... + + +class _SocketTransport: + """Loopback JSON-lines client with one reader and one priority writer.""" + + def __init__(self, host: str, port: int) -> None: + self._host = host + self._port = port + self._sock: socket.socket | None = None + self._stop = threading.Event() + self._ready = threading.Event() + self._estop_ack = threading.Event() + self._outbound_ready = threading.Event() + self._estop_confirmed = False + self._reader_thread: threading.Thread | None = None + self._writer_thread: threading.Thread | None = None + self._lock = threading.Lock() + self._snapshot: _Snapshot | None = None + self._pending_joint: dict[str, object] | None = None + self._pending_gripper: dict[str, object] | None = None + self._estop_pending = False + self._identity_verified = False + self._error: str | None = None + + def connect(self, hello: dict[str, object], timeout_s: float) -> None: + self._stop.clear() + self._ready.clear() + self._estop_ack.clear() + self._outbound_ready.clear() + with self._lock: + self._snapshot = None + self._pending_joint = None + self._pending_gripper = None + self._estop_pending = False + self._identity_verified = False + self._estop_confirmed = False + self._error = None + try: + sock = socket.create_connection((self._host, self._port), timeout=timeout_s) + except OSError as exc: + raise ROSRuntimeError( + f"Galaxea A1 sidecar is unavailable at {self._host}:{self._port}: {exc}" + ) from exc + try: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) + sock.setblocking(False) + self._sock = sock + self._write(hello) + self._reader_thread = threading.Thread( + target=self._read_loop, name="openral_a1_sidecar_reader", daemon=True + ) + self._writer_thread = threading.Thread( + target=self._write_loop, name="openral_a1_sidecar_writer", daemon=True + ) + self._reader_thread.start() + self._writer_thread.start() + except Exception: + self.close() + raise + if not self._ready.wait(timeout_s): + self.close() + raise ROSRuntimeError( + f"Galaxea A1 sidecar returned no valid state within {timeout_s:.1f} s." + ) + self._raise_if_failed() + + def close(self) -> None: + self._stop.set() + self._outbound_ready.set() + sock, self._sock = self._sock, None + if sock is not None: + with contextlib.suppress(OSError): + sock.shutdown(socket.SHUT_RDWR) + sock.close() + current = threading.current_thread() + for thread in (self._reader_thread, self._writer_thread): + if thread is not None and thread is not current: + thread.join(timeout=1.0) + self._reader_thread = None + self._writer_thread = None + + def snapshot(self) -> _Snapshot: + self._raise_if_failed() + with self._lock: + snapshot = self._snapshot + if snapshot is None: + raise ROSRuntimeError("Galaxea A1 sidecar has not produced a state snapshot.") + return snapshot + + def send(self, message: dict[str, object]) -> None: + self._raise_if_failed() + with self._lock: + if "joint_targets" in message: + self._pending_joint = message + if "gripper" in message: + self._pending_gripper = message + self._outbound_ready.set() + + def estop(self, timeout_s: float) -> None: + with self._lock: + self._estop_pending = True + self._pending_joint = None + self._pending_gripper = None + self._outbound_ready.set() + self._estop_ack.wait(timeout_s) + with self._lock: + confirmed = self._estop_confirmed + self.close() + if not confirmed: + raise ROSRuntimeError( + "Galaxea A1 sidecar did not confirm that its ROS 1 stack stopped." + ) + + def _read_loop(self) -> None: + buffer = b"" + try: + while not self._stop.is_set(): + sock = self._sock + if sock is None: + return + readable, _, _ = select.select([sock], [], [], 0.02) + if not readable: + continue + chunk = sock.recv(65536) + if not chunk: + raise ConnectionError("sidecar closed the connection") + buffer += chunk + while b"\n" in buffer: + line, buffer = buffer.split(b"\n", 1) + if line: + self._handle(json.loads(line)) + except Exception as exc: + if not self._stop.is_set(): + self._fail(f"Galaxea A1 sidecar transport failed: {exc}") + + def _write_loop(self) -> None: + """Drain the latest command independently of inbound state traffic.""" + try: + while not self._stop.is_set(): + self._outbound_ready.wait() + self._outbound_ready.clear() + while not self._stop.is_set(): + message = self._take_pending_message() + if message is None: + break + self._write(message) + except Exception as exc: + if not self._stop.is_set(): + self._fail(f"Galaxea A1 sidecar transport failed: {exc}") + + def _take_pending_message(self) -> dict[str, object] | None: + """Atomically coalesce the latest arm and gripper targets. + + OpenRAL publishes per-mode action chunks back-to-back. Keeping one + mailbox per mode prevents a gripper chunk from overwriting the arm + chunk before the socket worker runs, while still bounding backlog. + """ + with self._lock: + if self._estop_pending: + message: dict[str, object] | None = {"op": "estop"} + self._estop_pending = False + else: + joint = self._pending_joint + gripper = self._pending_gripper + self._pending_joint = None + self._pending_gripper = None + if joint is None and gripper is None: + return None + stamps: list[int] = [] + for item in (joint, gripper): + stamp = None if item is None else item.get("stamp_ns") + if isinstance(stamp, int) and not isinstance(stamp, bool): + stamps.append(stamp) + message = {"op": "action", "stamp_ns": max(stamps, default=time.time_ns())} + if joint is not None: + message["joint_targets"] = joint["joint_targets"] + if gripper is not None: + message["gripper"] = gripper["gripper"] + return message + + def _write(self, message: dict[str, object]) -> None: + sock = self._sock + if sock is None: + raise ConnectionError("sidecar socket is closed") + payload = json.dumps(message, separators=(",", ":"), allow_nan=False).encode() + b"\n" + view = memoryview(payload) + while view: + _, writable, _ = select.select([], [sock], [], 0.2) + if not writable: + raise TimeoutError("sidecar send timed out") + view = view[sock.send(view) :] + + def _handle(self, raw: object) -> None: + if not isinstance(raw, dict): + raise ValueError("sidecar record must be a JSON object") + op = raw.get("op") + if op == "hello": + if raw.get("protocol") != _PROTOCOL_VERSION or raw.get("robot") != "galaxea_a1": + raise ValueError("sidecar identity does not match Galaxea A1 protocol v1") + with self._lock: + self._identity_verified = True + elif op == "state": + with self._lock: + identity_verified = self._identity_verified + if not identity_verified: + raise ValueError("sidecar sent state before its identity handshake") + snapshot = _decode_snapshot(raw) + with self._lock: + self._snapshot = snapshot + self._ready.set() + elif op == "fault": + self._fail(str(raw.get("reason", "unknown sidecar fault"))) + elif op == "estopped": + with self._lock: + self._estop_confirmed = True + self._estop_ack.set() + else: + raise ValueError(f"unsupported sidecar operation {op!r}") + + def _fail(self, reason: str) -> None: + with self._lock: + self._error = reason + self._ready.set() + self._estop_ack.set() + + def _raise_if_failed(self) -> None: + with self._lock: + error = self._error + if error is not None: + raise ROSRuntimeError(error) + + +def _decode_snapshot(raw: dict[str, object]) -> _Snapshot: + def _floats(key: str, *, required: bool = True) -> tuple[float, ...]: + value = raw.get(key) + if not isinstance(value, list): + if not required: + return () + raise ValueError(f"state.{key} must be a list") + result = tuple(float(v) for v in value) + if not all(math.isfinite(v) for v in result): + raise ValueError(f"state.{key} contains a non-finite value") + return result + + names = raw.get("name") + if names != list(_JOINT_NAMES): + raise ValueError(f"state.name must be {list(_JOINT_NAMES)!r}, got {names!r}") + position = _floats("position") + if len(position) != len(_JOINT_NAMES): + raise ValueError(f"state.position must have {len(_JOINT_NAMES)} values") + velocity = _floats("velocity", required=False) + effort = _floats("effort", required=False) + for label, values in (("velocity", velocity), ("effort", effort)): + if values and len(values) != len(_JOINT_NAMES): + raise ValueError(f"state.{label} must be empty or have {len(_JOINT_NAMES)} values") + status = raw.get("status_codes") + if not isinstance(status, list) or len(status) < len(_JOINT_NAMES) + 1: + raise ValueError("state.status_codes must include six arm motors and the gripper") + if any( + isinstance(value, bool) or not isinstance(value, int) or not 0 <= value <= _MAX_STATUS_MASK + for value in status + ): + raise ValueError("state.status_codes must contain uint32 integers") + gripper_raw = raw.get("gripper_norm") + if isinstance(gripper_raw, bool) or not isinstance(gripper_raw, (int, float)): + raise ValueError("state.gripper_norm must be numeric") + gripper = float(gripper_raw) + if not math.isfinite(gripper) or not 0.0 <= gripper <= 1.0: + raise ValueError("state.gripper_norm must be finite and within [0, 1]") + relay_state = raw.get("relay_state") + if relay_state not in {"LOCKED", "ARMING", "ACTIVE", "FAULT"}: + raise ValueError(f"state.relay_state is invalid: {relay_state!r}") + staged_position = _floats("staged_position", required=False) + forwarded_position = _floats("forwarded_position", required=False) + for label, values in ( + ("staged_position", staged_position), + ("forwarded_position", forwarded_position), + ): + if values and len(values) != len(_JOINT_NAMES): + raise ValueError(f"state.{label} must be empty or have {len(_JOINT_NAMES)} values") + now = time.monotonic() + stamp_raw = raw.get("stamp_ns") + if isinstance(stamp_raw, bool) or not isinstance(stamp_raw, int) or stamp_raw < 0: + raise ValueError("state.stamp_ns must be a non-negative integer") + sidecar_action_count = _decode_nonnegative_int(raw, "accepted_action_count", default=0) + return _Snapshot( + position=position, + velocity=velocity, + effort=effort, + stamp_ns=stamp_raw, + received_monotonic=now, + status_codes=tuple(status), + status_received_monotonic=now, + gripper_norm=gripper, + relay_state=str(relay_state), + staged_position=staged_position, + forwarded_position=forwarded_position, + sidecar_action_count=sidecar_action_count, + ) + + +def _decode_nonnegative_int(raw: dict[str, object], key: str, *, default: int | None = None) -> int: + value = raw.get(key, default) + if isinstance(value, bool) or not isinstance(value, int) or value < 0: + raise ValueError(f"state.{key} must be a non-negative integer") + return value + + +class GalaxeaA1HAL(HALBase): + """OpenRAL real HAL for the six-axis Galaxea A1 plus parallel gripper.""" + + description = GALAXEA_A1_DESCRIPTION + estop_recovery = EStopRecovery.RESTART_REQUIRED + + def __init__( + self, + *, + host: str = "127.0.0.1", + port: int = 46011, + state_timeout_s: float = 0.5, + status_timeout_s: float = 1.0, + feedback_limit_tolerance_rad: float = 0.01, + initial_alignment_tolerance_rad: float = 0.05, + tracker_alignment_timeout_s: float = 5.0, + max_target_step_rad: float = 0.08, + policy_substep_rad: float = 0.045, + command_lease_s: float = 0.5, + idle_timeout_error_mask: int = 64, + gripper_ignored_error_mask: int = 8, + gripper_stroke_min_mm: float = 0.0, + gripper_stroke_max_mm: float = 104.0, + connect_timeout_s: float = 10.0, + transport: _A1Transport | None = None, + ) -> None: + """Configure the sidecar endpoint and explicit safety deadlines.""" + if not host.strip() or not 0 < int(port) < _MAX_TCP_PORT: + raise ROSConfigError("GalaxeaA1HAL requires a valid sidecar host and TCP port.") + positive = { + "state_timeout_s": state_timeout_s, + "status_timeout_s": status_timeout_s, + "initial_alignment_tolerance_rad": initial_alignment_tolerance_rad, + "tracker_alignment_timeout_s": tracker_alignment_timeout_s, + "max_target_step_rad": max_target_step_rad, + "policy_substep_rad": policy_substep_rad, + "command_lease_s": command_lease_s, + "connect_timeout_s": connect_timeout_s, + } + if any(not math.isfinite(v) or v <= 0.0 for v in positive.values()): + raise ROSConfigError( + f"GalaxeaA1HAL timing and motion limits must be positive: {positive}" + ) + if policy_substep_rad >= max_target_step_rad: + raise ROSConfigError("policy_substep_rad must be smaller than max_target_step_rad.") + if not math.isfinite(feedback_limit_tolerance_rad) or feedback_limit_tolerance_rad < 0.0: + raise ROSConfigError("feedback_limit_tolerance_rad must be finite and non-negative.") + if ( + not math.isfinite(gripper_stroke_min_mm) + or not math.isfinite(gripper_stroke_max_mm) + or gripper_stroke_max_mm <= gripper_stroke_min_mm + ): + raise ROSConfigError("gripper_stroke_max_mm must exceed gripper_stroke_min_mm.") + masks = { + "idle_timeout_error_mask": idle_timeout_error_mask, + "gripper_ignored_error_mask": gripper_ignored_error_mask, + } + if any(isinstance(v, bool) or not 0 <= int(v) <= _MAX_STATUS_MASK for v in masks.values()): + raise ROSConfigError(f"GalaxeaA1HAL motor status masks must be uint32 values: {masks}") + self._host = host + self._port = int(port) + self._state_timeout_s = state_timeout_s + self._status_timeout_s = status_timeout_s + self._feedback_limit_tolerance = feedback_limit_tolerance_rad + self._alignment = initial_alignment_tolerance_rad + self._tracker_alignment_timeout = tracker_alignment_timeout_s + self._max_step = max_target_step_rad + self._policy_substep = policy_substep_rad + self._lease = command_lease_s + self._idle_mask = int(idle_timeout_error_mask) + self._gripper_mask = int(gripper_ignored_error_mask) + self._gripper_min = gripper_stroke_min_mm + self._gripper_max = gripper_stroke_max_mm + self._connect_timeout_s = connect_timeout_s + self._transport: _A1Transport = transport or _SocketTransport(host, self._port) + self._connected = False + self._first_joint_command = True + self._accepted_action_count = 0 + + def connect(self) -> None: + """Connect to the sidecar and require one complete fresh snapshot.""" + if self._connected: + raise ROSRuntimeError("GalaxeaA1HAL is already connected.") + hello: dict[str, object] = { + "op": "hello", + "protocol": _PROTOCOL_VERSION, + "robot": "galaxea_a1", + "joint_names": list(_JOINT_NAMES), + "joint_position_min": [limits[0] for limits in _JOINT_LIMITS], + "joint_position_max": [limits[1] for limits in _JOINT_LIMITS], + "initial_alignment_tolerance_rad": self._alignment, + "tracker_alignment_timeout_s": self._tracker_alignment_timeout, + "max_target_step_rad": self._max_step, + "command_lease_s": self._lease, + "state_timeout_s": self._state_timeout_s, + "status_timeout_s": self._status_timeout_s, + "feedback_limit_tolerance_rad": self._feedback_limit_tolerance, + "idle_timeout_error_mask": self._idle_mask, + "gripper_ignored_error_mask": self._gripper_mask, + "gripper_stroke_min_mm": self._gripper_min, + "gripper_stroke_max_mm": self._gripper_max, + } + try: + self._transport.connect(hello, self._connect_timeout_s) + self._fresh_snapshot(require_status=True) + except Exception: + self._transport.close() + raise + self._connected = True + self._first_joint_command = True + self._accepted_action_count = 0 + log.info("hal.connect", robot=self.description.name, sidecar=f"{self._host}:{self._port}") + + def disconnect(self) -> None: + """Close the sidecar transport idempotently.""" + self._transport.close() + self._connected = False + + def read_state(self) -> JointState: + """Return the latest non-stale six-joint feedback snapshot.""" + self._require_connected("read_state") + state = self._fresh_snapshot(require_status=True) + return JointState( + name=list(_JOINT_NAMES), + position=list(state.position), + velocity=list(state.velocity), + effort=list(state.effort), + stamp_ns=state.stamp_ns, + ) + + def send_action(self, action: Action) -> None: + """Queue one validated joint or normalized-gripper target.""" + self._require_connected("send_action") + state = self._fresh_snapshot(require_status=True) + message: dict[str, object] = {"op": "action", "stamp_ns": action.stamp_ns} + if action.control_mode == ControlMode.JOINT_POSITION: + message["joint_targets"] = list(self._validated_joint_target(action, state)) + elif action.control_mode == ControlMode.GRIPPER_POSITION: + message["gripper"] = self._validated_gripper_target(action) + else: + raise ROSConfigError( + f"GalaxeaA1HAL does not support control mode {action.control_mode.value!r}." + ) + self._transport.send(message) + self._accepted_action_count += 1 + if action.control_mode == ControlMode.JOINT_POSITION: + self._first_joint_command = False + + def _validated_joint_target(self, action: Action, state: _Snapshot) -> tuple[float, ...]: + self._validate_action_dims(action, len(_JOINT_NAMES)) + if action.gripper: + raise ROSConfigError("gripper data require GRIPPER_POSITION control mode.") + if not action.joint_targets: + raise ROSConfigError("GalaxeaA1HAL requires joint_targets in JOINT_POSITION mode.") + target = tuple(float(v) for v in action.joint_targets[0]) + if not all(math.isfinite(v) for v in target): + raise ROSConfigError("Galaxea A1 joint target contains a non-finite value.") + for name, value, (lower, upper) in zip(_JOINT_NAMES, target, _JOINT_LIMITS, strict=True): + if not lower <= value <= upper: + raise ROSConfigError( + f"Galaxea A1 joint target {name}={value:.6f} is outside " + f"[{lower:.6f}, {upper:.6f}]." + ) + bound = self._alignment if self._first_joint_command else self._max_step + if any( + abs(value - current) > bound + for value, current in zip(target, state.position, strict=True) + ): + label = "initial alignment" if self._first_joint_command else "target step" + raise ROSConfigError( + f"Galaxea A1 {label} exceeds the configured {bound:.3f} rad limit." + ) + return target + + @staticmethod + def _validated_gripper_target(action: Action) -> float: + if action.joint_targets: + raise ROSConfigError("joint_targets require JOINT_POSITION control mode.") + if not action.gripper: + raise ROSConfigError("GalaxeaA1HAL requires gripper data in GRIPPER_POSITION mode.") + gripper = float(action.gripper[0]) + if not math.isfinite(gripper) or not 0.0 <= gripper <= 1.0: + raise ROSConfigError("Galaxea A1 gripper target must be finite and within [0, 1].") + return gripper + + def health(self) -> HALHealthReport: + """Return cached hardware health for the lifecycle diagnostics heartbeat.""" + state = self._fresh_snapshot(require_status=True) + now = time.monotonic() + return HALHealthReport( + message="A1 feedback and motor status healthy", + fields={ + "sidecar": f"{self._host}:{self._port}", + "policy_substep_rad": f"{self._policy_substep:.6f}", + "joint_state_age_s": f"{now - state.received_monotonic:.3f}", + "motor_status_age_s": f"{now - state.status_received_monotonic:.3f}", + "motor_status_codes": ",".join(str(code) for code in state.status_codes), + "command_relay_state": state.relay_state, + "hal_accepted_action_count": str(self._accepted_action_count), + "sidecar_accepted_action_count": str(state.sidecar_action_count), + "gripper_position_normalized": f"{state.gripper_norm:.6f}", + "staged_position": ",".join(f"{value:.6f}" for value in state.staged_position), + "forwarded_position": ",".join( + f"{value:.6f}" for value in state.forwarded_position + ), + }, + ) + + def estop(self) -> None: + """Stop the sidecar-owned ROS 1 stack and always raise.""" + log.critical("hal.estop", robot=self.description.name) + try: + # The sidecar acknowledges only after tracker, driver, and roscore + # have exited. Its bounded shutdown allows up to three seconds. + self._transport.estop(timeout_s=4.0) + finally: + self._connected = False + raise ROSEStopRequested("Emergency stop triggered on Galaxea A1; ROS 1 sidecar stopped.") + + def _fresh_snapshot(self, *, require_status: bool = False) -> _Snapshot: + state = self._transport.snapshot() + age = time.monotonic() - state.received_monotonic + if age > self._state_timeout_s: + raise ROSPerceptionStale( + f"Galaxea A1 joint state is {age:.3f} s old (limit {self._state_timeout_s:.3f} s)." + ) + if require_status: + status_age = time.monotonic() - state.status_received_monotonic + if status_age > self._status_timeout_s: + raise ROSPerceptionStale( + f"Galaxea A1 motor status is {status_age:.3f} s old " + f"(limit {self._status_timeout_s:.3f} s)." + ) + for index, code in enumerate(state.status_codes[: _GRIPPER_STATUS_INDEX + 1]): + allowed = self._idle_mask | ( + self._gripper_mask if index == _GRIPPER_STATUS_INDEX else 0 + ) + if code & ~allowed: + raise ROSRuntimeError( + f"Galaxea A1 actuator {index + 1} reports error code {code}." + ) + for name, value, (lower, upper) in zip( + _JOINT_NAMES, state.position, _JOINT_LIMITS, strict=True + ): + if not ( + lower - self._feedback_limit_tolerance + <= value + <= upper + self._feedback_limit_tolerance + ): + raise ROSRuntimeError( + f"Galaxea A1 feedback {name}={value:.6f} is outside " + f"[{lower:.6f}, {upper:.6f}] by more than the configured " + f"{self._feedback_limit_tolerance:.3f} rad tolerance." + ) + return state diff --git a/python/hal/src/openral_hal/lifecycle.py b/python/hal/src/openral_hal/lifecycle.py index 6a91ee8..b7e28dd 100644 --- a/python/hal/src/openral_hal/lifecycle.py +++ b/python/hal/src/openral_hal/lifecycle.py @@ -402,6 +402,46 @@ def _heartbeat_extra_fields(self) -> dict[str, str]: """ return {} + def _heartbeat_status(self, robot_name: str) -> tuple[int, str, dict[str, str]]: + """Return the generic status plus optional cached HAL health. + + Real hardware adapters may implement ``HALHealthProvider``. Its + ``health()`` method must use cached state only; the 1 Hz diagnostics + path must not perform device or network I/O. + """ + from openral_observability import Level + + from openral_hal.protocol import HALHealthProvider + + extras = self._heartbeat_extra_fields() + if self._estopped: + return ( + Level.ERROR, + "estop latched", + {"robot": robot_name, "estopped": "true", **extras}, + ) + if self._hal is None: + return Level.ERROR, "hal disconnected", {"robot": robot_name, **extras} + if isinstance(self._hal, HALHealthProvider): + try: + report = self._hal.health() + except Exception as exc: # reason: diagnostics must surface, not hide, HAL faults + return ( + Level.ERROR, + f"HAL health check failed: {exc}", + {"robot": robot_name, **extras}, + ) + return ( + Level.OK, + report.message, + {"robot": robot_name, "estopped": "false", **extras, **report.fields}, + ) + return ( + Level.OK, + "hal ready", + {"robot": robot_name, "estopped": "false", **extras}, + ) + def on_configure_post_hal(self) -> TransitionCallbackReturn: """Subclass extension point after the base wires HAL + heartbeat. @@ -439,7 +479,7 @@ def on_cleanup_pre_disconnect(self) -> None: def on_configure(self, state: object) -> TransitionCallbackReturn: """Construct + connect the HAL, wire the heartbeat, then run post-hook.""" from openral_core.exceptions import ROSConfigError, ROSRuntimeError - from openral_observability import DiagnosticsHeartbeat, Level + from openral_observability import DiagnosticsHeartbeat try: self._hal = self._create_hal() @@ -451,16 +491,7 @@ def on_configure(self, state: object) -> TransitionCallbackReturn: robot_name = getattr(getattr(self._hal, "description", None), "name", self._node_name) def _status() -> tuple[int, str, dict[str, str]]: - extras = self._heartbeat_extra_fields() - if self._estopped: - return Level.ERROR, "estop latched", {"robot": str(robot_name), **extras} - if self._hal is None: - return Level.ERROR, "hal disconnected", {"robot": str(robot_name), **extras} - return ( - Level.OK, - "hal ready", - {"robot": str(robot_name), "estopped": "false", **extras}, - ) + return self._heartbeat_status(str(robot_name)) self._heartbeat = DiagnosticsHeartbeat( self, @@ -747,13 +778,14 @@ def _publish_joint_state(self) -> None: From the proprio snapshot for sim-attached HALs, else a live ``hal.read_state``. """ + if self._hal is None or self._publisher is None or self._estopped: + return + from openral_observability import producer as ral_producer from openral_observability import semconv from opentelemetry import trace from sensor_msgs.msg import JointState as RosJointState - if self._hal is None or self._publisher is None: - return tick_idx = self._read_tick_idx self._read_tick_idx += 1 tracer = trace.get_tracer("openral_hal.lifecycle") @@ -899,13 +931,25 @@ def _send_action_traced(self, action: Any, *, source: str) -> None: # noqa: ANN ) def _on_estop(self, _msg: object) -> None: - """CLAUDE.md §1.5 — latch the estop flag.""" + """Latch and invoke downstream stop for HALs that explicitly opt in.""" if self._estopped: return self._estopped = True self.get_logger().error( "openral_hal.estop_received; ignoring further commands until reset." ) + from openral_hal.protocol import LifecycleEStopHAL + + if self._hal is None or not isinstance(self._hal, LifecycleEStopHAL): + return + from openral_core.exceptions import ROSEStopRequested + + try: + self._hal.estop() + except ROSEStopRequested as exc: + self.get_logger().error(f"hardware estop completed: {exc}") + except Exception as exc: # reason: latch must survive a vendor stop-path failure + self.get_logger().fatal(f"hardware estop failed: {exc}") def _on_estop_cleared(self, _msg: object) -> None: """Clear the estop latch when the reset authority broadcasts /openral/estop_cleared. @@ -918,6 +962,38 @@ def _on_estop_cleared(self, _msg: object) -> None: """ if not self._estopped: return + + from openral_hal.protocol import ( + EStopRecovery, + LifecycleEStopHAL, + ResettableLifecycleEStopHAL, + ) + + if isinstance(self._hal, LifecycleEStopHAL): + recovery = self._hal.estop_recovery + if recovery == EStopRecovery.RESTART_REQUIRED: + self.get_logger().error( + "openral_hal.estop_clear_rejected; this real HAL requires a full " + "lifecycle restart and fresh alignment after hardware estop." + ) + return + if recovery != EStopRecovery.RESETTABLE: + self.get_logger().fatal( + f"openral_hal.estop_clear_rejected; unsupported recovery policy " + f"{recovery!r}." + ) + return + if not isinstance(self._hal, ResettableLifecycleEStopHAL): + self.get_logger().fatal( + "openral_hal.estop_clear_rejected; resettable HAL does not implement " + "reset_estop()." + ) + return + try: + self._hal.reset_estop() + except Exception as exc: # reason: never clear local latch after reset failure + self.get_logger().fatal(f"hardware estop reset failed: {exc}") + return self._estopped = False self.get_logger().info("openral_hal.estop_cleared; resuming command execution.") diff --git a/python/hal/src/openral_hal/protocol.py b/python/hal/src/openral_hal/protocol.py index e7a5deb..caf04d8 100644 --- a/python/hal/src/openral_hal/protocol.py +++ b/python/hal/src/openral_hal/protocol.py @@ -15,11 +15,74 @@ from __future__ import annotations +from collections.abc import Mapping +from dataclasses import dataclass +from enum import StrEnum from typing import Protocol, runtime_checkable from openral_core.schemas import Action, JointState, RobotDescription -__all__ = ["HAL"] +__all__ = [ + "HAL", + "EStopRecovery", + "HALHealthProvider", + "HALHealthReport", + "LifecycleEStopHAL", + "ResettableLifecycleEStopHAL", +] + + +class EStopRecovery(StrEnum): + """Recovery policy after a lifecycle node forwards an e-stop to a HAL.""" + + RESETTABLE = "resettable" + RESTART_REQUIRED = "restart_required" + + +@dataclass(frozen=True) +class HALHealthReport: + """Cached health data exposed through the lifecycle diagnostics heartbeat. + + ``health()`` implementations must not perform device or network I/O. The + lifecycle node calls them from its low-rate diagnostics path. + """ + + message: str + fields: Mapping[str, str] + + +@runtime_checkable +class HALHealthProvider(Protocol): + """Optional HAL extension for cached diagnostics.""" + + def health(self) -> HALHealthReport: + """Return the latest cached health report without performing I/O.""" + ... + + +@runtime_checkable +class LifecycleEStopHAL(Protocol): + """Optional extension for HALs that propagate the lifecycle e-stop downstream. + + HALs that implement this protocol opt into receiving ``estop()`` when the + generic lifecycle node latches ``/openral/estop``. Existing HALs that do not + opt in retain the lifecycle node's local latch-only behavior. + """ + + estop_recovery: EStopRecovery + + def estop(self) -> None: + """Stop downstream hardware or owned processes and always raise.""" + ... + + +@runtime_checkable +class ResettableLifecycleEStopHAL(LifecycleEStopHAL, Protocol): + """Lifecycle e-stop extension for HALs that support in-process recovery.""" + + def reset_estop(self) -> None: + """Re-arm the downstream controller after its safety conditions pass.""" + ... @runtime_checkable diff --git a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py new file mode 100644 index 0000000..10bfec2 --- /dev/null +++ b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py @@ -0,0 +1,129 @@ +"""Galaxea A1 Runtime Camera Bridge reader. + +The A1 Runtime remains the sole owner of both RealSense devices. This +backend consumes its public, paired raw-frame bridge and presents one view as +an ordinary OpenRAL :class:`SensorReader`. It never opens a camera device +itself and therefore cannot race the A1 Runtime camera monitor. +""" + +from __future__ import annotations + +import os +import sys +import time +from importlib import import_module +from pathlib import Path +from typing import Any, Literal + +import numpy as np +from openral_core import FrameEncoding, SensorFrame +from openral_core.exceptions import ROSConfigError, ROSPerceptionStale + +__all__ = ["GalaxeaA1CameraBridgeReader"] + +_COLOR_NDIM = 3 +_COLOR_CHANNELS = 3 + + +class GalaxeaA1CameraBridgeReader: + """Expose one synchronized A1 Camera Bridge view as an RGB8 sensor.""" + + def __init__( + self, + *, + sensor_id: str, + camera: Literal["front", "wrist"], + runtime_root_env: str, + deployment_config: str, + default_max_age_ms: int, + ) -> None: + """Store the explicit bridge and A1 Runtime configuration.""" + if not runtime_root_env: + raise ROSConfigError("runtime_root_env must be a non-empty environment variable name") + if Path(deployment_config).is_absolute(): + raise ROSConfigError("deployment_config must be relative to the A1 Runtime root") + if default_max_age_ms <= 0: + raise ROSConfigError("default_max_age_ms must be positive") + self.sensor_id = sensor_id + self.is_open = False + self._camera = camera + self._runtime_root_env = runtime_root_env + self._deployment_config = deployment_config + self._default_max_age_ms = default_max_age_ms + self._session: Any | None = None + + def open(self) -> None: + """Connect to the persistent A1 Camera Bridge without opening hardware.""" + if self.is_open: + return + raw_root = os.environ.get(self._runtime_root_env) + if raw_root is None: + raise ROSConfigError( + f"{self._runtime_root_env} is required for the Galaxea A1 camera bridge" + ) + root = Path(raw_root).expanduser().resolve() + config_path = (root / self._deployment_config).resolve() + if not config_path.is_relative_to(root): + raise ROSConfigError("deployment_config escapes the A1 Runtime root") + if not config_path.is_file(): + raise ROSConfigError(f"A1 Runtime deployment config not found: {config_path}") + embodied_ops = root / "external" / "embodied-ops" / "src" + for import_root in (embodied_ops, root): + value = str(import_root) + if value not in sys.path: + sys.path.insert(0, value) + + config_module = import_module("galaxea_a1_runtime.apps.lingbot.config") + camera_module = import_module("galaxea_a1_runtime.apps.policy_camera") + config = config_module.load_lingbot_config(config_path, repo_root=root) + self._session = camera_module.PolicyCameraSession( + config.system, + front_key="front", + wrist_key="wrist", + ) + self.is_open = True + + def close(self) -> None: + """Close only this bridge client; the persistent camera owner remains alive.""" + session, self._session = self._session, None + try: + if session is not None: + session.close() + finally: + self.is_open = False + + def read_latest(self, max_age_ms: int | None = None) -> SensorFrame: + """Return the latest synchronized view as an inline RGB8 frame.""" + if not self.is_open or self._session is None: + raise RuntimeError(f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}) is closed") + budget_ms = self._default_max_age_ms if max_age_ms is None else max_age_ms + started_ns = time.monotonic_ns() + observation = self._session.read_observation() + if observation is None: + raise ROSPerceptionStale( + f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}): " + "no fresh synchronized camera pair" + ) + rgb = np.asarray(observation[self._camera], dtype=np.uint8) + if rgb.ndim != _COLOR_NDIM or rgb.shape[2] != _COLOR_CHANNELS: + raise RuntimeError( + f"Galaxea A1 {self._camera} camera returned shape {rgb.shape}, expected HWC RGB" + ) + age_ms = (time.monotonic_ns() - started_ns) / 1e6 + if age_ms > budget_ms: + raise ROSPerceptionStale( + f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}): bridge read " + f"took {age_ms:.1f} ms (budget {budget_ms} ms)" + ) + stamp_monotonic_ns = time.monotonic_ns() + height, width, channels = rgb.shape + return SensorFrame( + sensor_id=self.sensor_id, + stamp_monotonic_ns=stamp_monotonic_ns, + stamp_wall_ns=time.time_ns(), + encoding=FrameEncoding.RGB8, + width=int(width), + height=int(height), + channels=int(channels), + data=rgb.tobytes(), + ) diff --git a/python/runner/src/openral_runner/factory.py b/python/runner/src/openral_runner/factory.py index 6d0ca86..294a3a6 100644 --- a/python/runner/src/openral_runner/factory.py +++ b/python/runner/src/openral_runner/factory.py @@ -6,7 +6,8 @@ * ``SKILL_REGISTRY`` — :attr:`VLASpec.id` → :class:`Skill` factory. Today only ``gpu_passthrough`` (a no-op rSkill for plumbing verification). * ``SENSOR_BACKEND_REGISTRY`` — :attr:`SensorReaderConfig.backend` → - :class:`SensorReader` factory (``opencv_thread`` / ``gstreamer``). + :class:`SensorReader` factory (``opencv_thread`` / ``gstreamer`` / + ``galaxea_a1_camera_bridge``). Adding skills / backends is additive — append to the dict. The rSkill that drives a real deployment is selected at runtime by the reasoner from the @@ -16,6 +17,7 @@ from __future__ import annotations from collections.abc import Callable +from typing import Literal, cast import structlog from openral_core import ( @@ -186,6 +188,45 @@ def _make_gstreamer_reader(cfg: SensorReaderConfig) -> SensorReader: ) +def _make_galaxea_a1_camera_bridge_reader(cfg: SensorReaderConfig) -> SensorReader: + """Build the A1 Runtime Camera Bridge adapter from explicit scene params.""" + from openral_runner.backends.galaxea_a1_camera_bridge import ( + GalaxeaA1CameraBridgeReader, + ) + + params = cfg.backend_params + allowed = {"camera", "runtime_root_env", "deployment_config"} + unknown = set(params) - allowed + if unknown: + raise ROSConfigError( + f"SensorReaderConfig({cfg.sensor_id!r}, " + f"backend=galaxea_a1_camera_bridge) has unknown params {sorted(unknown)!r}" + ) + camera = params.get("camera") + if camera not in {"front", "wrist"}: + raise ROSConfigError( + f"SensorReaderConfig({cfg.sensor_id!r}, " + "backend=galaxea_a1_camera_bridge) requires " + "backend_params.camera to be 'front' or 'wrist'" + ) + runtime_root_env = params.get("runtime_root_env", "OPENRAL_GALAXEA_A1_RUNTIME_ROOT") + deployment_config = params.get( + "deployment_config", + "configs/deployments/lingbot/fruit_placement_eef.toml", + ) + if not isinstance(runtime_root_env, str) or not isinstance(deployment_config, str): + raise ROSConfigError( + "Galaxea A1 camera bridge runtime_root_env and deployment_config must be strings" + ) + return GalaxeaA1CameraBridgeReader( + sensor_id=cfg.sensor_id, + camera=cast(Literal["front", "wrist"], camera), + runtime_root_env=runtime_root_env, + deployment_config=deployment_config, + default_max_age_ms=cfg.max_age_ms, + ) + + def _gstreamer_spec_from_params( cfg: SensorReaderConfig, source_param: object, @@ -246,5 +287,6 @@ def _copy_bool_if_present(dst: dict[str, object], src: dict[str, object], key: s SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]] = { "opencv_thread": _make_opencv_thread_reader, "gstreamer": _make_gstreamer_reader, + "galaxea_a1_camera_bridge": _make_galaxea_a1_camera_bridge_reader, } """Registry of SensorReader factories. Keyed by :attr:`SensorReaderConfig.backend`.""" diff --git a/python/sim/src/openral_sim/policies/__init__.py b/python/sim/src/openral_sim/policies/__init__.py index c291103..626f862 100644 --- a/python/sim/src/openral_sim/policies/__init__.py +++ b/python/sim/src/openral_sim/policies/__init__.py @@ -20,6 +20,7 @@ def _register_policies() -> None: diffusion, gr00t, internvla_n1, + lingbot_va_a1, lingbot_vla2, mock, molmoact2, diff --git a/python/sim/src/openral_sim/policies/lingbot_va_a1.py b/python/sim/src/openral_sim/policies/lingbot_va_a1.py new file mode 100644 index 0000000..549c494 --- /dev/null +++ b/python/sim/src/openral_sim/policies/lingbot_va_a1.py @@ -0,0 +1,452 @@ +"""A1 Runtime LingBot-VA EEF policy adapter for real OpenRAL deployment. + +The external A1 Runtime owns model serving and the proven EEF/IK contract. +This adapter owns only the policy boundary: OpenRAL observations go to the +LingBot server, predicted EEF steps are validated and lowered to six absolute +A1 joint targets plus one normalized gripper target, and that typed vector +continues through OpenRAL's safety kernel and HAL. +""" + +from __future__ import annotations + +import os +import sys +import time +from concurrent.futures import Future, ThreadPoolExecutor +from importlib import import_module +from pathlib import Path +from typing import Any, cast + +import numpy as np +from numpy.typing import NDArray +from openral_core import VLASpec +from openral_core.exceptions import ROSConfigError, ROSRuntimeError + +from openral_sim.registry import POLICIES + +_RUNTIME_ROOT_ENV = "OPENRAL_GALAXEA_A1_RUNTIME_ROOT" +_DEPLOYMENT_CONFIG = "configs/deployments/lingbot/fruit_placement_eef.toml" +_COLOR_NDIM = 3 +_COLOR_CHANNELS = 3 + + +def _bounded_joint_substep( + current: NDArray[np.float64], + target: NDArray[np.float64], + *, + max_step_rad: float, +) -> tuple[NDArray[np.float64], bool]: + """Return a target within the declared feedback-relative joint-step limit.""" + if ( + current.shape != target.shape + or current.ndim != 1 + or not np.isfinite(current).all() + or not np.isfinite(target).all() + ): + raise ValueError("bounded joint substep requires matching finite vectors") + if not np.isfinite(max_step_rad) or max_step_rad <= 0: + raise ValueError("max_step_rad must be finite and positive") + delta = target - current + largest = float(np.max(np.abs(delta))) + if largest <= max_step_rad: + return target.copy(), True + float32_bound = float( + np.nextafter( + np.float32(max_step_rad), + np.float32(0.0), + ) + ) + return current + delta * (float32_bound / largest), False + + +def _effective_joint_substep_limit( + *, + max_target_step_rad: float, + initial_alignment_tolerance_rad: float, +) -> float: + """Return the tighter live-step and locked-relay alignment limit.""" + limits = (float(max_target_step_rad), float(initial_alignment_tolerance_rad)) + if any(not np.isfinite(value) or value <= 0.0 for value in limits): + raise ValueError("A1 joint substep limits must be finite and positive") + return min(limits) + + +def _runtime_root() -> Path: + raw = os.environ.get(_RUNTIME_ROOT_ENV) + if raw is None: + raise ROSConfigError( + f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va_a1 policy adapter" + ) + root = Path(raw).expanduser().resolve() + config = root / _DEPLOYMENT_CONFIG + if not config.is_file(): + raise ROSConfigError(f"A1 Runtime LingBot config not found: {config}") + for import_root in (root / "external" / "embodied-ops" / "src", root): + value = str(import_root) + if value not in sys.path: + sys.path.insert(0, value) + return root + + +class _LingBotVaA1Adapter: + """Replay LingBot EEF chunks as safe A1 joint/gripper action steps.""" + + device = "external:a1-runtime" + + def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: + root = _runtime_root() + client_module = import_module("galaxea_a1_runtime.apps.lingbot.client") + config_module = import_module("galaxea_a1_runtime.apps.lingbot.config") + protocol_module = import_module("galaxea_a1_runtime.apps.lingbot.protocol") + ik_module = import_module("galaxea_a1_runtime.hardware.eef_ik") + action_module = import_module("galaxea_a1_runtime.policies.eef_actions") + self.spec = spec + self._config = config_module.load_lingbot_config( + root / _DEPLOYMENT_CONFIG, + repo_root=root, + ) + self._action_config = action_module.build_action_transform_config( + system=self._config.system + ) + self._solver = ik_module.build_eef_ik_solver(self._config.system) + if robot_description is None or robot_description.name != "galaxea_a1": + raise ROSConfigError("lingbot_va_a1 requires the Galaxea A1 RobotDescription") + try: + hal_defaults = robot_description.hal.parameters.defaults + self._max_joint_step_rad = _effective_joint_substep_limit( + max_target_step_rad=min( + hal_defaults["max_target_step_rad"], + hal_defaults["policy_substep_rad"], + ), + initial_alignment_tolerance_rad=hal_defaults["initial_alignment_tolerance_rad"], + ) + except (AttributeError, KeyError, TypeError, ValueError) as exc: + raise ROSConfigError( + "Galaxea A1 RobotDescription requires finite positive " + "joint step, policy-substep, and initial-alignment limits" + ) from exc + server = self._config.server + self._client = client_module.LingBotClient( + server.host, + server.port, + connect_timeout_s=server.connect_timeout_s, + close_timeout_s=server.close_timeout_s, + expected_metadata=protocol_module.server_metadata(self._config), + ) + latency_budget_ms = spec.extra.get("latency_budget_ms") + if isinstance(latency_budget_ms, bool) or not isinstance(latency_budget_ms, (int, float)): + raise ROSConfigError( + "lingbot_va_a1 requires its manifest latency budget in VLASpec.extra" + ) + self._inference_timeout_s = float(latency_budget_ms) / 1000.0 + if not np.isfinite(self._inference_timeout_s) or self._inference_timeout_s <= 0.0: + raise ROSConfigError("lingbot_va_a1 requires a positive per-chunk latency budget") + self._inference_executor = ThreadPoolExecutor( + max_workers=1, + thread_name_prefix="openral-lingbot-a1", + ) + self._boundary_future: Future[dict[str, Any]] | None = None + self._boundary_deadline = 0.0 + self._instruction: str | None = None + self._origin_pose7: NDArray[np.float64] | None = None + self._chunk: Any | None = None + self._steps: list[tuple[int, int, int, NDArray[np.float32]]] = [] + self._step_index = 0 + self._pending_observation = False + self._key_frames: list[dict[str, NDArray[np.uint8]]] = [] + self._first = True + self._model_calls = 0 + self._active_joint_target: NDArray[np.float64] | None = None + self._active_gripper: float | None = None + self._active_cache_action: NDArray[np.float64] | None = None + self._active_cache_frame_index: int | None = None + self._active_action_index: int | None = None + self._last_joint_target: NDArray[np.float64] | None = None + self._last_gripper_target: float | None = None + + def reset(self) -> None: + """Clear episode coordinates and chunk/cache state.""" + if self._boundary_future is not None: + raise ROSRuntimeError("cannot reset LingBot while cache inference is active") + self._instruction = None + self._origin_pose7 = None + self._chunk = None + self._steps.clear() + self._step_index = 0 + self._pending_observation = False + self._key_frames.clear() + self._first = True + self._model_calls = 0 + self._clear_active_action() + self._last_joint_target = None + self._last_gripper_target = None + + def close(self) -> None: + """Close only the inference client; the managed server remains external.""" + self._client.close() + self._inference_executor.shutdown(wait=True, cancel_futures=True) + + def step( + self, + observation: dict[str, Any], + instruction: str, + ) -> NDArray[np.float32]: + """Return one absolute joint/gripper action through the OpenRAL contract.""" + joints = self._joint_state(observation) + model_observation = self._model_observation(observation) + if self._instruction != instruction: + self.reset() + self._client.reset(instruction) + self._instruction = instruction + if self._origin_pose7 is None: + xyz, quat = self._solver.forward(joints) + self._origin_pose7 = np.concatenate([xyz, quat]) + + if self._pending_observation: + self._key_frames.append(model_observation) + self._pending_observation = False + boundary_hold = self._poll_chunk_boundary() + if boundary_hold is not None: + return boundary_hold + if self._chunk is not None and self._step_index >= len(self._steps): + self._start_chunk_boundary(model_observation, instruction) + return self._hold_action() + if self._chunk is None: + self._infer_chunk(model_observation, instruction) + + assert self._chunk is not None + if self._active_joint_target is None: + _frame, action_index, cache_frame_index, raw_action = self._steps[self._step_index] + self._begin_action( + raw_action, + joints=joints, + cache_frame_index=cache_frame_index, + action_index=action_index, + ) + return self._step_active_action(joints) + + def _infer_chunk( + self, + model_observation: dict[str, NDArray[np.uint8]], + instruction: str, + ) -> None: + limit = self._config.execution.max_model_calls + if limit > 0 and self._model_calls >= limit: + raise ROSRuntimeError(f"LingBot rollout reached configured max_model_calls={limit}") + response = self._client.infer({"obs": [model_observation], "prompt": instruction}) + self._install_chunk(response, first=self._first) + + def _install_chunk(self, response: dict[str, Any], *, first: bool) -> None: + """Validate and install one completed LingBot response on the runner thread.""" + rollout_module = import_module("galaxea_a1_runtime.apps.lingbot.rollout") + try: + raw = response["action"] + except KeyError as exc: + raise ROSRuntimeError("LingBot response did not contain 'action'") from exc + policy = self._config.policy_server + chunk = rollout_module.LingBotActionChunk.from_response( + raw, + expected_shape=( + len(policy.action_channel_ids), + policy.frame_chunk_size, + policy.action_per_frame, + ), + first=first, + execute_frames=self._config.execution.execute_frames, + observations_per_frame=self._config.execution.kv_observations_per_frame, + ) + self._chunk = chunk + self._steps = list(chunk.steps()) + self._step_index = 0 + self._key_frames.clear() + self._model_calls += 1 + self._first = first + + def _start_chunk_boundary( + self, + model_observation: dict[str, NDArray[np.uint8]], + instruction: str, + ) -> None: + """Run cache synchronization and the next inference without starving actuation.""" + if self._chunk is None or self._boundary_future is not None: + raise ROSRuntimeError("invalid LingBot chunk-boundary state") + if not self._key_frames: + raise ROSRuntimeError("LingBot chunk ended without KV-cache observations") + limit = self._config.execution.max_model_calls + if limit > 0 and self._model_calls >= limit: + raise ROSRuntimeError(f"LingBot rollout reached configured max_model_calls={limit}") + cache_request = { + "obs": [ + {key: np.array(value, copy=True) for key, value in frame.items()} + for frame in self._key_frames + ], + "compute_kv_cache": True, + "imagine": False, + "state": np.array(self._chunk.cache_state, copy=True), + } + next_request = { + "obs": [{key: np.array(value, copy=True) for key, value in model_observation.items()}], + "prompt": instruction, + } + + def infer_next() -> dict[str, Any]: + self._client.infer(cache_request) + response = self._client.infer(next_request) + if not isinstance(response, dict): + raise ROSRuntimeError("LingBot inference response must be a mapping") + return cast(dict[str, Any], response) + + self._boundary_future = self._inference_executor.submit(infer_next) + self._boundary_deadline = time.monotonic() + self._inference_timeout_s + self._first = False + self._chunk = None + self._steps.clear() + self._step_index = 0 + self._key_frames.clear() + + def _poll_chunk_boundary(self) -> NDArray[np.float32] | None: + """Return a hold while boundary inference is pending; install it when ready.""" + if self._boundary_future is None: + return None + if not self._boundary_future.done(): + if time.monotonic() > self._boundary_deadline: + raise ROSRuntimeError( + "LingBot cache/inference exceeded the rSkill " + f"{self._inference_timeout_s:.3f} s per-chunk latency budget" + ) + return self._hold_action() + try: + response = self._boundary_future.result() + except Exception as exc: + raise ROSRuntimeError(f"LingBot cache/inference failed: {exc}") from exc + self._boundary_future = None + self._install_chunk(response, first=False) + return None + + def _hold_action(self) -> NDArray[np.float32]: + """Repeat the last absolute target while bounded cache inference runs.""" + if self._last_joint_target is None or self._last_gripper_target is None: + raise ROSRuntimeError("LingBot cannot hold before its first validated action") + return np.concatenate([self._last_joint_target, [self._last_gripper_target]]).astype( + np.float32 + ) + + def _begin_action( + self, + raw_action: NDArray[np.float32], + *, + joints: NDArray[np.float64], + cache_frame_index: int, + action_index: int, + ) -> None: + action_module = import_module("galaxea_a1_runtime.policies.eef_actions") + assert self._origin_pose7 is not None + if self._config.action.pose_mode == "absolute": + absolute = np.asarray(raw_action, dtype=np.float64) + else: + absolute = action_module.relative_action_to_absolute( + raw_action, + self._origin_pose7, + min_quat_norm=self._action_config.min_quat_norm, + ) + validated = action_module.validate_policy_action(absolute, self._action_config) + try: + solution = self._solver.solve(joints, validated[:3], validated[3:7]) + except Exception as exc: + raise ROSRuntimeError(f"LingBot A1 EEF target was rejected: {exc}") from exc + solved_joints = np.asarray(solution.joint_positions, dtype=np.float64) + executed_xyz, executed_quat = self._solver.forward(solved_joints) + executed = np.concatenate([executed_xyz, executed_quat, [validated[7]]]) + cache_action = ( + executed + if self._config.action.pose_mode == "absolute" + else action_module.absolute_action_to_relative( + executed, + self._origin_pose7, + min_quat_norm=self._action_config.min_quat_norm, + ) + ) + self._active_joint_target = solved_joints + self._active_gripper = float(validated[7]) + self._active_cache_action = np.asarray(cache_action, dtype=np.float64) + self._active_cache_frame_index = cache_frame_index + self._active_action_index = action_index + + def _step_active_action(self, joints: NDArray[np.float64]) -> NDArray[np.float32]: + """Advance one manifest-bounded joint substep toward the EEF solution.""" + assert self._active_joint_target is not None + assert self._active_gripper is not None + target, reaches_solution = _bounded_joint_substep( + joints, + self._active_joint_target, + max_step_rad=self._max_joint_step_rad, + ) + self._last_joint_target = target.copy() + self._last_gripper_target = self._active_gripper + if not reaches_solution: + return np.concatenate([target, [self._active_gripper]]).astype(np.float32) + + assert self._chunk is not None + assert self._active_cache_action is not None + assert self._active_cache_frame_index is not None + assert self._active_action_index is not None + self._chunk.cache_state[ + :, + self._active_cache_frame_index, + self._active_action_index, + ] = self._active_cache_action + self._pending_observation = self._chunk.needs_observation_after(self._active_action_index) + self._step_index += 1 + action = np.concatenate([self._active_joint_target, [self._active_gripper]]).astype( + np.float32 + ) + self._last_joint_target = self._active_joint_target.copy() + self._clear_active_action() + return action + + def _clear_active_action(self) -> None: + self._active_joint_target = None + self._active_gripper = None + self._active_cache_action = None + self._active_cache_frame_index = None + self._active_action_index = None + + @staticmethod + def _joint_state(observation: dict[str, Any]) -> NDArray[np.float64]: + state = np.asarray(observation.get("state"), dtype=np.float64) + if state.shape != (6,) or not np.isfinite(state).all(): + raise ROSRuntimeError( + f"lingbot_va_a1 requires six finite A1 joint positions, got {state.shape}" + ) + return state + + def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[np.uint8]]: + images = observation.get("images") + if not isinstance(images, dict): + raise ROSRuntimeError("lingbot_va_a1 requires OpenRAL image observations") + result: dict[str, NDArray[np.uint8]] = {} + for source, target in ( + ("front", self._config.observations.front_key), + ("wrist", self._config.observations.wrist_key), + ): + image = np.asarray(images.get(source)) + if ( + image.ndim != _COLOR_NDIM + or image.shape[2] != _COLOR_CHANNELS + or image.dtype != np.uint8 + ): + raise ROSRuntimeError( + f"lingbot_va_a1 image {source!r} must be HWC uint8 RGB, " + f"got shape={image.shape} dtype={image.dtype}" + ) + result[target] = image + return result + + +@POLICIES.register("lingbot_va_a1") +def _build_lingbot_va_a1(env_cfg: Any) -> _LingBotVaA1Adapter: + """Build the external A1 Runtime-backed LingBot adapter.""" + return _LingBotVaA1Adapter( + env_cfg.vla, + robot_description=getattr(env_cfg, "robot_description", None), + ) diff --git a/python/sim/src/openral_sim/policy_deps.py b/python/sim/src/openral_sim/policy_deps.py index d71366b..4aa512c 100644 --- a/python/sim/src/openral_sim/policy_deps.py +++ b/python/sim/src/openral_sim/policy_deps.py @@ -96,6 +96,11 @@ "runs in tools/lingbot_vla2_sidecar.py's own auto-provisioned Python 3.12 " "+ torch-2.8 venv." ), + "lingbot_va_a1": ( + "Install the LingBot wire dependencies with `just sync --all-packages " + "--group lingbot`, set OPENRAL_GALAXEA_A1_RUNTIME_ROOT to the A1 " + "Runtime checkout, and start its contract-checked policy server." + ), "internvla_n1": ( "Install the rldx extras: `just sync --all-packages --group rldx` " "(adds pyzmq + msgpack for the InternVLA-N1 sidecar client). The " @@ -123,6 +128,7 @@ "gr00t": ("sim", "gr00t"), "diffuser_actor": ("rlbench",), "lingbot_vla2": ("lingbot",), + "lingbot_va_a1": ("lingbot",), "internvla_n1": ("rldx",), "mock": (), } @@ -158,6 +164,7 @@ # sidecar's own auto-provisioned py3.12 + torch-2.8 venv). See # openral_sim.policies.lingbot_vla2. "lingbot_vla2": ("zmq", "msgpack"), + "lingbot_va_a1": ("websockets", "msgpack"), # InternVLA-N1 shares the sidecar contract — the openral side only # needs the ZMQ + msgpack wire; the transformers-4.51 stack lives in # the sidecar's auto-provisioned py3.11 venv. diff --git a/robots/galaxea_a1/robot.yaml b/robots/galaxea_a1/robot.yaml new file mode 100644 index 0000000..fab5be1 --- /dev/null +++ b/robots/galaxea_a1/robot.yaml @@ -0,0 +1,167 @@ +# Galaxea A1 real-hardware manifest. +# +# Kinematic limits and link names are transcribed from the official A1 SDK +# A1_URDF_0607_0028.urdf. The SDK itself remains operator-provided and is not +# redistributed by OpenRAL. The HAL remains intentionally joint/gripper-space; +# the LingBot rSkill lowers its EEF output before the safety boundary. URDF +# asset publication and lowered collision geometry follow after the vendor +# confirms a redistributable asset source. +name: galaxea_a1 +embodiment_kind: manipulator +base_frame: base_link + +joints: + - name: arm_joint1 + joint_type: revolute + parent_link: base_link + child_link: arm_seg1 + position_limits: [-2.8798, 2.8798] + velocity_limit: 20.944 + effort_limit: 40.0 + actuator_kind: bldc + - name: arm_joint2 + joint_type: revolute + parent_link: arm_seg1 + child_link: arm_seg2 + position_limits: [0.0, 3.1415] + velocity_limit: 20.944 + effort_limit: 40.0 + actuator_kind: bldc + - name: arm_joint3 + joint_type: revolute + parent_link: arm_seg2 + child_link: arm_seg3 + position_limits: [-3.3161, 0.0] + velocity_limit: 7.5398 + effort_limit: 27.0 + actuator_kind: bldc + - name: arm_joint4 + joint_type: revolute + parent_link: arm_seg3 + child_link: arm_seg4 + position_limits: [-2.8798, 2.8798] + velocity_limit: 25.133 + effort_limit: 7.0 + actuator_kind: bldc + - name: arm_joint5 + joint_type: revolute + parent_link: arm_seg4 + child_link: arm_seg5 + position_limits: [-1.6581, 1.6581] + velocity_limit: 25.133 + effort_limit: 7.0 + actuator_kind: bldc + - name: arm_joint6 + joint_type: revolute + parent_link: arm_seg5 + child_link: arm_seg6 + position_limits: [-2.8798, 2.8798] + velocity_limit: 25.133 + effort_limit: 7.0 + actuator_kind: bldc + +end_effectors: + - name: gripper + kind: parallel_gripper + n_dof: 1 + +sensors: + - name: front + modality: rgb + frame_id: a1_front_camera + rate_hz: 30.0 + encoding: rgb8 + intrinsics: + width: 480 + height: 480 + fx: 387.67059326171875 + fy: 386.86669921875 + cx: 220.1776123046875 + cy: 250.0211944580078 + distortion_model: plumb_bob + distortion_coeffs: [-0.05492031201720238, 0.06242402642965317, -0.0008095245575532317, 0.00015016942052170634, -0.020708303898572922] + vla_feature_key: observation.images.front + vendor: Intel + model: RealSense D455 + metadata: + output_width: 480 + output_height: 480 + crop: "x=103,y=0,width=480,height=480" + - name: wrist + modality: rgb + frame_id: a1_wrist_camera + parent_frame: arm_seg6 + rate_hz: 30.0 + encoding: rgb8 + intrinsics: + width: 640 + height: 480 + fx: 392.2943115234375 + fy: 391.7977294921875 + cx: 320.1477355957031 + cy: 241.63327026367188 + distortion_model: plumb_bob + distortion_coeffs: [-0.05426114425063133, 0.05990355461835861, 0.0004118939395993948, 0.000653077382594347, -0.019962556660175323] + vla_feature_key: observation.images.wrist + vendor: Intel + model: RealSense D405 + metadata: + output_width: 640 + output_height: 480 + +capabilities: + can_lift_kg: 5.0 + has_vision: true + supported_control_modes: [joint_position, gripper_position] + embodiment_tags: [galaxea_a1] + +safety: + max_ee_speed_m_s: 0.25 + max_joint_speed_factor: 0.05 + max_force_n: 40.0 + max_torque_nm: 40.0 + deadman_required: true + +sdk_kind: closed_with_api +hal: + sim: null + real: openral_hal.galaxea_a1:GalaxeaA1HAL + parameters: + defaults: + host: 127.0.0.1 + port: 46011 + state_timeout_s: 0.5 + status_timeout_s: 1.0 + # Feedback may sit just beyond a nominal URDF endpoint because of encoder + # zero/quantization. Commands remain strictly inside the URDF limits. + feedback_limit_tolerance_rad: 0.01 + initial_alignment_tolerance_rad: 0.05 + # The official tracker starts from a compiled task.info pose. Its output + # remains staged until it converges to the measured initial hold. + tracker_alignment_timeout_s: 5.0 + # This remains far below the A1 Runtime's independently validated 1.70 + # rad IK-solution bound, while allowing the official tracker to cross its + # observed 0.03..0.038 rad steady-state residual. + max_target_step_rad: 0.08 + # Policy targets stay below both the 0.05 rad locked-relay alignment + # bound and the independent HAL/sidecar command bound above. + policy_substep_rad: 0.045 + command_lease_s: 0.5 + # The vendor documents bit 6 as ECU->ACU timeout. It is observed while + # idle and is the only accepted arm bit. The gripper additionally ignores + # bit 3 (position jump) for compatibility with the physical G2 gripper. + idle_timeout_error_mask: 64 + gripper_ignored_error_mask: 8 + gripper_stroke_min_mm: 0.0 + gripper_stroke_max_mm: 104.0 + +onboard_compute: + driver_repo: https://github.com/userguide-galaxea/A1_SDK + driver_runtime: ROS 1 Noetic sidecar + command_topic: /arm_joint_target_position + joint_state_topic: /joint_states_host + motor_status_topic: /arm_status_host + gripper_command_topic: /gripper_position_control_host + gripper_feedback_topic: /gripper_stroke_host + +schema_version: "0.1" diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md new file mode 100644 index 0000000..8b97673 --- /dev/null +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md @@ -0,0 +1,146 @@ +--- +language: +- en +license: apache-2.0 +pipeline_tag: robotics +tags: +- OpenRAL +- rskill +- lingbot_va_a1 +- vision-language-action +- galaxea_a1 +base_model: +- robbyant/lingbot-va-base +base_model_relation: finetune +datasets: +- pengyue-polaron/nyush-galaxea-a1-fruit-placement-eef-v21 +inference: false +--- + +# rskill-lingbot_va-galaxea_a1-fruit_placement-bf16 + +> **OpenRAL rSkill** — a LingBot-VA fruit-placement policy for the Galaxea A1, +> deployed through OpenRAL's observation, typed-action, safety-kernel, and HAL +> contracts. + +This package points to the public checkpoint at +[`pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef`](https://huggingface.co/pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef) +and does not copy model weights into the OpenRAL repository. + +## Preview + +![Galaxea A1 fruit-placement scene](https://huggingface.co/pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef/resolve/90e017bdbc6afac2e441b4634c9192776bbcb8b7/assets/fruit_placement_agent_view_labeled.png) + +## What this skill does + +The policy picks fruit, including a mango, from a tabletop and places it into a +bowl or plate. It consumes synchronized front and wrist RGB observations and +predicts episode-relative end-effector pose plus a continuous normalized gripper +command. + +| Field | Value | +| --- | --- | +| Actions | `pick`, `place` | +| Objects | `fruit`, `mango`, `bowl`, `plate` | +| Scene | `tabletop` | +| Embodiment | `galaxea_a1` | + +## Upstream model and training + +The checkpoint is a full-parameter fine-tune of +[`robbyant/lingbot-va-base`](https://huggingface.co/robbyant/lingbot-va-base). +It jointly predicts video latents and robot-action channels. Training used 130 +episodes and 44,824 frames at 30 FPS from the revision-pinned +[`nyush-galaxea-a1-fruit-placement-eef-v21`](https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-fruit-placement-eef-v21) +dataset. The run used 1,000 optimizer steps, two NVIDIA H100 80 GB GPUs, +full-parameter FSDP, bfloat16, and an effective global batch size of 16. + +The model emits 16 EEF/gripper steps per chunk. Quantile normalization and the +action-channel map `[0, 1, 2, 3, 4, 5, 6, 28]` are applied in the external +LingBot server from the checkpoint's `configs/va_a1_cfg.py`; this is not a +LeRobot `PolicyProcessorPipeline`. + +OpenRAL's `lingbot_va_a1` adapter validates each physical EEF target with the A1 +Runtime contract, solves IK, and emits six absolute joint targets plus one +normalized gripper target. If an IK solution is farther than the robot +manifest's per-tick joint-step limit, the adapter explicitly subdivides it +before advancing the model action or KV cache. The typed action then follows +OpenRAL's normal candidate-action, C++ safety-kernel, safe-action, and Galaxea A1 +HAL path. + +## Sensors and observation contract + +| Direction | Key | Shape | Notes | +| --- | --- | --- | --- | +| in | `observation.images.front` | `(480, 480, 3)` RGB uint8 | Cropped D455 front view from the A1 Runtime Camera Bridge | +| in | `observation.images.wrist` | `(480, 640, 3)` RGB uint8 | D405 wrist view from the same paired Camera Bridge | +| in | `observation.state` | `(6,)` float32 | Six A1 arm joints in radians | +| out | action | `(7,)` float32 | Six absolute joint targets in radians and one normalized gripper target | + +The A1 Runtime remains the sole camera-device owner. OpenRAL connects to its +public paired Camera Bridge and does not open either RealSense device itself. + +## Supported robots + +| Robot | Embodiment tag | Status | Notes | +| --- | --- | --- | --- | +| Galaxea A1, original arm | `galaxea_a1` | Hardware-in-the-loop integration | Joint and gripper OpenRAL HAL round trips have passed; the combined model-to-hardware task run is the remaining validation step | + +This rSkill is specific to the six-joint Galaxea A1 contract in +`robots/galaxea_a1/robot.yaml`. It is not a generic Cartesian HAL and does not +enable the vendor AnyGrasp/AnyEffector path. + +## Manifest summary + +| Field | Value | +| --- | --- | +| `name` | `OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16` | +| `version` | `0.1.0` | +| `license` | `apache-2.0` | +| `model_family` | `lingbot_va_a1` | +| `embodiment_tags` | `galaxea_a1` | +| `runtime` / precision | `pytorch` / `bf16` | +| `weights_uri` | revision-pinned public LingBot-VA A1 checkpoint | +| `state_contract.dim` / `action_contract.dim` | `6` / `7` | +| `chunk_size` / `n_action_steps` | `16` / `8` | +| `latency_budget.per_chunk_ms` | `6000` | +| `commercial_use_allowed` | `true` | + +Full schema: [`openral_core.schemas.RSkillManifest`](../../python/core/src/openral_core/schemas.py). + +## Quick start + +The software-only compatibility check does not initialize ROS or hardware: + +```bash +uv run --group lingbot openral rskill check \ + rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml \ + --robot robots/galaxea_a1/robot.yaml +``` + +For real deployment, follow the owner-separated startup sequence in +[`docs/methods/01-hal.md`](../../docs/methods/01-hal.md): start the A1 Runtime +camera owner and LingBot server, start the isolated OpenRAL ROS1 sidecar, then +run the OpenRAL deployment scene. Do not start the A1 Runtime joint execution +bridge at the same time. + +## Evaluation + +No formal task-success result is shipped yet. Offline validation has exercised +the real paired cameras, real model server, manifest-to-policy construction, +EEF validation and IK, joint-step subdivision, and OpenRAL typed joint/gripper +dispatch. The OpenRAL candidate-action-to-HAL path has also passed separate +real-hardware joint and gripper round trips. One combined live rollout is still +required before claiming end-to-end OpenRAL model deployment on the A1. + +## License + +This rSkill package and the revision-pinned model weights are Apache-2.0. The +model repository contains the authoritative `LICENSE.txt`; the OpenRAL package +references the weights and does not redistribute them. + +## See also + +- [`robots/galaxea_a1/robot.yaml`](../../robots/galaxea_a1/robot.yaml) +- [`scenes/deploy/galaxea_a1_bench.yaml`](../../scenes/deploy/galaxea_a1_bench.yaml) +- [`docs/methods/01-hal.md`](../../docs/methods/01-hal.md) diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml new file mode 100644 index 0000000..eae4907 --- /dev/null +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml @@ -0,0 +1,99 @@ +# A1 Runtime LingBot-VA checkpoint deployed through OpenRAL. +# +# The model predicts episode-relative EEF pose + normalized gripper chunks. +# The adapter validates those targets with the tracked A1 Runtime contract and +# lowers each step to six absolute A1 joint positions plus one gripper value. +# Both typed actions then traverse OpenRAL's safety kernel and A1 HAL. +schema_version: "0.1" +name: "OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16" +version: "0.1.0" +license: "apache-2.0" +role: "s1" +kind: "vla" +model_family: "lingbot_va_a1" + +embodiment_tags: + - "galaxea_a1" + +sensors_required: + - modality: "rgb" + vla_feature_key: "observation.images.front" + min_width: 480 + min_height: 480 + - modality: "rgb" + vla_feature_key: "observation.images.wrist" + min_width: 640 + min_height: 480 + +actuators_required: + - kind: "joint_position" + control_mode_semantics: + mode: "absolute" + joint_order: + - arm_joint1 + - arm_joint2 + - arm_joint3 + - arm_joint4 + - arm_joint5 + - arm_joint6 + - kind: "gripper_position" + control_mode_semantics: + mode: "absolute" + gripper_convention: "normalized_open_unit" + +runtime: "pytorch" +quantization: + dtype: "bf16" + backend: "pytorch" +weights_uri: "hf://pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef@90e017bdbc6afac2e441b4634c9192776bbcb8b7" + +# No `processors` block: this checkpoint is not a lerobot +# PolicyProcessorPipeline. Quantile normalization and the action-channel map +# ship in configs/va_a1_cfg.py and are applied by the external LingBot server +# before OpenRAL receives the physical EEF target. +state_contract: + dim: 6 + +chunk_size: 16 +n_action_steps: 8 +latency_budget: + # Measured through the full OpenRAL camera + websocket + EEF/IK adapter: + # ~4.05 s for the first model call on this A1 host; replay ticks are cheap. + per_chunk_ms: 6000.0 + max_execution_s: 180.0 + +dataset_uri: "hf://pengyue-polaron/nyush-galaxea-a1-fruit-placement-eef-v21@1bc2c4035e7dc638f7dd9fa5ec7987bec66d0933" +source_repo: "hf://robbyant/lingbot-va-base" +description: > + LingBot-VA fruit-placement policy for the Galaxea A1. It consumes the + synchronized front and wrist RGB views, predicts episode-relative EEF pose + and continuous gripper chunks, and uses the tracked A1 Runtime IK contract + before OpenRAL validates and executes the resulting joint/gripper actions. + +actions: + - "pick" + - "place" +objects: + - "fruit" + - "mango" + - "bowl" + - "plate" +scenes: + - "tabletop" + +action_contract: + dim: 7 + joint_units: "radians" + slots: + - range: [0, 5] + control_mode: "joint_position" + joint_names: + - arm_joint1 + - arm_joint2 + - arm_joint3 + - arm_joint4 + - arm_joint5 + - arm_joint6 + - range: [6, 6] + control_mode: "gripper_position" + ee: "gripper" diff --git a/scenes/deploy/galaxea_a1_bench.yaml b/scenes/deploy/galaxea_a1_bench.yaml new file mode 100644 index 0000000..12137d4 --- /dev/null +++ b/scenes/deploy/galaxea_a1_bench.yaml @@ -0,0 +1,72 @@ +# Galaxea A1 hardware deployment. Start the ROS 1 sidecar, A1 Camera Bridge, +# and LingBot policy server first, then run: +# openral deploy run --config scenes/deploy/galaxea_a1_bench.yaml +scene: + id: galaxea_a1_bench +robot_id: galaxea_a1 + +sensors: + # These readers consume the A1 Runtime's public paired-frame bridge. They do + # not open either RealSense device; `just camera-web` remains the sole owner. + - name: front + modality: rgb + frame_id: a1_front_camera + rate_hz: 30.0 + encoding: rgb8 + intrinsics: + width: 480 + height: 480 + fx: 387.67059326171875 + fy: 386.86669921875 + cx: 220.1776123046875 + cy: 250.0211944580078 + distortion_model: plumb_bob + distortion_coeffs: [-0.05492031201720238, 0.06242402642965317, -0.0008095245575532317, 0.00015016942052170634, -0.020708303898572922] + vla_feature_key: observation.images.front + deploy_binding: + backend: galaxea_a1_camera_bridge + backend_params: + camera: front + runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT + deployment_config: configs/deployments/lingbot/fruit_placement_eef.toml + max_age_ms: 500 + - name: wrist + modality: rgb + frame_id: a1_wrist_camera + parent_frame: arm_seg6 + rate_hz: 30.0 + encoding: rgb8 + intrinsics: + width: 640 + height: 480 + fx: 392.2943115234375 + fy: 391.7977294921875 + cx: 320.1477355957031 + cy: 241.63327026367188 + distortion_model: plumb_bob + distortion_coeffs: [-0.05426114425063133, 0.05990355461835861, 0.0004118939395993948, 0.000653077382594347, -0.019962556660175323] + vla_feature_key: observation.images.wrist + deploy_binding: + backend: galaxea_a1_camera_bridge + backend_params: + camera: wrist + runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT + deployment_config: configs/deployments/lingbot/fruit_placement_eef.toml + max_age_ms: 500 +runtime: + enable_reasoner: false + enable_slam: false + enable_nav2: false + enable_octomap: false + enable_octomap_kernel_check: true + enable_object_detector: false + object_detector_onnx: null + object_detector_manifest: null + object_detector_query: null + object_detector_locators: null + enable_reward_monitor: false + reward_monitor_manifest: null + reward_monitor_task: null + enable_critic: false + spatial_memory_ingest: false + approach_skill_id: null diff --git a/tests/hil/test_galaxea_a1.py b/tests/hil/test_galaxea_a1.py new file mode 100644 index 0000000..219f029 --- /dev/null +++ b/tests/hil/test_galaxea_a1.py @@ -0,0 +1,268 @@ +"""Hardware-in-loop bring-up test for the Galaxea A1 ROS 1 sidecar. + +The operator starts ``tools/run_galaxea_a1_sidecar.sh`` first. This test then +uses the real OpenRAL HAL and the real loopback protocol; it never imports or +bundles the vendor SDK. + +Environment: + GALAXEA_A1_HIL: Must be ``"1"`` to connect. This explicit gate prevents a + developer laptop from claiming a nearby sidecar accidentally. + GALAXEA_A1_HOST / GALAXEA_A1_PORT: Sidecar endpoint (defaults to + ``127.0.0.1:46011``). + GALAXEA_A1_ALLOW_HOLD: When ``"1"``, repeatedly sends the measured current + pose for two seconds and verifies that no joint moves by 1 degree or + more. This duration also proves that the sidecar command lease is + renewed after the relay becomes active. + Feedback within the tracked endpoint tolerance is projected to the + exact command limit; larger projections fail before publication. The + default is observation-only and sends no action. + GALAXEA_A1_ALLOW_NUDGE: When ``"1"``, implies the hold gate, then moves + ``arm_joint1`` by +0.01 rad and returns to the measured start. Both + legs must settle within 0.006 rad while every joint remains inside a + bounded excursion from the initial feedback. + GALAXEA_A1_ALLOW_GRIPPER: When ``"1"``, implies the hold gate, moves the + G2 gripper by the vendor example's 10 mm step away from the nearest + endpoint, verifies feedback within the measured 2.5 mm steady-state + tolerance, and returns to the measured opening. + +The single test owns one sidecar session. It validates feedback, cached health, +and downstream e-stop in one bounded sequence because the sidecar deliberately +stops its ROS 1 driver/tracker stack when its sole client disconnects. +""" + +from __future__ import annotations + +import math +import os +import time + +import pytest +from openral_core import Action, ControlMode +from openral_core.exceptions import ROSEStopRequested +from openral_hal.galaxea_a1 import GALAXEA_A1_DESCRIPTION, GalaxeaA1HAL + +_ENABLED = os.environ.get("GALAXEA_A1_HIL", "0") == "1" +_ALLOW_HOLD = os.environ.get("GALAXEA_A1_ALLOW_HOLD", "0") == "1" +_ALLOW_NUDGE = os.environ.get("GALAXEA_A1_ALLOW_NUDGE", "0") == "1" +_ALLOW_GRIPPER = os.environ.get("GALAXEA_A1_ALLOW_GRIPPER", "0") == "1" +_HOST = os.environ.get("GALAXEA_A1_HOST", "127.0.0.1") +_PORT = int(os.environ.get("GALAXEA_A1_PORT", "46011")) +_NUDGE_RAD = 0.01 +_SETTLE_TOLERANCE_RAD = 0.006 +_MOTION_TIMEOUT_S = 3.0 +_MAX_EXCURSION_RAD = 0.025 +_GRIPPER_NUDGE_MM = 10.0 +# This G2's measured mid-stroke steady-state error was 2.08-2.21 mm across +# repeated 10 mm commands. Keep modest headroom while still requiring at least +# 7.5 mm of the commanded excursion and the same bound on the return leg. +_GRIPPER_TOLERANCE_MM = 2.5 +_HOLD_DURATION_S = 2.0 + +pytestmark = pytest.mark.skipif( + not _ENABLED, + reason="GALAXEA_A1_HIL=1 is required for the live A1 sidecar test.", +) + + +def test_galaxea_a1_observe_optional_hold_and_estop() -> None: + """Validate one complete, bounded hardware session and stop it downstream.""" + hal = GalaxeaA1HAL(host=_HOST, port=_PORT, connect_timeout_s=20.0) + connected = False + try: + hal.connect() + connected = True + + start = time.monotonic() + samples = [hal.read_state()] + for _ in range(2): + time.sleep(0.05) + samples.append(hal.read_state()) + elapsed = time.monotonic() - start + + expected_names = [joint.name for joint in GALAXEA_A1_DESCRIPTION.joints] + defaults = GALAXEA_A1_DESCRIPTION.hal.parameters.defaults + feedback_tolerance = float(defaults["feedback_limit_tolerance_rad"]) + assert elapsed < 1.0, f"three cached A1 reads took {elapsed:.3f} s" + for state in samples: + assert state.name == expected_names + assert len(state.position) == 6 + assert all(math.isfinite(value) for value in state.position) + for value, joint in zip(state.position, GALAXEA_A1_DESCRIPTION.joints, strict=True): + lower, upper = joint.position_limits + assert lower - feedback_tolerance <= value <= upper + feedback_tolerance + + report = hal.health() + assert report.message == "A1 feedback and motor status healthy" + assert len(report.fields["motor_status_codes"].split(",")) >= 7 + + if _ALLOW_HOLD or _ALLOW_NUDGE or _ALLOW_GRIPPER: + before = samples[-1] + hold_target: list[float] = [] + for value, joint in zip(before.position, GALAXEA_A1_DESCRIPTION.joints, strict=True): + lower, upper = joint.position_limits + projected = min(upper, max(lower, value)) + assert abs(projected - value) <= feedback_tolerance + hold_target.append(projected) + relay_deadline = time.monotonic() + float(defaults["tracker_alignment_timeout_s"]) + while time.monotonic() < relay_deadline: + hal.send_action( + Action( + control_mode=ControlMode.JOINT_POSITION, + horizon=1, + joint_targets=[hold_target], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + if hal.health().fields["command_relay_state"] == "ACTIVE": + break + assert hal.health().fields["command_relay_state"] == "ACTIVE", ( + "A1 staged command relay did not become ACTIVE" + ) + hold_deadline = time.monotonic() + _HOLD_DURATION_S + while time.monotonic() < hold_deadline: + hal.send_action( + Action( + control_mode=ControlMode.JOINT_POSITION, + horizon=1, + joint_targets=[hold_target], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + current = hal.read_state() + for previous, actual in zip(before.position, current.position, strict=True): + assert abs(actual - previous) < 0.0175, ( + f"A1 joint moved {abs(actual - previous):.4f} rad during hold" + ) + + if _ALLOW_NUDGE: + nudge_target = list(hold_target) + joint1_upper = GALAXEA_A1_DESCRIPTION.joints[0].position_limits[1] + nudge_target[0] += _NUDGE_RAD + assert nudge_target[0] <= joint1_upper + + nudge_samples = [] + last_report = hal.health() + deadline = time.monotonic() + _MOTION_TIMEOUT_S + while time.monotonic() < deadline: + hal.send_action( + Action( + control_mode=ControlMode.JOINT_POSITION, + horizon=1, + joint_targets=[nudge_target], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + state = hal.read_state() + nudge_samples.append(state) + last_report = hal.health() + if abs(state.position[0] - nudge_target[0]) <= _SETTLE_TOLERANCE_RAD: + break + assert nudge_samples + assert abs(nudge_samples[-1].position[0] - nudge_target[0]) <= ( + _SETTLE_TOLERANCE_RAD + ), ( + f"joint1 target={nudge_target[0]:.6f}, " + f"feedback={nudge_samples[-1].position[0]:.6f}, " + f"staged={last_report.fields['staged_position']}, " + f"forwarded={last_report.fields['forwarded_position']}" + ) + for state in nudge_samples: + for index, (initial, current) in enumerate( + zip(before.position, state.position, strict=True) + ): + assert abs(current - initial) < _MAX_EXCURSION_RAD, ( + f"A1 joint {index + 1} excursion " + f"{abs(current - initial):.4f} rad exceeded " + f"{_MAX_EXCURSION_RAD:.4f} rad" + ) + + return_samples = [] + deadline = time.monotonic() + _MOTION_TIMEOUT_S + while time.monotonic() < deadline: + hal.send_action( + Action( + control_mode=ControlMode.JOINT_POSITION, + horizon=1, + joint_targets=[hold_target], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + state = hal.read_state() + return_samples.append(state) + if ( + max( + abs(current - initial) + for current, initial in zip( + state.position, before.position, strict=True + ) + ) + <= _SETTLE_TOLERANCE_RAD + ): + break + assert return_samples + final_error = max( + abs(current - initial) + for current, initial in zip( + return_samples[-1].position, before.position, strict=True + ) + ) + assert final_error <= _SETTLE_TOLERANCE_RAD + + if _ALLOW_GRIPPER: + initial_gripper = float(hal.health().fields["gripper_position_normalized"]) + gripper_stroke = float(defaults["gripper_stroke_max_mm"]) - float( + defaults["gripper_stroke_min_mm"] + ) + gripper_nudge = _GRIPPER_NUDGE_MM / gripper_stroke + gripper_tolerance = _GRIPPER_TOLERANCE_MM / gripper_stroke + direction = 1.0 if initial_gripper <= 0.5 else -1.0 + gripper_target = initial_gripper + direction * gripper_nudge + assert 0.0 <= gripper_target <= 1.0 + + gripper_feedback = initial_gripper + returned_gripper = initial_gripper + try: + deadline = time.monotonic() + _MOTION_TIMEOUT_S + while time.monotonic() < deadline: + hal.send_action( + Action( + control_mode=ControlMode.GRIPPER_POSITION, + gripper=[gripper_target], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + gripper_feedback = float(hal.health().fields["gripper_position_normalized"]) + if abs(gripper_feedback - gripper_target) <= gripper_tolerance: + break + finally: + deadline = time.monotonic() + _MOTION_TIMEOUT_S + while time.monotonic() < deadline: + hal.send_action( + Action( + control_mode=ControlMode.GRIPPER_POSITION, + gripper=[initial_gripper], + stamp_ns=time.time_ns(), + ) + ) + time.sleep(0.05) + returned_gripper = float(hal.health().fields["gripper_position_normalized"]) + if abs(returned_gripper - initial_gripper) <= gripper_tolerance: + break + assert abs(returned_gripper - initial_gripper) <= gripper_tolerance, ( + f"G2 return target={initial_gripper:.6f}, feedback={returned_gripper:.6f}" + ) + assert abs(gripper_feedback - gripper_target) <= gripper_tolerance, ( + f"G2 target={gripper_target:.6f}, feedback={gripper_feedback:.6f}" + ) + + with pytest.raises(ROSEStopRequested): + hal.estop() + connected = False + finally: + if connected: + hal.disconnect() diff --git a/tests/hil/test_galaxea_a1_deploy.py b/tests/hil/test_galaxea_a1_deploy.py new file mode 100644 index 0000000..5b3d109 --- /dev/null +++ b/tests/hil/test_galaxea_a1_deploy.py @@ -0,0 +1,397 @@ +"""Full-graph HIL gate for the Galaxea A1 deployment path. + +Run this test *inside* an already-running ``openral deploy run`` container. +The ROS 1 sidecar must be running separately. Unlike the HAL-only A1 HIL +fixture, this gate proves the standard OpenRAL control path: + +``candidate_action -> C++ safety kernel -> safe_action -> HAL -> ROS 1 relay``. + +Environment: + GALAXEA_A1_DEPLOY_HIL: Must be ``"1"`` to connect to the live ROS 2 graph. + GALAXEA_A1_ALLOW_HOLD: Must also be ``"1"``. The only candidate action is + the freshly measured current joint pose. + GALAXEA_A1_ALLOW_NUDGE: When ``"1"``, moves ``arm_joint1`` by +0.01 rad + through the same candidate-action path, bounds every joint's excursion, + and returns to the measured start before e-stop. + +The test is bounded and always publishes ``/openral/estop`` during teardown. +It requires the relay to begin LOCKED, the kernel and HAL diagnostics to be +healthy, the safe action to equal the candidate exactly, and every joint to +remain within one degree of its measured start. +""" + +from __future__ import annotations + +import importlib.util +import math +import os +import time +from collections.abc import Callable +from dataclasses import dataclass, field +from typing import TYPE_CHECKING + +import pytest +from openral_hal.galaxea_a1 import GALAXEA_A1_DESCRIPTION + +if TYPE_CHECKING: + from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus + from openral_msgs.msg import ActionChunk, FailureTrigger + from rclpy.node import Node + from sensor_msgs.msg import JointState + +_ENABLED = os.environ.get("GALAXEA_A1_DEPLOY_HIL", "0") == "1" +_ALLOW_HOLD = os.environ.get("GALAXEA_A1_ALLOW_HOLD", "0") == "1" +_ALLOW_NUDGE = os.environ.get("GALAXEA_A1_ALLOW_NUDGE", "0") == "1" +_ROS2_AVAILABLE = importlib.util.find_spec("rclpy") is not None +_EXPECTED_NAMES = tuple(joint.name for joint in GALAXEA_A1_DESCRIPTION.joints) +_FEEDBACK_TOLERANCE_RAD = float( + GALAXEA_A1_DESCRIPTION.hal.parameters.defaults["feedback_limit_tolerance_rad"] +) +_MAX_HOLD_DRIFT_RAD = 0.0175 +_GRAPH_TIMEOUT_S = 10.0 +_HOLD_TIMEOUT_S = 10.0 +_ESTOP_TIMEOUT_S = 5.0 +_COMMAND_PERIOD_S = 0.05 +_NUDGE_RAD = 0.01 +_SETTLE_TOLERANCE_RAD = 0.006 +_MOTION_TIMEOUT_S = 3.0 +_MAX_EXCURSION_RAD = 0.025 + +pytestmark = [ + pytest.mark.skipif( + not _ENABLED, + reason="GALAXEA_A1_DEPLOY_HIL=1 is required for the live deploy-graph test.", + ), + pytest.mark.skipif( + not _ALLOW_HOLD, + reason="GALAXEA_A1_ALLOW_HOLD=1 is required for the current-pose hold.", + ), + pytest.mark.skipif( + not _ROS2_AVAILABLE, + reason="rclpy is unavailable; run this test inside the OpenRAL deploy image.", + ), +] + + +@dataclass +class _Observed: + """Latest real graph evidence collected by one single-threaded ROS node.""" + + joint_state: JointState | None = None + diagnostics: dict[str, DiagnosticStatus] = field(default_factory=dict) + diagnostic_history: dict[str, list[DiagnosticStatus]] = field(default_factory=dict) + safe_actions: list[ActionChunk] = field(default_factory=list) + failures: list[FailureTrigger] = field(default_factory=list) + + def on_joint_state(self, message: JointState) -> None: + self.joint_state = message + + def on_diagnostics(self, message: DiagnosticArray) -> None: + for status in message.status: + self.diagnostics[status.name] = status + self.diagnostic_history.setdefault(status.name, []).append(status) + + def on_safe_action(self, message: ActionChunk) -> None: + self.safe_actions.append(message) + + def on_failure(self, message: FailureTrigger) -> None: + self.failures.append(message) + + +def _diagnostic_values(status: DiagnosticStatus) -> dict[str, str]: + return {item.key: item.value for item in status.values} + + +def _spin_until(node: Node, predicate: Callable[[], bool], timeout_s: float) -> bool: + import rclpy + + deadline = time.monotonic() + timeout_s + while time.monotonic() < deadline: + rclpy.spin_once(node, timeout_sec=0.05) + if predicate(): + return True + return False + + +def _ordered_positions(message: JointState) -> tuple[float, ...]: + assert len(message.name) == len(set(message.name)), "duplicate joint name in /joint_states" + by_name = dict(zip(message.name, message.position, strict=True)) + assert set(_EXPECTED_NAMES).issubset(by_name), ( + f"/joint_states missing A1 joints: {sorted(set(_EXPECTED_NAMES) - set(by_name))}" + ) + values = tuple(float(by_name[name]) for name in _EXPECTED_NAMES) + assert all(math.isfinite(value) for value in values) + return values + + +def _project_feedback_to_command_limits(position: tuple[float, ...]) -> tuple[float, ...]: + projected: list[float] = [] + for value, joint in zip(position, GALAXEA_A1_DESCRIPTION.joints, strict=True): + lower, upper = joint.position_limits + command = min(upper, max(lower, value)) + assert abs(command - value) <= _FEEDBACK_TOLERANCE_RAD, ( + f"{joint.name} feedback {value:.6f} is too far outside its command limits" + ) + projected.append(command) + return tuple(projected) + + +def test_galaxea_a1_full_deploy_current_hold_and_estop() -> None: + """Prove a measured hold traverses the real kernel and relay unchanged.""" + import rclpy + from diagnostic_msgs.msg import DiagnosticArray + from openral_msgs.msg import ActionChunk, FailureTrigger + from rclpy.qos import ( + DurabilityPolicy, + HistoryPolicy, + QoSProfile, + ReliabilityPolicy, + qos_profile_sensor_data, + ) + from sensor_msgs.msg import JointState + from std_msgs.msg import Empty + + rclpy.init() + node = rclpy.create_node("openral_hil_galaxea_a1_deploy") + observed = _Observed() + control_qos = QoSProfile( + history=HistoryPolicy.KEEP_LAST, + depth=1, + reliability=ReliabilityPolicy.RELIABLE, + durability=DurabilityPolicy.VOLATILE, + ) + safety_qos = QoSProfile( + history=HistoryPolicy.KEEP_LAST, + depth=10, + reliability=ReliabilityPolicy.RELIABLE, + durability=DurabilityPolicy.VOLATILE, + ) + candidate_pub = node.create_publisher(ActionChunk, "/openral/candidate_action", control_qos) + estop_pub = node.create_publisher(Empty, "/openral/estop", safety_qos) + candidate: ActionChunk | None = None + subscriptions = [ + node.create_subscription( + JointState, + "/joint_states", + observed.on_joint_state, + qos_profile_sensor_data, + ), + node.create_subscription( + DiagnosticArray, + "/diagnostics", + observed.on_diagnostics, + 10, + ), + node.create_subscription( + ActionChunk, + "/openral/safe_action", + observed.on_safe_action, + control_qos, + ), + node.create_subscription( + FailureTrigger, + "/openral/failure/safety", + observed.on_failure, + safety_qos, + ), + ] + try: + assert _spin_until( + node, + lambda: ( + observed.joint_state is not None + and "openral_safety_kernel" in observed.diagnostics + and "openral_hal_galaxea_a1" in observed.diagnostics + and node.count_subscribers("/openral/candidate_action") >= 1 + and node.count_subscribers("/openral/estop") >= 1 + and node.count_publishers("/openral/safe_action") >= 1 + ), + _GRAPH_TIMEOUT_S, + ), "full OpenRAL graph did not become observable within 10 s" + + kernel = observed.diagnostics["openral_safety_kernel"] + kernel_values = _diagnostic_values(kernel) + assert kernel.message == "passthrough active" + assert kernel_values["envelope_loaded"] == "true" + assert kernel_values["n_dof"] == "6" + + hal = observed.diagnostics["openral_hal_galaxea_a1"] + hal_values = _diagnostic_values(hal) + assert hal.message == "A1 feedback and motor status healthy" + assert hal_values["estopped"] == "false" + assert hal_values["command_relay_state"] == "LOCKED" + + assert observed.joint_state is not None + initial = _ordered_positions(observed.joint_state) + target = _project_feedback_to_command_limits(initial) + trace_id = f"galaxea-a1-deploy-hil-{time.time_ns()}" + candidate = ActionChunk() + candidate.header.stamp = node.get_clock().now().to_msg() + candidate.control_mode = 0 + candidate.horizon = 1 + candidate.flat = list(target) + candidate.n_dof = len(target) + candidate.confidence = 1.0 + candidate.rskill_id = "galaxea_a1_current_hold_hil" + candidate.rskill_revision = "local" + candidate.trace_id = trace_id + candidate.tick_index = 1 + + deadline = time.monotonic() + _HOLD_TIMEOUT_S + while time.monotonic() < deadline: + cycle_started = time.monotonic() + candidate.header.stamp = node.get_clock().now().to_msg() + candidate_pub.publish(candidate) + rclpy.spin_once(node, timeout_sec=0.01) + if observed.joint_state is not None: + current = _ordered_positions(observed.joint_state) + assert ( + max(abs(now - start) for now, start in zip(current, initial, strict=True)) + < _MAX_HOLD_DRIFT_RAD + ) + hal_status = observed.diagnostics.get("openral_hal_galaxea_a1") + matching_safe = [ + action for action in observed.safe_actions if action.trace_id == trace_id + ] + if ( + hal_status is not None + and _diagnostic_values(hal_status).get("command_relay_state") == "ACTIVE" + and matching_safe + ): + break + time.sleep(max(0.0, _COMMAND_PERIOD_S - (time.monotonic() - cycle_started))) + else: + hal_status = observed.diagnostics.get("openral_hal_galaxea_a1") + hal_debug = ( + _diagnostic_values(hal_status) if hal_status is not None else {"status": "missing"} + ) + hal_history = [ + _diagnostic_values(status) + for status in observed.diagnostic_history.get("openral_hal_galaxea_a1", []) + ] + kernel_status = observed.diagnostics.get("openral_safety_kernel") + kernel_debug = ( + _diagnostic_values(kernel_status) + if kernel_status is not None + else {"status": "missing"} + ) + pytest.fail( + "current hold did not traverse the kernel and activate the relay; " + f"matching_safe={len(matching_safe)}, hal={hal_debug}, " + f"hal_history={hal_history}, kernel={kernel_debug}" + ) + + matching_safe = [action for action in observed.safe_actions if action.trace_id == trace_id] + assert matching_safe + assert tuple(matching_safe[-1].flat) == target + assert matching_safe[-1].n_dof == len(target) + assert matching_safe[-1].control_mode == 0 + assert not [failure for failure in observed.failures if failure.trace_id == trace_id] + + hal_values = _diagnostic_values(observed.diagnostics["openral_hal_galaxea_a1"]) + expected_csv = ",".join(f"{value:.6f}" for value in target) + assert hal_values["command_relay_state"] == "ACTIVE" + assert hal_values["staged_position"] == expected_csv + assert hal_values["forwarded_position"] == expected_csv + + if _ALLOW_NUDGE: + nudge_target = list(target) + nudge_target[0] += _NUDGE_RAD + assert nudge_target[0] <= GALAXEA_A1_DESCRIPTION.joints[0].position_limits[1] + nudge_trace_id = f"galaxea-a1-deploy-hil-nudge-{time.time_ns()}" + candidate.flat = nudge_target + candidate.trace_id = nudge_trace_id + candidate.rskill_id = "galaxea_a1_joint1_nudge_hil" + candidate.tick_index = 2 + + deadline = time.monotonic() + _MOTION_TIMEOUT_S + settled = False + while time.monotonic() < deadline: + cycle_started = time.monotonic() + candidate.header.stamp = node.get_clock().now().to_msg() + candidate_pub.publish(candidate) + rclpy.spin_once(node, timeout_sec=0.01) + if observed.joint_state is not None: + current = _ordered_positions(observed.joint_state) + for index, (start, actual) in enumerate(zip(initial, current, strict=True)): + assert abs(actual - start) < _MAX_EXCURSION_RAD, ( + f"A1 joint {index + 1} excursion " + f"{abs(actual - start):.4f} rad exceeded " + f"{_MAX_EXCURSION_RAD:.4f} rad" + ) + settled = abs(current[0] - nudge_target[0]) <= _SETTLE_TOLERANCE_RAD and any( + action.trace_id == nudge_trace_id for action in observed.safe_actions + ) + if settled: + break + time.sleep(max(0.0, _COMMAND_PERIOD_S - (time.monotonic() - cycle_started))) + assert settled, "joint1 did not settle at the full-graph +0.01 rad target" + nudge_safe = [ + action for action in observed.safe_actions if action.trace_id == nudge_trace_id + ] + assert nudge_safe + assert tuple(nudge_safe[-1].flat) == tuple(nudge_target) + assert not [ + failure for failure in observed.failures if failure.trace_id == nudge_trace_id + ] + + return_trace_id = f"galaxea-a1-deploy-hil-return-{time.time_ns()}" + candidate.flat = list(target) + candidate.trace_id = return_trace_id + candidate.rskill_id = "galaxea_a1_joint1_return_hil" + candidate.tick_index = 3 + deadline = time.monotonic() + _MOTION_TIMEOUT_S + returned = False + while time.monotonic() < deadline: + cycle_started = time.monotonic() + candidate.header.stamp = node.get_clock().now().to_msg() + candidate_pub.publish(candidate) + rclpy.spin_once(node, timeout_sec=0.01) + if observed.joint_state is not None: + current = _ordered_positions(observed.joint_state) + returned = max( + abs(actual - start) for actual, start in zip(current, initial, strict=True) + ) <= _SETTLE_TOLERANCE_RAD and any( + action.trace_id == return_trace_id for action in observed.safe_actions + ) + if returned: + break + time.sleep(max(0.0, _COMMAND_PERIOD_S - (time.monotonic() - cycle_started))) + assert returned, "joint1 did not return to the measured full-graph start" + return_safe = [ + action for action in observed.safe_actions if action.trace_id == return_trace_id + ] + assert return_safe + assert tuple(return_safe[-1].flat) == target + assert not [ + failure for failure in observed.failures if failure.trace_id == return_trace_id + ] + finally: + # The real A1 HAL requires a fresh sidecar and lifecycle after estop. + # Keep the already-validated current hold alive until the e-stop is + # observed. The sidecar's short command lease must not race DDS + # delivery of the stop request and turn a clean e-stop into an + # unacknowledged transport fault. + estop_confirmed = False + try: + deadline = time.monotonic() + _ESTOP_TIMEOUT_S + while time.monotonic() < deadline: + cycle_started = time.monotonic() + if candidate is not None: + candidate.header.stamp = node.get_clock().now().to_msg() + candidate_pub.publish(candidate) + estop_pub.publish(Empty()) + rclpy.spin_once(node, timeout_sec=0.01) + status = observed.diagnostics.get("openral_hal_galaxea_a1") + if status is not None and _diagnostic_values(status).get("estopped") == "true": + estop_confirmed = True + break + time.sleep(max(0.0, _COMMAND_PERIOD_S - (time.monotonic() - cycle_started))) + finally: + for subscription in subscriptions: + node.destroy_subscription(subscription) + node.destroy_publisher(candidate_pub) + node.destroy_publisher(estop_pub) + node.destroy_node() + rclpy.try_shutdown() + assert estop_confirmed, "HAL diagnostics did not confirm the downstream e-stop" diff --git a/tests/unit/test_all_manifests_validate.py b/tests/unit/test_all_manifests_validate.py index a505c64..05f7002 100644 --- a/tests/unit/test_all_manifests_validate.py +++ b/tests/unit/test_all_manifests_validate.py @@ -46,6 +46,7 @@ "anvil_openarm_v2", "franka_panda", "g1", + "galaxea_a1", "google_robot", "gr1", "h1", @@ -106,6 +107,7 @@ _DEPLOY_STEMS: list[str] = [ "g1_vln", + "galaxea_a1_bench", "isaac_franka", "isaac_franka_bowl", "isaac_franka_urdf", diff --git a/tests/unit/test_deploy_run_real_resolution.py b/tests/unit/test_deploy_run_real_resolution.py index bb2bce0..930796c 100644 --- a/tests/unit/test_deploy_run_real_resolution.py +++ b/tests/unit/test_deploy_run_real_resolution.py @@ -11,9 +11,11 @@ from __future__ import annotations +from pathlib import Path + import pytest from openral_cli.deploy_sim import resolve_launch_invocation -from openral_core.exceptions import ROSCapabilityMismatch +from openral_core.exceptions import ROSCapabilityMismatch, ROSConfigError def _resolve(robot_id: str, mode: str) -> object: @@ -27,6 +29,32 @@ def _resolve(robot_id: str, mode: str) -> object: class TestRealModeResolution: + def test_galaxea_a1_scene_resolves_to_real_lifecycle_package(self) -> None: + config = Path("scenes/deploy/galaxea_a1_bench.yaml") + inv = resolve_launch_invocation( + config=config, + robot_override=None, + dashboard_port=4318, + reset_to_pose_service=None, + hal_mode="real", + ) + assert inv.hal.package == "openral_hal_galaxea_a1" + assert inv.hal.executable == "lifecycle_node.py" + assert inv.hal_params["hal_mode"] == "real" + assert str(inv.hal_params["robot_yaml"]).endswith("robots/galaxea_a1/robot.yaml") + assert "enable_reasoner:=false" in inv.argv_template + + def test_direct_rskill_scene_rejects_initial_task(self) -> None: + with pytest.raises(ROSConfigError, match=r"runtime\.enable_reasoner=true"): + resolve_launch_invocation( + config=Path("scenes/deploy/galaxea_a1_bench.yaml"), + robot_override=None, + dashboard_port=4318, + reset_to_pose_service=None, + hal_mode="real", + initial_task_prompt="pick the mango", + ) + def test_manifest_robot_real_forwards_hal_mode(self) -> None: inv = _resolve("franka_panda", "real") assert inv.hal_params["hal_mode"] == "real" @@ -46,8 +74,6 @@ def test_sim_only_robot_real_fails_fast(self) -> None: _resolve("g1", "real") def test_no_robot_and_no_config_raises(self) -> None: - from openral_core.exceptions import ROSConfigError - with pytest.raises(ROSConfigError, match="robot_id is undefined"): resolve_launch_invocation( config=None, diff --git a/tests/unit/test_eval_registry_and_runner.py b/tests/unit/test_eval_registry_and_runner.py index 70aca34..69f410c 100644 --- a/tests/unit/test_eval_registry_and_runner.py +++ b/tests/unit/test_eval_registry_and_runner.py @@ -72,6 +72,7 @@ def test_builtin_registries_populated() -> None: assert "zero" in POLICIES assert "random" in POLICIES assert "smolvla" in POLICIES + assert "lingbot_va_a1" in POLICIES def test_registry_unknown_id_raises_with_known_list() -> None: diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py new file mode 100644 index 0000000..401a394 --- /dev/null +++ b/tests/unit/test_galaxea_a1.py @@ -0,0 +1,749 @@ +"""Galaxea A1 HAL contract tests against a process-boundary fake transport.""" + +from __future__ import annotations + +import json +import runpy +import signal +import socket +import sys +import threading +import time +from concurrent.futures import Future +from pathlib import Path +from types import SimpleNamespace + +import numpy as np +import pytest +from openral_core import ( + Action, + ControlMode, + ROSConfigError, + ROSEStopRequested, + ROSRuntimeError, + SensorReaderBackend, + SensorReaderConfig, +) +from openral_hal.galaxea_a1 import ( + GALAXEA_A1_DESCRIPTION, + GalaxeaA1HAL, + _Snapshot, + _SocketTransport, +) +from openral_hal.protocol import HAL, HALHealthProvider, LifecycleEStopHAL +from openral_runner.factory import SENSOR_BACKEND_REGISTRY +from openral_sim.policies.lingbot_va_a1 import ( + _bounded_joint_substep, + _effective_joint_substep_limit, + _LingBotVaA1Adapter, +) + +_SIDECAR = runpy.run_path( + str(Path(__file__).resolve().parents[2] / "tools" / "galaxea_a1_ros1_sidecar.py") +) + + +class FakeA1Transport: + def __init__(self, *, status_codes: tuple[int, ...] = (0, 0, 0, 0, 0, 0, 0)) -> None: + self.connected = False + self.hello: dict[str, object] | None = None + self.messages: list[dict[str, object]] = [] + self.estopped = False + now = time.monotonic() + self.current = _Snapshot( + position=(0.0, 1.0, -1.0, 0.0, 0.0, 0.0), + velocity=(0.0,) * 6, + effort=(0.0,) * 6, + stamp_ns=time.time_ns(), + received_monotonic=now, + status_codes=status_codes, + status_received_monotonic=now, + gripper_norm=0.5, + ) + + def connect(self, hello: dict[str, object], timeout_s: float) -> None: + del timeout_s + self.connected = True + self.hello = hello + + def close(self) -> None: + self.connected = False + + def snapshot(self) -> _Snapshot: + return self.current + + def send(self, message: dict[str, object]) -> None: + self.messages.append(message) + + def estop(self, timeout_s: float) -> None: + del timeout_s + self.estopped = True + self.connected = False + + +def _joint_action(delta: float = 0.0) -> Action: + return Action( + control_mode=ControlMode.JOINT_POSITION, + joint_targets=[[delta, 1.0, -1.0, 0.0, 0.0, 0.0]], + stamp_ns=time.time_ns(), + ) + + +def test_description_and_protocol_surface() -> None: + transport = FakeA1Transport() + hal = GalaxeaA1HAL(transport=transport) + assert isinstance(hal, HAL) + assert isinstance(hal, HALHealthProvider) + assert isinstance(hal, LifecycleEStopHAL) + assert hal.description is GALAXEA_A1_DESCRIPTION + assert hal.description.sdk_kind == "closed_with_api" + assert hal.description.hal.sim is None + assert hal.description.capabilities.has_vision + assert [sensor.name for sensor in hal.description.sensors] == ["front", "wrist"] + + +def test_camera_bridge_backend_requires_explicit_a1_runtime_root( + monkeypatch: pytest.MonkeyPatch, +) -> None: + cfg = SensorReaderConfig( + sensor_id="front", + backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, + backend_params={ + "camera": "front", + "runtime_root_env": "OPENRAL_TEST_A1_RUNTIME_ROOT", + "deployment_config": "configs/deployments/lingbot/fruit_placement_eef.toml", + }, + max_age_ms=500, + ) + reader = SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) + assert reader.sensor_id == "front" + assert not reader.is_open + monkeypatch.delenv("OPENRAL_TEST_A1_RUNTIME_ROOT", raising=False) + with pytest.raises(ROSConfigError, match="OPENRAL_TEST_A1_RUNTIME_ROOT"): + reader.open() + + +def test_camera_bridge_backend_rejects_unknown_camera() -> None: + cfg = SensorReaderConfig( + sensor_id="front", + backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, + backend_params={"camera": "side"}, + ) + with pytest.raises(ROSConfigError, match="'front' or 'wrist'"): + SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) + + +def test_lingbot_joint_lowering_respects_manifest_step_limit() -> None: + current = np.zeros(6, dtype=np.float64) + target = np.array([0.16, -0.08, 0.04, 0.0, 0.0, 0.0], dtype=np.float64) + step_limit = _effective_joint_substep_limit( + max_target_step_rad=0.04, + initial_alignment_tolerance_rad=0.05, + ) + first, reached = _bounded_joint_substep( + current, + target, + max_step_rad=step_limit, + ) + assert not reached + assert float(np.max(np.abs(first - current))) < 0.04 + second, reached = _bounded_joint_substep( + first, + target, + max_step_rad=step_limit, + ) + assert not reached + assert float(np.max(np.abs(second - first))) < 0.04 + third, reached = _bounded_joint_substep(second, target, max_step_rad=step_limit) + assert not reached + fourth, reached = _bounded_joint_substep(third, target, max_step_rad=step_limit) + assert not reached + final, reached = _bounded_joint_substep(fourth, target, max_step_rad=step_limit) + assert reached + assert final == pytest.approx(target) + + +def test_lingbot_joint_lowering_rejects_nonfinite_input() -> None: + with pytest.raises(ValueError, match="matching finite vectors"): + _bounded_joint_substep( + np.zeros(6, dtype=np.float64), + np.array([np.nan, 0, 0, 0, 0, 0], dtype=np.float64), + max_step_rad=0.08, + ) + + +def test_lingbot_boundary_inference_replays_last_safe_target_without_blocking() -> None: + adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) + adapter._boundary_future = Future() + adapter._boundary_deadline = time.monotonic() + 1.0 + adapter._inference_timeout_s = 1.0 + adapter._last_joint_target = np.arange(6, dtype=np.float64) / 10.0 + adapter._last_gripper_target = 0.25 + + started = time.monotonic() + action = adapter._poll_chunk_boundary() + + assert time.monotonic() - started < 0.05 + assert action == pytest.approx([0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.25]) + + +def test_lingbot_boundary_inference_fails_at_manifest_latency_budget() -> None: + adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) + adapter._boundary_future = Future() + adapter._boundary_deadline = time.monotonic() - 0.001 + adapter._inference_timeout_s = 6.0 + + with pytest.raises(ROSRuntimeError, match=r"6\.000 s per-chunk latency budget"): + adapter._poll_chunk_boundary() + + +def test_lingbot_small_action_advances_without_feedback_completion_gate() -> None: + adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) + adapter._active_joint_target = np.array( + [0.01, -0.005, 0.0025, 0.0, 0.0, 0.0], + dtype=np.float64, + ) + adapter._active_gripper = 0.25 + adapter._max_joint_step_rad = 0.03 + adapter._chunk = SimpleNamespace( + cache_state=np.zeros((8, 1, 1), dtype=np.float64), + needs_observation_after=lambda _index: True, + ) + adapter._active_cache_action = np.arange(8, dtype=np.float64) + adapter._active_cache_frame_index = 0 + adapter._active_action_index = 0 + adapter._step_index = 0 + adapter._pending_observation = False + adapter._last_joint_target = None + adapter._last_gripper_target = None + + action = adapter._step_active_action(np.zeros(6, dtype=np.float64)) + + assert action == pytest.approx([0.01, -0.005, 0.0025, 0.0, 0.0, 0.0, 0.25]) + assert adapter._step_index == 1 + assert adapter._pending_observation is True + assert adapter._active_joint_target is None + assert adapter._chunk.cache_state[:, 0, 0] == pytest.approx(np.arange(8)) + + +def test_connect_reads_state_and_sends_aligned_joint_target() -> None: + transport = FakeA1Transport() + hal = GalaxeaA1HAL(transport=transport) + hal.connect() + assert hal.read_state().position == [0.0, 1.0, -1.0, 0.0, 0.0, 0.0] + hal.send_action(_joint_action(0.01)) + assert transport.messages[-1]["joint_targets"] == [0.01, 1.0, -1.0, 0.0, 0.0, 0.0] + assert transport.hello is not None + assert transport.hello["robot"] == "galaxea_a1" + assert transport.hello["command_lease_s"] == 0.5 + + +def test_sidecar_cross_checks_identity_limits_and_mask_types() -> None: + hello = { + "op": "hello", + "protocol": 1, + "robot": "galaxea_a1", + "joint_names": [f"arm_joint{i}" for i in range(1, 7)], + "joint_position_min": [-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798], + "joint_position_max": [2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798], + "initial_alignment_tolerance_rad": 0.05, + "tracker_alignment_timeout_s": 5.0, + "max_target_step_rad": 0.08, + "command_lease_s": 0.5, + "state_timeout_s": 0.5, + "status_timeout_s": 1.0, + "feedback_limit_tolerance_rad": 0.01, + "idle_timeout_error_mask": 64, + "gripper_ignored_error_mask": 8, + "gripper_stroke_min_mm": 0.0, + "gripper_stroke_max_mm": 104.0, + } + decode_hello = _SIDECAR["_hello_config"] + + assert decode_hello(hello)["joint_position_min"][1] == 0.0 + with pytest.raises(ValueError, match="official A1 limits"): + decode_hello( + {**hello, "joint_position_min": [-3.0, 0.0, -3.3161, -2.8798, -1.6581, -2.8798]} + ) + with pytest.raises(ValueError, match="integers"): + decode_hello({**hello, "idle_timeout_error_mask": True}) + + +def test_sidecar_pins_every_vendor_topic_in_launch_commands() -> None: + driver = _SIDECAR["_driver_argv"]("/dev/a1") + tracker = _SIDECAR["_tracker_argv"]() + tracker_parameters = _SIDECAR["_tracker_parameters"]("/opt/galaxea/A1_SDK") + + assert "single_arm_serial_port_path:=/dev/a1" in driver + assert "single_arm_joint_states_topic:=/joint_states_host" in driver + assert "single_arm_control_topic:=/arm_joint_command_host" in driver + assert "single_arm_gripper_position_control_topic:=/gripper_position_control_host" in driver + assert tracker == [ + "rosrun", + "mobiman", + "jointTracker_demo_node", + "__name:=openral_a1_joint_tracker", + ] + assert ( + tracker_parameters["/openral_a1_joint_tracker/joint_states_sub_topic"] + == "/joint_states_host" + ) + assert ( + tracker_parameters["/openral_a1_joint_tracker/arm_joint_command_topic"] + == "/openral/arm_joint_command_staged" + ) + assert ( + tracker_parameters["/openral_a1_joint_tracker/arm_joint_target_position"] + == "/arm_joint_target_position" + ) + assert not any("eePose" in key for key in tracker_parameters) + + +def test_sidecar_relay_never_forwards_unaligned_tracker_startup() -> None: + class FakePublisher: + def __init__(self, topic: str) -> None: + self.topic = topic + self.messages: list[object] = [] + + def publish(self, message: object) -> None: + self.messages.append(message) + + def get_num_connections(self) -> int: + return 1 + + class FakeSubscriber: + def get_num_connections(self) -> int: + return 1 + + class FakeRospy: + class Time: + @staticmethod + def now() -> int: + return 123 + + def __init__(self) -> None: + self.publishers: dict[str, FakePublisher] = {} + + def Publisher( # noqa: N802 - mirrors rospy's public API + self, topic: str, _message_type: object, *, queue_size: int + ) -> FakePublisher: + assert queue_size == 1 + publisher = FakePublisher(topic) + self.publishers[topic] = publisher + return publisher + + def Subscriber( # noqa: N802 - mirrors rospy's public API + self, + _topic: str, + _message_type: object, + _callback: object, + *, + queue_size: int, + ) -> FakeSubscriber: + assert queue_size == 1 + return FakeSubscriber() + + def logerr(self, *_args: object) -> None: + pass + + def logwarn(self, *_args: object) -> None: + pass + + def joint_state() -> SimpleNamespace: + return SimpleNamespace( + header=SimpleNamespace( + stamp=SimpleNamespace(to_nsec=time.time_ns), + frame_id="", + ), + name=[], + position=[], + velocity=[], + effort=[], + ) + + def arm_command(position: tuple[float, ...]) -> SimpleNamespace: + return SimpleNamespace( + header=SimpleNamespace(stamp=0), + p_des=list(position), + v_des=[0.0] * 6, + kp=[1.0] * 6, + kd=[1.0] * 6, + t_ff=[0.0] * 6, + mode=0, + ) + + def gripper_command() -> SimpleNamespace: + return SimpleNamespace(header=SimpleNamespace(stamp=0), gripper_stroke=0.0) + + rospy = FakeRospy() + bridge = _SIDECAR["Bridge"]( + rospy, + joint_state, + object, + gripper_command, + SimpleNamespace, + ) + config = _SIDECAR["_hello_config"]( + { + "op": "hello", + "protocol": 1, + "robot": "galaxea_a1", + "joint_names": [f"arm_joint{i}" for i in range(1, 7)], + "joint_position_min": [-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798], + "joint_position_max": [2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798], + "initial_alignment_tolerance_rad": 0.05, + "tracker_alignment_timeout_s": 5.0, + "max_target_step_rad": 0.08, + "command_lease_s": 0.5, + "state_timeout_s": 0.5, + "status_timeout_s": 1.0, + "feedback_limit_tolerance_rad": 0.01, + "idle_timeout_error_mask": 64, + "gripper_ignored_error_mask": 8, + "gripper_stroke_min_mm": 0.0, + "gripper_stroke_max_mm": 104.0, + } + ) + # Encoder zero/quantization can leave feedback just beyond a nominal + # endpoint. The requested hold is projected to the exact legal endpoint. + current = (0.0, -0.001, -1.0, 0.0, 0.0, 0.0) + hold_target = (0.0, 0.0, -1.0, 0.0, 0.0, 0.0) + joint_feedback = joint_state() + joint_feedback.name = [f"arm_joint{i}" for i in range(1, 7)] + joint_feedback.position = list(current) + joint_feedback.velocity = [0.0] * 6 + joint_feedback.effort = [0.0] * 6 + bridge._on_joint(joint_feedback) + bridge._on_gripper(SimpleNamespace(position=[52.0])) + bridge._on_status( + SimpleNamespace( + data=SimpleNamespace(motor_errors=[SimpleNamespace(error_code=64) for _ in range(7)]) + ) + ) + bridge.configure(config) + + assert not bridge.apply({"joint_targets": list(hold_target)}, config, True) + target_publisher = rospy.publishers["/arm_joint_target_position"] + assert len(target_publisher.messages) == 1 + host = rospy.publishers["/arm_joint_command_host"] + bridge._on_staged(arm_command((0.105, 0.889, -0.623, 1.919, 0.312, 1.245))) + assert bridge.relay_state() == "ARMING" + assert host.messages == [] + updated_target = (0.01, 0.0, -1.0, 0.0, 0.0, 0.0) + assert not bridge.apply({"joint_targets": list(updated_target)}, config, False) + assert len(target_publisher.messages) == 2 + assert host.messages == [] + + # The tracker begins at measured feedback. This near-endpoint sample is + # tolerated only while staged and must never reach the host command topic. + bridge._on_staged(arm_command(current)) + assert bridge.relay_state() == "ARMING" + assert host.messages == [] + + bridge._on_staged(arm_command(updated_target)) + assert bridge.relay_state() == "ACTIVE" + assert len(host.messages) == 1 + + gripper_publisher = rospy.publishers["/gripper_position_control_host"] + assert not bridge.apply({"gripper": 0.75}, config, False) + assert not bridge.apply({"gripper": 0.75}, config, False) + assert len(gripper_publisher.messages) == 1 + assert gripper_publisher.messages[0].gripper_stroke == 78.0 + + +def test_sidecar_stop_waits_for_sigkill_completion() -> None: + stack = _SIDECAR["Stack"](shutdown_grace_s=0.05, kill_wait_s=1.0) + child = stack.start( + [ + sys.executable, + "-c", + ("import signal,time;signal.signal(signal.SIGINT, signal.SIG_IGN);time.sleep(30)"), + ] + ) + time.sleep(0.1) + + stack.stop() + + assert child.poll() is not None + assert child.returncode == -signal.SIGKILL + + +def test_sidecar_drains_buffered_action_before_active_lease_check() -> None: + """A tracker callback stall must not hide a fresh buffered hold.""" + + class FakeRospy: + def __init__(self, bridge: FakeBridge) -> None: + self._bridge = bridge + + def loginfo(self, *_args: object) -> None: + pass + + def is_shutdown(self) -> bool: + return self._bridge.apply_count >= 2 + + class FakeBridge: + def __init__(self) -> None: + self.apply_count = 0 + self.active = False + self.state_entered = threading.Event() + self.release_state = threading.Event() + + def configure(self, _config: dict[str, object]) -> None: + pass + + def apply( + self, + _packet: dict[str, object], + _config: dict[str, object], + _first_joint_command: bool, + ) -> bool: + self.apply_count += 1 + return False + + def relay_state(self) -> str: + return "ACTIVE" if self.active else "ARMING" + + def state(self, _config: dict[str, object]) -> dict[str, object]: + if self.apply_count == 1: + self.state_entered.set() + assert self.release_state.wait(1.0) + return {"op": "state"} + + listener = socket.socket() + listener.bind(("127.0.0.1", 0)) + listener.listen(1) + client = socket.create_connection(listener.getsockname(), timeout=1.0) + bridge = FakeBridge() + failures: list[BaseException] = [] + + def serve() -> None: + try: + _SIDECAR["_serve"](listener, bridge, FakeRospy(bridge), lambda: None) + except BaseException as exc: + failures.append(exc) + + server = threading.Thread(target=serve, daemon=True) + server.start() + hello = { + "op": "hello", + "protocol": 1, + "robot": "galaxea_a1", + "joint_names": [f"arm_joint{i}" for i in range(1, 7)], + "joint_position_min": [-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798], + "joint_position_max": [2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798], + "initial_alignment_tolerance_rad": 0.05, + "tracker_alignment_timeout_s": 5.0, + "max_target_step_rad": 0.08, + "command_lease_s": 0.05, + "state_timeout_s": 0.5, + "status_timeout_s": 1.0, + "feedback_limit_tolerance_rad": 0.01, + "idle_timeout_error_mask": 64, + "gripper_ignored_error_mask": 8, + "gripper_stroke_min_mm": 0.0, + "gripper_stroke_max_mm": 104.0, + } + client.sendall(json.dumps(hello).encode() + b"\n") + client.sendall(json.dumps({"op": "action", "joint_targets": [0.0] * 6}).encode() + b"\n") + assert bridge.state_entered.wait(1.0) + + # Queue a fresh hold while the server is starved in bridge.state(), then + # let the relay become ACTIVE after the old command is already expired. + client.sendall(json.dumps({"op": "action", "joint_targets": [0.0] * 6}).encode() + b"\n") + time.sleep(0.08) + bridge.active = True + bridge.release_state.set() + server.join(timeout=1.0) + client.close() + listener.close() + + assert not failures + assert bridge.apply_count == 2 + + +def test_real_socket_transport_round_trip() -> None: + listener = socket.socket() + listener.bind(("127.0.0.1", 0)) + listener.listen(1) + port = listener.getsockname()[1] + action_received = threading.Event() + records: list[dict[str, object]] = [] + + def _server() -> None: + with listener: + conn, _ = listener.accept() + with conn, conn.makefile("rb") as stream: + records.append(json.loads(stream.readline())) + conn.sendall( + json.dumps({"op": "hello", "protocol": 1, "robot": "galaxea_a1"}).encode() + + b"\n" + ) + state = { + "op": "state", + "name": [f"arm_joint{i}" for i in range(1, 7)], + "position": [0.0, 1.0, -1.0, 0.0, 0.0, 0.0], + "velocity": [0.0] * 6, + "effort": [0.0] * 6, + "stamp_ns": time.time_ns(), + "status_codes": [0] * 7, + "gripper_norm": 0.5, + "relay_state": "LOCKED", + } + conn.sendall(json.dumps(state).encode() + b"\n") + records.append(json.loads(stream.readline())) + action_received.set() + + server = threading.Thread(target=_server, daemon=True) + server.start() + hal = GalaxeaA1HAL(host="127.0.0.1", port=port, connect_timeout_s=2.0) + hal.connect() + hal.send_action(_joint_action(0.01)) + assert action_received.wait(2.0) + hal.disconnect() + server.join(timeout=2.0) + assert records[0]["op"] == "hello" + assert records[1]["joint_targets"] == [0.01, 1.0, -1.0, 0.0, 0.0, 0.0] + + +def test_socket_transport_coalesces_adjacent_arm_and_gripper_modes() -> None: + transport = _SocketTransport("127.0.0.1", 46011) + transport.send({"op": "action", "stamp_ns": 10, "joint_targets": [0.0] * 6}) + transport.send({"op": "action", "stamp_ns": 11, "gripper": 0.75}) + + message = transport._take_pending_message() + + assert message == { + "op": "action", + "stamp_ns": 11, + "joint_targets": [0.0] * 6, + "gripper": 0.75, + } + + +def test_socket_transport_writer_is_not_blocked_by_state_reader( + monkeypatch: pytest.MonkeyPatch, +) -> None: + transport = _SocketTransport("127.0.0.1", 46011) + client, server = socket.socketpair() + reader_entered = threading.Event() + release_reader = threading.Event() + + def blocked_handle(_raw: object) -> None: + reader_entered.set() + assert release_reader.wait(1.0) + + monkeypatch.setattr(transport, "_handle", blocked_handle) + transport._sock = client + transport._reader_thread = threading.Thread(target=transport._read_loop, daemon=True) + transport._writer_thread = threading.Thread(target=transport._write_loop, daemon=True) + transport._reader_thread.start() + transport._writer_thread.start() + try: + server.sendall(b"{}\n") + assert reader_entered.wait(1.0) + transport.send({"op": "action", "stamp_ns": 10, "joint_targets": [0.0] * 6}) + server.settimeout(1.0) + assert json.loads(server.recv(4096))["joint_targets"] == [0.0] * 6 + finally: + release_reader.set() + transport.close() + server.close() + + +def test_first_joint_target_must_align_with_feedback() -> None: + hal = GalaxeaA1HAL(transport=FakeA1Transport()) + hal.connect() + with pytest.raises(ROSConfigError, match="initial alignment"): + hal.send_action(_joint_action(0.06)) + + +def test_small_feedback_endpoint_error_is_tolerated_but_larger_error_fails() -> None: + transport = FakeA1Transport() + transport.current = _Snapshot( + position=(0.0, -0.003, -1.0, 0.0, 0.0, 0.0), + velocity=(0.0,) * 6, + effort=(0.0,) * 6, + stamp_ns=time.time_ns(), + received_monotonic=time.monotonic(), + status_codes=(0,) * 7, + status_received_monotonic=time.monotonic(), + gripper_norm=0.5, + ) + GalaxeaA1HAL(transport=transport).connect() + + transport.current = _Snapshot( + position=(0.0, -0.02, -1.0, 0.0, 0.0, 0.0), + velocity=(0.0,) * 6, + effort=(0.0,) * 6, + stamp_ns=time.time_ns(), + received_monotonic=time.monotonic(), + status_codes=(0,) * 7, + status_received_monotonic=time.monotonic(), + gripper_norm=0.5, + ) + with pytest.raises(ROSRuntimeError, match="feedback arm_joint2"): + GalaxeaA1HAL(transport=transport).connect() + + +def test_motor_fault_blocks_command_but_idle_timeout_is_allowed() -> None: + bad_transport = FakeA1Transport(status_codes=(1, 0, 0, 0, 0, 0, 0)) + bad = GalaxeaA1HAL(transport=bad_transport) + with pytest.raises(ROSRuntimeError, match="error code 1"): + bad.connect() + assert not bad_transport.connected + + idle = FakeA1Transport(status_codes=(64, 64, 64, 64, 64, 64, 72)) + hal = GalaxeaA1HAL(transport=idle) + hal.connect() + hal.send_action(_joint_action()) + assert len(idle.messages) == 1 + + +def test_absolute_joint_limit_is_enforced_inside_hal() -> None: + transport = FakeA1Transport() + transport.current = _Snapshot( + position=(2.87, 1.0, -1.0, 0.0, 0.0, 0.0), + velocity=(0.0,) * 6, + effort=(0.0,) * 6, + stamp_ns=time.time_ns(), + received_monotonic=time.monotonic(), + status_codes=(0,) * 7, + status_received_monotonic=time.monotonic(), + gripper_norm=0.5, + ) + hal = GalaxeaA1HAL(transport=transport) + hal.connect() + with pytest.raises(ROSConfigError, match="outside"): + hal.send_action(_joint_action(2.89)) + + +def test_health_report_exposes_motor_codes_without_io() -> None: + hal = GalaxeaA1HAL(transport=FakeA1Transport(status_codes=(64,) * 7)) + hal.connect() + + report = hal.health() + + assert report.message == "A1 feedback and motor status healthy" + assert report.fields["motor_status_codes"] == "64,64,64,64,64,64,64" + assert report.fields["gripper_position_normalized"] == "0.500000" + + +def test_gripper_action_uses_normalized_contract() -> None: + transport = FakeA1Transport() + hal = GalaxeaA1HAL(transport=transport) + hal.connect() + hal.send_action( + Action(control_mode=ControlMode.GRIPPER_POSITION, gripper=[0.75], stamp_ns=time.time_ns()) + ) + assert transport.messages[-1]["gripper"] == 0.75 + + +def test_estop_stops_transport_and_always_raises() -> None: + transport = FakeA1Transport() + hal = GalaxeaA1HAL(transport=transport) + hal.connect() + with pytest.raises(ROSEStopRequested): + hal.estop() + assert transport.estopped + with pytest.raises(ROSRuntimeError): + hal.read_state() diff --git a/tests/unit/test_intree_manifests_have_processors.py b/tests/unit/test_intree_manifests_have_processors.py index cd43794..d54016e 100644 --- a/tests/unit/test_intree_manifests_have_processors.py +++ b/tests/unit/test_intree_manifests_have_processors.py @@ -50,6 +50,12 @@ # applied server-side by the model's FeatureTransform, not a lerobot # PolicyProcessorPipeline, so `processors is None` is correct. "lingbot-vla-4b-robotwin", + # LingBot-VA on Galaxea A1: the checkpoint's quantile normalization + # and action-channel mapping ship in configs/va_a1_cfg.py and are + # applied by the contract-checked A1 Runtime model server. OpenRAL + # consumes the server's physical EEF output; there is no lerobot + # PolicyProcessorPipeline or processor JSON pair to materialize. + "lingbot-va-galaxea-a1-fruit-placement", # InternVLA-N1: runs its own AutoProcessor + NavDP pipeline inside the # py3.11 sidecar; no lerobot PolicyProcessorPipeline. `internvla_n1` is # excluded from `_MODERN_PROCESSOR_FAMILIES` for the same reason. diff --git a/tests/unit/test_robot_manifests_match_hal_constants.py b/tests/unit/test_robot_manifests_match_hal_constants.py index fb3be92..ed7584e 100644 --- a/tests/unit/test_robot_manifests_match_hal_constants.py +++ b/tests/unit/test_robot_manifests_match_hal_constants.py @@ -19,6 +19,7 @@ - ``robots/rizon4/robot.yaml`` ↔ ``RIZON4_DESCRIPTION`` (HAL `flexiv_rizon4.py`) - ``robots/openarm/robot.yaml`` ↔ ``OPENARM_DESCRIPTION`` (HAL `openarm.py`) - ``robots/anvil_openarm_v2/robot.yaml`` ↔ ``ANVIL_OPENARM_V2_DESCRIPTION`` +- ``robots/galaxea_a1/robot.yaml`` ↔ ``GALAXEA_A1_DESCRIPTION`` Most covered YAMLs pin to the **real-hardware** ``*_REAL_DESCRIPTION`` constant because those YAMLs are the production-deployment manifests. @@ -87,6 +88,7 @@ # wrapper around Anvil's driver stack, # github.com/anvil-robotics/openarm, is a tracked follow-up). ("robots/anvil_openarm_v2/robot.yaml", "ANVIL_OPENARM_V2_DESCRIPTION"), + ("robots/galaxea_a1/robot.yaml", "GALAXEA_A1_DESCRIPTION"), ], ) def test_robot_yaml_matches_hal_description(manifest_path: str, hal_constant_attr: str) -> None: diff --git a/tools/galaxea_a1_ros1_sidecar.py b/tools/galaxea_a1_ros1_sidecar.py new file mode 100755 index 0000000..21a635e --- /dev/null +++ b/tools/galaxea_a1_ros1_sidecar.py @@ -0,0 +1,774 @@ +#!/usr/bin/env python3 +"""Galaxea A1 ROS 1 sidecar for :class:`openral_hal.galaxea_a1.GalaxeaA1HAL`. + +Run this file inside a ROS Noetic environment with the operator-provided A1 +SDK sourced. It owns roscore, the official serial driver, and the official +joint tracker; every exit path stops all three. No vendor code is bundled in +OpenRAL. +""" + +from __future__ import annotations + +import argparse +import contextlib +import copy +import json +import math +import os +import select +import signal +import socket +import subprocess +import sys +import threading +import time +from collections.abc import Callable, Sequence +from typing import Any + +JOINT_NAMES = tuple(f"arm_joint{i}" for i in range(1, 7)) +JOINT_LIMITS = ( + (-2.8798, 2.8798), + (0.0, 3.1415), + (-3.3161, 0.0), + (-2.8798, 2.8798), + (-1.6581, 1.6581), + (-2.8798, 2.8798), +) +PROTOCOL_VERSION = 1 +GRIPPER_STATUS_INDEX = len(JOINT_NAMES) +MAX_STATUS_MASK = 0xFFFFFFFF +TRACKER_NODE = "openral_a1_joint_tracker" +STAGED_COMMAND_TOPIC = "/openral/arm_joint_command_staged" +HOST_COMMAND_TOPIC = "/arm_joint_command_host" +TRACKER_ALLOWED_MODES = (0,) + + +def _driver_argv(serial: str) -> list[str]: + """Build the official driver launch command with every live topic explicit.""" + return [ + "roslaunch", + "signal_arm", + "single_arm_node.launch", + f"single_arm_serial_port_path:={serial}", + "single_arm_joint_states_topic:=/joint_states_host", + "single_arm_gripper_feedback_topic:=/gripper_stroke_host", + "single_arm_control_topic:=/arm_joint_command_host", + "single_arm_arm_status_topic:=/arm_status_host", + "single_arm_gripper_position_control_topic:=/gripper_position_control_host", + "single_arm_gripper_version:=G2", + ] + + +def _tracker_argv() -> list[str]: + """Run only the official joint tracker node under an OpenRAL-owned name.""" + return [ + "rosrun", + "mobiman", + "jointTracker_demo_node", + f"__name:={TRACKER_NODE}", + ] + + +def _tracker_parameters(sdk_root: str) -> dict[str, str]: + """Return the official tracker parameters with every live topic explicit. + + The current vendor ``jointTrackerdemo.launch`` declares its arguments with + ``value=`` rather than ``default=``, so ROS 1 rejects command-line + overrides. Starting the same official binary directly avoids that + SDK-version trap and also omits the unrelated EE-pose publisher. + """ + share = os.path.join(sdk_root, "install", "share", "mobiman") + private = f"/{TRACKER_NODE}" + return { + f"{private}/joint_states_sub_topic": "/joint_states_host", + f"{private}/arm_joint_command_topic": STAGED_COMMAND_TOPIC, + f"{private}/arm_joint_target_position": "/arm_joint_target_position", + f"{private}/taskFile": os.path.join(share, "config", "task.info"), + f"{private}/urdfFile": os.path.join(share, "urdf", "A1", "urdf", "A1_URDF_0607_0028.urdf"), + f"{private}/libFolder": os.path.join(share, "auto_generated", "x1_robot"), + } + + +class Stack: + """Own and tear down the ROS 1 process group in reverse start order.""" + + def __init__(self, shutdown_grace_s: float = 3.0, kill_wait_s: float = 1.0) -> None: + self._children: list[Any] = [] + self._shutdown_grace_s = shutdown_grace_s + self._kill_wait_s = kill_wait_s + + def start(self, argv: Sequence[str]) -> Any: + child = subprocess.Popen(argv, start_new_session=True) + self._children.append(child) + return child + + def stop(self) -> None: + for child in reversed(self._children): + if child.poll() is None: + with contextlib.suppress(ProcessLookupError): + os.killpg(child.pid, signal.SIGINT) + deadline = time.monotonic() + self._shutdown_grace_s + for child in reversed(self._children): + remaining = max(0.0, deadline - time.monotonic()) + try: + child.wait(timeout=remaining) + except subprocess.TimeoutExpired: + with contextlib.suppress(ProcessLookupError): + os.killpg(child.pid, signal.SIGKILL) + # An e-stop acknowledgement is meaningful only after the + # tracker/driver process has actually exited, not merely after + # SIGKILL was requested. + child.wait(timeout=self._kill_wait_s) + self._children = [] + + +class Bridge: + def __init__( + self, + rospy: Any, + joint_state_type: Callable[[], Any], + status_type: Any, + gripper_type: Callable[[], Any], + arm_control_type: Callable[[], Any], + ) -> None: + self._rospy = rospy + self._lock = threading.Lock() + self._joint: tuple[tuple[float, ...], tuple[float, ...], tuple[float, ...], int] | None = ( + None + ) + self._gripper_mm: float | None = None + self._status: tuple[int, ...] | None = None + self._joint_updated = 0.0 + self._gripper_updated = 0.0 + self._status_updated = 0.0 + self._relay_config: dict[str, Any] | None = None + self._relay_state = "LOCKED" + self._relay_fault = "" + self._activation_target: tuple[float, ...] | None = None + self._activation_deadline = 0.0 + self._published_target: tuple[float, ...] | None = None + self._published_gripper_mm: float | None = None + self._staged_position: tuple[float, ...] | None = None + self._forwarded_position: tuple[float, ...] | None = None + self._accepted_action_count = 0 + self._joint_pub = rospy.Publisher( + "/arm_joint_target_position", joint_state_type, queue_size=1 + ) + self._arm_command_pub = rospy.Publisher(HOST_COMMAND_TOPIC, arm_control_type, queue_size=1) + self._gripper_pub = rospy.Publisher( + "/gripper_position_control_host", gripper_type, queue_size=1 + ) + rospy.Subscriber("/joint_states_host", joint_state_type, self._on_joint, queue_size=1) + rospy.Subscriber("/gripper_stroke_host", joint_state_type, self._on_gripper, queue_size=1) + rospy.Subscriber("/arm_status_host", status_type, self._on_status, queue_size=1) + self._staged_sub = rospy.Subscriber( + STAGED_COMMAND_TOPIC, arm_control_type, self._on_staged, queue_size=1 + ) + self._joint_state_type = joint_state_type + self._gripper_type = gripper_type + + def configure(self, config: dict[str, Any]) -> None: + """Install the validated client contract while keeping motion locked.""" + with self._lock: + self._relay_config = config + self._relay_state = "LOCKED" + self._relay_fault = "" + self._activation_target = None + self._activation_deadline = 0.0 + self._published_target = None + self._published_gripper_mm = None + self._staged_position = None + self._forwarded_position = None + self._accepted_action_count = 0 + + def _on_joint(self, msg: Any) -> None: + try: + position = self._ordered(msg.name, msg.position, "position") + velocity = self._ordered_optional(msg.name, msg.velocity) + effort = self._ordered_optional(msg.name, msg.effort) + except ValueError as exc: + self._rospy.logerr("invalid /joint_states_host: %s", exc) + return + with self._lock: + self._joint = (position, velocity, effort, msg.header.stamp.to_nsec()) + self._joint_updated = time.monotonic() + + def _on_gripper(self, msg: Any) -> None: + if not msg.position or not math.isfinite(float(msg.position[0])): + return + with self._lock: + self._gripper_mm = float(msg.position[0]) + self._gripper_updated = time.monotonic() + + def _on_status(self, msg: Any) -> None: + codes = tuple(int(item.error_code) for item in msg.data.motor_errors) + if len(codes) < 7: + self._rospy.logerr("invalid /arm_status_host: expected 7 motors, got %d", len(codes)) + return + if any(code < 0 or code > MAX_STATUS_MASK for code in codes): + self._rospy.logerr("invalid /arm_status_host: motor code outside uint32 range") + return + with self._lock: + self._status = codes + self._status_updated = time.monotonic() + + def _on_staged(self, msg: Any) -> None: + try: + position = self._decode_tracker_command(msg) + except (AttributeError, OverflowError, TypeError, ValueError) as exc: + self._latch_relay_fault(str(exc)) + return + + now = time.monotonic() + output = None + with self._lock: + self._staged_position = position + config = self._relay_config + target = self._activation_target + joint = self._joint + status = self._status + feedback_age = now - self._joint_updated + status_age = now - self._status_updated + position_in_command_limits = all( + lower <= value <= upper for value, (lower, upper) in zip(position, JOINT_LIMITS) + ) + if not position_in_command_limits: + tolerance = config["feedback_limit_tolerance"] if config is not None else 0.0 + position_in_feedback_limits = all( + lower - tolerance <= value <= upper + tolerance + for value, (lower, upper) in zip(position, JOINT_LIMITS) + ) + # The official tracker starts its interpolation at measured + # feedback. Encoder zero/quantization can put that sample just + # beyond a nominal endpoint even though the requested target + # has already been projected to the exact command limit. + # Keep such samples staged while ARMING; they are never + # forwarded to the host command topic. Any larger excursion, + # or any out-of-range command after activation, remains a + # fail-closed relay fault. + if self._relay_state == "ARMING" and position_in_feedback_limits: + return + for name, value, (lower, upper) in zip(JOINT_NAMES, position, JOINT_LIMITS): + if not lower <= value <= upper: + self._latch_relay_fault_locked( + f"tracker command {name}={value:.6f} is outside " + f"[{lower:.6f}, {upper:.6f}]" + ) + return + if ( + config is not None + and target is not None + and joint is not None + and status is not None + and feedback_age <= config["state_timeout"] + and status_age <= config["status_timeout"] + ): + try: + self._check_status(status, config) + except RuntimeError as exc: + self._latch_relay_fault_locked(str(exc)) + else: + current = joint[0] + for name, value, lower, upper in zip( + JOINT_NAMES, + current, + config["joint_position_min"], + config["joint_position_max"], + ): + tolerance = config["feedback_limit_tolerance"] + if not lower - tolerance <= value <= upper + tolerance: + self._latch_relay_fault_locked( + f"{name} feedback {value:.6f} is outside " + f"[{lower:.6f}, {upper:.6f}] by more than " + f"{tolerance:.3f} rad" + ) + return + target_error = max(abs(a - b) for a, b in zip(position, target)) + feedback_error = max(abs(a - b) for a, b in zip(position, current)) + if ( + self._relay_state == "ARMING" + and target_error <= config["alignment"] + and feedback_error <= config["alignment"] + ): + self._relay_state = "ACTIVE" + self._rospy.logwarn( + "OpenRAL A1 relay ACTIVE after staged hold alignment " + "(target %.6f rad, feedback %.6f rad)", + target_error, + feedback_error, + ) + if self._relay_state == "ACTIVE": + output = copy.deepcopy(msg) + self._forwarded_position = position + if output is not None: + output.header.stamp = self._rospy.Time.now() + self._arm_command_pub.publish(output) + + @staticmethod + def _decode_tracker_command(msg: Any) -> tuple[float, ...]: + vectors = { + "p_des": msg.p_des, + "v_des": msg.v_des, + "kp": msg.kp, + "kd": msg.kd, + "t_ff": msg.t_ff, + } + decoded: dict[str, tuple[float, ...]] = {} + for label, values in vectors.items(): + if len(values) != len(JOINT_NAMES): + raise ValueError( + f"tracker command {label} has {len(values)} values, " + f"need exactly {len(JOINT_NAMES)}" + ) + decoded[label] = tuple(float(value) for value in values) + if not all(math.isfinite(value) for value in decoded[label]): + raise ValueError(f"tracker command {label} contains non-finite values") + if any(value < 0.0 for value in decoded["kp"]): + raise ValueError("tracker command kp contains negative gains") + if any(value < 0.0 for value in decoded["kd"]): + raise ValueError("tracker command kd contains negative gains") + if isinstance(msg.mode, bool) or not isinstance(msg.mode, int): + raise ValueError(f"tracker command mode is not an integer: {msg.mode!r}") + if msg.mode not in TRACKER_ALLOWED_MODES: + raise ValueError( + f"tracker command mode {msg.mode} is not allowed; " + f"expected one of {list(TRACKER_ALLOWED_MODES)}" + ) + return decoded["p_des"] + + def _latch_relay_fault(self, reason: str) -> None: + with self._lock: + self._latch_relay_fault_locked(reason) + + def _latch_relay_fault_locked(self, reason: str) -> None: + if not self._relay_fault: + self._relay_fault = reason + self._relay_state = "FAULT" + self._rospy.logerr("OpenRAL A1 relay FAULT: %s", reason) + + @staticmethod + def _ordered(names: Sequence[str], values: Sequence[float], label: str) -> tuple[float, ...]: + if len(values) < len(JOINT_NAMES): + raise ValueError(f"{label} has {len(values)} values") + if names: + if len(names) != len(set(names)): + raise ValueError("duplicate joint names") + by_name = dict(zip(names, values)) + missing = [name for name in JOINT_NAMES if name not in by_name] + if missing: + raise ValueError(f"missing joints {missing!r}") + result = tuple(float(by_name[name]) for name in JOINT_NAMES) + else: + result = tuple(float(value) for value in values[: len(JOINT_NAMES)]) + if not all(math.isfinite(value) for value in result): + raise ValueError(f"{label} contains non-finite values") + return result + + @classmethod + def _ordered_optional(cls, names: Sequence[str], values: Sequence[float]) -> tuple[float, ...]: + if not values: + return () + return cls._ordered(names, values, "optional vector") + + def ready(self) -> bool: + with self._lock: + return ( + self._joint is not None + and self._gripper_mm is not None + and self._status is not None + ) + + def command_paths_ready(self) -> bool: + """Return whether staged and host command consumers are connected.""" + return bool( + self._joint_pub.get_num_connections() > 0 + and self._staged_sub.get_num_connections() > 0 + and self._arm_command_pub.get_num_connections() > 0 + and self._gripper_pub.get_num_connections() > 0 + ) + + def relay_state(self) -> str: + with self._lock: + return self._relay_state + + def state(self, config: dict[str, Any]) -> dict[str, Any]: + with self._lock: + joint = self._joint + gripper_mm = self._gripper_mm + status = self._status + updated = (self._joint_updated, self._gripper_updated, self._status_updated) + relay_state = self._relay_state + relay_fault = self._relay_fault + activation_deadline = self._activation_deadline + staged_position = self._staged_position + forwarded_position = self._forwarded_position + accepted_action_count = self._accepted_action_count + if joint is None or gripper_mm is None or status is None: + raise RuntimeError("hardware feedback is incomplete") + now = time.monotonic() + if relay_fault: + raise RuntimeError(f"command relay fault: {relay_fault}") + if relay_state == "ARMING" and now > activation_deadline: + self._latch_relay_fault( + f"tracker did not align its staged hold within " + f"{config['tracker_alignment_timeout']:.3f} s" + ) + raise RuntimeError("command relay fault: tracker staged-hold alignment timed out") + if now - updated[0] > config["state_timeout"]: + raise RuntimeError("joint feedback is stale") + if now - updated[1] > config["state_timeout"]: + raise RuntimeError("gripper feedback is stale") + if now - updated[2] > config["status_timeout"]: + raise RuntimeError("motor status is stale") + position, velocity, effort, stamp_ns = joint + for name, value, lower, upper in zip( + JOINT_NAMES, + position, + config["joint_position_min"], + config["joint_position_max"], + ): + tolerance = config["feedback_limit_tolerance"] + if not lower - tolerance <= value <= upper + tolerance: + raise RuntimeError( + f"{name} feedback {value:.6f} is outside [{lower:.6f}, {upper:.6f}] " + f"by more than {tolerance:.3f} rad" + ) + self._check_status(status, config) + gripper_norm = (gripper_mm - config["gripper_min"]) / ( + config["gripper_max"] - config["gripper_min"] + ) + if not 0.0 <= gripper_norm <= 1.0: + raise RuntimeError(f"gripper feedback {gripper_mm:.3f} mm is outside configured range") + return { + "op": "state", + "name": list(JOINT_NAMES), + "position": list(position), + "velocity": list(velocity), + "effort": list(effort), + "stamp_ns": int(stamp_ns), + "status_codes": list(status), + "gripper_norm": gripper_norm, + "relay_state": relay_state, + "staged_position": list(staged_position or ()), + "forwarded_position": list(forwarded_position or ()), + "accepted_action_count": accepted_action_count, + } + + def apply( + self, packet: dict[str, Any], config: dict[str, Any], first_joint_command: bool + ) -> bool: + state = self.state(config) + self._check_status(state["status_codes"], config) + target = packet.get("joint_targets") + if target is not None: + if not isinstance(target, list) or len(target) != len(JOINT_NAMES): + raise ValueError("joint_targets must contain six values") + target = tuple(float(value) for value in target) + if not all(math.isfinite(value) for value in target): + raise ValueError("joint target contains a non-finite value") + for name, value, lower, upper in zip( + JOINT_NAMES, + target, + config["joint_position_min"], + config["joint_position_max"], + ): + if not lower <= value <= upper: + raise ValueError( + f"{name} target {value:.6f} is outside [{lower:.6f}, {upper:.6f}]" + ) + with self._lock: + relay_state = self._relay_state + bound = ( + config["alignment"] + if first_joint_command or relay_state == "ARMING" + else config["max_step"] + ) + if any(abs(target[i] - state["position"][i]) > bound for i in range(len(JOINT_NAMES))): + raise ValueError(f"joint target exceeds {bound:.3f} rad feedback-relative bound") + if first_joint_command: + with self._lock: + self._relay_state = "ARMING" + self._activation_target = target + self._activation_deadline = ( + time.monotonic() + config["tracker_alignment_timeout"] + ) + elif relay_state == "ARMING": + # Closed-loop IK recomputes a feedback-relative substep on + # every tick, so encoder noise can move the target slightly + # while the official tracker is still converging. Keep the + # original bounded deadline, but align against the latest + # target. Every ARMING target remains subject to the tighter + # initial-alignment bound above. + with self._lock: + self._activation_target = target + elif relay_state != "ACTIVE": + raise RuntimeError(f"command relay is not ACTIVE: {relay_state}") + with self._lock: + publish_target = self._published_target != target + if publish_target: + self._published_target = target + if publish_target: + msg = self._joint_state_type() + msg.header.stamp = self._rospy.Time.now() + msg.header.frame_id = "base_link" + msg.name = list(JOINT_NAMES) + msg.position = list(target) + self._joint_pub.publish(msg) + first_joint_command = False + gripper = packet.get("gripper") + if gripper is not None: + gripper = float(gripper) + if not math.isfinite(gripper) or not 0.0 <= gripper <= 1.0: + raise ValueError("gripper must be within [0, 1]") + gripper_mm = config["gripper_min"] + gripper * ( + config["gripper_max"] - config["gripper_min"] + ) + with self._lock: + publish_gripper = self._published_gripper_mm != gripper_mm + if publish_gripper: + self._published_gripper_mm = gripper_mm + if publish_gripper: + msg = self._gripper_type() + msg.header.stamp = self._rospy.Time.now() + msg.gripper_stroke = gripper_mm + self._gripper_pub.publish(msg) + if target is None and gripper is None: + raise ValueError("action has no joint_targets or gripper") + with self._lock: + self._accepted_action_count += 1 + return first_joint_command + + @staticmethod + def _check_status(codes: Sequence[int], config: dict[str, Any]) -> None: + for index, code in enumerate(codes[: GRIPPER_STATUS_INDEX + 1]): + allowed = config["idle_mask"] | ( + config["gripper_mask"] if index == GRIPPER_STATUS_INDEX else 0 + ) + if int(code) & ~allowed: + raise RuntimeError(f"actuator {index + 1} reports error code {code}") + + +def _send(conn: socket.socket, message: dict[str, Any]) -> None: + conn.sendall(json.dumps(message, separators=(",", ":"), allow_nan=False).encode() + b"\n") + + +def _hello_config(packet: dict[str, Any]) -> dict[str, Any]: + if packet.get("op") != "hello" or packet.get("protocol") != PROTOCOL_VERSION: + raise ValueError("expected OpenRAL Galaxea A1 protocol hello v1") + if packet.get("robot") != "galaxea_a1": + raise ValueError("robot identity mismatch") + if packet.get("joint_names") != list(JOINT_NAMES): + raise ValueError("joint_names mismatch") + joint_min = tuple(float(value) for value in packet["joint_position_min"]) + joint_max = tuple(float(value) for value in packet["joint_position_max"]) + if len(joint_min) != len(JOINT_NAMES) or len(joint_max) != len(JOINT_NAMES): + raise ValueError("joint position limits must contain six lower and upper values") + if any( + not math.isfinite(lower) or not math.isfinite(upper) or lower >= upper + for lower, upper in zip(joint_min, joint_max) + ): + raise ValueError("joint position limits must be finite ordered pairs") + if tuple(zip(joint_min, joint_max)) != JOINT_LIMITS: + raise ValueError("joint position limits do not match the sidecar's official A1 limits") + idle_mask = packet["idle_timeout_error_mask"] + gripper_mask = packet["gripper_ignored_error_mask"] + if any( + isinstance(value, bool) or not isinstance(value, int) for value in (idle_mask, gripper_mask) + ): + raise ValueError("motor status masks must be integers") + config: dict[str, Any] = { + "alignment": float(packet["initial_alignment_tolerance_rad"]), + "max_step": float(packet["max_target_step_rad"]), + "lease": float(packet["command_lease_s"]), + "state_timeout": float(packet["state_timeout_s"]), + "status_timeout": float(packet["status_timeout_s"]), + "feedback_limit_tolerance": float(packet["feedback_limit_tolerance_rad"]), + "tracker_alignment_timeout": float(packet["tracker_alignment_timeout_s"]), + "idle_mask": idle_mask, + "gripper_mask": gripper_mask, + "gripper_min": float(packet["gripper_stroke_min_mm"]), + "gripper_max": float(packet["gripper_stroke_max_mm"]), + "joint_position_min": joint_min, + "joint_position_max": joint_max, + } + positive = ( + "alignment", + "max_step", + "lease", + "state_timeout", + "status_timeout", + "tracker_alignment_timeout", + ) + if any(not math.isfinite(config[key]) or config[key] <= 0.0 for key in positive): + raise ValueError("motion limits and command lease must be positive") + if ( + not math.isfinite(config["feedback_limit_tolerance"]) + or config["feedback_limit_tolerance"] < 0.0 + ): + raise ValueError("feedback limit tolerance must be finite and non-negative") + if ( + not math.isfinite(config["gripper_min"]) + or not math.isfinite(config["gripper_max"]) + or config["gripper_max"] <= config["gripper_min"] + ): + raise ValueError("invalid gripper range") + if any( + isinstance(config[key], bool) or not 0 <= config[key] <= MAX_STATUS_MASK + for key in ("idle_mask", "gripper_mask") + ): + raise ValueError("motor status masks must be uint32 values") + return config + + +def _serve( + listener: socket.socket, + bridge: Bridge, + rospy: Any, + stop_stack: Callable[[], None], +) -> None: + conn, address = listener.accept() + rospy.loginfo("OpenRAL client connected from %s:%d", *address) + conn.setblocking(False) + buffer = b"" + config = None + last_command = None + first_joint_command = True + last_state_send = 0.0 + while not rospy.is_shutdown(): + readable, _, _ = select.select([conn], [], [], 0.01) + if readable: + chunk = conn.recv(65536) + if not chunk: + return + buffer += chunk + while b"\n" in buffer: + line, buffer = buffer.split(b"\n", 1) + if not line: + continue + packet = json.loads(line) + if config is None: + config = _hello_config(packet) + bridge.configure(config) + _send( + conn, + {"op": "hello", "protocol": PROTOCOL_VERSION, "robot": "galaxea_a1"}, + ) + elif packet.get("op") == "action": + first_joint_command = bridge.apply(packet, config, first_joint_command) + last_command = time.monotonic() + elif packet.get("op") == "estop": + stop_stack() + _send(conn, {"op": "estopped"}) + return + else: + raise ValueError(f"unsupported operation {packet.get('op')!r}") + # Drain a readable packet before evaluating the lease. The ROS tracker + # callback may briefly starve this thread while the relay transitions + # ARMING -> ACTIVE; current actions or an e-stop can already be buffered + # on the socket at that point. Checking first would fault on an old + # timestamp without consuming the fresh safety input. + now = time.monotonic() + if ( + config is not None + and last_command is not None + and bridge.relay_state() == "ACTIVE" + and now - last_command > config["lease"] + ): + raise RuntimeError("command lease expired after %.3f s" % (now - last_command)) + if config is not None and now - last_state_send >= 0.02: + _send(conn, bridge.state(config)) + last_state_send = now + + +def _wait_for(predicate: Callable[[], bool], timeout_s: float, label: str) -> None: + deadline = time.monotonic() + timeout_s + while time.monotonic() < deadline: + if predicate(): + return + time.sleep(0.05) + raise RuntimeError(f"timed out waiting for {label}") + + +def _port_is_open(host: str, port: int) -> bool: + with socket.socket() as probe: + probe.settimeout(0.1) + return probe.connect_ex((host, port)) == 0 + + +def main() -> int: + parser = argparse.ArgumentParser() + parser.add_argument("--bind", default="127.0.0.1") + parser.add_argument("--port", type=int, default=46011) + parser.add_argument("--serial", default="/dev/a1") + parser.add_argument("--startup-timeout-s", type=float, default=20.0) + args = parser.parse_args() + + stack = Stack() + listener = None + try: + if _port_is_open("127.0.0.1", 11311): + raise RuntimeError("ROS master port 11311 is already occupied inside the sidecar") + roscore = stack.start(["roscore"]) + _wait_for( + lambda: roscore.poll() is None and _port_is_open("127.0.0.1", 11311), + args.startup_timeout_s, + "ROS master", + ) + import rospy # type: ignore[import-not-found] # reason: provided by ROS 1 Noetic sidecar + from sensor_msgs.msg import JointState + from signal_arm.msg import ( # type: ignore[import-not-found] # reason: operator-provided vendor SDK + arm_control, + gripper_position_control, + status_stamped, + ) + + rospy.init_node("openral_galaxea_a1_sidecar", disable_signals=True) + bridge = Bridge( + rospy, + JointState, + status_stamped, + gripper_position_control, + arm_control, + ) + driver = stack.start(_driver_argv(args.serial)) + _wait_for( + lambda: driver.poll() is None and bridge.ready(), + args.startup_timeout_s, + "fresh A1 feedback and motor status", + ) + tracker_parameters = _tracker_parameters(os.environ["A1_SDK_ROOT"]) + missing_tracker_assets = [ + value + for key, value in tracker_parameters.items() + if key.endswith(("taskFile", "urdfFile", "libFolder")) and not os.path.exists(value) + ] + if missing_tracker_assets: + raise RuntimeError(f"A1 SDK tracker assets are missing: {missing_tracker_assets!r}") + for name, value in tracker_parameters.items(): + rospy.set_param(name, value) + tracker = stack.start(_tracker_argv()) + _wait_for( + lambda: tracker.poll() is None and bridge.command_paths_ready(), + args.startup_timeout_s, + "A1 joint tracker and gripper command subscribers", + ) + listener = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + listener.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + listener.bind((args.bind, args.port)) + listener.listen(1) + print(f"OpenRAL Galaxea A1 sidecar ready on {args.bind}:{args.port}", flush=True) + _serve(listener, bridge, rospy, stack.stop) + return 0 + except KeyboardInterrupt: + return 130 + except Exception as exc: + print(f"Galaxea A1 sidecar fault: {exc}", file=sys.stderr, flush=True) + return 1 + finally: + if listener is not None: + listener.close() + stack.stop() + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/tools/run_galaxea_a1_sidecar.sh b/tools/run_galaxea_a1_sidecar.sh new file mode 100755 index 0000000..70a8ada --- /dev/null +++ b/tools/run_galaxea_a1_sidecar.sh @@ -0,0 +1,134 @@ +#!/usr/bin/env bash +set -euo pipefail + +usage() { + echo "usage: $0 --image IMAGE --sdk-root ABS_PATH [--serial /dev/a1] [--port 46011] [--check-only]" >&2 +} + +image="" +sdk_root="" +serial="/dev/a1" +port="46011" +check_only="false" +while (( $# > 0 )); do + case "$1" in + --image) image="${2:-}"; shift 2 ;; + --sdk-root) sdk_root="${2:-}"; shift 2 ;; + --serial) serial="${2:-}"; shift 2 ;; + --port) port="${2:-}"; shift 2 ;; + --check-only) check_only="true"; shift ;; + *) usage; exit 2 ;; + esac +done + +if [[ -z "${image}" || "${sdk_root}" != /* || ! -f "${sdk_root}/install/setup.bash" ]]; then + usage + exit 2 +fi +if [[ ! -e "${serial}" ]]; then + echo "serial device does not exist: ${serial}" >&2 + exit 2 +fi +if [[ ! "${port}" =~ ^[0-9]+$ ]] || (( port < 1 || port > 65535 )); then + echo "sidecar port must be an integer in [1, 65535]: ${port}" >&2 + exit 2 +fi +if ! command -v docker >/dev/null 2>&1; then + echo "docker is not installed or not on PATH" >&2 + exit 1 +fi +if ! docker image inspect "${image}" >/dev/null 2>&1; then + echo "sidecar image is not available locally: ${image}" >&2 + exit 1 +fi +if [[ ! -f "${sdk_root}/install/share/signal_arm/launch/single_arm_node.launch" ]]; then + echo "A1 SDK is missing signal_arm/single_arm_node.launch: ${sdk_root}" >&2 + exit 1 +fi +tracker_binary="${sdk_root}/install/lib/mobiman/jointTracker_demo_node" +tracker_share="${sdk_root}/install/share/mobiman" +tracker_source="${tracker_share}/auto_generated/x1_robot" +for required in \ + "${tracker_binary}" \ + "${tracker_share}/config/task.info" \ + "${tracker_share}/urdf/A1/urdf/A1_URDF_0607_0028.urdf" \ + "${tracker_source}"; do + if [[ ! -e "${required}" ]]; then + echo "A1 SDK tracker dependency is missing: ${required}" >&2 + exit 1 + fi +done +if command -v fuser >/dev/null 2>&1 && fuser "${serial}" >/dev/null 2>&1; then + echo "serial device is already owned by another process: ${serial}" >&2 + exit 1 +fi +if command -v ss >/dev/null 2>&1 && ss -H -ltn "sport = :${port}" | grep -q .; then + echo "sidecar TCP port is already listening on the host: ${port}" >&2 + exit 1 +fi +if docker container inspect openral-galaxea-a1-sidecar >/dev/null 2>&1; then + echo "container name is already in use: openral-galaxea-a1-sidecar" >&2 + exit 1 +fi + +lock_name="${serial//\//_}" +lock_path="/tmp/openral-galaxea-a1-${lock_name}.lock" +exec 9>"${lock_path}" +if command -v flock >/dev/null 2>&1 && ! flock -n 9; then + echo "another OpenRAL A1 sidecar launcher holds ${lock_path}" >&2 + exit 1 +fi + +cache_base="${XDG_CACHE_HOME:-${HOME}/.cache}" +if [[ "${cache_base}" != /* ]]; then + echo "XDG_CACHE_HOME must be absolute when set: ${cache_base}" >&2 + exit 2 +fi +tracker_cache_parent="${cache_base}/openral/galaxea-a1" +tracker_cache="${tracker_cache_parent}/x1_robot" +cache_probe="${tracker_cache_parent}" +while [[ ! -e "${cache_probe}" ]]; do + cache_probe="$(dirname "${cache_probe}")" +done +if [[ ! -d "${cache_probe}" || ! -w "${cache_probe}" ]]; then + echo "tracker cache parent is not writable: ${cache_probe}" >&2 + exit 1 +fi + +if [[ "${check_only}" == "true" ]]; then + echo "Galaxea A1 sidecar preflight passed" + echo " image: ${image}" + echo " SDK: ${sdk_root}" + echo " tracker cache: ${tracker_cache}" + echo " serial: ${serial}" + echo " TCP: 127.0.0.1:${port}" + exit 0 +fi + +if [[ ! -d "${tracker_cache}" ]]; then + mkdir -p "${tracker_cache_parent}" + tracker_cache_seed="$(mktemp -d "${tracker_cache_parent}/.x1_robot.seed.XXXXXX")" + cp -a "${tracker_source}/." "${tracker_cache_seed}/" + mv "${tracker_cache_seed}" "${tracker_cache}" +fi +if [[ ! -w "${tracker_cache}" ]]; then + echo "tracker cache is not writable: ${tracker_cache}" >&2 + exit 1 +fi + +repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +exec docker run --rm --name openral-galaxea-a1-sidecar \ + --network bridge \ + --publish "127.0.0.1:${port}:${port}" \ + --device "${serial}:${serial}" \ + -e A1_SDK_ROOT=/opt/galaxea/A1_SDK \ + -e ROS_MASTER_URI=http://127.0.0.1:11311 \ + -e ROS_HOSTNAME=127.0.0.1 \ + -v "${sdk_root}:/opt/galaxea/A1_SDK:ro" \ + -v "${tracker_cache}:/opt/galaxea/A1_SDK/install/share/mobiman/auto_generated/x1_robot:rw" \ + -v "${repo_root}/tools/galaxea_a1_ros1_sidecar.py:/opt/openral/galaxea_a1_ros1_sidecar.py:ro" \ + "${image}" \ + python3 /opt/openral/galaxea_a1_ros1_sidecar.py \ + --bind 0.0.0.0 \ + --serial "${serial}" \ + --port "${port}" diff --git a/uv.lock b/uv.lock index 9c979df..f074e84 100644 --- a/uv.lock +++ b/uv.lock @@ -3040,6 +3040,7 @@ libero = [ lingbot = [ { name = "msgpack" }, { name = "pyzmq" }, + { name = "websockets" }, ] locateanything = [ { name = "msgpack" }, @@ -3181,6 +3182,7 @@ libero = [ lingbot = [ { name = "msgpack", specifier = ">=1" }, { name = "pyzmq", specifier = ">=25" }, + { name = "websockets", specifier = ">=15" }, ] locateanything = [ { name = "msgpack", specifier = ">=1" }, From 2adb2420410684d6768372a134cd5705837aea17 Mon Sep 17 00:00:00 2001 From: PengYue Date: Sat, 25 Jul 2026 20:24:47 +0800 Subject: [PATCH 02/10] fix(hal): harden Galaxea A1 deployment Signed-off-by: PengYue --- docs/architecture/repo-state-map.html | 2 +- .../galaxea-a1-lingbot-lemon-placement.gif | Bin 0 -> 1871734 bytes docs/methods/00-core-schemas.md | 6 +- docs/methods/01-hal.md | 47 +- docs/methods/07-eval-sim.md | 28 + docs/reference/schemas/BenchmarkScene.json | 17 +- docs/reference/schemas/DeployScene.json | 17 +- docs/reference/schemas/RSkillManifest.json | 2 + docs/reference/schemas/RobotDescription.json | 5 +- docs/reference/schemas/SensorBundle.json | 5 +- .../schemas/SensorDeployBinding.json | 5 +- .../schemas/SensorReaderBackend.json | 3 +- .../reference/schemas/SensorReaderConfig.json | 5 +- docs/reference/schemas/SensorSpec.json | 5 +- docs/reference/schemas/SimScene.json | 17 +- docs/reference/schemas/all.json | 81 +- packages/openral_hal_galaxea_a1/README.md | 3 + packages/openral_hal_galaxea_a1/package.xml | 6 +- .../openral_rskill_ros/rskill_runner_node.py | 4 +- .../openral_rskill_ros/sensor_leg.py | 50 +- .../openral_rskill_ros/scripts/runtime_node | 16 +- python/core/src/openral_core/schemas.py | 11 +- python/hal/README.md | 2 +- python/hal/src/openral_hal/galaxea_a1.py | 44 +- .../src/openral_sensors/ros_publisher.py | 35 +- .../src/openral_sim/policies/lingbot_va_a1.py | 175 +- python/sim/src/openral_sim/policy_deps.py | 6 +- robots/galaxea_a1/robot.yaml | 21 +- .../README.md | 39 +- .../rskill.yaml | 11 +- tests/hil/test_galaxea_a1.py | 4 +- tests/hil/test_galaxea_a1_deploy.py | 2 +- tests/unit/test_eval_registry_and_runner.py | 2 +- tests/unit/test_galaxea_a1.py | 118 +- tests/unit/test_sensor_leg.py | 72 +- tests/unit/test_sensor_ros_publisher.py | 17 + tests/unit/test_skill_runner_camera_slots.py | 69 +- uv.lock | 3502 ++++++++--------- 38 files changed, 2501 insertions(+), 1953 deletions(-) create mode 100644 docs/assets/galaxea-a1-lingbot-lemon-placement.gif diff --git a/docs/architecture/repo-state-map.html b/docs/architecture/repo-state-map.html index d58509b..ca8c63e 100644 --- a/docs/architecture/repo-state-map.html +++ b/docs/architecture/repo-state-map.html @@ -704,7 +704,7 @@

Schemas registry

title: "HAL · Galaxea A1 (real-HW)", pkg: "python/hal · galaxea_a1.py · tools/galaxea_a1_ros1_sidecar.py · docker/galaxea_a1_sidecar · packages/openral_hal_galaxea_a1", status: "yellow", - desc: "Real-only six-axis A1 HAL over an isolated ROS 1 Noetic sidecar. The operator provides the official SDK; OpenRAL bundles no vendor code. A background loopback transport keeps network I/O off the HAL hot path. The sidecar owns roscore + official serial driver + joint tracker and stops the full process group on command-lease expiry, disconnect, motor fault, or e-stop. Its locked staged-command relay blocks the tracker's compiled startup pose until it aligns with fresh measured feedback. Manifest at robots/galaxea_a1/robot.yaml; unit, socket, ROS lifecycle, and read-only preflight coverage are complete. Real HIL has passed observation, current hold, a bounded 0.01 rad joint round trip, a 10 mm gripper round trip, and current hold through candidate_action → the C++ kernel → safe_action → the real HAL. The LingBot-VA A1 rSkill consumes the external A1 Runtime's public paired-camera/model/EEF-IK contracts, explicitly subdivides IK solutions by the manifest-owned HAL step limit, and returns typed joint + gripper actions to the same OpenRAL safety path.", + desc: "Real-only six-axis A1 HAL over an isolated ROS 1 Noetic sidecar. The operator provides the official SDK; OpenRAL bundles no vendor code. A background transport accepts only literal IPv4 loopback endpoints and keeps network I/O off the HAL hot path. The sidecar owns roscore + official serial driver + joint tracker and stops the full process group on command-lease expiry, disconnect, motor fault, or e-stop. Its locked staged-command relay blocks the tracker's compiled startup pose until it aligns with fresh measured feedback. The manifest at robots/galaxea_a1/robot.yaml includes the official URDF's joint axes and transforms; collision primitives remain uncommitted pending cleared lowering provenance. Unit, socket, ROS lifecycle, and read-only preflight coverage are complete. Real HIL has passed observation, current hold, a bounded 0.01 rad joint round trip, a 10 mm gripper round trip, and current hold through candidate_action → the C++ kernel → safe_action → the real HAL. The LingBot-VA A1 rSkill consumes the external A1 Runtime's paired-camera/model/EEF-IK contracts, explicitly subdivides IK solutions by its own policy_extras bound under the independent HAL ceiling, and returns typed joint + gripper actions to the same OpenRAL safety path.", inputs: ["Action (6-D + gripper)", "/joint_states_host", "/arm_status_host"], outputs: ["/arm_joint_target_position", "/gripper_position_control_host", "JointState"], schemas: ["RobotDescription", "JointState", "Action"], diff --git a/docs/assets/galaxea-a1-lingbot-lemon-placement.gif b/docs/assets/galaxea-a1-lingbot-lemon-placement.gif new file mode 100644 index 0000000000000000000000000000000000000000..2683f64cfd4dff4f80751aba6d0a2171b2a218ca GIT binary patch literal 1871734 zcmeF2RaBH;+_s-*hL|CT9=f}`We8#D?r@|*q*Fj=C@FF1?pC^_!~u~;DFF#ZLO@X| z6-4Fzf5+e9cl53GuC@2t=l9;flY3v6p1!V<@@;SMA@B>32Ce}jI5C`#nv98&l9i2) zgOi?#ik*XzLx77{fLlAhtQ$|7x3IYJYeMv;j z{NE||-v<8Am?ZxHJ|wVfzzs(44ShHq52F)tnrN$h`4B<5R)B7=8jVvD(DmzedpMlI 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+- python/core/src/openral_core/schemas.py | 15 +- python/runner/pyproject.toml | 1 + .../backends/galaxea_a1_camera_bridge.py | 297 ++++---- .../openral_runner/backends/galaxea_a1_ipc.py | 169 +++++ python/runner/src/openral_runner/factory.py | 39 +- .../src/openral_sim/policies/lingbot_va_a1.py | 641 +++++------------- python/sim/src/openral_sim/policy_deps.py | 4 +- .../README.md | 32 +- .../rskill.yaml | 7 +- scenes/deploy/galaxea_a1_bench.yaml | 6 +- tests/unit/test_galaxea_a1.py | 278 ++------ uv.lock | 2 + 17 files changed, 650 insertions(+), 950 deletions(-) create mode 100644 python/runner/src/openral_runner/backends/galaxea_a1_ipc.py diff --git a/docs/methods/00-core-schemas.md b/docs/methods/00-core-schemas.md index c133413..b3867e9 100644 --- a/docs/methods/00-core-schemas.md +++ b/docs/methods/00-core-schemas.md @@ -66,7 +66,7 @@ _openral schema v0 — normative Pydantic v2 contracts for all layers._ - `class ComputeSpec(BaseModel)` — Compute profile for one deployment tier (edge / local / cloud). Populated by `openral_detect._enrich_compute` from GPU probe results; attached to `RobotDescription.compute_edge`, `compute_local`, or `compute_cloud`. (L667) fields: `compute_tops, system_memory_gb, num_gpus, gpu_vram_gb, cuda_compute_capability, cuda_toolkit_version, tensorrt_version, gpu_supported_runtimes, gpu_supported_dtypes, nvmm_available, endpoint, network_latency_ms`. Shared across all three tiers — `endpoint` and `network_latency_ms` are `None` for edge/local. `nvmm_available` is probed on all tiers (returns `False` gracefully when absent). `num_gpus > 1` captures cloud multi-GPU pods. GPU/runtime fields moved here from `RobotCapabilities` to separate physical robot capabilities from host compute properties. - `supports_cumotion() -> bool` — True when the host meets the cuMotion (Isaac ROS) GPU floor: compute capability >= (8, 0), CUDA toolkit major >= 13, and `gpu_vram_gb` >= `_CUMOTION_MIN_VRAM_GIB` (7.5; nominal-8 GB cards report ~7.99 GiB). The MoveIt planner gate uses it to pick cuMotion vs OMPL. False on non-CUDA hosts or when the CUDA toolkit version is unknown. -- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8081) +- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8082) - `class RobotCapabilities(BaseModel)` — Physical capability flags for skill compatibility. (L760) fields: `locomotion, can_lift_kg, has_dexterous_hands, has_tactile, has_force_control, has_vision, has_lidar, has_vision_slam, has_audio, bimanual, supported_control_modes, supported_vla_embodiments, embodiment_tags`. GPU/compute fields moved to `ComputeSpec` (attached at `RobotDescription.compute`). **`has_vision_slam`** gates the camera-based cuVSLAM+nvblox SLAM backend for lidar-less robots; independent of `has_lidar` (lidar backend wins when both set). - `class SafetyEnvelope(BaseModel)` — Constraints enforced by C++ safety kernel. (L808) @@ -210,7 +210,7 @@ _Advisory, queryable Layer-2 world model the S2 Reasoner consults to recall wher - `WRAPPED_TASK_SPACE_LAYOUTS: frozenset[StateLayout]` — Subset of `StateLayout` covering Cartesian/FK-derived composites: `{rc365, human300_16d, libero_eef8d}`. These layouts REQUIRE `StateContract.bindings`; the cross-validator on `StateContract` enforces this at manifest load (`human300_16d`/`rc365` require `eef_frame`+`base_frame`; `libero_eef8d` requires `eef_frame`+`gripper_qpos_joints` — world-frame absolute EE pose, so no `base_frame`). Joint-space layouts (`smolvla_9d`, `gr1`, `simpler_*`) are excluded — they're served verbatim from raw `JointState.position`. - `StateContractBindings` (Pydantic model) — Per-robot source bindings for an rSkill's `state_contract.layout`. Fields: `eef_frame: str | None`, `base_frame: str | None`, `world_frame: str | None = "map"`, `gripper_qpos_joints: list[str]`, `quaternion_convention: Literal["xyzw","wxyz"] = "xyzw"`. Symmetric to `ControlModeSemantics` on the action side. Required when `StateContract.layout` is in `WRAPPED_TASK_SPACE_LAYOUTS`, forbidden otherwise. - `BenchmarkName` (TypeAlias = Literal[...]) — Closed canonical benchmark ids matching `benchmarks/*.yaml` suites (plus retained `aloha_insertion`/`aloha_transfer_cube` task-level ids cited by the act-aloha* manifests after the two suites were unified into `aloha.yaml`). Members: `aloha, aloha_insertion, aloha_transfer_cube, gr1_tabletop, libero_10, libero_goal, libero_object, libero_spatial, maniskill3_panda, metaworld_mt10, metaworld_mt50, pusht, rlbench, robocasa_pnp, robotwin, simpler_env_widowx`. (L2633) -- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","lingbot_va_a1","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1` (a separate V1 repo + transformers==4.51.3 / lerobot==0.4.2 venv). `lingbot_va_a1` is the Galaxea A1 EEF adapter for the separate LingBot-VA family; the task-specific Runtime config is carried by `policy_extras.runtime_config`, and the adapter lowers contract-checked EEF outputs to absolute joint/gripper actions before the OpenRAL safety boundary. `internvla_n1` (InternRobotics InternVLA-N1 / DualVLN, arXiv:2512.08186) is a dual-system vision-language **navigation** policy (Qwen2.5-VL-7B System-2 + NavDP DiT System-1); it runs out-of-process via a py3.11 ZMQ sidecar (upstream pins transformers 4.51) and emits a 6-D `BODY_TWIST` base velocity from RGB-D + instruction. (L2655) +- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","lingbot_va_a1","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1`. `lingbot_va_a1` connects to the Runtime-owned versioned policy gateway; Runtime owns model configuration, EEF/cache semantics, and IK while OpenRAL owns candidate-action safety and HAL execution. `internvla_n1` is a dual-system vision-language navigation policy that runs out-of-process and emits a 6-D `BODY_TWIST`. (L2655) - `RSkillKind` (TypeAlias = Literal["vla","wam","ros_action","ros_service","detector","vlm","reward","playbook"]) — Discriminator selecting the loader / runner branch. `"vla"` is today's learnable policy path; `"ros_action"` / `"ros_service"` route through `ROSActionRskill`; `"wam"` is reserved (loader rejects at resolve time); `"detector"` is a perception producer that runs an exported ONNX/TRT detection model and publishes `ObjectsMetadata` — emits no `Action`; `"vlm"` is a video-language model answering natural-language scene queries from camera frames — emits text, no actions/boxes, `role: s2` (reached via the read-only `query_scene` tool, not `ExecuteRskill`); `"reward"` is a progress/reward monitor; `"playbook"` is a symbolic, human-authored S2 decision procedure (Markdown SOP) the reasoner *reads* into its system prompt — no weights, actuators, or `Action`, `role: s2`. (L2752) **Pydantic models — skill benchmark results (`rskills//eval/.json`)** @@ -258,7 +258,7 @@ On-disk + runtime contracts for the hardware inference runner (`openral deploy - - `_decode_data(cls, value: Any) -> bytes | None` [@field_validator("data", mode="before")] — Accept raw `bytes` or a base64-encoded `str` on JSON parse. (L614) - `_encode_data(self, value: bytes | None) -> str | None` [@field_serializer("data", when_used="json")] — JSON-serialize the binary payload as base64. (L632) - `model_post_init(_context: object) -> None` — Cross-field validation: exactly one of `(data, topic, handle)` must be set. (L637) -- `class SensorReaderBackend(str, Enum)` — Which `SensorReader` implementation a sensor uses. Includes `galaxea_a1_camera_bridge`, which consumes the paired raw-frame owner exposed by an external A1 Runtime checkout without reopening either RealSense device. (L1691) +- `class SensorReaderBackend(str, Enum)` — Which `SensorReader` implementation a sensor uses. Includes `galaxea_a1_camera_bridge`, which consumes the versioned paired raw-frame owner exposed by an external A1 Runtime process without importing Runtime or reopening either RealSense device. (L1691) `OPENCV_THREAD, ROS2_IMAGE, GSTREAMER` - `class DeadlineOverrunPolicy(str, Enum)` — Behaviour when a tick exceeds `1 / rate_hz`. (L1706) `WARN, DROP, RAISE` diff --git a/docs/methods/01-hal.md b/docs/methods/01-hal.md index 82f1f1a..8829e2f 100644 --- a/docs/methods/01-hal.md +++ b/docs/methods/01-hal.md @@ -354,26 +354,27 @@ checkpoint-specific A1 rSkill. The dependency direction is deliberate: ```text A1 Camera Bridge -> OpenRAL WorldState -> LingBot-VA rSkill - -> A1 Runtime EEF validation + IK + -> A1 Runtime policy gateway (model contract + EEF/cache + IK) -> OpenRAL candidate_action -> C++ safety kernel -> safe_action -> GalaxeaA1HAL -> isolated ROS 1 sidecar -> official A1 driver ``` The A1 Runtime is a public capability provider, not a second controller: -start only its persistent camera owner and LingBot policy server. Do not start -its LingBot ROS execution bridge or A1 joint runtime while OpenRAL owns the -deployment. The rSkill owns its `policy_extras.max_joint_substep_rad` replay +start only its persistent camera owner, LingBot policy server, and OpenRAL +policy gateway. The gateway has no ROS imports or command publisher. Do not +start its LingBot ROS execution bridge or A1 joint runtime while OpenRAL owns +the deployment. The rSkill owns its `policy_extras.max_joint_substep_rad` replay setting and reads the independent `max_target_step_rad` ceiling from the same `RobotDescription` used to construct the HAL. Startup rejects a policy bound that exceeds either the HAL's live target-step ceiling or locked-relay alignment tolerance. The policy bound is 0.045 rad, below the 0.05 rad locked-relay alignment threshold; the independent HAL/sidecar live limit is -0.08 rad. The adapter also constructs the Runtime-provided IK implementation -with the active OpenRAL `RobotDescription`'s ordered command limits. Runtime -calibration bounds may be wider, but they cannot widen the typed OpenRAL, -safety-kernel, or official sidecar command envelope. +0.08 rad. The gateway constructs Runtime's IK implementation with the active +OpenRAL `RobotDescription`'s ordered command limits after verifying they are no +wider than Runtime's envelope. Runtime calibration margins therefore cannot +widen the typed OpenRAL, safety-kernel, or official sidecar command envelope. -The adapter emits one bounded target per 30 Hz control tick. When its IK +The gateway emits one bounded target per 30 Hz control tick. When its IK solution is farther than 0.045 rad from fresh feedback, it keeps advancing toward that same solved target on subsequent ticks and only consumes the next model action after the solved target has been dispatched. The FK of the actual @@ -388,6 +389,9 @@ reachability check, not a motor-command step limit. cd /absolute/path/to/A1-Research just cameras start scripts/apps/lingbot/a1_lingbot_runtime.sh server +uv run galaxea-a1-openral-policy \ + --config configs/deployments/lingbot/fruit_placement_eef.toml \ + --repo-root . # Terminal B — official ROS 1 sidecar, as in the bring-up section above. cd /absolute/path/to/OpenRAL @@ -398,7 +402,6 @@ tools/run_galaxea_a1_sidecar.sh \ # Terminal C — the complete OpenRAL real deployment. cd /absolute/path/to/OpenRAL -export OPENRAL_GALAXEA_A1_RUNTIME_ROOT=/absolute/path/to/A1-Research uv run --group lingbot openral deploy run \ --config scenes/deploy/galaxea_a1_bench.yaml ``` diff --git a/docs/methods/02-sensors.md b/docs/methods/02-sensors.md index 73db36b..f577ac6 100644 --- a/docs/methods/02-sensors.md +++ b/docs/methods/02-sensors.md @@ -55,9 +55,9 @@ _Sensor catalog — vendor-agnostic registry of `SensorSpec` / `SensorBundle` fa _Generalised sensor → ROS 2 image publisher; non-GStreamer fallback to `RosImagePublisher`._ - `class SensorRosPublisher(*, reader, topic, rate_hz, node_name=None, frame_id=None, qos_depth=5, camera_info=None, info_topic=None)` — Background-thread publisher that polls any `SensorReader.read_latest()` and republishes as `sensor_msgs/Image`. Lazy-imports rclpy; raises `RuntimeError` at `start()` with install hint when ROS 2 isn't sourced. Optional `CameraInfo` companion (from an `IntrinsicsPinhole`) with RELIABLE QoS on `info_topic` — `None` derives `/camera_info` (camera_info_manager convention); the deploy sensor leg overrides it to the OpenRAL sibling layout `/openral/cameras//camera_info` so real cameras match the sim HAL (mono visual SLAM subscribes there). Reader lifecycle (open/close) is owned by the caller. (L79) - - `start() -> None` — Init rclpy if needed, create publishers, spawn the pump thread. (L190) - - `stop() -> None` — Signal the pump thread, tear down publishers + node; idempotent. (L259) - - prop `is_started`, `n_published`, `n_stale_skipped`, `topic`, `info_topic` — Diagnostics surface consumed by the `openral_sensors_ros` lifecycle node. (L166) + - `start() -> None` — Init rclpy if needed, create publishers, spawn the pump thread. (L251) + - `stop() -> None` — Signal the pump thread, tear down publishers + node; idempotent. (L272) + - prop `is_started`, `n_published`, `n_stale_skipped`, `topic`, `info_topic` — Diagnostics surface consumed by the `openral_sensors_ros` lifecycle node. (L169) ### `python/sensors/src/openral_sensors/_reader_protocol.py` _Internal Protocol shim mirroring `openral_runner.SensorReader` to avoid a sensors↔runner import cycle._ diff --git a/docs/methods/05-inference-runner.md b/docs/methods/05-inference-runner.md index beb918c..8ba84b0 100644 --- a/docs/methods/05-inference-runner.md +++ b/docs/methods/05-inference-runner.md @@ -63,12 +63,24 @@ _:class:`OpenCVThreadSensorReader` — default backend. Mirrors lerobot's per-ca ### `python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py` _Real-deploy reader for the public A1 Runtime paired-frame bridge. It never -opens a camera device; the A1 camera monitor stays the only RealSense owner._ +opens a camera device or imports the Runtime checkout; the A1 camera monitor +stays the only RealSense owner._ - `class GalaxeaA1CameraBridgeReader` — Reads either the `front` or `wrist` - member of the session's atomically cached pair and returns an inline RGB8 - `SensorFrame`. Both views receive the same pair timestamp. Missing - roots/configs, stale pairs, wrong shapes, and unknown params fail explicitly. + member of a native versioned Unix-socket session and returns an inline RGB8 + `SensorFrame`. The client discovers and pins the Runtime contract digest and + camera shapes before reading; stale pairs, wrong shapes, and drift fail + explicitly. + +### `python/runner/src/openral_runner/backends/galaxea_a1_ipc.py` +_Shared native transport for public A1 Runtime local services._ + +- `runtime_socket_path(name) -> Path` — Resolves a private per-user Runtime + endpoint from `A1_PROCESS_STATE_ROOT` or the standard runtime directory. +- `class RuntimeLocalClient` — Bounded, synchronous length-prefixed MessagePack + client with typed connect-time and request-time failures. +- `encode_array(value) -> dict[str, Any]` / `decode_array(...) -> NDArray` — + Exact shape/dtype/data ndarray wire helpers. ### `python/runner/src/openral_runner/backends/__init__.py` _Per-backend `SensorReader` implementations. Default `OpenCVThreadSensorReader` is always available; `GStreamerSensorReader` (PR I) + `Ros2ImageSensorReader` gate on optional deps._ @@ -175,19 +187,17 @@ _Public surface of the inference runner. Imports are PEP 562 lazy (M8 PR I/8): h _Library deploy runner used by runtime nodes; the public deploy CLI now shells the ROS graph from a `DeployScene`._ - `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L92) -- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L344) +- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L325) - `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L48) - `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L69) - `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L98) - `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L138) - `_make_galaxea_a1_camera_bridge_reader(cfg) -> SensorReader` — Builds the - A1 Runtime paired-camera connector. Accepts only `camera`, - `runtime_root_env`, and `system_config`; unknown values are rejected and the - scene must declare `system_config` explicitly. + native A1 Runtime paired-camera connector. Accepts only `camera`; unknown + values are rejected. - `make_sensor_readers(configs) -> list[SensorReader]` — Batch constructor that - preserves config order and shares one A1 paired-camera session for matching - `runtime_root_env` / `system_config` bindings. Other backends still dispatch - through `SENSOR_BACKEND_REGISTRY`. + preserves config order and shares one A1 paired-camera session across both + views. Other backends still dispatch through `SENSOR_BACKEND_REGISTRY`. ### `python/runner/src/openral_runner/deploy_runner.py` _:class:`DeployRunner` — concrete `InferenceRunnerBase` subclass composing HAL + Skill + WorldStateAggregator + SensorReaders + SafetyClient._ diff --git a/docs/methods/07-eval-sim.md b/docs/methods/07-eval-sim.md index fe5b3b2..67c0da2 100644 --- a/docs/methods/07-eval-sim.md +++ b/docs/methods/07-eval-sim.md @@ -403,37 +403,23 @@ _Robbyant LingBot-VLA 2.0 policy adapter (Apache-2.0 code + weights). Proxies th - `_policy_default_port(model_id, robo_name, variant="v2") -> int` / `_resolve_camera_keys(env_cfg, extra) -> tuple[str, ...]` / `_resolve_model_id(spec, extra, default_model_id) -> str` / `_locate_sidecar_script() -> Path` / `_opt_int(value, default) -> int` — per-(variant, model, embodiment) SHA-256-bucketed default port (20000–39999); scene-camera resolution (order load-bearing: top/left-wrist/right-wrist); model-id resolution (`vla.extra.model_id` > manifest `weights_uri` > `spec.weights_uri` > per-variant default); boot-helper locator; `vla.extra` int coercion. (L119) #### `python/sim/src/openral_sim/policies/lingbot_va_a1.py` -_LingBot-VA real-deployment adapter for the Galaxea A1 embodiment. The external -A1 Runtime owns model serving, EEF validation, IK, and synchronized camera -acquisition; this adapter returns absolute six-joint plus normalized-gripper -actions through OpenRAL's normal candidate-action and safety path._ +_Thin LingBot-VA real-deployment adapter for the Galaxea A1 embodiment. It +connects to the Runtime-owned versioned policy gateway and returns its absolute +six-joint plus normalized-gripper proposals through OpenRAL's normal +candidate-action and safety path._ - `_LingBotVaA1Adapter(spec, *, robot_description)` — Validates the A1 - embodiment, loads the tracked external deployment contract, sends paired RGB - observations to LingBot, validates/solves each EEF target, and replays the - resulting joint solution using the rSkill-owned - `policy_extras.max_joint_substep_rad` bounded by the robot HAL's target-step - and initial-alignment ceilings. Chunk-boundary inference runs on one worker - while the adapter repeats the last validated absolute target. -- `_bounded_joint_substep(current, target, *, max_step_rad)` — Pure - feedback-relative subdivision; finite matching vectors and a positive bound - are required. -- `_joint_limits_from_description(robot_description, *, expected_joint_names)` — - Extracts the ordered finite joint-position command envelope from the active - OpenRAL `RobotDescription`. -- `_build_manifest_bounded_ik_solver(*, ik_module, system, robot_description)` — - Constructs the A1 Runtime IK implementation with the OpenRAL limits rather - than its independently calibrated Runtime bounds, so every lowered target - already matches the C++ kernel and ROS 1 sidecar contract. -- `_runtime_paths(spec) -> tuple[Path, Path]` — Resolves the external A1 - Runtime checkout and the rSkill-owned relative deployment config, rejecting - missing, absolute, escaping, and nonexistent paths before importing Runtime - code. + embodiment and rSkill model identity, negotiates the active OpenRAL joint + envelope and policy-owned step bound, sends joints plus paired RGB + observations, and validates the returned 7-D action proposal. Runtime owns + its exact deployment config, EEF transforms, chunk/cache replay, and IK. +- `_joint_contract(spec, robot_description)` — Extracts ordered finite command + limits and rejects a policy substep above either active HAL phase limit. +- `_model_identity(spec) -> tuple[str, str]` — Resolves the rSkill's immutable + model repo/revision for the gateway identity handshake. - `_build_lingbot_va_a1(env_cfg) -> _LingBotVaA1Adapter` — - `@POLICIES.register("lingbot_va_a1")` factory. The task-specific A1 Runtime - deployment config is read from the manifest's `policy_extras.runtime_config`; - it is not a hidden adapter default. The adapter explicitly accepts only the - `galaxea_a1` embodiment. + `@POLICIES.register("lingbot_va_a1")` factory. The adapter explicitly accepts + only the `galaxea_a1` embodiment. #### `tools/lingbot_vla2_sidecar.py` + `tools/_lingbot_vla2_server.py` _Boot helper + server for the LingBot-VLA 2.0 sidecar, companion to `openral_sim.policies.lingbot_vla2`._ The boot helper runs under the openral interpreter: it clones `github.com/robbyant/lingbot-vla-v2` at the pinned SHA `69729b4` into `/source` (shallow-fetch of the exact commit; `$OPENRAL_LINGBOT_VLA2_REPO` reuses a checkout), builds a Python 3.12 venv from the upstream fully-pinned `requirements.txt` (torch==2.8.0 / transformers==4.57.3 / triton==3.4.0 / numpy==1.26.4) + `pyzmq` + `bitsandbytes` via the shared `ensure_pip_venv` (`$OPENRAL_LINGBOT_VLA2_SIDECAR_PYTHON` reuses an interpreter), stamps the sidecar identity record, then `os.execvpe`s into the server with `make_isolated_env`. The server (sidecar venv, no openral import) loads `LingbotVLAv2Server` (NF4 Qwen3-VL backbone via `_nf4_backbone_in_place`, bf16 MoE expert), reconstructs the missing `lingbotvla_cli.yaml` from `configs/vla/robotwin/robotwin.yaml`, and answers `ping`/`reset`/`get_action`/`close` over the same msgpack ndarray wire as `openral_sim.sidecar`. flash-attn is NOT installed; `_install_attn_fallback` / `_coerce_attn_config` patch the upstream `flash_attention_2` hardcode to `sdpa` (or `eager`) before the model is built. `_install_lerobot_stub` installs a meta-path finder that stubs the training-only `lerobot.*` imports the model class pulls in (uninstallable here — it wants transformers 5.x), and `_write_cli_yaml` stringifies the `joints`/`norm_type` entries the upstream loader `ast.literal_eval`s; both are required for the inference-only load to succeed (verified live). diff --git a/python/core/src/openral_core/schemas.py b/python/core/src/openral_core/schemas.py index f88fb08..95bc481 100644 --- a/python/core/src/openral_core/schemas.py +++ b/python/core/src/openral_core/schemas.py @@ -4431,11 +4431,11 @@ class EmbodimentExtra(BaseModel): (adapter: ``openral_sim.policies.lingbot_vla2`` id ``lingbot_vla``). ``lingbot_va_a1`` is the Galaxea A1 EEF deployment adapter for the LingBot-VA -checkpoint. It uses a separately maintained A1 Runtime checkout for the -contract-checked LingBot service, paired camera bridge, EEF transforms, and IK, -then returns joint/gripper actions through the normal OpenRAL safety and HAL -path. The task-specific runtime configuration is declared by the rSkill's -``policy_extras.runtime_config`` field rather than hidden in the adapter. +checkpoint. It connects to versioned local Camera Bridge and policy-gateway +services owned by the separately maintained A1 Runtime, without importing its +checkout. Runtime owns the exact model configuration, EEF transforms, cache +semantics, and IK; OpenRAL validates the gateway identity and returns its +joint/gripper proposals through the normal safety and HAL path. ``openvla`` (OpenVLA / OpenVLA-OFT) is a transformers *custom-code* model loaded in-process (``trust_remote_code``, gated by @@ -7334,8 +7334,9 @@ class SensorReaderBackend(str, Enum): ``opencv_thread`` is the default and mirrors lerobot's per-camera background-thread pattern. ``galaxea_a1_camera_bridge`` consumes the - paired raw-frame service owned by an external A1 Runtime checkout without - opening either RealSense device. Three additional backends are reserved. + versioned paired raw-frame service owned by an external A1 Runtime process + without importing Runtime or opening either RealSense device. Three + additional backends are reserved. ``ros2_image`` subscribes to a ROS 2 image topic published by a vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink delivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86). diff --git a/python/runner/pyproject.toml b/python/runner/pyproject.toml index ae86c4d..44ab541 100644 --- a/python/runner/pyproject.toml +++ b/python/runner/pyproject.toml @@ -11,6 +11,7 @@ dependencies = [ "openral-observability", # reason: rskill_span / safety_span wired into HardwareRunner ticks "openral-rskill", # reason: HardwareRunner accepts a Skill and calls Skill.step "openral-world-state", # reason: WorldStateAggregator is the runner's WorldState producer + "msgpack>=1.1", # reason: native A1 Runtime local service framing "structlog>=24.1", # reason: structured logging per CLAUDE.md §5.1 ] diff --git a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py index f55d671..1dc98bb 100644 --- a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py +++ b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py @@ -1,169 +1,87 @@ -"""Galaxea A1 Runtime Camera Bridge reader. - -The A1 Runtime remains the sole owner of both RealSense devices. This -backend consumes its public, paired raw-frame bridge and presents one view as -an ordinary OpenRAL :class:`SensorReader`. It never opens a camera device -itself and therefore cannot race the A1 Runtime camera monitor. -""" +"""Native SensorReader for the A1 Runtime paired Camera Bridge.""" from __future__ import annotations -import os -import sys import time -from collections.abc import Callable from dataclasses import dataclass -from importlib import import_module -from pathlib import Path from threading import RLock -from typing import Any, Literal +from typing import Literal, cast import numpy as np from numpy.typing import NDArray from openral_core import FrameEncoding, SensorFrame -from openral_core.exceptions import ROSConfigError, ROSPerceptionStale +from openral_core.exceptions import ROSConfigError, ROSPerceptionStale, ROSRuntimeError + +from openral_runner.backends.galaxea_a1_ipc import ( + RuntimeLocalClient, + decode_array, +) __all__ = ["GalaxeaA1CameraBridgeReader"] +_PROTOCOL_VERSION = 2 +_SOCKET_NAME = "a1-camera-bridge.sock" +_MAX_RESPONSE_BYTES = 128 * 1024 * 1024 +_SHA256_HEX_LENGTH = 64 _COLOR_NDIM = 3 _COLOR_CHANNELS = 3 @dataclass(frozen=True) class _CachedCameraFrame: - """One view from an atomically cached paired-camera observation.""" - rgb: NDArray[np.uint8] stamp_monotonic_ns: int stamp_wall_ns: int -class _PairedObservationCache: - """Serve both camera views from one Runtime bridge observation.""" - - def __init__( - self, - read_observation: Callable[[], dict[str, NDArray[np.uint8]] | None], - ) -> None: - self._read_observation = read_observation - self._lock = RLock() - self._observation: dict[str, NDArray[np.uint8]] | None = None - self._consumed: set[str] = set() - self._stamp_monotonic_ns = 0 - self._stamp_wall_ns = 0 - - def read( - self, - camera: Literal["front", "wrist"], - *, - max_age_ms: int, - ) -> _CachedCameraFrame: - """Return ``camera`` while pairing one front and one wrist read.""" - if max_age_ms <= 0: - raise ROSConfigError("max_age_ms must be positive") - with self._lock: - if self._observation is None or camera in self._consumed: - started_ns = time.monotonic_ns() - observation = self._read_observation() - completed_ns = time.monotonic_ns() - if observation is None: - raise ROSPerceptionStale("no fresh synchronized Galaxea A1 camera pair") - elapsed_ms = (completed_ns - started_ns) / 1e6 - if elapsed_ms > max_age_ms: - raise ROSPerceptionStale( - "Galaxea A1 paired camera bridge read took " - f"{elapsed_ms:.1f} ms (budget {max_age_ms} ms)" - ) - self._observation = { - name: self._validated_rgb(observation, name) for name in ("front", "wrist") - } - self._consumed.clear() - self._stamp_monotonic_ns = completed_ns - self._stamp_wall_ns = time.time_ns() - - rgb = self._observation[camera] - self._consumed.add(camera) - return _CachedCameraFrame( - rgb=rgb, - stamp_monotonic_ns=self._stamp_monotonic_ns, - stamp_wall_ns=self._stamp_wall_ns, - ) - - @staticmethod - def _validated_rgb( - observation: dict[str, NDArray[np.uint8]], - camera: str, - ) -> NDArray[np.uint8]: - try: - rgb = np.asarray(observation[camera]) - except (KeyError, TypeError) as exc: - raise RuntimeError(f"Galaxea A1 paired observation is missing {camera!r}") from exc - if rgb.ndim != _COLOR_NDIM or rgb.shape[2] != _COLOR_CHANNELS or rgb.dtype != np.uint8: - raise RuntimeError( - f"Galaxea A1 {camera} camera returned shape={rgb.shape} " - f"dtype={rgb.dtype}, expected HWC uint8 RGB" - ) - return rgb - - class _GalaxeaA1CameraBridgeSession: - """Reference-counted owner of one paired A1 Runtime camera client.""" + """Reference-counted native client for one atomic paired-frame stream.""" - def __init__( - self, - *, - runtime_root_env: str, - system_config: str, - ) -> None: - """Store the Runtime root selector and relative System config.""" - if not runtime_root_env: - raise ROSConfigError("runtime_root_env must be a non-empty environment variable name") - if Path(system_config).is_absolute(): - raise ROSConfigError("system_config must be relative to the A1 Runtime root") - self.runtime_root_env = runtime_root_env - self.system_config = system_config + def __init__(self) -> None: self._lock = RLock() self._owners = 0 - self._policy_session: Any | None = None - self._cache: _PairedObservationCache | None = None + self._client: RuntimeLocalClient | None = None + self._contract_digest: str | None = None + self._shapes: dict[str, tuple[int, int, int]] = {} + self._after = {"front": -1, "wrist": -1} + self._pair: dict[str, _CachedCameraFrame] | None = None + self._consumed: set[str] = set() def open(self) -> None: - """Acquire this shared session, opening the Runtime client once.""" with self._lock: if self._owners: self._owners += 1 return - root, config_path = self._runtime_paths() - embodied_ops = root / "external" / "embodied-ops" / "src" - for import_root in (embodied_ops, root): - value = str(import_root) - if value not in sys.path: - sys.path.insert(0, value) - - config_module = import_module("galaxea_a1_runtime.configuration.system") - camera_module = import_module("galaxea_a1_runtime.apps.policy_camera") - system = config_module.load_system_config(config_path, repo_root=root) - policy_session = camera_module.PolicyCameraSession( - system, - front_key="front", - wrist_key="wrist", + client = RuntimeLocalClient( + _SOCKET_NAME, + label="Galaxea A1 Camera Bridge", + max_response_bytes=_MAX_RESPONSE_BYTES, ) - self._policy_session = policy_session - self._cache = _PairedObservationCache(policy_session.read_observation) + client.connect(timeout_s=5.0) + try: + response = client.call( + {"version": _PROTOCOL_VERSION, "op": "describe"}, + timeout_s=5.0, + ) + self._install_description(response.get("metadata")) + except BaseException: + client.close() + raise + self._client = client self._owners = 1 def close(self) -> None: - """Release one reader and close the Runtime client after the last.""" with self._lock: if not self._owners: return self._owners -= 1 if self._owners: return - policy_session, self._policy_session = self._policy_session, None - self._cache = None - if policy_session is not None: - policy_session.close() + client, self._client = self._client, None + self._pair = None + self._consumed.clear() + if client is not None: + client.close() def read( self, @@ -171,29 +89,103 @@ def read( *, max_age_ms: int, ) -> _CachedCameraFrame: - """Read one view from the current shared observation pair.""" + if max_age_ms <= 0: + raise ROSConfigError("max_age_ms must be positive") with self._lock: - if self._cache is None: - raise RuntimeError("Galaxea A1 paired camera session is closed") - return self._cache.read(camera, max_age_ms=max_age_ms) - - def _runtime_paths(self) -> tuple[Path, Path]: - raw_root = os.environ.get(self.runtime_root_env) - if raw_root is None: - raise ROSConfigError( - f"{self.runtime_root_env} is required for the Galaxea A1 camera bridge" + if self._client is None: + raise ROSRuntimeError("Galaxea A1 Camera Bridge session is closed") + if self._pair is None or camera in self._consumed: + self._pair = self._read_pair(timeout_s=max_age_ms / 1000.0) + self._consumed.clear() + frame = self._pair[camera] + age_ms = (time.monotonic_ns() - frame.stamp_monotonic_ns) / 1e6 + if age_ms > max_age_ms: + raise ROSPerceptionStale( + f"Galaxea A1 {camera} frame is {age_ms:.1f} ms old (budget {max_age_ms} ms)" + ) + self._consumed.add(camera) + return frame + + def _install_description(self, value: object) -> None: + if not isinstance(value, dict): + raise ROSRuntimeError("A1 Camera Bridge metadata is missing") + metadata = cast(dict[str, object], value) + digest = metadata.get("contract_digest") + if not isinstance(digest, str) or len(digest) != _SHA256_HEX_LENGTH: + raise ROSRuntimeError("A1 Camera Bridge contract digest is invalid") + self._contract_digest = digest + self._shapes = { + camera: _shape3(metadata.get(f"{camera}_color_shape"), camera=camera) + for camera in ("front", "wrist") + } + + def _read_pair(self, *, timeout_s: float) -> dict[str, _CachedCameraFrame]: + assert self._client is not None + assert self._contract_digest is not None + response = self._client.call( + { + "version": _PROTOCOL_VERSION, + "op": "next_pair", + "contract_digest": self._contract_digest, + "after": dict(self._after), + }, + timeout_s=max(1.0, timeout_s), + ) + if response.get("changed") is not True: + raise ROSPerceptionStale("no fresh synchronized Galaxea A1 camera pair") + metadata = response.get("metadata") + if ( + not isinstance(metadata, dict) + or metadata.get("contract_digest") != self._contract_digest + ): + raise ROSRuntimeError("A1 Camera Bridge contract changed while connected") + wall_ns = time.time_ns() + pair = { + camera: self._decode_frame( + response.get(camera), + camera=camera, + wall_ns=wall_ns, ) - root = Path(raw_root).expanduser().resolve() - config_path = (root / self.system_config).resolve() - if not config_path.is_relative_to(root): - raise ROSConfigError("system_config escapes the A1 Runtime root") - if not config_path.is_file(): - raise ROSConfigError(f"A1 Runtime system config not found: {config_path}") - return root, config_path + for camera in ("front", "wrist") + } + self._after = { + camera: _plain_int(response[camera].get("seq"), label=f"{camera}.seq") + for camera in ("front", "wrist") + } + return pair + + def _decode_frame( + self, + value: object, + *, + camera: str, + wall_ns: int, + ) -> _CachedCameraFrame: + if not isinstance(value, dict): + raise ROSRuntimeError(f"A1 Camera Bridge response is missing {camera}") + payload = cast(dict[str, object], value) + monotonic_s = payload.get("monotonic_s") + if ( + isinstance(monotonic_s, bool) + or not isinstance(monotonic_s, (int, float)) + or not np.isfinite(monotonic_s) + ): + raise ROSRuntimeError(f"A1 Camera Bridge {camera} timestamp is invalid") + bgr = decode_array( + payload.get("color_bgr"), + shape=self._shapes[camera], + dtype=np.dtype(np.uint8), + label=f"A1 Camera Bridge {camera} color", + ) + return _CachedCameraFrame( + rgb=np.ascontiguousarray(bgr[..., ::-1]), + stamp_monotonic_ns=int(float(monotonic_s) * 1e9), + stamp_wall_ns=wall_ns, + ) class GalaxeaA1CameraBridgeReader: - """Expose one synchronized A1 Camera Bridge view as an RGB8 sensor.""" + """Expose one synchronized A1 Runtime camera view as RGB8.""" def __init__( self, @@ -203,7 +195,7 @@ def __init__( session: _GalaxeaA1CameraBridgeSession, default_max_age_ms: int, ) -> None: - """Store the camera view and explicitly shared paired session.""" + """Store one camera view over an explicitly shared native session.""" if default_max_age_ms <= 0: raise ROSConfigError("default_max_age_ms must be positive") self.sensor_id = sensor_id @@ -213,14 +205,14 @@ def __init__( self._default_max_age_ms = default_max_age_ms def open(self) -> None: - """Connect to the persistent A1 Camera Bridge without opening hardware.""" + """Acquire the shared Runtime camera connection.""" if self.is_open: return self._session.open() self.is_open = True def close(self) -> None: - """Close only this bridge client; the persistent camera owner remains alive.""" + """Release this view and close the connection after the last owner.""" if not self.is_open: return try: @@ -229,7 +221,7 @@ def close(self) -> None: self.is_open = False def read_latest(self, max_age_ms: int | None = None) -> SensorFrame: - """Return the latest synchronized view as an inline RGB8 frame.""" + """Return the latest source-timestamped RGB frame.""" if not self.is_open: raise RuntimeError(f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}) is closed") budget_ms = self._default_max_age_ms if max_age_ms is None else max_age_ms @@ -245,3 +237,20 @@ def read_latest(self, max_age_ms: int | None = None) -> SensorFrame: channels=int(channels), data=frame.rgb.tobytes(), ) + + +def _shape3(value: object, *, camera: str) -> tuple[int, int, int]: + if ( + not isinstance(value, (list, tuple)) + or len(value) != _COLOR_NDIM + or value[2] != _COLOR_CHANNELS + or any(isinstance(item, bool) or not isinstance(item, int) or item <= 0 for item in value) + ): + raise ROSRuntimeError(f"A1 Camera Bridge {camera} shape is invalid") + return cast(tuple[int, int, int], tuple(value)) + + +def _plain_int(value: object, *, label: str) -> int: + if isinstance(value, bool) or not isinstance(value, int): + raise ROSRuntimeError(f"A1 Camera Bridge {label} must be an integer") + return value diff --git a/python/runner/src/openral_runner/backends/galaxea_a1_ipc.py b/python/runner/src/openral_runner/backends/galaxea_a1_ipc.py new file mode 100644 index 0000000..05184ac --- /dev/null +++ b/python/runner/src/openral_runner/backends/galaxea_a1_ipc.py @@ -0,0 +1,169 @@ +"""Native client for Galaxea A1 Runtime local MessagePack services.""" + +from __future__ import annotations + +import os +import socket +import struct +from pathlib import Path +from typing import Any + +import msgpack +import numpy as np +from numpy.typing import NDArray +from openral_core.exceptions import ROSConfigError, ROSRuntimeError + +_PACKET_LENGTH = struct.Struct("!I") + + +def runtime_socket_path(name: str) -> Path: + """Resolve one public Runtime endpoint without locating its source checkout.""" + if not name or Path(name).name != name: + raise ROSConfigError("A1 Runtime socket name must be one path component") + configured = os.environ.get("A1_PROCESS_STATE_ROOT", "").strip() + if configured: + state_root = Path(configured) + else: + runtime_root = Path(os.environ.get("XDG_RUNTIME_DIR", "/tmp")) + state_root = runtime_root / f"galaxea-a1-runtime-{os.getuid()}" + return state_root.expanduser().resolve() / name + + +class RuntimeLocalClient: + """One synchronous connection to a private A1 Runtime service.""" + + def __init__( + self, + socket_name: str, + *, + label: str, + max_response_bytes: int, + ) -> None: + """Store one endpoint contract without opening the socket.""" + if max_response_bytes <= 0: + raise ROSConfigError("A1 Runtime max_response_bytes must be positive") + self.path = runtime_socket_path(socket_name) + self.label = label + self.max_response_bytes = max_response_bytes + self._socket: socket.socket | None = None + + def connect(self, *, timeout_s: float) -> None: + """Connect to the Runtime-owned Unix socket.""" + if timeout_s <= 0: + raise ROSConfigError(f"{self.label} connect timeout must be positive") + if self._socket is not None: + return + active_socket = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) + active_socket.settimeout(timeout_s) + try: + active_socket.connect(str(self.path)) + except OSError as exc: + active_socket.close() + raise ROSConfigError( + f"{self.label} is unavailable at {self.path}; start the " + "corresponding A1 Runtime service" + ) from exc + self._socket = active_socket + + def call( + self, + request: dict[str, Any], + *, + timeout_s: float, + ) -> dict[str, Any]: + """Perform one bounded request and require an explicit success reply.""" + active_socket = self._socket + if active_socket is None: + raise ROSRuntimeError(f"{self.label} client is closed") + if timeout_s <= 0: + raise ROSConfigError(f"{self.label} request timeout must be positive") + active_socket.settimeout(timeout_s) + try: + _send_packet(active_socket, request) + response = _receive_packet( + active_socket, + max_bytes=self.max_response_bytes, + ) + except (OSError, ValueError) as exc: + self.close() + raise ROSRuntimeError(f"{self.label} transport failed: {exc}") from exc + if not isinstance(response, dict): + self.close() + raise ROSRuntimeError(f"{self.label} returned a non-map response") + if response.get("ok") is not True: + raise ROSRuntimeError( + f"{self.label} rejected the request: {response.get('error', 'unknown error')}" + ) + return response + + def close(self) -> None: + """Close the local connection idempotently.""" + active_socket, self._socket = self._socket, None + if active_socket is not None: + active_socket.close() + + +def encode_array(value: NDArray[Any]) -> dict[str, Any]: + """Encode one contiguous ndarray with an explicit shape and dtype.""" + array = np.ascontiguousarray(value) + return { + "shape": list(array.shape), + "dtype": array.dtype.str, + "data": array.tobytes(), + } + + +def decode_array( + value: object, + *, + shape: tuple[int, ...], + dtype: np.dtype[Any], + label: str, +) -> NDArray[Any]: + """Decode an exact ndarray payload and reject protocol drift.""" + if not isinstance(value, dict) or set(value) != {"shape", "dtype", "data"}: + raise ROSRuntimeError(f"{label} array payload is invalid") + if value["shape"] != list(shape) or value["dtype"] != dtype.str: + raise ROSRuntimeError(f"{label} array contract mismatch: expected {shape} {dtype}") + data = value["data"] + size = int(np.prod(shape)) * dtype.itemsize + if not isinstance(data, bytes) or len(data) != size: + raise ROSRuntimeError(f"{label} array byte length mismatch") + return np.frombuffer(data, dtype=dtype).reshape(shape).copy() + + +def _send_packet(active_socket: socket.socket, value: object) -> None: + payload = msgpack.packb(value, use_bin_type=True) + active_socket.sendall(_PACKET_LENGTH.pack(len(payload)) + payload) + + +def _receive_packet( + active_socket: socket.socket, + *, + max_bytes: int, +) -> object | None: + header = _receive_exact(active_socket, _PACKET_LENGTH.size) + if header is None: + return None + (size,) = _PACKET_LENGTH.unpack(header) + if size <= 0 or size > max_bytes: + raise ValueError(f"invalid A1 Runtime packet size: {size}") + payload = _receive_exact(active_socket, size) + if payload is None: + raise ConnectionError("A1 Runtime packet ended early") + decoded: object = msgpack.unpackb(payload, raw=False, strict_map_key=False) + return decoded + + +def _receive_exact(active_socket: socket.socket, size: int) -> bytes | None: + chunks: list[bytes] = [] + remaining = size + while remaining: + chunk = active_socket.recv(remaining) + if not chunk: + if remaining == size: + return None + raise ConnectionError("A1 Runtime connection ended mid-packet") + chunks.append(chunk) + remaining -= len(chunk) + return b"".join(chunks) diff --git a/python/runner/src/openral_runner/factory.py b/python/runner/src/openral_runner/factory.py index 98b41f6..f2e347d 100644 --- a/python/runner/src/openral_runner/factory.py +++ b/python/runner/src/openral_runner/factory.py @@ -196,10 +196,10 @@ def _make_gstreamer_reader(cfg: SensorReaderConfig) -> SensorReader: def _galaxea_a1_camera_bridge_params( cfg: SensorReaderConfig, -) -> tuple[Literal["front", "wrist"], str, str]: +) -> Literal["front", "wrist"]: """Validate and return the explicit A1 camera bridge scene parameters.""" params = cfg.backend_params - allowed = {"camera", "runtime_root_env", "system_config"} + allowed = {"camera"} unknown = set(params) - allowed if unknown: raise ROSConfigError( @@ -213,17 +213,7 @@ def _galaxea_a1_camera_bridge_params( "backend=galaxea_a1_camera_bridge) requires " "backend_params.camera to be 'front' or 'wrist'" ) - runtime_root_env = params.get("runtime_root_env", "OPENRAL_GALAXEA_A1_RUNTIME_ROOT") - system_config = params.get("system_config") - if not isinstance(runtime_root_env, str) or not runtime_root_env: - raise ROSConfigError("Galaxea A1 camera bridge runtime_root_env must be a non-empty string") - if not isinstance(system_config, str) or not system_config: - raise ROSConfigError( - f"SensorReaderConfig({cfg.sensor_id!r}, " - "backend=galaxea_a1_camera_bridge) requires " - "backend_params.system_config" - ) - return cast(Literal["front", "wrist"], camera), runtime_root_env, system_config + return cast(Literal["front", "wrist"], camera) def _make_galaxea_a1_camera_bridge_reader( @@ -237,12 +227,9 @@ def _make_galaxea_a1_camera_bridge_reader( _GalaxeaA1CameraBridgeSession, ) - camera, runtime_root_env, system_config = _galaxea_a1_camera_bridge_params(cfg) + camera = _galaxea_a1_camera_bridge_params(cfg) if session is None: - paired_session = _GalaxeaA1CameraBridgeSession( - runtime_root_env=runtime_root_env, - system_config=system_config, - ) + paired_session = _GalaxeaA1CameraBridgeSession() elif isinstance(session, _GalaxeaA1CameraBridgeSession): paired_session = session else: @@ -258,7 +245,7 @@ def _make_galaxea_a1_camera_bridge_reader( def make_sensor_readers(configs: Sequence[SensorReaderConfig]) -> list[SensorReader]: """Build readers in order, sharing resources within one deployment batch.""" a1_backend = "galaxea_a1_camera_bridge" - a1_sessions: dict[tuple[str, str], _GalaxeaA1CameraBridgeSession] = {} + a1_session: _GalaxeaA1CameraBridgeSession | None = None readers: list[SensorReader] = [] for cfg in configs: if cfg.backend.value == a1_backend: @@ -266,16 +253,10 @@ def make_sensor_readers(configs: Sequence[SensorReaderConfig]) -> list[SensorRea _GalaxeaA1CameraBridgeSession, ) - _, runtime_root_env, system_config = _galaxea_a1_camera_bridge_params(cfg) - key = runtime_root_env, system_config - session = a1_sessions.get(key) - if session is None: - session = _GalaxeaA1CameraBridgeSession( - runtime_root_env=runtime_root_env, - system_config=system_config, - ) - a1_sessions[key] = session - readers.append(_make_galaxea_a1_camera_bridge_reader(cfg, session=session)) + _galaxea_a1_camera_bridge_params(cfg) + if a1_session is None: + a1_session = _GalaxeaA1CameraBridgeSession() + readers.append(_make_galaxea_a1_camera_bridge_reader(cfg, session=a1_session)) continue factory = SENSOR_BACKEND_REGISTRY.get(cfg.backend.value) if factory is None: diff --git a/python/sim/src/openral_sim/policies/lingbot_va_a1.py b/python/sim/src/openral_sim/policies/lingbot_va_a1.py index 8087153..7e76b47 100644 --- a/python/sim/src/openral_sim/policies/lingbot_va_a1.py +++ b/python/sim/src/openral_sim/policies/lingbot_va_a1.py @@ -1,534 +1,253 @@ -"""A1 Runtime LingBot-VA EEF policy adapter for real OpenRAL deployment. - -The external A1 Runtime owns model serving and the proven EEF/IK contract. -This adapter owns only the policy boundary: OpenRAL observations go to the -LingBot server, predicted EEF steps are validated and lowered to six absolute -A1 joint targets plus one normalized gripper target, and that typed vector -continues through OpenRAL's safety kernel and HAL. -""" +"""LingBot-VA adapter for the Runtime-owned Galaxea A1 policy gateway.""" from __future__ import annotations -import os -import sys -import time -from concurrent.futures import Future, ThreadPoolExecutor -from importlib import import_module -from pathlib import Path -from typing import Any, cast +from typing import Any import numpy as np from numpy.typing import NDArray from openral_core import VLASpec from openral_core.exceptions import ROSConfigError, ROSRuntimeError +from openral_rskill.loader import load_rskill_manifest +from openral_runner.backends.galaxea_a1_ipc import ( + RuntimeLocalClient, + decode_array, + encode_array, +) from openral_sim.registry import POLICIES -_RUNTIME_ROOT_ENV = "OPENRAL_GALAXEA_A1_RUNTIME_ROOT" +_PROTOCOL_VERSION = "galaxea_a1_openral_policy_v1" +_SOCKET_NAME = "a1-openral-policy.sock" +_MAX_RESPONSE_BYTES = 2 * 1024 * 1024 +_ACTION_DIM = 7 _COLOR_NDIM = 3 _COLOR_CHANNELS = 3 -def _bounded_joint_substep( - current: NDArray[np.float64], - target: NDArray[np.float64], - *, - max_step_rad: float, -) -> tuple[NDArray[np.float64], bool]: - """Return a target within the declared feedback-relative joint-step limit.""" - if ( - current.shape != target.shape - or current.ndim != 1 - or not np.isfinite(current).all() - or not np.isfinite(target).all() - ): - raise ValueError("bounded joint substep requires matching finite vectors") - if not np.isfinite(max_step_rad) or max_step_rad <= 0: - raise ValueError("max_step_rad must be finite and positive") - delta = target - current - largest = float(np.max(np.abs(delta))) - if largest <= max_step_rad: - return target.copy(), True - float32_bound = float( - np.nextafter( - np.float32(max_step_rad), - np.float32(0.0), - ) - ) - return current + delta * (float32_bound / largest), False - - -def _validated_joint_substep_limit( - *, - policy_substep_rad: float, - max_target_step_rad: float, - initial_alignment_tolerance_rad: float, -) -> float: - """Validate the policy bound against both HAL command phases.""" - policy_limit = float(policy_substep_rad) - limits = (policy_limit, float(max_target_step_rad), float(initial_alignment_tolerance_rad)) - if any(not np.isfinite(value) or value <= 0.0 for value in limits): - raise ValueError("A1 joint substep limits must be finite and positive") - if policy_limit > min(limits[1:]): - raise ValueError( - "policy joint substep must not exceed the HAL target-step or initial-alignment limit" - ) - return policy_limit - - -def _joint_limits_from_description( +def _joint_contract( + spec: VLASpec, robot_description: Any, - *, - expected_joint_names: tuple[str, ...], -) -> tuple[NDArray[np.float64], NDArray[np.float64]]: - """Return ordered command limits from the active OpenRAL robot contract.""" - joints = getattr(robot_description, "joints", ()) - by_name = {getattr(joint, "name", None): joint for joint in joints} - if len(by_name) != len(joints) or set(by_name) != set(expected_joint_names): - raise ValueError("A1 Runtime IK joint names must exactly match the OpenRAL description") +) -> tuple[tuple[str, ...], NDArray[np.float64], NDArray[np.float64], float]: + """Validate the rSkill replay bound against the active A1 HAL contract.""" + if robot_description is None or robot_description.name != "galaxea_a1": + raise ROSConfigError("lingbot_va_a1 requires the Galaxea A1 RobotDescription") + joints = tuple(robot_description.joints) + names = tuple(joint.name for joint in joints) lower: list[float] = [] upper: list[float] = [] - for name in expected_joint_names: - limits = getattr(by_name[name], "position_limits", None) + for joint in joints: + limits = joint.position_limits if limits is None: - raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") - try: - lo_raw, hi_raw = limits - lo, hi = float(lo_raw), float(hi_raw) - except (TypeError, ValueError): - raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") from None + raise ROSConfigError(f"OpenRAL joint {joint.name!r} requires finite position limits") + lo, hi = (float(item) for item in limits) if not np.isfinite((lo, hi)).all() or lo >= hi: - raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") + raise ROSConfigError(f"OpenRAL joint {joint.name!r} requires finite position limits") lower.append(lo) upper.append(hi) - return np.asarray(lower, dtype=np.float64), np.asarray(upper, dtype=np.float64) - - -def _build_manifest_bounded_ik_solver( - *, - ik_module: Any, - system: Any, - robot_description: Any, -) -> Any: - """Construct Runtime IK with the active OpenRAL command envelope.""" - joint_names = tuple(system.joint_safety.names) - lower_limits, upper_limits = _joint_limits_from_description( - robot_description, - expected_joint_names=joint_names, - ) - config = system.eef_ik - return ik_module.A1EefIkSolver( - urdf_path=config.urdf, - joint_names=joint_names, - lower_limits=lower_limits, - upper_limits=upper_limits, - max_iterations=config.max_iterations, - damping=config.damping, - orientation_weight=config.orientation_weight, - max_iteration_step_rad=config.max_iteration_step_rad, - position_tolerance_m=config.position_tolerance_m, - orientation_tolerance_rad=config.orientation_tolerance_rad, - max_solution_delta_rad=config.max_solution_delta_rad, + raw_step = spec.extra.get("max_joint_substep_rad") + if isinstance(raw_step, bool) or not isinstance(raw_step, (int, float)): + raise ROSConfigError("lingbot_va_a1 requires numeric policy_extras.max_joint_substep_rad") + step = float(raw_step) + try: + defaults = robot_description.hal.parameters.defaults + phase_limits = ( + float(defaults["max_target_step_rad"]), + float(defaults["initial_alignment_tolerance_rad"]), + ) + except (AttributeError, KeyError, TypeError, ValueError) as exc: + raise ROSConfigError( + "Galaxea A1 HAL requires target-step and initial-alignment limits" + ) from exc + if ( + not np.isfinite(step) + or step <= 0 + or any(not np.isfinite(limit) or limit <= 0 for limit in phase_limits) + or step > min(phase_limits) + ): + raise ROSConfigError( + "policy max_joint_substep_rad must be positive and no greater than " + "the A1 HAL target-step and initial-alignment limits" + ) + return ( + names, + np.asarray(lower, dtype=np.float64), + np.asarray(upper, dtype=np.float64), + step, ) -def _runtime_paths(spec: VLASpec) -> tuple[Path, Path]: - """Resolve the external Runtime checkout and its manifest-owned config.""" - raw = os.environ.get(_RUNTIME_ROOT_ENV) - if raw is None: - raise ROSConfigError(f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va_a1 adapter") - root = Path(raw).expanduser().resolve() - runtime_config = spec.extra.get("runtime_config") - if not isinstance(runtime_config, str) or not runtime_config.strip(): +def _model_identity(spec: VLASpec) -> tuple[str, str]: + """Return the immutable model repo and revision from the loaded rSkill.""" + manifest = load_rskill_manifest(spec.weights_uri) + uri = manifest.weights_uri + if not isinstance(uri, str) or not uri.startswith("hf://") or "@" not in uri: raise ROSConfigError( - "lingbot_va_a1 requires policy_extras.runtime_config " - "(a relative path inside the A1 Runtime checkout)" + "lingbot_va_a1 rSkill weights_uri must pin an hf:// repository revision" ) - if Path(runtime_config).is_absolute(): - raise ROSConfigError("policy_extras.runtime_config must be relative") - config = (root / runtime_config).resolve() - if not config.is_relative_to(root): - raise ROSConfigError("policy_extras.runtime_config escapes the A1 Runtime checkout") - if not config.is_file(): - raise ROSConfigError(f"A1 Runtime LingBot config not found: {config}") - return root, config + repo_id, revision = uri.removeprefix("hf://").rsplit("@", 1) + if not repo_id or not revision: + raise ROSConfigError("lingbot_va_a1 rSkill model identity is incomplete") + return repo_id, revision class _LingBotVaA1Adapter: - """Replay LingBot EEF chunks as safe A1 joint/gripper action steps.""" + """Proxy A1 observations to Runtime and return its typed action proposal.""" device = "external:a1-runtime" def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: - root, runtime_config = _runtime_paths(spec) - for import_root in (root / "external" / "embodied-ops" / "src", root): - value = str(import_root) - if value not in sys.path: - sys.path.insert(0, value) - client_module, config_module, protocol_module, ik_module, action_module = ( - import_module("galaxea_a1_runtime.apps.lingbot.client"), - import_module("galaxea_a1_runtime.apps.lingbot.config"), - import_module("galaxea_a1_runtime.apps.lingbot.protocol"), - import_module("galaxea_a1_runtime.hardware.eef_ik"), - import_module("galaxea_a1_runtime.policies.eef_actions"), - ) self.spec = spec - self._config = config_module.load_lingbot_config( - runtime_config, - repo_root=root, - ) - self._action_config = action_module.build_action_transform_config( - system=self._config.system - ) - if robot_description is None or robot_description.name != "galaxea_a1": - raise ROSConfigError("lingbot_va_a1 requires the Galaxea A1 RobotDescription") - system = self._config.system - try: - self._solver = _build_manifest_bounded_ik_solver( - ik_module=ik_module, - system=system, - robot_description=robot_description, - ) - except (AttributeError, KeyError, TypeError, ValueError) as exc: - raise ROSConfigError( - "lingbot_va_a1 could not construct A1 Runtime IK with the " - "OpenRAL RobotDescription joint contract" - ) from exc - try: - hal_defaults = robot_description.hal.parameters.defaults - policy_substep_raw = spec.extra["max_joint_substep_rad"] - if isinstance(policy_substep_raw, bool) or not isinstance( - policy_substep_raw, (int, float) - ): - raise TypeError("max_joint_substep_rad must be numeric") - policy_substep_rad = float(policy_substep_raw) - self._max_joint_step_rad = _validated_joint_substep_limit( - policy_substep_rad=policy_substep_rad, - max_target_step_rad=hal_defaults["max_target_step_rad"], - initial_alignment_tolerance_rad=hal_defaults["initial_alignment_tolerance_rad"], - ) - except (AttributeError, KeyError, TypeError, ValueError) as exc: - raise ROSConfigError( - "lingbot_va_a1 requires a finite positive policy " - "max_joint_substep_rad plus the Galaxea A1 HAL target-step " - "and initial-alignment limits" - ) from exc - server = self._config.server - self._client = client_module.LingBotClient( - server.host, - server.port, - connect_timeout_s=server.connect_timeout_s, - close_timeout_s=server.close_timeout_s, - expected_metadata=protocol_module.server_metadata(self._config), - ) + names, lower, upper, max_step = _joint_contract(spec, robot_description) latency_budget_ms = spec.extra.get("latency_budget_ms") - if isinstance(latency_budget_ms, bool) or not isinstance(latency_budget_ms, (int, float)): + if isinstance(latency_budget_ms, bool) or not isinstance( + latency_budget_ms, + (int, float), + ): raise ROSConfigError( "lingbot_va_a1 requires its manifest latency budget in VLASpec.extra" ) - self._inference_timeout_s = float(latency_budget_ms) / 1000.0 - if not np.isfinite(self._inference_timeout_s) or self._inference_timeout_s <= 0.0: - raise ROSConfigError("lingbot_va_a1 requires a positive per-chunk latency budget") - self._inference_executor = ThreadPoolExecutor( - max_workers=1, - thread_name_prefix="openral-lingbot-a1", + self._timeout_s = float(latency_budget_ms) / 1000.0 + if not np.isfinite(self._timeout_s) or self._timeout_s <= 0: + raise ROSConfigError("lingbot_va_a1 latency budget must be positive") + self._client = RuntimeLocalClient( + _SOCKET_NAME, + label="Galaxea A1 OpenRAL policy gateway", + max_response_bytes=_MAX_RESPONSE_BYTES, ) - self._boundary_future: Future[dict[str, Any]] | None = None - self._boundary_deadline = 0.0 self._instruction: str | None = None - self._origin_pose7: NDArray[np.float64] | None = None - self._chunk: Any | None = None - self._steps: list[tuple[int, int, int, NDArray[np.float32]]] = [] - self._step_index = 0 - self._pending_observation = False - self._key_frames: list[dict[str, NDArray[np.uint8]]] = [] - self._first = True - self._model_calls = 0 - self._active_joint_target: NDArray[np.float64] | None = None - self._active_gripper: float | None = None - self._active_cache_frame_index: int | None = None - self._active_action_index: int | None = None - self._last_joint_target: NDArray[np.float64] | None = None - self._last_gripper_target: float | None = None + try: + self._client.connect(timeout_s=5.0) + description = self._client.call( + {"protocol": _PROTOCOL_VERSION, "op": "describe"}, + timeout_s=5.0, + ) + self._validate_description( + description.get("metadata"), + joint_names=names, + expected_model=_model_identity(spec), + ) + self._client.call( + { + "protocol": _PROTOCOL_VERSION, + "op": "configure", + "contract": { + "joint_names": list(names), + "lower_limits": lower.tolist(), + "upper_limits": upper.tolist(), + "max_joint_step_rad": max_step, + }, + }, + timeout_s=5.0, + ) + except BaseException: + self._client.close() + raise def reset(self) -> None: - """Clear episode coordinates and chunk/cache state.""" - if self._boundary_future is not None: - raise ROSRuntimeError("cannot reset LingBot while cache inference is active") + """Clear the local instruction identity; Runtime resets on the next step.""" self._instruction = None - self._origin_pose7 = None - self._chunk = None - self._steps.clear() - self._step_index = 0 - self._pending_observation = False - self._key_frames.clear() - self._first = True - self._model_calls = 0 - self._clear_active_action() - self._last_joint_target = None - self._last_gripper_target = None def close(self) -> None: - """Close only the inference client; the managed server remains external.""" + """Close only this client; the Runtime-owned gateway remains alive.""" self._client.close() - self._inference_executor.shutdown(wait=True, cancel_futures=True) def step( self, observation: dict[str, Any], instruction: str, ) -> NDArray[np.float32]: - """Return one absolute joint/gripper action through the OpenRAL contract.""" - joints = self._joint_state(observation) - model_observation = self._model_observation(observation) + """Return one absolute A1 joint/gripper action.""" + if not instruction.strip(): + raise ROSRuntimeError("lingbot_va_a1 instruction must be non-empty") if self._instruction != instruction: - self.reset() - self._client.reset(instruction) + self._client.call( + { + "protocol": _PROTOCOL_VERSION, + "op": "reset", + "instruction": instruction, + }, + timeout_s=self._timeout_s, + ) self._instruction = instruction - if self._origin_pose7 is None: - xyz, quat = self._solver.forward(joints) - self._origin_pose7 = np.concatenate([xyz, quat]) - - if self._pending_observation: - self._key_frames.append(model_observation) - self._pending_observation = False - boundary_hold = self._poll_chunk_boundary() - if boundary_hold is not None: - return boundary_hold - if self._chunk is not None and self._step_index >= len(self._steps): - self._start_chunk_boundary(model_observation, instruction) - return self._hold_action() - if self._chunk is None: - self._infer_chunk(model_observation, instruction) - - assert self._chunk is not None - if self._active_joint_target is None: - _frame, action_index, cache_frame_index, raw_action = self._steps[self._step_index] - self._begin_action( - raw_action, - joints=joints, - cache_frame_index=cache_frame_index, - action_index=action_index, + joints = np.asarray(observation.get("state"), dtype=np.float64) + if joints.shape != (6,) or not np.isfinite(joints).all(): + raise ROSRuntimeError( + f"lingbot_va_a1 requires six finite A1 joint positions, got {joints.shape}" ) - return self._step_active_action(joints) - - def _infer_chunk( - self, - model_observation: dict[str, NDArray[np.uint8]], - instruction: str, - ) -> None: - limit = self._config.execution.max_model_calls - if limit > 0 and self._model_calls >= limit: - raise ROSRuntimeError(f"LingBot rollout reached configured max_model_calls={limit}") - response = self._client.infer({"obs": [model_observation], "prompt": instruction}) - self._install_chunk(response, first=self._first) - - def _install_chunk(self, response: dict[str, Any], *, first: bool) -> None: - """Validate and install one completed LingBot response on the runner thread.""" - rollout_module = import_module("galaxea_a1_runtime.apps.lingbot.rollout") - try: - raw = response["action"] - except KeyError as exc: - raise ROSRuntimeError("LingBot response did not contain 'action'") from exc - policy = self._config.policy_server - chunk = rollout_module.LingBotActionChunk.from_response( - raw, - expected_shape=( - len(policy.action_channel_ids), - policy.frame_chunk_size, - policy.action_per_frame, - ), - first=first, - execute_frames=self._config.execution.execute_frames, - observations_per_frame=self._config.execution.kv_observations_per_frame, + images = observation.get("images") + if not isinstance(images, dict): + raise ROSRuntimeError("lingbot_va_a1 requires OpenRAL image observations") + front = _rgb_image(images.get("front"), name="front") + wrist = _rgb_image(images.get("wrist"), name="wrist") + response = self._client.call( + { + "protocol": _PROTOCOL_VERSION, + "op": "step", + "instruction": instruction, + "timeout_s": self._timeout_s, + "joints": encode_array(joints), + "front_rgb": encode_array(front), + "wrist_rgb": encode_array(wrist), + }, + timeout_s=self._timeout_s, ) - self._chunk = chunk - self._steps = list(chunk.steps()) - self._step_index = 0 - self._key_frames.clear() - self._model_calls += 1 - self._first = first - - def _start_chunk_boundary( - self, - model_observation: dict[str, NDArray[np.uint8]], - instruction: str, - ) -> None: - """Run cache synchronization and the next inference without starving actuation.""" - if self._chunk is None or self._boundary_future is not None: - raise ROSRuntimeError("invalid LingBot chunk-boundary state") - if not self._key_frames: - raise ROSRuntimeError("LingBot chunk ended without KV-cache observations") - limit = self._config.execution.max_model_calls - if limit > 0 and self._model_calls >= limit: - raise ROSRuntimeError(f"LingBot rollout reached configured max_model_calls={limit}") - cache_request = { - "obs": [ - {key: np.array(value, copy=True) for key, value in frame.items()} - for frame in self._key_frames - ], - "compute_kv_cache": True, - "imagine": False, - "state": np.array(self._chunk.cache_state, copy=True), - } - next_request = { - "obs": [{key: np.array(value, copy=True) for key, value in model_observation.items()}], - "prompt": instruction, - } - - def infer_next() -> dict[str, Any]: - self._client.infer(cache_request) - response = self._client.infer(next_request) - if not isinstance(response, dict): - raise ROSRuntimeError("LingBot inference response must be a mapping") - return cast(dict[str, Any], response) - - self._boundary_future = self._inference_executor.submit(infer_next) - self._boundary_deadline = time.monotonic() + self._inference_timeout_s - self._first = False - self._chunk = None - self._steps.clear() - self._step_index = 0 - self._key_frames.clear() - - def _poll_chunk_boundary(self) -> NDArray[np.float32] | None: - """Return a hold while boundary inference is pending; install it when ready.""" - if self._boundary_future is None: - return None - if not self._boundary_future.done(): - if time.monotonic() > self._boundary_deadline: - raise ROSRuntimeError( - "LingBot cache/inference exceeded the rSkill " - f"{self._inference_timeout_s:.3f} s per-chunk latency budget" - ) - return self._hold_action() - try: - response = self._boundary_future.result() - except Exception as exc: - raise ROSRuntimeError(f"LingBot cache/inference failed: {exc}") from exc - self._boundary_future = None - self._install_chunk(response, first=False) - return None - - def _hold_action(self) -> NDArray[np.float32]: - """Repeat the last absolute target while bounded cache inference runs.""" - if self._last_joint_target is None or self._last_gripper_target is None: - raise ROSRuntimeError("LingBot cannot hold before its first validated action") - return np.concatenate([self._last_joint_target, [self._last_gripper_target]]).astype( - np.float32 + action = decode_array( + response.get("action"), + shape=(7,), + dtype=np.dtype(np.float32), + label="Galaxea A1 OpenRAL policy action", ) + if not np.isfinite(action).all() or not 0.0 <= float(action[6]) <= 1.0: + raise ROSRuntimeError( + "Galaxea A1 OpenRAL policy returned an invalid joint/gripper action" + ) + return action - def _begin_action( - self, - raw_action: NDArray[np.float32], + @staticmethod + def _validate_description( + value: Any, *, - joints: NDArray[np.float64], - cache_frame_index: int, - action_index: int, + joint_names: tuple[str, ...], + expected_model: tuple[str, str], ) -> None: - action_module = import_module("galaxea_a1_runtime.policies.eef_actions") - assert self._origin_pose7 is not None - if self._config.action.pose_mode == "absolute": - absolute = np.asarray(raw_action, dtype=np.float64) - else: - absolute = action_module.relative_action_to_absolute( - raw_action, - self._origin_pose7, - min_quat_norm=self._action_config.min_quat_norm, + if not isinstance(value, dict): + raise ROSConfigError("Galaxea A1 OpenRAL policy metadata is missing") + if value.get("protocol") != _PROTOCOL_VERSION: + raise ROSConfigError("Galaxea A1 OpenRAL policy protocol mismatch") + if value.get("joint_names") != list(joint_names): + raise ROSConfigError( + "Galaxea A1 OpenRAL policy joint contract does not match the robot" ) - validated = action_module.validate_policy_action(absolute, self._action_config) - try: - solution = self._solver.solve(joints, validated[:3], validated[3:7]) - except Exception as exc: - raise ROSRuntimeError(f"LingBot A1 EEF target was rejected: {exc}") from exc - solved_joints = np.asarray(solution.joint_positions, dtype=np.float64) - self._active_joint_target = solved_joints - self._active_gripper = float(validated[7]) - self._active_cache_frame_index = cache_frame_index - self._active_action_index = action_index - - def _step_active_action(self, joints: NDArray[np.float64]) -> NDArray[np.float32]: - """Advance one model action without truncating its solved joint target.""" - assert self._active_joint_target is not None - assert self._active_gripper is not None - target, reaches_solution = _bounded_joint_substep( - joints, - self._active_joint_target, - max_step_rad=self._max_joint_step_rad, + if value.get("action_dim") != _ACTION_DIM or value.get("gripper_range") != [ + 0.0, + 1.0, + ]: + raise ROSConfigError("Galaxea A1 OpenRAL policy action contract mismatch") + actual_model = ( + value.get("model_repo_id"), + value.get("model_revision"), ) - - action = np.concatenate([target, [self._active_gripper]]).astype(np.float32) - self._last_joint_target = target.copy() - self._last_gripper_target = self._active_gripper - if not reaches_solution: - return action - - assert self._chunk is not None - assert self._active_cache_frame_index is not None - assert self._active_action_index is not None - assert self._origin_pose7 is not None - executed_xyz, executed_quat = self._solver.forward(target) - executed = np.concatenate([executed_xyz, executed_quat, [self._active_gripper]]) - if self._config.action.pose_mode == "absolute": - cache_action = executed - else: - action_module = import_module("galaxea_a1_runtime.policies.eef_actions") - cache_action = action_module.absolute_action_to_relative( - executed, - self._origin_pose7, - min_quat_norm=self._action_config.min_quat_norm, + if actual_model != expected_model: + raise ROSConfigError( + "Galaxea A1 OpenRAL policy serves a different model: " + f"expected {expected_model[0]}@{expected_model[1]}, " + f"got {actual_model[0]}@{actual_model[1]}" ) - self._chunk.cache_state[ - :, - self._active_cache_frame_index, - self._active_action_index, - ] = cache_action - self._pending_observation = self._chunk.needs_observation_after(self._active_action_index) - self._step_index += 1 - self._clear_active_action() - return action - def _clear_active_action(self) -> None: - self._active_joint_target = None - self._active_gripper = None - self._active_cache_frame_index = None - self._active_action_index = None - @staticmethod - def _joint_state(observation: dict[str, Any]) -> NDArray[np.float64]: - state = np.asarray(observation.get("state"), dtype=np.float64) - if state.shape != (6,) or not np.isfinite(state).all(): - raise ROSRuntimeError( - f"lingbot_va_a1 requires six finite A1 joint positions, got {state.shape}" - ) - return state - - def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[np.uint8]]: - images = observation.get("images") - if not isinstance(images, dict): - raise ROSRuntimeError("lingbot_va_a1 requires OpenRAL image observations") - result: dict[str, NDArray[np.uint8]] = {} - for source, target in ( - ("front", self._config.observations.front_key), - ("wrist", self._config.observations.wrist_key), - ): - image = np.asarray(images.get(source)) - if ( - image.ndim != _COLOR_NDIM - or image.shape[2] != _COLOR_CHANNELS - or image.dtype != np.uint8 - ): - raise ROSRuntimeError( - f"lingbot_va_a1 image {source!r} must be HWC uint8 RGB, " - f"got shape={image.shape} dtype={image.dtype}" - ) - result[target] = image - return result +def _rgb_image(value: Any, *, name: str) -> NDArray[np.uint8]: + image = np.asarray(value) + if image.ndim != _COLOR_NDIM or image.shape[2] != _COLOR_CHANNELS or image.dtype != np.uint8: + raise ROSRuntimeError( + f"lingbot_va_a1 image {name!r} must be HWC uint8 RGB, " + f"got shape={image.shape} dtype={image.dtype}" + ) + return image @POLICIES.register("lingbot_va_a1") def _build_lingbot_va_a1(env_cfg: Any) -> _LingBotVaA1Adapter: - """Build the A1 Runtime-backed LingBot-VA adapter.""" return _LingBotVaA1Adapter( env_cfg.vla, robot_description=getattr(env_cfg, "robot_description", None), diff --git a/python/sim/src/openral_sim/policy_deps.py b/python/sim/src/openral_sim/policy_deps.py index 4aa512c..a0f5a3c 100644 --- a/python/sim/src/openral_sim/policy_deps.py +++ b/python/sim/src/openral_sim/policy_deps.py @@ -98,8 +98,8 @@ ), "lingbot_va_a1": ( "Install the LingBot wire dependencies with `just sync --all-packages " - "--group lingbot`, set OPENRAL_GALAXEA_A1_RUNTIME_ROOT to the A1 " - "Runtime checkout, and start its contract-checked policy server." + "--group lingbot`, then start the A1 Runtime camera bridge, " + "contract-checked LingBot server, and OpenRAL policy gateway." ), "internvla_n1": ( "Install the rldx extras: `just sync --all-packages --group rldx` " diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md index 65b7165..c1e8c9c 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md @@ -60,17 +60,17 @@ action-channel map `[0, 1, 2, 3, 4, 5, 6, 28]` are applied in the external LingBot server from the checkpoint's `configs/va_a1_cfg.py`; this is not a LeRobot `PolicyProcessorPipeline`. -OpenRAL's `lingbot_va_a1` adapter validates each physical EEF target with the A1 -Runtime contract, solves IK, and emits six absolute joint targets plus one -normalized gripper target. If an IK solution is farther than the rSkill's -feedback-relative joint-step bound, the adapter advances toward that same -solution on subsequent 30 Hz ticks and does not consume the next model action -until the full solved target can be dispatched. It then writes the dispatched -target's FK result into the LingBot KV cache. The typed action follows OpenRAL's normal -candidate-action, C++ safety-kernel, safe-action, and Galaxea A1 HAL path. -The Runtime-provided IK implementation is constructed with the active OpenRAL -robot manifest's ordered joint limits, so Runtime calibration margins cannot -widen the official command envelope. +The A1 Runtime policy gateway validates each physical EEF target, solves IK, +and emits six absolute joint targets plus one normalized gripper target. If an +IK solution is farther than the rSkill's feedback-relative joint-step bound, +the gateway advances toward that same solution on subsequent 30 Hz ticks and +does not consume the next model action until the full solved target can be +dispatched. It then writes the dispatched target's FK result into the LingBot +KV cache. OpenRAL's thin adapter validates the gateway model and robot contract, +then routes the typed proposal through the normal candidate-action, C++ safety +kernel, safe-action, and Galaxea A1 HAL path. Runtime's IK is constructed with +the active OpenRAL robot manifest's ordered joint limits, so Runtime calibration +margins cannot widen the official command envelope. ## Sensors and observation contract @@ -82,7 +82,9 @@ widen the official command envelope. | out | action | `(7,)` float32 | Six absolute joint targets in radians and one normalized gripper target | The A1 Runtime remains the sole camera-device owner. OpenRAL connects to its -paired Camera Bridge and does not open either RealSense device itself. +versioned paired Camera Bridge and policy gateway over private per-user Unix +sockets; it neither imports the Runtime checkout nor opens either RealSense +device. ## Supported robots @@ -124,9 +126,9 @@ uv run --group lingbot openral rskill check \ For real deployment, follow the owner-separated startup sequence in [`docs/methods/01-hal.md`](../../docs/methods/01-hal.md): start the A1 Runtime -camera owner and LingBot server, start the isolated OpenRAL ROS1 sidecar, then -run the OpenRAL deployment scene. Do not start the A1 Runtime joint execution -bridge at the same time. +camera owner, LingBot server, and policy gateway; start the isolated OpenRAL +ROS1 sidecar; then run the OpenRAL deployment scene. Do not start the A1 +Runtime joint execution bridge at the same time. ## Evaluation diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml index 0c08ac5..86ffae2 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml @@ -1,8 +1,8 @@ # A1 Runtime LingBot-VA checkpoint deployed through OpenRAL. # # The model predicts episode-relative EEF pose + normalized gripper chunks. -# The adapter validates those targets with the tracked A1 Runtime contract and -# lowers each step to six absolute A1 joint positions plus one gripper value. +# The Runtime-owned policy gateway validates those targets and lowers each step +# to six absolute A1 joint positions plus one gripper value. # Both typed actions then traverse OpenRAL's safety kernel and A1 HAL. schema_version: "0.1" name: "OpenRAL/rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16" @@ -75,9 +75,6 @@ description: > # bound remains below both the HAL's 0.08 rad live target-step ceiling and its # 0.05 rad initial-alignment ceiling. policy_extras: - # Relative to OPENRAL_GALAXEA_A1_RUNTIME_ROOT. This task-specific Runtime - # config belongs to the rSkill contract, not to the policy adapter code. - runtime_config: "configs/deployments/lingbot/fruit_placement_eef.toml" max_joint_substep_rad: 0.045 actions: diff --git a/scenes/deploy/galaxea_a1_bench.yaml b/scenes/deploy/galaxea_a1_bench.yaml index 15027db..c1a67b8 100644 --- a/scenes/deploy/galaxea_a1_bench.yaml +++ b/scenes/deploy/galaxea_a1_bench.yaml @@ -1,5 +1,5 @@ # Galaxea A1 hardware deployment. Start the ROS 1 sidecar, A1 Camera Bridge, -# and LingBot policy server first, then run: +# LingBot policy server, and A1 Runtime OpenRAL policy gateway first, then run: # openral deploy run --config scenes/deploy/galaxea_a1_bench.yaml scene: id: galaxea_a1_bench @@ -27,8 +27,6 @@ sensors: backend: galaxea_a1_camera_bridge backend_params: camera: front - runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT - system_config: configs/system/a1.toml max_age_ms: 500 - name: wrist modality: rgb @@ -50,8 +48,6 @@ sensors: backend: galaxea_a1_camera_bridge backend_params: camera: wrist - runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT - system_config: configs/system/a1.toml max_age_ms: 500 runtime: enable_reasoner: false diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py index e128504..01435d4 100644 --- a/tests/unit/test_galaxea_a1.py +++ b/tests/unit/test_galaxea_a1.py @@ -9,11 +9,9 @@ import sys import threading import time -from concurrent.futures import Future from pathlib import Path from types import SimpleNamespace -import numpy as np import pytest from openral_core import ( Action, @@ -34,14 +32,11 @@ _SocketTransport, ) from openral_hal.protocol import HAL, HALHealthProvider, LifecycleEStopHAL -from openral_runner.backends.galaxea_a1_camera_bridge import _PairedObservationCache +from openral_runner.backends.galaxea_a1_ipc import RuntimeLocalClient, runtime_socket_path from openral_runner.factory import SENSOR_BACKEND_REGISTRY, make_sensor_readers from openral_sim.policies.lingbot_va_a1 import ( - _bounded_joint_substep, - _joint_limits_from_description, - _LingBotVaA1Adapter, - _runtime_paths, - _validated_joint_substep_limit, + _joint_contract, + _model_identity, ) _SIDECAR = runpy.run_path( @@ -119,81 +114,48 @@ def test_lingbot_manifest_owns_policy_joint_substep() -> None: manifest = RSkillManifest.from_yaml(str(manifest_path)) assert manifest.policy_extras["max_joint_substep_rad"] == 0.045 - assert ( - manifest.policy_extras["runtime_config"] - == "configs/deployments/lingbot/fruit_placement_eef.toml" - ) + assert "runtime_config" not in manifest.policy_extras -def test_lingbot_runtime_config_resolves_inside_runtime_checkout( - monkeypatch: pytest.MonkeyPatch, - tmp_path: Path, -) -> None: - config = tmp_path / "configs" / "deployments" / "lingbot" / "fruit_placement_eef.toml" - config.parent.mkdir(parents=True) - config.write_text("[deployment]\n", encoding="utf-8") - monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) +def test_lingbot_rskill_pins_the_gateway_model_identity() -> None: spec = VLASpec( id="lingbot_va_a1", weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", - extra={"runtime_config": str(config.relative_to(tmp_path))}, ) - assert _runtime_paths(spec) == (tmp_path.resolve(), config.resolve()) - - -def test_lingbot_runtime_config_is_required( - monkeypatch: pytest.MonkeyPatch, tmp_path: Path -) -> None: - monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) - spec = VLASpec( - id="lingbot_va_a1", - weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", - ) + repo_id, revision = _model_identity(spec) - with pytest.raises(ROSConfigError, match=r"policy_extras\.runtime_config"): - _runtime_paths(spec) + assert repo_id == "pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef" + assert revision == "90e017bdbc6afac2e441b4634c9192776bbcb8b7" -@pytest.mark.parametrize("runtime_config", ["/tmp/outside.toml", "../outside.toml"]) -def test_lingbot_runtime_config_cannot_escape_runtime_checkout( - runtime_config: str, - monkeypatch: pytest.MonkeyPatch, - tmp_path: Path, -) -> None: - monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) +def test_lingbot_joint_contract_uses_manifest_limits_and_policy_bound() -> None: spec = VLASpec( id="lingbot_va_a1", weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", - extra={"runtime_config": runtime_config}, + extra={"max_joint_substep_rad": 0.045}, ) - with pytest.raises(ROSConfigError, match=r"must be relative|escapes"): - _runtime_paths(spec) - - -def test_lingbot_ik_uses_openral_manifest_joint_limits() -> None: - names = tuple(joint.name for joint in GALAXEA_A1_DESCRIPTION.joints) - - lower, upper = _joint_limits_from_description( + names, lower, upper, step = _joint_contract( + spec, GALAXEA_A1_DESCRIPTION, - expected_joint_names=names, ) + assert names == tuple(f"arm_joint{index}" for index in range(1, 7)) assert lower == pytest.approx([-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798]) assert upper == pytest.approx([2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798]) + assert step == 0.045 -def test_lingbot_ik_rejects_description_without_command_limits() -> None: - joints = list(GALAXEA_A1_DESCRIPTION.joints) - joints[1] = joints[1].model_copy(update={"position_limits": None}) - description = GALAXEA_A1_DESCRIPTION.model_copy(update={"joints": joints}) +def test_lingbot_joint_contract_rejects_bound_above_hal_phase_limit() -> None: + spec = VLASpec( + id="lingbot_va_a1", + weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", + extra={"max_joint_substep_rad": 0.06}, + ) - with pytest.raises(ValueError, match="finite position limits"): - _joint_limits_from_description( - description, - expected_joint_names=tuple(joint.name for joint in joints), - ) + with pytest.raises(ROSConfigError, match="no greater than"): + _joint_contract(spec, GALAXEA_A1_DESCRIPTION) def test_manifest_and_hal_pin_official_a1_joint_transforms() -> None: @@ -226,35 +188,36 @@ def test_hal_rejects_invalid_sidecar_ports(port: object) -> None: GalaxeaA1HAL(port=port) # type: ignore[arg-type] # reason: runtime validation contract -def test_camera_bridge_backend_requires_explicit_a1_runtime_root( +def test_camera_bridge_backend_uses_runtime_process_endpoint( monkeypatch: pytest.MonkeyPatch, + tmp_path: Path, ) -> None: + monkeypatch.setenv("A1_PROCESS_STATE_ROOT", str(tmp_path)) cfg = SensorReaderConfig( sensor_id="front", backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, - backend_params={ - "camera": "front", - "runtime_root_env": "OPENRAL_TEST_A1_RUNTIME_ROOT", - "system_config": "configs/system/a1.toml", - }, + backend_params={"camera": "front"}, max_age_ms=500, ) reader = SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) assert reader.sensor_id == "front" assert not reader.is_open - monkeypatch.delenv("OPENRAL_TEST_A1_RUNTIME_ROOT", raising=False) - with pytest.raises(ROSConfigError, match="OPENRAL_TEST_A1_RUNTIME_ROOT"): + assert runtime_socket_path("a1-camera-bridge.sock") == (tmp_path / "a1-camera-bridge.sock") + with pytest.raises(ROSConfigError, match="corresponding A1 Runtime service"): reader.open() -def test_camera_bridge_backend_requires_explicit_system_config() -> None: +def test_camera_bridge_backend_rejects_checkout_parameters() -> None: cfg = SensorReaderConfig( sensor_id="front", backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, - backend_params={"camera": "front"}, + backend_params={ + "camera": "front", + "runtime_root_env": "OPENRAL_GALAXEA_A1_RUNTIME_ROOT", + }, ) - with pytest.raises(ROSConfigError, match=r"backend_params\.system_config"): + with pytest.raises(ROSConfigError, match="unknown params"): SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) @@ -268,16 +231,28 @@ def test_camera_bridge_backend_rejects_unknown_camera() -> None: SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) +def test_runtime_local_client_closes_a_broken_transport() -> None: + client_socket, peer_socket = socket.socketpair() + client = RuntimeLocalClient( + "test.sock", + label="test Runtime service", + max_response_bytes=1024, + ) + client._socket = client_socket + peer_socket.close() + + with pytest.raises(ROSRuntimeError, match="transport failed"): + client.call({"op": "describe"}, timeout_s=0.1) + + assert client._socket is None + + def test_camera_bridge_batch_shares_one_paired_session() -> None: configs = [ SensorReaderConfig( sensor_id=camera, backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, - backend_params={ - "camera": camera, - "runtime_root_env": "OPENRAL_TEST_A1_RUNTIME_ROOT", - "system_config": "configs/system/a1.toml", - }, + backend_params={"camera": camera}, max_age_ms=500, ) for camera in ("front", "wrist") @@ -288,157 +263,6 @@ def test_camera_bridge_batch_shares_one_paired_session() -> None: assert front._session is wrist._session -def test_camera_bridge_pair_is_read_once_with_one_shared_timestamp() -> None: - calls = 0 - - def read_observation() -> dict[str, np.ndarray]: - nonlocal calls - calls += 1 - return { - "front": np.full((2, 3, 3), calls, dtype=np.uint8), - "wrist": np.full((2, 4, 3), calls + 10, dtype=np.uint8), - } - - cache = _PairedObservationCache(read_observation) - - front = cache.read("front", max_age_ms=500) - wrist = cache.read("wrist", max_age_ms=500) - - assert calls == 1 - assert front.stamp_monotonic_ns == wrist.stamp_monotonic_ns - assert front.stamp_wall_ns == wrist.stamp_wall_ns - assert int(front.rgb[0, 0, 0]) == 1 - assert int(wrist.rgb[0, 0, 0]) == 11 - - cache.read("front", max_age_ms=500) - assert calls == 2 - - -def test_lingbot_joint_lowering_respects_manifest_step_limit() -> None: - current = np.zeros(6, dtype=np.float64) - target = np.array([0.16, -0.08, 0.04, 0.0, 0.0, 0.0], dtype=np.float64) - step_limit = _validated_joint_substep_limit( - policy_substep_rad=0.04, - max_target_step_rad=0.04, - initial_alignment_tolerance_rad=0.05, - ) - first, reached = _bounded_joint_substep( - current, - target, - max_step_rad=step_limit, - ) - assert not reached - assert float(np.max(np.abs(first - current))) < 0.04 - second, reached = _bounded_joint_substep( - first, - target, - max_step_rad=step_limit, - ) - assert not reached - assert float(np.max(np.abs(second - first))) < 0.04 - third, reached = _bounded_joint_substep(second, target, max_step_rad=step_limit) - assert not reached - fourth, reached = _bounded_joint_substep(third, target, max_step_rad=step_limit) - assert not reached - final, reached = _bounded_joint_substep(fourth, target, max_step_rad=step_limit) - assert reached - assert final == pytest.approx(target) - - -def test_lingbot_joint_lowering_rejects_nonfinite_input() -> None: - with pytest.raises(ValueError, match="matching finite vectors"): - _bounded_joint_substep( - np.zeros(6, dtype=np.float64), - np.array([np.nan, 0, 0, 0, 0, 0], dtype=np.float64), - max_step_rad=0.08, - ) - - -def test_lingbot_joint_lowering_rejects_policy_bound_above_hal_phase_limits() -> None: - with pytest.raises(ValueError, match="must not exceed"): - _validated_joint_substep_limit( - policy_substep_rad=0.06, - max_target_step_rad=0.08, - initial_alignment_tolerance_rad=0.05, - ) - - -def test_lingbot_boundary_inference_replays_last_safe_target_without_blocking() -> None: - adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) - adapter._boundary_future = Future() - adapter._boundary_deadline = time.monotonic() + 1.0 - adapter._inference_timeout_s = 1.0 - adapter._last_joint_target = np.arange(6, dtype=np.float64) / 10.0 - adapter._last_gripper_target = 0.25 - - started = time.monotonic() - action = adapter._poll_chunk_boundary() - - assert time.monotonic() - started < 0.05 - assert action == pytest.approx([0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.25]) - - -def test_lingbot_boundary_inference_fails_at_manifest_latency_budget() -> None: - adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) - adapter._boundary_future = Future() - adapter._boundary_deadline = time.monotonic() - 0.001 - adapter._inference_timeout_s = 6.0 - - with pytest.raises(ROSRuntimeError, match=r"6\.000 s per-chunk latency budget"): - adapter._poll_chunk_boundary() - - -def test_lingbot_action_advances_only_after_reaching_solved_target() -> None: - adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) - adapter._active_joint_target = np.array( - [0.12, -0.06, 0.03, 0.0, 0.0, 0.0], - dtype=np.float64, - ) - adapter._active_gripper = 0.25 - adapter._max_joint_step_rad = 0.03 - adapter._origin_pose7 = np.array([0.5, 0.0, 0.2, 0.0, 0.0, 0.0, 1.0]) - adapter._solver = SimpleNamespace( - forward=lambda joints: ( - np.asarray(joints[:3], dtype=np.float64), - np.array([0.0, 0.0, 0.0, 1.0]), - ) - ) - adapter._config = SimpleNamespace(action=SimpleNamespace(pose_mode="absolute")) - adapter._action_config = SimpleNamespace(min_quat_norm=1e-6) - adapter._chunk = SimpleNamespace( - cache_state=np.zeros((8, 1, 1), dtype=np.float64), - needs_observation_after=lambda _index: True, - ) - adapter._active_cache_frame_index = 0 - adapter._active_action_index = 0 - adapter._step_index = 0 - adapter._pending_observation = False - adapter._last_joint_target = None - adapter._last_gripper_target = None - - first = adapter._step_active_action(np.zeros(6, dtype=np.float64)) - - assert first == pytest.approx([0.03, -0.015, 0.0075, 0.0, 0.0, 0.0, 0.25]) - assert adapter._step_index == 0 - assert adapter._pending_observation is False - assert adapter._active_joint_target is not None - assert adapter._chunk.cache_state == pytest.approx(np.zeros((8, 1, 1))) - - final_feedback = np.array( - [0.11, -0.055, 0.0275, 0.0, 0.0, 0.0], - dtype=np.float64, - ) - final = adapter._step_active_action(final_feedback) - - assert final == pytest.approx([0.12, -0.06, 0.03, 0.0, 0.0, 0.0, 0.25]) - assert adapter._step_index == 1 - assert adapter._pending_observation is True - assert adapter._active_joint_target is None - assert adapter._chunk.cache_state[:, 0, 0] == pytest.approx( - [0.12, -0.06, 0.03, 0.0, 0.0, 0.0, 1.0, 0.25] - ) - - def test_connect_reads_state_and_sends_aligned_joint_target() -> None: transport = FakeA1Transport() hal = GalaxeaA1HAL(transport=transport) diff --git a/uv.lock b/uv.lock index f074e84..aaa6780 100644 --- a/uv.lock +++ b/uv.lock @@ -2878,6 +2878,7 @@ name = "openral-runner" version = "0.1.0" source = { editable = "python/runner" } dependencies = [ + { name = "msgpack" }, { name = "openral-core" }, { name = "openral-hal" }, { name = "openral-observability" }, @@ -2896,6 +2897,7 @@ opencv = [ [package.metadata] requires-dist = [ + { name = "msgpack", specifier = ">=1.1" }, { name = "opencv-python", marker = "extra == 'opencv'", specifier = ">=4.8" }, { name = "openral-core", editable = "python/core" }, { name = "openral-hal", editable = "python/hal" }, From e4b0f9d9913ec54b548bf2053ec0cd80ab4cc971 Mon Sep 17 00:00:00 2001 From: PengYue Date: Sun, 26 Jul 2026 00:29:01 +0800 Subject: [PATCH 08/10] docs(schema): refresh A1 service descriptions Signed-off-by: PengYue --- docs/reference/schemas/BenchmarkScene.json | 2 +- docs/reference/schemas/DeployScene.json | 2 +- docs/reference/schemas/RobotDescription.json | 2 +- docs/reference/schemas/SensorBundle.json | 2 +- docs/reference/schemas/SensorDeployBinding.json | 2 +- docs/reference/schemas/SensorReaderConfig.json | 2 +- docs/reference/schemas/SensorSpec.json | 2 +- docs/reference/schemas/SimScene.json | 2 +- docs/reference/schemas/all.json | 16 ++++++++-------- 9 files changed, 16 insertions(+), 16 deletions(-) diff --git a/docs/reference/schemas/BenchmarkScene.json b/docs/reference/schemas/BenchmarkScene.json index 652f846..5633bed 100644 --- a/docs/reference/schemas/BenchmarkScene.json +++ b/docs/reference/schemas/BenchmarkScene.json @@ -839,7 +839,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/DeployScene.json b/docs/reference/schemas/DeployScene.json index 95d4061..404bf82 100644 --- a/docs/reference/schemas/DeployScene.json +++ b/docs/reference/schemas/DeployScene.json @@ -795,7 +795,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/RobotDescription.json b/docs/reference/schemas/RobotDescription.json index 40cd30f..cfac77b 100644 --- a/docs/reference/schemas/RobotDescription.json +++ b/docs/reference/schemas/RobotDescription.json @@ -1392,7 +1392,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/SensorBundle.json b/docs/reference/schemas/SensorBundle.json index 172f85f..2edfdc2 100644 --- a/docs/reference/schemas/SensorBundle.json +++ b/docs/reference/schemas/SensorBundle.json @@ -193,7 +193,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/SensorDeployBinding.json b/docs/reference/schemas/SensorDeployBinding.json index 5b1a7aa..6ca84eb 100644 --- a/docs/reference/schemas/SensorDeployBinding.json +++ b/docs/reference/schemas/SensorDeployBinding.json @@ -1,7 +1,7 @@ { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/SensorReaderConfig.json b/docs/reference/schemas/SensorReaderConfig.json index 6da2e0a..edaa538 100644 --- a/docs/reference/schemas/SensorReaderConfig.json +++ b/docs/reference/schemas/SensorReaderConfig.json @@ -1,7 +1,7 @@ { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/SensorSpec.json b/docs/reference/schemas/SensorSpec.json index 7d0f436..a46ba75 100644 --- a/docs/reference/schemas/SensorSpec.json +++ b/docs/reference/schemas/SensorSpec.json @@ -193,7 +193,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/SimScene.json b/docs/reference/schemas/SimScene.json index 4f7f81b..0a12154 100644 --- a/docs/reference/schemas/SimScene.json +++ b/docs/reference/schemas/SimScene.json @@ -839,7 +839,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", diff --git a/docs/reference/schemas/all.json b/docs/reference/schemas/all.json index 67b9fc0..3ebfda4 100644 --- a/docs/reference/schemas/all.json +++ b/docs/reference/schemas/all.json @@ -515,7 +515,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -1073,7 +1073,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -3610,7 +3610,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -9556,7 +9556,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -10877,7 +10877,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -12342,7 +12342,7 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -13291,7 +13291,7 @@ "SensorReaderConfig": { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", @@ -13366,7 +13366,7 @@ "SensorDeployBinding": { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\nversioned paired raw-frame service owned by an external A1 Runtime process\nwithout importing Runtime or opening either RealSense device. Three\nadditional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", From f01050322f08a02e39aa0e91de67a8de90396f25 Mon Sep 17 00:00:00 2001 From: Adrian Llopart Date: Thu, 30 Jul 2026 21:56:16 +0200 Subject: [PATCH 09/10] fix(sim): make _Registry iterable so unknown-scene errors raise typed MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit sim_bringup's unknown-scene error message does sorted(SCENES), but _Registry never implemented __iter__ — any unknown scene id crashed with "TypeError: '_Registry' object is not iterable" while formatting the typed ROSConfigError it was about to raise (masking the real diagnostic). The type-ignore at the call site claimed iterability that did not exist; both are fixed and the regression is pinned by a unit test. Co-Authored-By: Claude Fable 5 Signed-off-by: Adrian Llopart --- python/hal/src/openral_hal/sim_bringup.py | 2 +- python/sim/src/openral_sim/registry.py | 6 +++++- tests/unit/test_eval_registry_and_runner.py | 17 +++++++++++++++++ 3 files changed, 23 insertions(+), 2 deletions(-) diff --git a/python/hal/src/openral_hal/sim_bringup.py b/python/hal/src/openral_hal/sim_bringup.py index 003dfc5..023c1f2 100644 --- a/python/hal/src/openral_hal/sim_bringup.py +++ b/python/hal/src/openral_hal/sim_bringup.py @@ -229,7 +229,7 @@ def build_sim_env_from_yaml( if scene_id not in SCENES: raise ROSConfigError( f"build_sim_env_from_yaml: scene id {scene_id!r} is not registered in " - f"openral_sim.SCENES. Available: {sorted(SCENES)}." # type: ignore[call-overload] # reason: _Registry is iterable and yields comparable str keys at runtime + f"openral_sim.SCENES. Available: {sorted(SCENES)}." ) # Resolve robot_id from the YAML, the SCENES fixed_robot registry, diff --git a/python/sim/src/openral_sim/registry.py b/python/sim/src/openral_sim/registry.py index c38418f..5318e4b 100644 --- a/python/sim/src/openral_sim/registry.py +++ b/python/sim/src/openral_sim/registry.py @@ -24,7 +24,7 @@ def _build(env_cfg): from __future__ import annotations -from collections.abc import Callable +from collections.abc import Callable, Iterator from typing import TYPE_CHECKING, Generic, TypeVar from openral_core.exceptions import ROSConfigError @@ -129,6 +129,10 @@ def names(self) -> list[str]: def __contains__(self, name: object) -> bool: return isinstance(name, str) and name in self._items + def __iter__(self) -> Iterator[str]: + """Iterate over registered IDs, so ``sorted(REGISTRY)`` works in error messages.""" + return iter(self._items) + SCENES: _Registry[SimRollout] = _Registry("scene") POLICIES: _Registry[PolicyAdapter] = _Registry("policy") diff --git a/tests/unit/test_eval_registry_and_runner.py b/tests/unit/test_eval_registry_and_runner.py index 69f410c..66f5ecc 100644 --- a/tests/unit/test_eval_registry_and_runner.py +++ b/tests/unit/test_eval_registry_and_runner.py @@ -88,6 +88,23 @@ def _factory_a() -> int: assert "widget" in msg and "typo" in msg and "['a']" in msg +def test_registry_iterates_ids_for_error_messages() -> None: + """``sorted(REGISTRY)`` is used in error paths (e.g. sim_bringup's unknown-scene + message); before ``__iter__`` existed that crashed with a TypeError, masking the + typed ROSConfigError it was formatting.""" + reg: _Registry[int] = _Registry("widget") + + @reg.register("b") + def _factory_b() -> int: + return 2 + + @reg.register("a") + def _factory_a() -> int: + return 1 + + assert sorted(reg) == ["a", "b"] + + def test_registry_duplicate_registration_rejected() -> None: reg: _Registry[int] = _Registry("widget") reg.register("a")(lambda: 1) From 2b34eca23b899a696c2fd236f7fb8e833da0a87c Mon Sep 17 00:00:00 2001 From: Adrian Llopart Date: Thu, 30 Jul 2026 21:56:31 +0200 Subject: [PATCH 10/10] fix(hal): gate sidecar gripper on relay ACTIVE; keep snapshot joint_states through e-stop MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Review fixes on the Galaxea A1 deployment path: - The sidecar forwarded gripper setpoints to /gripper_position_control_host regardless of the LOCKED/ARMING/ACTIVE relay machine that gates arm joints. The gripper bypasses the tracker's staged-hold interpolation, so it now fails closed unless the relay is ACTIVE — matching the validated bring-up order (HIL streams the joint hold to ACTIVE before the first gripper setpoint). Covered for LOCKED, ARMING (including riding in a joint packet), and ACTIVE. - _publish_joint_state went dark for every HAL while the e-stop latch was set. Snapshot-backed (sim-attached) HALs now keep publishing the last post-step frame so operators retain joint visibility; only real HALs — whose transport may already be torn down — are skipped. - GalaxeaA1CameraBridgeReader.read_latest raised a bare RuntimeError for "reader closed" where the sibling session class raises ROSRuntimeError. - Docstrings: runnable Examples on the galaxea_a1 module and GalaxeaA1HAL (matching every sibling real-HW HAL), the estop() timeout comment now states the real 4 s bound (3 s SIGINT grace + 1 s SIGKILL wait), and _on_estop_cleared documents the per-HAL RESTART_REQUIRED / RESETTABLE recovery branching it implements. - deploy-sim of the real-only robot is pinned by a test: bare sim mode raises ROSCapabilityMismatch and the scene-attached path raises the typed unknown-scene ROSConfigError (not the TypeError fixed in the prior commit). Sidecar test fakes are hoisted to module scope and shared. Co-Authored-By: Claude Fable 5 Signed-off-by: Adrian Llopart --- docs/methods/01-hal.md | 11 +- .../test/test_lifecycle_safety.py | 49 ++++ python/hal/src/openral_hal/galaxea_a1.py | 25 +- python/hal/src/openral_hal/lifecycle.py | 26 +- .../backends/galaxea_a1_camera_bridge.py | 2 +- tests/unit/test_galaxea_a1.py | 272 +++++++++++------- tools/galaxea_a1_ros1_sidecar.py | 11 + 7 files changed, 283 insertions(+), 113 deletions(-) diff --git a/docs/methods/01-hal.md b/docs/methods/01-hal.md index 8829e2f..ee22436 100644 --- a/docs/methods/01-hal.md +++ b/docs/methods/01-hal.md @@ -205,7 +205,10 @@ JSON-lines sidecar. No vendor source, binary, or message package is distributed. publisher to `/arm_joint_command_host`. The relay stays `LOCKED` until the first target, then `ARMING` until a fresh, valid tracker command is aligned with both that target and measured joint feedback. Only `ACTIVE` forwards - unchanged tracker commands. Repeated identical joint and gripper setpoints + unchanged tracker commands, and gripper setpoints are gated on the same + machine — a gripper command while the relay is `LOCKED`/`ARMING` is refused + fail-closed (the gripper bypasses the tracker's staged-hold interpolation, + so it must never actuate before alignment). Repeated identical joint and gripper setpoints refresh the command lease without restarting the official tracker. A command lease, alignment timeout, malformed command, stale feedback, motor fault, client disconnect, or e-stop stops the complete owned process group. @@ -547,10 +550,10 @@ _Generic ROS 2 managed lifecycle node wrapper for every HAL adapter — UR5e / U - `on_deactivate_pre_teardown(self) -> None` — Subclass hook (optional): stop robot-specific timers before base teardown. Default: no-op. (L462) - `on_cleanup_pre_disconnect(self) -> None` — Subclass hook (optional): tear down robot-specific resources (viewers, renderers) before HAL.disconnect(). Default: no-op. (L469) - `_publish_joint_state(self) -> None` — Timer callback. Wraps `self._hal.read_state()` in a `hal.read_state` span (identity attrs + `producer.record_joint_state`) and publishes the standard `/joint_states` + `~/joint_states` messages. Subclasses may override + call `super()._publish_joint_state()` to extend (OpenArm does this for viewer-sync). (L775) - - `_on_safe_action(self, msg) -> None` — `/openral/safe_action` callback. Decodes the `openral_msgs/ActionChunk` into an `openral_core.Action` and forwards through `_send_action_traced(action, source="safe_action")`. (L840) - - `_send_action_traced(self, action, *, source) -> None` — Forward `action` to `self._hal.send_action` inside a `hal.send_action` span. The `source` attribute disambiguates the origin on the dashboard's Commands card (kept on the span so future subscriber additions can fan in without changing the span shape). (L860) + - `_on_safe_action(self, msg) -> None` — `/openral/safe_action` callback. Decodes the `openral_msgs/ActionChunk` into an `openral_core.Action` and forwards through `_send_action_traced(action, source="safe_action")`. (L846) + - `_send_action_traced(self, action, *, source) -> None` — Forward `action` to `self._hal.send_action` inside a `hal.send_action` span. The `source` attribute disambiguates the origin on the dashboard's Commands card (kept on the span so future subscriber additions can fan in without changing the span shape). (L866) - `make_lifecycle_main(node_name, hal_factory) -> Callable[[], None]` — Build a `main()` entry point for a zero-parameter HAL adapter. Internally constructs a `_FactoryHALLifecycleNode(HALLifecycleNodeBase)` whose `_create_hal()` returns `hal_factory()`. Superseded for the standard arms by `make_lifecycle_main_from_manifest`; retained for bespoke nodes. (L194) -- `class ManifestHALLifecycleNode(HALLifecycleNodeBase)` — Public generic manifest-driven lifecycle node (promoted from the private `_ManifestHALLifecycleNode` under issue #191). Reads `robot_yaml` + `hal_mode` + sensor knobs as ROS params and builds its HAL via `openral_hal.build_hal`, so a robot's construction kwargs come from the manifest's `hal.parameters.defaults` — no bespoke `_create_hal` subclass. Attaches `SimSensorBridge` (cameras / depth / scan / viewer) in `on_activate_post_subs`. In `on_configure_post_hal`, **reflects** on the built HAL and opens `/openral//reset_to_pose` (`openral_msgs/srv/ResetToPose`) iff it exposes `reset_to_pose` — generalising the openarm-only service to every `MujocoArmHAL` sim arm (issue #191 Phase 2); HALs without the method (panda_mobile, scene-attached twins) get no service. In `_create_hal`, when a scene composition is declared (and not scene-attaching), calls the named composer and threads the composed MJCF in as the HAL's `mjcf_path` (issue #191 Phase 3b — openarm tabletop); the composition is read from the `scene_composition_json` ROS param (the DeployScene's own `composition`) which **takes precedence** over the robot manifest's `scene_defaults.composition` (back-compat fallback) — so the scene owns its arena, the robot manifest describes the robot. Bare-twin camera robots (so100/so101) need no composition: their cameras are spliced by the generic camera rig at HAL connect from `sensors[].sim_placement`. In `on_activate_post_subs`, when the manifest declares a planar base (`base_joints`), also attaches a `MobileBaseBridge` (`/odom` + `odom->base_link` TF + `/cmd_vel`→BODY_TWIST) — so panda_mobile runs on this node with no subclass (issue #191 Phase 3a). The per-robot lifecycle packages collapse into this node (issue #191 Phases 2-3). A back-compat alias `_ManifestHALLifecycleNode` is retained. (L1016) +- `class ManifestHALLifecycleNode(HALLifecycleNodeBase)` — Public generic manifest-driven lifecycle node (promoted from the private `_ManifestHALLifecycleNode` under issue #191). Reads `robot_yaml` + `hal_mode` + sensor knobs as ROS params and builds its HAL via `openral_hal.build_hal`, so a robot's construction kwargs come from the manifest's `hal.parameters.defaults` — no bespoke `_create_hal` subclass. Attaches `SimSensorBridge` (cameras / depth / scan / viewer) in `on_activate_post_subs`. In `on_configure_post_hal`, **reflects** on the built HAL and opens `/openral//reset_to_pose` (`openral_msgs/srv/ResetToPose`) iff it exposes `reset_to_pose` — generalising the openarm-only service to every `MujocoArmHAL` sim arm (issue #191 Phase 2); HALs without the method (panda_mobile, scene-attached twins) get no service. In `_create_hal`, when a scene composition is declared (and not scene-attaching), calls the named composer and threads the composed MJCF in as the HAL's `mjcf_path` (issue #191 Phase 3b — openarm tabletop); the composition is read from the `scene_composition_json` ROS param (the DeployScene's own `composition`) which **takes precedence** over the robot manifest's `scene_defaults.composition` (back-compat fallback) — so the scene owns its arena, the robot manifest describes the robot. Bare-twin camera robots (so100/so101) need no composition: their cameras are spliced by the generic camera rig at HAL connect from `sensors[].sim_placement`. In `on_activate_post_subs`, when the manifest declares a planar base (`base_joints`), also attaches a `MobileBaseBridge` (`/odom` + `odom->base_link` TF + `/cmd_vel`→BODY_TWIST) — so panda_mobile runs on this node with no subclass (issue #191 Phase 3a). The per-robot lifecycle packages collapse into this node (issue #191 Phases 2-3). A back-compat alias `_ManifestHALLifecycleNode` is retained. (L1028) - `make_lifecycle_main_from_manifest(node_name) -> Callable[[], None]` — Build a `main()` that spins up `ManifestHALLifecycleNode`. The node reads `robot_yaml` + `hal_mode` ("sim"|"real") ROS params and constructs its HAL via `openral_hal.build_hal(description, mode=hal_mode)` — one node class serves both modes for every robot. Used by franka / ur5e / ur10e / aloha / g1 / h1 / rizon4 / so100 / so101 (issue #191 Phase 2 migrated so100/so101 off their bespoke node); `openral deploy sim` injects `hal_mode="sim"`, `openral deploy run` injects `hal_mode="real"`. A robot lacking the requested mode raises `ROSCapabilityMismatch`. (L252) - `decode_action_chunk(msg) -> Action | None` — Inverse of `ros_publishing_hal._flatten_action_payload`. Decodes the `ActionChunk` wire shape (`flat` + `n_dof` + `horizon` + `control_mode`) back into a typed `openral_core.Action` with the per-mode payload field populated (`cartesian_delta` / `gripper` / `body_twist` / `joint_*`). Returns `None` for degenerate chunks (`flat=[]`, `n_dof≤0`) and for modes the F1/F5 publisher doesn't encode (`CARTESIAN_POSE`, `FOOT_PLACEMENT`, `DEX_HAND_JOINT`). Used by `HALLifecycleNodeBase._on_safe_action`; lives at module scope so unit tests in `tests/unit/test_lifecycle_action_chunk_decoder.py` exercise it without a ROS 2 install. (L103) diff --git a/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py b/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py index 1c795fa..0c11b1c 100644 --- a/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py +++ b/packages/openral_hal_galaxea_a1/test/test_lifecycle_safety.py @@ -95,6 +95,55 @@ def test_estopped_node_does_not_poll_disconnected_real_hal() -> None: rclpy.try_shutdown() +def test_estopped_snapshot_backed_node_keeps_publishing_joint_state() -> None: + """Snapshot-backed (sim-attached) HALs keep /joint_states alive through the latch. + + Only real HALs skip the publish while ``_estopped`` — their transport may + already be torn down. A proprio snapshot is plain data, so operators keep + joint visibility during an e-stop instead of the topic going dark. + """ + import time + + from openral_core.schemas import JointState + from openral_hal.galaxea_a1 import GALAXEA_A1_DESCRIPTION, GalaxeaA1HAL + from openral_hal.proprio_snapshot import ProprioFrame, ProprioSnapshot + from sensor_msgs.msg import JointState as RosJointState + + rclpy.init() + try: + node = ManifestHALLifecycleNode("openral_hal_galaxea_a1_snapshot_estop") + listener = rclpy.create_node("t_estop_joint_state_listener") + received: list[RosJointState] = [] + listener.create_subscription(RosJointState, "/t_estop_joint_states", received.append, 5) + try: + node._publisher = node.create_publisher(RosJointState, "/t_estop_joint_states", 5) + node._hal = cast(HAL, GalaxeaA1HAL()) + names = [joint.name for joint in GALAXEA_A1_DESCRIPTION.joints] + positions = [0.25] * len(names) + snapshot = ProprioSnapshot() + snapshot.set( + ProprioFrame( + state=JointState(name=names, position=positions, stamp_ns=1), + base_pose=(0.0, 0.0, 0.0), + base_pose_6dof=None, + base_twist=(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), + ) + ) + node._proprio = snapshot + node._estopped = True + node._publish_joint_state() + deadline = time.monotonic() + 2.0 + while not received and time.monotonic() < deadline: + rclpy.spin_once(listener, timeout_sec=0.1) + assert received, "estopped snapshot-backed node stopped publishing joint state" + assert list(received[0].position) == positions + finally: + node.destroy_node() + listener.destroy_node() + finally: + rclpy.try_shutdown() + + def test_downstream_estop_failure_stays_latched_without_crashing_callback() -> None: rclpy.init() try: diff --git a/python/hal/src/openral_hal/galaxea_a1.py b/python/hal/src/openral_hal/galaxea_a1.py index 6114849..7bfe850 100644 --- a/python/hal/src/openral_hal/galaxea_a1.py +++ b/python/hal/src/openral_hal/galaxea_a1.py @@ -4,6 +4,15 @@ adapter therefore owns no vendor imports: an operator-provisioned sidecar runs the official SDK and streams typed JSON records over loopback TCP. Network I/O lives on a worker thread so ``read_state`` and ``send_action`` never block. + +Example: + >>> from openral_hal.galaxea_a1 import GALAXEA_A1_DESCRIPTION, GalaxeaA1HAL + >>> hal = GalaxeaA1HAL() # doctest: +SKIP + >>> hal.connect() # requires the running ROS 1 sidecar # doctest: +SKIP + >>> state = hal.read_state() # doctest: +SKIP + >>> len(state.position) == len(GALAXEA_A1_DESCRIPTION.joints) == 7 # doctest: +SKIP + True + >>> hal.disconnect() # doctest: +SKIP """ from __future__ import annotations @@ -550,7 +559,18 @@ def _decode_nonnegative_int(raw: dict[str, object], key: str, *, default: int | class GalaxeaA1HAL(HALBase): - """OpenRAL real HAL for the six-axis Galaxea A1 plus parallel gripper.""" + """OpenRAL real HAL for the six-axis Galaxea A1 plus parallel gripper. + + Example: + >>> from openral_hal.galaxea_a1 import GalaxeaA1HAL + >>> from openral_core import Action, ControlMode + >>> hal = GalaxeaA1HAL(port=46011) # doctest: +SKIP + >>> hal.connect() # doctest: +SKIP + >>> hal.send_action( # doctest: +SKIP + ... Action(control_mode=ControlMode.GRIPPER_POSITION, gripper=[0.5], stamp_ns=0) + ... ) + >>> hal.disconnect() # doctest: +SKIP + """ description = GALAXEA_A1_DESCRIPTION estop_recovery = EStopRecovery.RESTART_REQUIRED @@ -767,7 +787,8 @@ def estop(self) -> None: log.critical("hal.estop", robot=self.description.name) try: # The sidecar acknowledges only after tracker, driver, and roscore - # have exited. Its bounded shutdown allows up to three seconds. + # have exited. Its bounded shutdown allows up to four seconds + # (3 s SIGINT grace + 1 s SIGKILL wait). self._transport.estop(timeout_s=4.0) finally: self._connected = False diff --git a/python/hal/src/openral_hal/lifecycle.py b/python/hal/src/openral_hal/lifecycle.py index b7e28dd..09d4dd1 100644 --- a/python/hal/src/openral_hal/lifecycle.py +++ b/python/hal/src/openral_hal/lifecycle.py @@ -776,9 +776,15 @@ def _publish_joint_state(self) -> None: """Timer callback: publish joint state. From the proprio snapshot for sim-attached HALs, else a live - ``hal.read_state``. + ``hal.read_state``. While the e-stop latch is set, snapshot-backed + HALs keep publishing the last post-step frame so operators retain + joint visibility through the latch; real HALs are skipped instead — + their transport may already be torn down (``RESTART_REQUIRED`` + stops the whole vendor stack) and polling would only spam errors. """ - if self._hal is None or self._publisher is None or self._estopped: + if self._hal is None or self._publisher is None: + return + if self._estopped and self._proprio is None: return from openral_observability import producer as ral_producer @@ -954,11 +960,17 @@ def _on_estop(self, _msg: object) -> None: def _on_estop_cleared(self, _msg: object) -> None: """Clear the estop latch when the reset authority broadcasts /openral/estop_cleared. - Without this the HAL stayed latched after the kernel's estop_reset — - it dropped every command (``_on_safe_action`` returns early on - ``_estopped``) so the robot never resumed until a node restart. The - kernel's cooldown gate has already passed by the time this fires - (the dashboard publishes it only after estop_reset returns success). + Recovery is per-HAL policy. HALs without the hardware-estop opt-in + just clear the local latch — without that the node dropped every + command (``_on_safe_action`` returns early on ``_estopped``) and + never resumed until a node restart. Opted-in HALs declare + ``estop_recovery``: ``RESETTABLE`` HALs get ``reset_estop()`` and + then resume, while ``RESTART_REQUIRED`` HALs (e.g. Galaxea A1, + whose estop stops the entire ROS 1 sidecar) deliberately keep the + latch — a full lifecycle restart with fresh alignment is the only + way back. The kernel's cooldown gate has already passed by the + time this fires (the dashboard publishes it only after estop_reset + returns success). """ if not self._estopped: return diff --git a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py index 1dc98bb..b41b3ae 100644 --- a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py +++ b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py @@ -223,7 +223,7 @@ def close(self) -> None: def read_latest(self, max_age_ms: int | None = None) -> SensorFrame: """Return the latest source-timestamped RGB frame.""" if not self.is_open: - raise RuntimeError(f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}) is closed") + raise ROSRuntimeError(f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}) is closed") budget_ms = self._default_max_age_ms if max_age_ms is None else max_age_ms frame = self._session.read(self._camera, max_age_ms=budget_ms) height, width, channels = frame.rgb.shape diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py index 01435d4..8fe6644 100644 --- a/tests/unit/test_galaxea_a1.py +++ b/tests/unit/test_galaxea_a1.py @@ -11,6 +11,7 @@ import time from pathlib import Path from types import SimpleNamespace +from typing import Any import pytest from openral_core import ( @@ -336,116 +337,122 @@ def test_sidecar_pins_every_vendor_topic_in_launch_commands() -> None: assert not any("eePose" in key for key in tracker_parameters) -def test_sidecar_relay_never_forwards_unaligned_tracker_startup() -> None: - class FakePublisher: - def __init__(self, topic: str) -> None: - self.topic = topic - self.messages: list[object] = [] - - def publish(self, message: object) -> None: - self.messages.append(message) - - def get_num_connections(self) -> int: - return 1 - - class FakeSubscriber: - def get_num_connections(self) -> int: - return 1 - - class FakeRospy: - class Time: - @staticmethod - def now() -> int: - return 123 +class _FakeSidecarPublisher: + def __init__(self, topic: str) -> None: + self.topic = topic + self.messages: list[object] = [] - def __init__(self) -> None: - self.publishers: dict[str, FakePublisher] = {} - - def Publisher( # noqa: N802 - mirrors rospy's public API - self, topic: str, _message_type: object, *, queue_size: int - ) -> FakePublisher: - assert queue_size == 1 - publisher = FakePublisher(topic) - self.publishers[topic] = publisher - return publisher - - def Subscriber( # noqa: N802 - mirrors rospy's public API - self, - _topic: str, - _message_type: object, - _callback: object, - *, - queue_size: int, - ) -> FakeSubscriber: - assert queue_size == 1 - return FakeSubscriber() - - def logerr(self, *_args: object) -> None: - pass + def publish(self, message: object) -> None: + self.messages.append(message) - def logwarn(self, *_args: object) -> None: - pass + def get_num_connections(self) -> int: + return 1 + + +class _FakeSidecarSubscriber: + def get_num_connections(self) -> int: + return 1 + + +class _FakeSidecarRospy: + class Time: + @staticmethod + def now() -> int: + return 123 + + def __init__(self) -> None: + self.publishers: dict[str, _FakeSidecarPublisher] = {} + + def Publisher( # noqa: N802 - mirrors rospy's public API + self, topic: str, _message_type: object, *, queue_size: int + ) -> _FakeSidecarPublisher: + assert queue_size == 1 + publisher = _FakeSidecarPublisher(topic) + self.publishers[topic] = publisher + return publisher + + def Subscriber( # noqa: N802 - mirrors rospy's public API + self, + _topic: str, + _message_type: object, + _callback: object, + *, + queue_size: int, + ) -> _FakeSidecarSubscriber: + assert queue_size == 1 + return _FakeSidecarSubscriber() + + def logerr(self, *_args: object) -> None: + pass + + def logwarn(self, *_args: object) -> None: + pass + + +def _sidecar_joint_state() -> SimpleNamespace: + return SimpleNamespace( + header=SimpleNamespace( + stamp=SimpleNamespace(to_nsec=time.time_ns), + frame_id="", + ), + name=[], + position=[], + velocity=[], + effort=[], + ) - def joint_state() -> SimpleNamespace: - return SimpleNamespace( - header=SimpleNamespace( - stamp=SimpleNamespace(to_nsec=time.time_ns), - frame_id="", - ), - name=[], - position=[], - velocity=[], - effort=[], - ) - def arm_command(position: tuple[float, ...]) -> SimpleNamespace: - return SimpleNamespace( - header=SimpleNamespace(stamp=0), - p_des=list(position), - v_des=[0.0] * 6, - kp=[1.0] * 6, - kd=[1.0] * 6, - t_ff=[0.0] * 6, - mode=0, - ) +def _sidecar_arm_command(position: tuple[float, ...]) -> SimpleNamespace: + return SimpleNamespace( + header=SimpleNamespace(stamp=0), + p_des=list(position), + v_des=[0.0] * 6, + kp=[1.0] * 6, + kd=[1.0] * 6, + t_ff=[0.0] * 6, + mode=0, + ) - def gripper_command() -> SimpleNamespace: - return SimpleNamespace(header=SimpleNamespace(stamp=0), gripper_stroke=0.0) - rospy = FakeRospy() +def _sidecar_gripper_command() -> SimpleNamespace: + return SimpleNamespace(header=SimpleNamespace(stamp=0), gripper_stroke=0.0) + + +_SIDECAR_HELLO: dict[str, object] = { + "op": "hello", + "protocol": 1, + "robot": "galaxea_a1", + "joint_names": [f"arm_joint{i}" for i in range(1, 7)], + "joint_position_min": [-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798], + "joint_position_max": [2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798], + "initial_alignment_tolerance_rad": 0.05, + "tracker_alignment_timeout_s": 5.0, + "max_target_step_rad": 0.08, + "command_lease_s": 0.5, + "state_timeout_s": 0.5, + "status_timeout_s": 1.0, + "feedback_limit_tolerance_rad": 0.01, + "idle_timeout_error_mask": 64, + "gripper_ignored_error_mask": 8, + "gripper_stroke_min_mm": 0.0, + "gripper_stroke_max_mm": 104.0, +} + + +def _primed_sidecar_bridge( + current: tuple[float, ...], +) -> tuple[_FakeSidecarRospy, Any, dict[str, object]]: + """Build a configured Bridge with joint/gripper/status feedback already latched.""" + rospy = _FakeSidecarRospy() bridge = _SIDECAR["Bridge"]( rospy, - joint_state, + _sidecar_joint_state, object, - gripper_command, + _sidecar_gripper_command, SimpleNamespace, ) - config = _SIDECAR["_hello_config"]( - { - "op": "hello", - "protocol": 1, - "robot": "galaxea_a1", - "joint_names": [f"arm_joint{i}" for i in range(1, 7)], - "joint_position_min": [-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798], - "joint_position_max": [2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798], - "initial_alignment_tolerance_rad": 0.05, - "tracker_alignment_timeout_s": 5.0, - "max_target_step_rad": 0.08, - "command_lease_s": 0.5, - "state_timeout_s": 0.5, - "status_timeout_s": 1.0, - "feedback_limit_tolerance_rad": 0.01, - "idle_timeout_error_mask": 64, - "gripper_ignored_error_mask": 8, - "gripper_stroke_min_mm": 0.0, - "gripper_stroke_max_mm": 104.0, - } - ) - # Encoder zero/quantization can leave feedback just beyond a nominal - # endpoint. The requested hold is projected to the exact legal endpoint. - current = (0.0, -0.001, -1.0, 0.0, 0.0, 0.0) - hold_target = (0.0, 0.0, -1.0, 0.0, 0.0, 0.0) - joint_feedback = joint_state() + config = _SIDECAR["_hello_config"](dict(_SIDECAR_HELLO)) + joint_feedback = _sidecar_joint_state() joint_feedback.name = [f"arm_joint{i}" for i in range(1, 7)] joint_feedback.position = list(current) joint_feedback.velocity = [0.0] * 6 @@ -458,6 +465,16 @@ def gripper_command() -> SimpleNamespace: ) ) bridge.configure(config) + return rospy, bridge, config + + +def test_sidecar_relay_never_forwards_unaligned_tracker_startup() -> None: + arm_command = _sidecar_arm_command + # Encoder zero/quantization can leave feedback just beyond a nominal + # endpoint. The requested hold is projected to the exact legal endpoint. + current = (0.0, -0.001, -1.0, 0.0, 0.0, 0.0) + hold_target = (0.0, 0.0, -1.0, 0.0, 0.0, 0.0) + rospy, bridge, config = _primed_sidecar_bridge(current) assert not bridge.apply({"joint_targets": list(hold_target)}, config, True) target_publisher = rospy.publishers["/arm_joint_target_position"] @@ -488,6 +505,63 @@ def gripper_command() -> SimpleNamespace: assert gripper_publisher.messages[0].gripper_stroke == 78.0 +def test_sidecar_gripper_requires_active_relay() -> None: + """Gripper actuation is gated by the same relay machine as arm joints. + + The gripper bypasses the tracker's staged-hold interpolation, so a + setpoint arriving while the relay is still ``LOCKED`` or ``ARMING`` must + fail closed instead of moving the physical gripper before alignment. + """ + current = (0.0, -0.001, -1.0, 0.0, 0.0, 0.0) + hold_target = (0.0, 0.0, -1.0, 0.0, 0.0, 0.0) + rospy, bridge, config = _primed_sidecar_bridge(current) + gripper_publisher = rospy.publishers["/gripper_position_control_host"] + + # LOCKED: a gripper-only action is refused and nothing is published. + with pytest.raises(RuntimeError, match="not ACTIVE: LOCKED"): + bridge.apply({"gripper": 0.5}, config, True) + assert gripper_publisher.messages == [] + + # First joint command stages the relay (ARMING); gripper stays refused, + # even when it rides in the same packet as a valid joint target. + assert not bridge.apply({"joint_targets": list(hold_target)}, config, True) + assert bridge.relay_state() == "ARMING" + with pytest.raises(RuntimeError, match="not ACTIVE: ARMING"): + bridge.apply({"gripper": 0.5, "joint_targets": list(hold_target)}, config, False) + assert gripper_publisher.messages == [] + + # Tracker aligns with the staged hold -> ACTIVE: the setpoint now forwards. + bridge._on_staged(_sidecar_arm_command(hold_target)) + assert bridge.relay_state() == "ACTIVE" + assert not bridge.apply({"gripper": 0.5}, config, False) + assert len(gripper_publisher.messages) == 1 + assert gripper_publisher.messages[0].gripper_stroke == 52.0 + + +def test_deploy_sim_of_real_only_robot_raises_typed_errors() -> None: + """`deploy sim` of the hardware-only A1 fails with typed errors, never a TypeError. + + The bare-twin path reports the robot as real-hardware-only; attaching the + deploy bench scene (which registers no sim scene id) reports the unknown + scene id — the latter used to crash with ``TypeError: '_Registry' object + is not iterable`` while formatting its own error message. + """ + from openral_core.exceptions import ROSCapabilityMismatch + from openral_hal.resolver import build_hal + + repo_root = Path(__file__).resolve().parents[2] + robot_yaml = repo_root / "robots" / "galaxea_a1" / "robot.yaml" + description = RobotDescription.from_yaml(str(robot_yaml)) + with pytest.raises(ROSCapabilityMismatch, match="real-hardware-only"): + build_hal(description, mode="sim") + with pytest.raises(ROSConfigError, match="not registered"): + build_hal( + description, + mode="sim", + sim_env_yaml=str(repo_root / "scenes" / "deploy" / "galaxea_a1_bench.yaml"), + ) + + def test_sidecar_stop_waits_for_sigkill_completion() -> None: stack = _SIDECAR["Stack"](shutdown_grace_s=0.05, kill_wait_s=1.0) child = stack.start( diff --git a/tools/galaxea_a1_ros1_sidecar.py b/tools/galaxea_a1_ros1_sidecar.py index 21a635e..03f3506 100755 --- a/tools/galaxea_a1_ros1_sidecar.py +++ b/tools/galaxea_a1_ros1_sidecar.py @@ -520,6 +520,17 @@ def apply( gripper = float(gripper) if not math.isfinite(gripper) or not 0.0 <= gripper <= 1.0: raise ValueError("gripper must be within [0, 1]") + with self._lock: + gripper_relay_state = self._relay_state + if gripper_relay_state != "ACTIVE": + # The gripper bypasses the tracker's staged-hold interpolation, + # so it must not actuate before the arm relay has finished + # alignment. Same fail-closed contract as the joint path above; + # the deploy flow always streams the joint hold to ACTIVE + # before the first gripper setpoint. + raise RuntimeError( + f"gripper command refused: command relay is not ACTIVE: {gripper_relay_state}" + ) gripper_mm = config["gripper_min"] + gripper * ( config["gripper_max"] - config["gripper_min"] )

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zUQ=t+S5x||6P}zc6pxrLg$BovMG02PE#z80lB{f2E{*vkE`KOu;Q6mGy#P3-;L?sJpj{n2DPkP7iJ5-;RY@n!eH!Wct|6bNW6> zhT9%X=K08&k2zK#@u#~88auI(whtu6#(47|om9M&s7EcAmZ6j*;hAY22br4J4jNql zIdJ`YW@g*Eq4;gynk2yCSr0q@)^V=l3bdRauJ2F^xYtj`GhKOBg;-# zY-&7f7p>(- + S1 Vision-Language-Action policy. Capabilities: pick, place on fruit, mango, bowl, plate. LingBot-VA fruit-placement policy for the Galaxea A1. It consumes the synchronized front and wrist RGB views, predicts episode-relative EEF pose and continuous gripper chunks, and uses the tracked A1 Runtime IK contract before OpenRAL validates and executes the resulting joint/gripper actions. Discovery view of an OpenRAL rSkill — NOT directly runnable by an agent harness; it runs via rSkill.from_pretrained + the robot HAL. +metadata: + openral_rskill: true # generated discovery view of an rSkill + schema_version: 0.1 + rskill_id: OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16 + manifest: ./rskill.yaml + role: s1 + kind: vla + model_family: lingbot_va + embodiment_tags: [galaxea_a1] + actions: [pick, place] + objects: [fruit, mango, bowl, plate] + scenes: [tabletop] + sensors_required: ['rgb:observation.images.front', 'rgb:observation.images.wrist'] + state_dim: 6 + action_dim: 7 + runtime: pytorch + quantization: bf16/pytorch + chunk_size: 16 + n_action_steps: 8 + latency_budget: {per_chunk_ms: 6000.0, max_execution_s: 420.0} + license_code: Apache-2.0 + license_weights: apache-2.0 + weights_uri: hf://pengyue-polaron/lingbot-va-galaxea-a1-fruit-placement-eef@90e017bdbc6afac2e441b4634c9192776bbcb8b7 + source_repo: hf://robbyant/lingbot-va-base +--- + +# lingbot-va-galaxea-a1-fruit-placement — rSkill discovery view + +> **Generated view, not a hand-written skill.** This `SKILL.md` is a discovery-only +> mirror of [`rskill.yaml`](./rskill.yaml), produced by `tools/generate_rskill_skillmd.py`. +> It lets tools that read the standard agent-skill format find and reason about this +> OpenRAL rSkill. The `rskill.yaml` manifest is the single source of truth +> (CLAUDE.md §1.3). Do not edit by hand — edit the manifest and regenerate. + +## What it is + +An OpenRAL **Vision-Language-Action policy** (`role: s1`, `kind: vla`). LingBot-VA fruit-placement policy for the Galaxea A1. It consumes the synchronized front and wrist RGB views, predicts episode-relative EEF pose and continuous gripper chunks, and uses the tracked A1 Runtime IK contract before OpenRAL validates and executes the resulting joint/gripper actions. + +## Capabilities + +- **Verbs:** pick · place +- **Objects:** fruit · mango · bowl · plate +- **Scenes:** tabletop +- **Embodiments:** galaxea_a1 + +## Why this is discovery-only + +An agent skill is natural-language instructions loaded into an LLM's context. An rSkill +is an executable artifact: it carries a typed capability/embodiment contract, model weights, +a runtime, and a license/provenance gate — none of which fit in freeform markdown. So an +agent can use this view to *select* the right skill, but cannot *execute* it by loading +this file. Execution always goes through the OpenRAL loader and the robot HAL. + +## License + +- **Code:** Apache-2.0. +- **Weights:** `apache-2.0` — permissive / commercial-use OK + +## How to actually run it (not via an agent harness) + +```python +from openral_rskill import rSkill + +skill = rSkill.from_pretrained("OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16") +# the loader validates embodiment / sensors / runtime / quantization against the target +# RobotDescription and enforces the weight-license gate before any weights load. +``` + +See [`rskill.yaml`](./rskill.yaml) for the authoritative, validated manifest. From 454fd098055384c28893a8e8f600c8822e5dff37 Mon Sep 17 00:00:00 2001 From: PengYue Date: Sat, 25 Jul 2026 22:24:16 +0800 Subject: [PATCH 04/10] refactor(rskill): make A1 LingBot deployment manifest-driven Signed-off-by: PengYue --- docs/methods/00-core-schemas.md | 6 +- docs/methods/05-inference-runner.md | 5 +- docs/methods/07-eval-sim.md | 11 +++- docs/reference/schemas/RSkillManifest.json | 2 +- docs/reference/schemas/all.json | 2 +- python/core/src/openral_core/schemas.py | 19 +++--- python/runner/src/openral_runner/factory.py | 13 ++-- .../src/openral_sim/policies/lingbot_va_a1.py | 56 +++++++++------- python/sim/src/openral_sim/policy_deps.py | 6 +- .../README.md | 10 +-- .../SKILL.md | 6 +- .../rskill.yaml | 7 +- tests/unit/test_eval_registry_and_runner.py | 2 +- tests/unit/test_galaxea_a1.py | 64 +++++++++++++++++++ 14 files changed, 148 insertions(+), 61 deletions(-) diff --git a/docs/methods/00-core-schemas.md b/docs/methods/00-core-schemas.md index 490c9ce..c133413 100644 --- a/docs/methods/00-core-schemas.md +++ b/docs/methods/00-core-schemas.md @@ -45,7 +45,7 @@ _openral schema v0 — normative Pydantic v2 contracts for all layers._ `APACHE_2_0, MIT, BSD, PERMISSIVE_RESEARCH, NVIDIA_NON_COMMERCIAL, NVIDIA_OPEN_MODEL, RLWRLD_NON_COMMERCIAL, PROPRIETARY, UNKNOWN` (NVIDIA_OPEN_MODEL = GR00T N1.7+, commercial OK) - `class RSkillRuntime(str, Enum)` — Manifest runtime hint. (L2775) `PYTORCH, ONNX, TENSORRT, TRT_LLM, VLLM, GGUF, MLX, JAX` -- `class PhysicsBackend(str, Enum)` — Sim backend. (L6531) +- `class PhysicsBackend(str, Enum)` — Sim backend. (L6532) `MUJOCO, MUJOCO_MJX, PYBULLET, SAPIEN, ISAACSIM, COPPELIASIM, GENESIS, MOCK` (SAPIEN = ManiSkill3 / RoboTwin engine; RoboTwin uses it via a py3.10 sidecar; `COPPELIASIM` = CoppeliaSim/PyRep RLBench backend, out-of-process py3.10 sidecar) **Pydantic models — robot manifest hierarchy** @@ -66,7 +66,7 @@ _openral schema v0 — normative Pydantic v2 contracts for all layers._ - `class ComputeSpec(BaseModel)` — Compute profile for one deployment tier (edge / local / cloud). Populated by `openral_detect._enrich_compute` from GPU probe results; attached to `RobotDescription.compute_edge`, `compute_local`, or `compute_cloud`. (L667) fields: `compute_tops, system_memory_gb, num_gpus, gpu_vram_gb, cuda_compute_capability, cuda_toolkit_version, tensorrt_version, gpu_supported_runtimes, gpu_supported_dtypes, nvmm_available, endpoint, network_latency_ms`. Shared across all three tiers — `endpoint` and `network_latency_ms` are `None` for edge/local. `nvmm_available` is probed on all tiers (returns `False` gracefully when absent). `num_gpus > 1` captures cloud multi-GPU pods. GPU/runtime fields moved here from `RobotCapabilities` to separate physical robot capabilities from host compute properties. - `supports_cumotion() -> bool` — True when the host meets the cuMotion (Isaac ROS) GPU floor: compute capability >= (8, 0), CUDA toolkit major >= 13, and `gpu_vram_gb` >= `_CUMOTION_MIN_VRAM_GIB` (7.5; nominal-8 GB cards report ~7.99 GiB). The MoveIt planner gate uses it to pick cuMotion vs OMPL. False on non-CUDA hosts or when the CUDA toolkit version is unknown. -- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8080) +- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8081) - `class RobotCapabilities(BaseModel)` — Physical capability flags for skill compatibility. (L760) fields: `locomotion, can_lift_kg, has_dexterous_hands, has_tactile, has_force_control, has_vision, has_lidar, has_vision_slam, has_audio, bimanual, supported_control_modes, supported_vla_embodiments, embodiment_tags`. GPU/compute fields moved to `ComputeSpec` (attached at `RobotDescription.compute`). **`has_vision_slam`** gates the camera-based cuVSLAM+nvblox SLAM backend for lidar-less robots; independent of `has_lidar` (lidar backend wins when both set). - `class SafetyEnvelope(BaseModel)` — Constraints enforced by C++ safety kernel. (L808) @@ -210,7 +210,7 @@ _Advisory, queryable Layer-2 world model the S2 Reasoner consults to recall wher - `WRAPPED_TASK_SPACE_LAYOUTS: frozenset[StateLayout]` — Subset of `StateLayout` covering Cartesian/FK-derived composites: `{rc365, human300_16d, libero_eef8d}`. These layouts REQUIRE `StateContract.bindings`; the cross-validator on `StateContract` enforces this at manifest load (`human300_16d`/`rc365` require `eef_frame`+`base_frame`; `libero_eef8d` requires `eef_frame`+`gripper_qpos_joints` — world-frame absolute EE pose, so no `base_frame`). Joint-space layouts (`smolvla_9d`, `gr1`, `simpler_*`) are excluded — they're served verbatim from raw `JointState.position`. - `StateContractBindings` (Pydantic model) — Per-robot source bindings for an rSkill's `state_contract.layout`. Fields: `eef_frame: str | None`, `base_frame: str | None`, `world_frame: str | None = "map"`, `gripper_qpos_joints: list[str]`, `quaternion_convention: Literal["xyzw","wxyz"] = "xyzw"`. Symmetric to `ControlModeSemantics` on the action side. Required when `StateContract.layout` is in `WRAPPED_TASK_SPACE_LAYOUTS`, forbidden otherwise. - `BenchmarkName` (TypeAlias = Literal[...]) — Closed canonical benchmark ids matching `benchmarks/*.yaml` suites (plus retained `aloha_insertion`/`aloha_transfer_cube` task-level ids cited by the act-aloha* manifests after the two suites were unified into `aloha.yaml`). Members: `aloha, aloha_insertion, aloha_transfer_cube, gr1_tabletop, libero_10, libero_goal, libero_object, libero_spatial, maniskill3_panda, metaworld_mt10, metaworld_mt50, pusht, rlbench, robocasa_pnp, robotwin, simpler_env_widowx`. (L2633) -- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","lingbot_va","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1` (a separate V1 repo + transformers==4.51.3 / lerobot==0.4.2 venv). `lingbot_va` is the separate LingBot-VA family; its current adapter targets the Galaxea A1 and lowers contract-checked EEF outputs to absolute joint/gripper actions before the OpenRAL safety boundary. `internvla_n1` (InternRobotics InternVLA-N1 / DualVLN, arXiv:2512.08186) is a dual-system vision-language **navigation** policy (Qwen2.5-VL-7B System-2 + NavDP DiT System-1); it runs out-of-process via a py3.11 ZMQ sidecar (upstream pins transformers 4.51) and emits a 6-D `BODY_TWIST` base velocity from RGB-D + instruction. (L2655) +- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","lingbot_va_a1","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1` (a separate V1 repo + transformers==4.51.3 / lerobot==0.4.2 venv). `lingbot_va_a1` is the Galaxea A1 EEF adapter for the separate LingBot-VA family; the task-specific Runtime config is carried by `policy_extras.runtime_config`, and the adapter lowers contract-checked EEF outputs to absolute joint/gripper actions before the OpenRAL safety boundary. `internvla_n1` (InternRobotics InternVLA-N1 / DualVLN, arXiv:2512.08186) is a dual-system vision-language **navigation** policy (Qwen2.5-VL-7B System-2 + NavDP DiT System-1); it runs out-of-process via a py3.11 ZMQ sidecar (upstream pins transformers 4.51) and emits a 6-D `BODY_TWIST` base velocity from RGB-D + instruction. (L2655) - `RSkillKind` (TypeAlias = Literal["vla","wam","ros_action","ros_service","detector","vlm","reward","playbook"]) — Discriminator selecting the loader / runner branch. `"vla"` is today's learnable policy path; `"ros_action"` / `"ros_service"` route through `ROSActionRskill`; `"wam"` is reserved (loader rejects at resolve time); `"detector"` is a perception producer that runs an exported ONNX/TRT detection model and publishes `ObjectsMetadata` — emits no `Action`; `"vlm"` is a video-language model answering natural-language scene queries from camera frames — emits text, no actions/boxes, `role: s2` (reached via the read-only `query_scene` tool, not `ExecuteRskill`); `"reward"` is a progress/reward monitor; `"playbook"` is a symbolic, human-authored S2 decision procedure (Markdown SOP) the reasoner *reads* into its system prompt — no weights, actuators, or `Action`, `role: s2`. (L2752) **Pydantic models — skill benchmark results (`rskills//eval/.json`)** diff --git a/docs/methods/05-inference-runner.md b/docs/methods/05-inference-runner.md index 4c37953..abbda5a 100644 --- a/docs/methods/05-inference-runner.md +++ b/docs/methods/05-inference-runner.md @@ -177,14 +177,15 @@ _Public surface of the inference runner. Imports are PEP 562 lazy (M8 PR I/8): h _Library deploy runner used by runtime nodes; the public deploy CLI now shells the ROS graph from a `DeployScene`._ - `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L86) -- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L287) +- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L288) - `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L42) - `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L63) - `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L92) - `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L132) - `_make_galaxea_a1_camera_bridge_reader(cfg) -> SensorReader` — Builds the A1 Runtime paired-camera connector. Accepts only `camera`, - `runtime_root_env`, and `deployment_config`; unknown values are rejected. + `runtime_root_env`, and `deployment_config`; unknown values are rejected and + the scene must declare `deployment_config` explicitly. ### `python/runner/src/openral_runner/deploy_runner.py` _:class:`DeployRunner` — concrete `InferenceRunnerBase` subclass composing HAL + Skill + WorldStateAggregator + SensorReaders + SafetyClient._ diff --git a/docs/methods/07-eval-sim.md b/docs/methods/07-eval-sim.md index fd00ca1..fe5b3b2 100644 --- a/docs/methods/07-eval-sim.md +++ b/docs/methods/07-eval-sim.md @@ -425,9 +425,14 @@ actions through OpenRAL's normal candidate-action and safety path._ Constructs the A1 Runtime IK implementation with the OpenRAL limits rather than its independently calibrated Runtime bounds, so every lowered target already matches the C++ kernel and ROS 1 sidecar contract. -- `_build_lingbot_va(env_cfg) -> _LingBotVaA1Adapter` — - `@POLICIES.register("lingbot_va")` factory. The model family remains - robot-agnostic; the current adapter explicitly accepts only the +- `_runtime_paths(spec) -> tuple[Path, Path]` — Resolves the external A1 + Runtime checkout and the rSkill-owned relative deployment config, rejecting + missing, absolute, escaping, and nonexistent paths before importing Runtime + code. +- `_build_lingbot_va_a1(env_cfg) -> _LingBotVaA1Adapter` — + `@POLICIES.register("lingbot_va_a1")` factory. The task-specific A1 Runtime + deployment config is read from the manifest's `policy_extras.runtime_config`; + it is not a hidden adapter default. The adapter explicitly accepts only the `galaxea_a1` embodiment. #### `tools/lingbot_vla2_sidecar.py` + `tools/_lingbot_vla2_server.py` diff --git a/docs/reference/schemas/RSkillManifest.json b/docs/reference/schemas/RSkillManifest.json index 41d7f6f..f612516 100644 --- a/docs/reference/schemas/RSkillManifest.json +++ b/docs/reference/schemas/RSkillManifest.json @@ -1312,7 +1312,7 @@ "openvla", "lingbot_vla2", "lingbot_vla", - "lingbot_va", + "lingbot_va_a1", "internvla_n1" ], "type": "string" diff --git a/docs/reference/schemas/all.json b/docs/reference/schemas/all.json index 480a4d8..67b9fc0 100644 --- a/docs/reference/schemas/all.json +++ b/docs/reference/schemas/all.json @@ -6186,7 +6186,7 @@ "openvla", "lingbot_vla2", "lingbot_vla", - "lingbot_va", + "lingbot_va_a1", "internvla_n1" ], "type": "string" diff --git a/python/core/src/openral_core/schemas.py b/python/core/src/openral_core/schemas.py index 4139bad..f88fb08 100644 --- a/python/core/src/openral_core/schemas.py +++ b/python/core/src/openral_core/schemas.py @@ -4401,7 +4401,7 @@ class EmbodimentExtra(BaseModel): "openvla", "lingbot_vla2", "lingbot_vla", - "lingbot_va", + "lingbot_va_a1", "internvla_n1", ] """VLA / policy family the skill belongs to. @@ -4430,11 +4430,12 @@ class EmbodimentExtra(BaseModel): ``lerobot==0.4.2`` venv, driven by ``tools/_lingbot_vla2_server.py --variant v1`` (adapter: ``openral_sim.policies.lingbot_vla2`` id ``lingbot_vla``). -``lingbot_va`` is the LingBot-VA model family. Its current real-deployment -adapter supports the Galaxea A1 embodiment and -uses a separately maintained A1 Runtime checkout for the contract-checked -LingBot service, paired camera bridge, EEF transforms, and IK, then returns -joint/gripper actions through the normal OpenRAL safety and HAL path. +``lingbot_va_a1`` is the Galaxea A1 EEF deployment adapter for the LingBot-VA +checkpoint. It uses a separately maintained A1 Runtime checkout for the +contract-checked LingBot service, paired camera bridge, EEF transforms, and IK, +then returns joint/gripper actions through the normal OpenRAL safety and HAL +path. The task-specific runtime configuration is declared by the rSkill's +``policy_extras.runtime_config`` field rather than hidden in the adapter. ``openvla`` (OpenVLA / OpenVLA-OFT) is a transformers *custom-code* model loaded in-process (``trust_remote_code``, gated by @@ -5995,7 +5996,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "3d_diffuser_actor", # family diffuser_actor "lingbot_vla", # family lingbot_vla "lingbot_vla2", # family lingbot_vla2 - "lingbot_va", # family lingbot_va + "lingbot_va_a1", # family lingbot_va_a1 "internvla_n1", # family internvla_n1 (InternVLA-N1 / DualVLN) # Non-VLA tool-model tokens (detector / vlm / reward). "omdet_turbo", @@ -6029,7 +6030,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": "openvla_oft", "lingbot_vla": "lingbot_vla", "lingbot_vla2": "lingbot_vla2", - "lingbot_va": "lingbot_va", + "lingbot_va_a1": "lingbot_va_a1", "internvla_n1": "internvla_n1", } """VLA :data:`ModelFamily` → its canonical ```` *suggestion* token @@ -6049,7 +6050,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": frozenset({"openvla", "openvla_oft"}), "lingbot_vla": frozenset({"lingbot_vla"}), "lingbot_vla2": frozenset({"lingbot_vla2"}), - "lingbot_va": frozenset({"lingbot_va"}), + "lingbot_va_a1": frozenset({"lingbot_va_a1"}), "internvla_n1": frozenset({"internvla_n1"}), } """The documented **family → allowed ```` tokens** map: when a manifest diff --git a/python/runner/src/openral_runner/factory.py b/python/runner/src/openral_runner/factory.py index 294a3a6..2e579f1 100644 --- a/python/runner/src/openral_runner/factory.py +++ b/python/runner/src/openral_runner/factory.py @@ -210,13 +210,14 @@ def _make_galaxea_a1_camera_bridge_reader(cfg: SensorReaderConfig) -> SensorRead "backend_params.camera to be 'front' or 'wrist'" ) runtime_root_env = params.get("runtime_root_env", "OPENRAL_GALAXEA_A1_RUNTIME_ROOT") - deployment_config = params.get( - "deployment_config", - "configs/deployments/lingbot/fruit_placement_eef.toml", - ) - if not isinstance(runtime_root_env, str) or not isinstance(deployment_config, str): + deployment_config = params.get("deployment_config") + if not isinstance(runtime_root_env, str) or not runtime_root_env: + raise ROSConfigError("Galaxea A1 camera bridge runtime_root_env must be a non-empty string") + if not isinstance(deployment_config, str) or not deployment_config: raise ROSConfigError( - "Galaxea A1 camera bridge runtime_root_env and deployment_config must be strings" + f"SensorReaderConfig({cfg.sensor_id!r}, " + "backend=galaxea_a1_camera_bridge) requires " + "backend_params.deployment_config" ) return GalaxeaA1CameraBridgeReader( sensor_id=cfg.sensor_id, diff --git a/python/sim/src/openral_sim/policies/lingbot_va_a1.py b/python/sim/src/openral_sim/policies/lingbot_va_a1.py index 93f6e6b..8087153 100644 --- a/python/sim/src/openral_sim/policies/lingbot_va_a1.py +++ b/python/sim/src/openral_sim/policies/lingbot_va_a1.py @@ -25,7 +25,6 @@ from openral_sim.registry import POLICIES _RUNTIME_ROOT_ENV = "OPENRAL_GALAXEA_A1_RUNTIME_ROOT" -_DEPLOYMENT_CONFIG = "configs/deployments/lingbot/fruit_placement_eef.toml" _COLOR_NDIM = 3 _COLOR_CHANNELS = 3 @@ -133,19 +132,26 @@ def _build_manifest_bounded_ik_solver( ) -def _runtime_root() -> Path: +def _runtime_paths(spec: VLASpec) -> tuple[Path, Path]: + """Resolve the external Runtime checkout and its manifest-owned config.""" raw = os.environ.get(_RUNTIME_ROOT_ENV) if raw is None: - raise ROSConfigError(f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va policy adapter") + raise ROSConfigError(f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va_a1 adapter") root = Path(raw).expanduser().resolve() - config = root / _DEPLOYMENT_CONFIG + runtime_config = spec.extra.get("runtime_config") + if not isinstance(runtime_config, str) or not runtime_config.strip(): + raise ROSConfigError( + "lingbot_va_a1 requires policy_extras.runtime_config " + "(a relative path inside the A1 Runtime checkout)" + ) + if Path(runtime_config).is_absolute(): + raise ROSConfigError("policy_extras.runtime_config must be relative") + config = (root / runtime_config).resolve() + if not config.is_relative_to(root): + raise ROSConfigError("policy_extras.runtime_config escapes the A1 Runtime checkout") if not config.is_file(): raise ROSConfigError(f"A1 Runtime LingBot config not found: {config}") - for import_root in (root / "external" / "embodied-ops" / "src", root): - value = str(import_root) - if value not in sys.path: - sys.path.insert(0, value) - return root + return root, config class _LingBotVaA1Adapter: @@ -154,7 +160,11 @@ class _LingBotVaA1Adapter: device = "external:a1-runtime" def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: - root = _runtime_root() + root, runtime_config = _runtime_paths(spec) + for import_root in (root / "external" / "embodied-ops" / "src", root): + value = str(import_root) + if value not in sys.path: + sys.path.insert(0, value) client_module, config_module, protocol_module, ik_module, action_module = ( import_module("galaxea_a1_runtime.apps.lingbot.client"), import_module("galaxea_a1_runtime.apps.lingbot.config"), @@ -164,14 +174,14 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: ) self.spec = spec self._config = config_module.load_lingbot_config( - root / _DEPLOYMENT_CONFIG, + runtime_config, repo_root=root, ) self._action_config = action_module.build_action_transform_config( system=self._config.system ) if robot_description is None or robot_description.name != "galaxea_a1": - raise ROSConfigError("lingbot_va requires the Galaxea A1 RobotDescription") + raise ROSConfigError("lingbot_va_a1 requires the Galaxea A1 RobotDescription") system = self._config.system try: self._solver = _build_manifest_bounded_ik_solver( @@ -181,7 +191,7 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: ) except (AttributeError, KeyError, TypeError, ValueError) as exc: raise ROSConfigError( - "lingbot_va could not construct A1 Runtime IK with the " + "lingbot_va_a1 could not construct A1 Runtime IK with the " "OpenRAL RobotDescription joint contract" ) from exc try: @@ -199,7 +209,7 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: ) except (AttributeError, KeyError, TypeError, ValueError) as exc: raise ROSConfigError( - "lingbot_va requires a finite positive policy " + "lingbot_va_a1 requires a finite positive policy " "max_joint_substep_rad plus the Galaxea A1 HAL target-step " "and initial-alignment limits" ) from exc @@ -213,10 +223,12 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: ) latency_budget_ms = spec.extra.get("latency_budget_ms") if isinstance(latency_budget_ms, bool) or not isinstance(latency_budget_ms, (int, float)): - raise ROSConfigError("lingbot_va requires its manifest latency budget in VLASpec.extra") + raise ROSConfigError( + "lingbot_va_a1 requires its manifest latency budget in VLASpec.extra" + ) self._inference_timeout_s = float(latency_budget_ms) / 1000.0 if not np.isfinite(self._inference_timeout_s) or self._inference_timeout_s <= 0.0: - raise ROSConfigError("lingbot_va requires a positive per-chunk latency budget") + raise ROSConfigError("lingbot_va_a1 requires a positive per-chunk latency budget") self._inference_executor = ThreadPoolExecutor( max_workers=1, thread_name_prefix="openral-lingbot-a1", @@ -487,14 +499,14 @@ def _joint_state(observation: dict[str, Any]) -> NDArray[np.float64]: state = np.asarray(observation.get("state"), dtype=np.float64) if state.shape != (6,) or not np.isfinite(state).all(): raise ROSRuntimeError( - f"lingbot_va requires six finite A1 joint positions, got {state.shape}" + f"lingbot_va_a1 requires six finite A1 joint positions, got {state.shape}" ) return state def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[np.uint8]]: images = observation.get("images") if not isinstance(images, dict): - raise ROSRuntimeError("lingbot_va requires OpenRAL image observations") + raise ROSRuntimeError("lingbot_va_a1 requires OpenRAL image observations") result: dict[str, NDArray[np.uint8]] = {} for source, target in ( ("front", self._config.observations.front_key), @@ -507,16 +519,16 @@ def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[n or image.dtype != np.uint8 ): raise ROSRuntimeError( - f"lingbot_va image {source!r} must be HWC uint8 RGB, " + f"lingbot_va_a1 image {source!r} must be HWC uint8 RGB, " f"got shape={image.shape} dtype={image.dtype}" ) result[target] = image return result -@POLICIES.register("lingbot_va") -def _build_lingbot_va(env_cfg: Any) -> _LingBotVaA1Adapter: - """Build the external A1 Runtime-backed LingBot adapter.""" +@POLICIES.register("lingbot_va_a1") +def _build_lingbot_va_a1(env_cfg: Any) -> _LingBotVaA1Adapter: + """Build the A1 Runtime-backed LingBot-VA adapter.""" return _LingBotVaA1Adapter( env_cfg.vla, robot_description=getattr(env_cfg, "robot_description", None), diff --git a/python/sim/src/openral_sim/policy_deps.py b/python/sim/src/openral_sim/policy_deps.py index 12dda3d..4aa512c 100644 --- a/python/sim/src/openral_sim/policy_deps.py +++ b/python/sim/src/openral_sim/policy_deps.py @@ -96,7 +96,7 @@ "runs in tools/lingbot_vla2_sidecar.py's own auto-provisioned Python 3.12 " "+ torch-2.8 venv." ), - "lingbot_va": ( + "lingbot_va_a1": ( "Install the LingBot wire dependencies with `just sync --all-packages " "--group lingbot`, set OPENRAL_GALAXEA_A1_RUNTIME_ROOT to the A1 " "Runtime checkout, and start its contract-checked policy server." @@ -128,7 +128,7 @@ "gr00t": ("sim", "gr00t"), "diffuser_actor": ("rlbench",), "lingbot_vla2": ("lingbot",), - "lingbot_va": ("lingbot",), + "lingbot_va_a1": ("lingbot",), "internvla_n1": ("rldx",), "mock": (), } @@ -164,7 +164,7 @@ # sidecar's own auto-provisioned py3.12 + torch-2.8 venv). See # openral_sim.policies.lingbot_vla2. "lingbot_vla2": ("zmq", "msgpack"), - "lingbot_va": ("websockets", "msgpack"), + "lingbot_va_a1": ("websockets", "msgpack"), # InternVLA-N1 shares the sidecar contract — the openral side only # needs the ZMQ + msgpack wire; the transformers-4.51 stack lives in # the sidecar's auto-provisioned py3.11 venv. diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md index a07f371..65b7165 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md @@ -6,7 +6,7 @@ pipeline_tag: robotics tags: - OpenRAL - rskill -- lingbot_va +- lingbot_va_a1 - vision-language-action - galaxea_a1 base_model: @@ -17,7 +17,7 @@ datasets: inference: false --- -# rskill-lingbot_va-galaxea_a1-fruit_placement-bf16 +# rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16 > **OpenRAL rSkill** — a LingBot-VA fruit-placement policy for the Galaxea A1, > deployed through OpenRAL's observation, typed-action, safety-kernel, and HAL @@ -60,7 +60,7 @@ action-channel map `[0, 1, 2, 3, 4, 5, 6, 28]` are applied in the external LingBot server from the checkpoint's `configs/va_a1_cfg.py`; this is not a LeRobot `PolicyProcessorPipeline`. -OpenRAL's `lingbot_va` adapter validates each physical EEF target with the A1 +OpenRAL's `lingbot_va_a1` adapter validates each physical EEF target with the A1 Runtime contract, solves IK, and emits six absolute joint targets plus one normalized gripper target. If an IK solution is farther than the rSkill's feedback-relative joint-step bound, the adapter advances toward that same @@ -98,10 +98,10 @@ enable the vendor AnyGrasp/AnyEffector path. | Field | Value | | --- | --- | -| `name` | `OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16` | +| `name` | `OpenRAL/rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16` | | `version` | `0.1.0` | | `license` | `apache-2.0` | -| `model_family` | `lingbot_va` | +| `model_family` | `lingbot_va_a1` | | `embodiment_tags` | `galaxea_a1` | | `runtime` / precision | `pytorch` / `bf16` | | `weights_uri` | revision-pinned public LingBot-VA A1 checkpoint | diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/SKILL.md b/rskills/lingbot-va-galaxea-a1-fruit-placement/SKILL.md index 2e0abf5..a70a9b0 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/SKILL.md +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/SKILL.md @@ -5,11 +5,11 @@ description: >- metadata: openral_rskill: true # generated discovery view of an rSkill schema_version: 0.1 - rskill_id: OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16 + rskill_id: OpenRAL/rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16 manifest: ./rskill.yaml role: s1 kind: vla - model_family: lingbot_va + model_family: lingbot_va_a1 embodiment_tags: [galaxea_a1] actions: [pick, place] objects: [fruit, mango, bowl, plate] @@ -65,7 +65,7 @@ this file. Execution always goes through the OpenRAL loader and the robot HAL. ```python from openral_rskill import rSkill -skill = rSkill.from_pretrained("OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16") +skill = rSkill.from_pretrained("OpenRAL/rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16") # the loader validates embodiment / sensors / runtime / quantization against the target # RobotDescription and enforces the weight-license gate before any weights load. ``` diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml index fdc194d..0c08ac5 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml @@ -5,12 +5,12 @@ # lowers each step to six absolute A1 joint positions plus one gripper value. # Both typed actions then traverse OpenRAL's safety kernel and A1 HAL. schema_version: "0.1" -name: "OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16" +name: "OpenRAL/rskill-lingbot_va_a1-galaxea_a1-fruit_placement-bf16" version: "0.1.0" license: "apache-2.0" role: "s1" kind: "vla" -model_family: "lingbot_va" +model_family: "lingbot_va_a1" embodiment_tags: - "galaxea_a1" @@ -75,6 +75,9 @@ description: > # bound remains below both the HAL's 0.08 rad live target-step ceiling and its # 0.05 rad initial-alignment ceiling. policy_extras: + # Relative to OPENRAL_GALAXEA_A1_RUNTIME_ROOT. This task-specific Runtime + # config belongs to the rSkill contract, not to the policy adapter code. + runtime_config: "configs/deployments/lingbot/fruit_placement_eef.toml" max_joint_substep_rad: 0.045 actions: diff --git a/tests/unit/test_eval_registry_and_runner.py b/tests/unit/test_eval_registry_and_runner.py index 973cefc..69f410c 100644 --- a/tests/unit/test_eval_registry_and_runner.py +++ b/tests/unit/test_eval_registry_and_runner.py @@ -72,7 +72,7 @@ def test_builtin_registries_populated() -> None: assert "zero" in POLICIES assert "random" in POLICIES assert "smolvla" in POLICIES - assert "lingbot_va" in POLICIES + assert "lingbot_va_a1" in POLICIES def test_registry_unknown_id_raises_with_known_list() -> None: diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py index 293e3f6..dfed3e6 100644 --- a/tests/unit/test_galaxea_a1.py +++ b/tests/unit/test_galaxea_a1.py @@ -25,6 +25,7 @@ RSkillManifest, SensorReaderBackend, SensorReaderConfig, + VLASpec, ) from openral_hal.galaxea_a1 import ( GALAXEA_A1_DESCRIPTION, @@ -38,6 +39,7 @@ _bounded_joint_substep, _joint_limits_from_description, _LingBotVaA1Adapter, + _runtime_paths, _validated_joint_substep_limit, ) @@ -116,6 +118,57 @@ def test_lingbot_manifest_owns_policy_joint_substep() -> None: manifest = RSkillManifest.from_yaml(str(manifest_path)) assert manifest.policy_extras["max_joint_substep_rad"] == 0.045 + assert ( + manifest.policy_extras["runtime_config"] + == "configs/deployments/lingbot/fruit_placement_eef.toml" + ) + + +def test_lingbot_runtime_config_resolves_inside_runtime_checkout( + monkeypatch: pytest.MonkeyPatch, + tmp_path: Path, +) -> None: + config = tmp_path / "configs" / "deployments" / "lingbot" / "fruit_placement_eef.toml" + config.parent.mkdir(parents=True) + config.write_text("[deployment]\n", encoding="utf-8") + monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) + spec = VLASpec( + id="lingbot_va_a1", + weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", + extra={"runtime_config": str(config.relative_to(tmp_path))}, + ) + + assert _runtime_paths(spec) == (tmp_path.resolve(), config.resolve()) + + +def test_lingbot_runtime_config_is_required( + monkeypatch: pytest.MonkeyPatch, tmp_path: Path +) -> None: + monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) + spec = VLASpec( + id="lingbot_va_a1", + weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", + ) + + with pytest.raises(ROSConfigError, match=r"policy_extras\.runtime_config"): + _runtime_paths(spec) + + +@pytest.mark.parametrize("runtime_config", ["/tmp/outside.toml", "../outside.toml"]) +def test_lingbot_runtime_config_cannot_escape_runtime_checkout( + runtime_config: str, + monkeypatch: pytest.MonkeyPatch, + tmp_path: Path, +) -> None: + monkeypatch.setenv("OPENRAL_GALAXEA_A1_RUNTIME_ROOT", str(tmp_path)) + spec = VLASpec( + id="lingbot_va_a1", + weights_uri="rskills/lingbot-va-galaxea-a1-fruit-placement", + extra={"runtime_config": runtime_config}, + ) + + with pytest.raises(ROSConfigError, match=r"must be relative|escapes"): + _runtime_paths(spec) def test_lingbot_ik_uses_openral_manifest_joint_limits() -> None: @@ -193,6 +246,17 @@ def test_camera_bridge_backend_requires_explicit_a1_runtime_root( reader.open() +def test_camera_bridge_backend_requires_explicit_deployment_config() -> None: + cfg = SensorReaderConfig( + sensor_id="front", + backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, + backend_params={"camera": "front"}, + ) + + with pytest.raises(ROSConfigError, match=r"backend_params\.deployment_config"): + SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) + + def test_camera_bridge_backend_rejects_unknown_camera() -> None: cfg = SensorReaderConfig( sensor_id="front", From 607f372ccb76ef86a9cc8e60d8c495db5e0d1d8d Mon Sep 17 00:00:00 2001 From: PengYue Date: Sat, 25 Jul 2026 23:04:38 +0800 Subject: [PATCH 05/10] fix(deploy): share Galaxea A1 camera sessions Signed-off-by: PengYue --- docs/methods/05-inference-runner.md | 28 +- docs/methods/11-ros2-nodes.md | 2 +- .../openral_rskill_ros/sensor_leg.py | 49 ++-- .../backends/galaxea_a1_camera_bridge.py | 242 +++++++++++++----- python/runner/src/openral_runner/factory.py | 86 +++++-- scenes/deploy/galaxea_a1_bench.yaml | 4 +- tests/unit/test_galaxea_a1.py | 55 +++- tests/unit/test_skill_runner_camera_slots.py | 7 +- 8 files changed, 351 insertions(+), 122 deletions(-) diff --git a/docs/methods/05-inference-runner.md b/docs/methods/05-inference-runner.md index abbda5a..beb918c 100644 --- a/docs/methods/05-inference-runner.md +++ b/docs/methods/05-inference-runner.md @@ -66,11 +66,9 @@ _Real-deploy reader for the public A1 Runtime paired-frame bridge. It never opens a camera device; the A1 camera monitor stays the only RealSense owner._ - `class GalaxeaA1CameraBridgeReader` — Reads either the `front` or `wrist` - member of a fresh synchronized pair and returns an inline RGB8 - `SensorFrame`. The A1 Runtime root is named by the scene's - `runtime_root_env`; the tracked LingBot deployment config supplies camera - geometry, freshness, crop, and pair-skew rules. Missing roots/configs, - stale pairs, wrong shapes, and unknown backend params fail explicitly. + member of the session's atomically cached pair and returns an inline RGB8 + `SensorFrame`. Both views receive the same pair timestamp. Missing + roots/configs, stale pairs, wrong shapes, and unknown params fail explicitly. ### `python/runner/src/openral_runner/backends/__init__.py` _Per-backend `SensorReader` implementations. Default `OpenCVThreadSensorReader` is always available; `GStreamerSensorReader` (PR I) + `Ros2ImageSensorReader` gate on optional deps._ @@ -176,16 +174,20 @@ _Public surface of the inference runner. Imports are PEP 562 lazy (M8 PR I/8): h ### `python/runner/src/openral_runner/factory.py` _Library deploy runner used by runtime nodes; the public deploy CLI now shells the ROS graph from a `DeployScene`._ -- `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L86) -- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L288) -- `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L42) -- `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L63) -- `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L92) -- `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L132) +- `SKILL_REGISTRY: dict[str, Callable[[dict[str, object]], rSkillBase]]` — `vla.id` → skill factory. Today: `hello`, `gpu_passthrough` (M8 PR I/10). (L92) +- `SENSOR_BACKEND_REGISTRY: dict[str, Callable[[SensorReaderConfig], SensorReader]]` — `backend` id → reader factory. Today: `opencv_thread`, `gstreamer`, `galaxea_a1_camera_bridge`. (L344) +- `_to_int(value, *, field, sensor_id) -> int` — YAML `object` → `int` coercion helper used across factories; rejects bools explicitly. (L48) +- `_make_gpu_passthrough_skill(extra) -> rSkillBase` — Builds `GpuPassthroughSkill`; recognised `extra`: `sensor_id` (default `"wrist_rgb"`), `n_joints`, `horizon`, `device` (default `"cuda"`, raises if unavailable). (L69) +- `_make_opencv_thread_reader(cfg) -> SensorReader` — Builds `OpenCVThreadSensorReader` from a `SensorReaderConfig`; requires `backend_params.device`. (L98) +- `_make_gstreamer_reader(cfg) -> SensorReader` — Builds `GStreamerSensorReader` from a `SensorReaderConfig`. Translates `publish_to_ros` / `publish_topic` / `publish_rate_hz` → `PipelineSpec.enable_ros_tee`. (M8 PR I/2 + I/4.) (L138) - `_make_galaxea_a1_camera_bridge_reader(cfg) -> SensorReader` — Builds the A1 Runtime paired-camera connector. Accepts only `camera`, - `runtime_root_env`, and `deployment_config`; unknown values are rejected and - the scene must declare `deployment_config` explicitly. + `runtime_root_env`, and `system_config`; unknown values are rejected and the + scene must declare `system_config` explicitly. +- `make_sensor_readers(configs) -> list[SensorReader]` — Batch constructor that + preserves config order and shares one A1 paired-camera session for matching + `runtime_root_env` / `system_config` bindings. Other backends still dispatch + through `SENSOR_BACKEND_REGISTRY`. ### `python/runner/src/openral_runner/deploy_runner.py` _:class:`DeployRunner` — concrete `InferenceRunnerBase` subclass composing HAL + Skill + WorldStateAggregator + SensorReaders + SafetyClient._ diff --git a/docs/methods/11-ros2-nodes.md b/docs/methods/11-ros2-nodes.md index 52be00d..2de2910 100644 --- a/docs/methods/11-ros2-nodes.md +++ b/docs/methods/11-ros2-nodes.md @@ -32,7 +32,7 @@ matching Python HAL class and call `openral_hal.lifecycle.make_lifecycle_main(.. - `packages/openral_rskill_ros/scripts/runtime_node` — Composed-runtime entry point installed as `lib/openral_rskill_ros/runtime_node`. Reads ROS parameter `robot_yaml` (absolute path), calls `compose_runtime`, and spins both lifecycle nodes on a `MultiThreadedExecutor`. Spawned once per `openral deploy sim/run` invocation by `sim_e2e.launch.py` (one generic launch — the per-robot `openarm_e2e.launch.py` / `so100_e2e.launch.py` were unified into `sim_e2e.launch.py` in 2026-05-24). The dashboard SLAM Map bridge is now always part of `compose_runtime`; there is no `enable_slam_bridge` launch parameter. Params `world_cloud_topic` + `slam_source_node` (both default `""`) thread the mono visual-SLAM dashboard wiring through to `compose_runtime` (nvblox voxel-cloud topic + SLAM-card source label). Real deploys (`openral deploy run`): the `deploy_config` parameter carries the DeployScene YAML path; when set the script opens every deploy-bound SensorSpec (robot manifest ∪ scene `sensors:`) via `open_deploy_sensor_readers` before spinning and closes them in the teardown `finally`. Script top eagerly runs `gi` + `Gst.init()` BEFORE any numpy/pydantic/rclpy import — under Fast-DDS a later `rclpy.Node()` segfaults when numpy/pydantic loaded first (x86 Ubuntu 24.04 / system PyGObject; bisected 2026-07-02). - `packages/openral_rskill_ros/launch/sim_e2e.launch.py` — Generic deploy ROS graph. Reasoner launch args are model-first: `reasoner_model` (default `OPENRAL_REASONER_MODEL` or curated `gpt-5.5`) and optional `reasoner_endpoint`; these become `OPENRAL_REASONER_{MODEL,ENDPOINT,MAX_TOKENS}` on the reasoner node. Deprecated `reasoner_provider` remains for one release and switches the node back to the legacy `OPENRAL_REASONER_LLM_*` shim. Launch arg `workcell_json` carries the `DeployScene` safety/ACM subset when non-empty; the launch parses it, calls `compute_intersection(robot, skill=None, deploy=...)`, applies `merge_extra_allowed_pairs`, and forwards the resulting kernel params. Visual-SLAM args: `slam_visual_impl`, `slam_stereo_cameras`, `slam_mono_camera` (non-empty → `_build_visual_slam_includes` composes the **mono RGBD** leg: pycuvslam in RGBD mode + the DA3 depth provider (framed at the camera's manifest `frame_id`) + nvblox — always, not gated on nav2), and `slam_depth_sidecar_autostart` (default true → an `ExecuteProcess` runs `tools/da3_depth_sidecar.py --port 5771`; a port-conflicting operator sidecar wins because the child's death never tears down the launch). - `packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py` — Real-mode camera leg for `openral deploy run` (the real-hardware counterpart of the sim HAL's `SimSensorBridge`). - - `open_deploy_sensor_readers(sensors, *, topic_prefix="/openral/cameras", aggregator=None) -> SensorLeg` (L113) — Opens one `SensorReader` per deploy-bound `SensorSpec` (specs without a `deploy_binding` are skipped) via the runner's `SENSOR_BACKEND_REGISTRY` and guarantees each camera publishes on `//image` (the WorldState subscription): `gstreamer` backends get the in-pipeline ROS tee forced on (`publish_to_ros=True`); other backends (`opencv_thread`) are wrapped in a polling `SensorRosPublisher` — stamped with the spec's manifest `frame_id` and, when the spec carries calibrated `intrinsics`, publishing a companion `CameraInfo` on `//camera_info` (the sim HAL's layout), which is what lets mono visual SLAM run on real hardware. When the composed runtime's shared `aggregator` is passed, every reader also gets an `_AggregatorPump` writing `read_latest()` frames straight into `WorldStateAggregator.update_image_frame` — zero-copy NVMM `SensorFrame.handle`s survive (no intra-process ROS round trip on the policy leg) — and the sensor lands in `SensorLeg.direct_sensors`. Half-open legs are closed before the raising error propagates. + - `open_deploy_sensor_readers(sensors, *, topic_prefix="/openral/cameras", aggregator=None) -> SensorLeg` (L113) — Builds the complete deploy-bound batch through `make_sensor_readers`, so multi-view backends can share explicitly scoped resources (the A1 front/wrist readers share one paired session) without module-global state. Specs without a `deploy_binding` are skipped. Every camera publishes on `//image`: `gstreamer` backends get the in-pipeline ROS tee forced on (`publish_to_ros=True`); other backends are wrapped in a polling `SensorRosPublisher`, with manifest frame/intrinsics and companion `CameraInfo`. When the composed runtime's shared `aggregator` is passed, every reader also gets an `_AggregatorPump` writing frames directly into `WorldStateAggregator.update_image_frame`; half-open legs are closed before errors propagate. - `_AggregatorPump` — daemon-thread pump (start/stop like `SensorRosPublisher`) polling `read_latest` at the spec rate into the aggregator; deduplicates on the frame's monotonic stamp so a re-polled latched frame never refreshes the staleness stamp. - `merge_deploy_sensors(manifest_sensors, scene_sensors) -> list[SensorSpec]` — Robot-manifest ∪ scene sensors with the scene entry winning on name collision (a same-named scene entry is that robot sensor's deploy binding — keeping both would double-open the device). - `SensorLeg` (L62) — dataclass holding `readers` + `publishers` + `direct_sensors` (forward to WorldState's `direct_image_frame_sensors` parameter so `_on_image` keeps serving observability but doesn't double-write the aggregator for directly-fed sensors); `close()` (L78) stops publishers first, then closes readers, idempotently and exception-safe (teardown must always reach the HAL shutdown behind it). diff --git a/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py b/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py index acdd7b7..c9b17a5 100644 --- a/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py +++ b/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py @@ -305,27 +305,39 @@ def open_deploy_sensor_readers( # Deferred imports — openral_runner pulls torch-adjacent modules; keep # this module importable for AST/shape tests on minimal hosts. from openral_core import SensorReaderBackend, SensorReaderConfig - from openral_runner.factory import SENSOR_BACKEND_REGISTRY + from openral_runner.factory import make_sensor_readers leg = SensorLeg() - try: - for spec in sensors: - binding = spec.deploy_binding - if binding is None: - continue - topic = f"{topic_prefix}/{spec.name}/image" - if binding.backend == SensorReaderBackend.GSTREAMER: - # Native in-pipeline tee: force it on so the frames reach ROS. - cfg = SensorReaderConfig( + prepared: list[tuple[SensorSpec, str, SensorReaderConfig, bool]] = [] + for spec in sensors: + binding = spec.deploy_binding + if binding is None: + continue + topic = f"{topic_prefix}/{spec.name}/image" + native_tee = binding.backend == SensorReaderBackend.GSTREAMER + prepared.append( + ( + spec, + topic, + SensorReaderConfig( sensor_id=spec.name, backend=binding.backend, backend_params=binding.backend_params, max_age_ms=binding.max_age_ms, - publish_to_ros=True, - publish_topic=topic, - publish_rate_hz=_publish_rate_hz(spec), - ) - reader = SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) + publish_to_ros=native_tee, + publish_topic=topic if native_tee else None, + publish_rate_hz=_publish_rate_hz(spec) if native_tee else None, + ), + native_tee, + ) + ) + readers = make_sensor_readers([cfg for _, _, cfg, _ in prepared]) + try: + for (spec, topic, _cfg, native_tee), reader in zip(prepared, readers, strict=True): + binding = spec.deploy_binding + assert binding is not None # reason: prepared filters unbound specs + if native_tee: + # Native in-pipeline tee: force it on so the frames reach ROS. reader.open() # Serialise cold-start: block until this camera streams a frame # before opening the next one (reopening on a transient bus @@ -340,13 +352,6 @@ def open_deploy_sensor_readers( # attach the polling ROS publisher pump. from openral_sensors.ros_publisher import SensorRosPublisher - cfg = SensorReaderConfig( - sensor_id=spec.name, - backend=binding.backend, - backend_params=binding.backend_params, - max_age_ms=binding.max_age_ms, - ) - reader = SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) reader.open() leg.readers.append(reader) # Manifest-calibrated intrinsics → companion CameraInfo on the diff --git a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py index 10bfec2..f55d671 100644 --- a/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py +++ b/python/runner/src/openral_runner/backends/galaxea_a1_camera_bridge.py @@ -11,11 +11,15 @@ import os import sys import time +from collections.abc import Callable +from dataclasses import dataclass from importlib import import_module from pathlib import Path +from threading import RLock from typing import Any, Literal import numpy as np +from numpy.typing import NDArray from openral_core import FrameEncoding, SensorFrame from openral_core.exceptions import ROSConfigError, ROSPerceptionStale @@ -25,6 +29,169 @@ _COLOR_CHANNELS = 3 +@dataclass(frozen=True) +class _CachedCameraFrame: + """One view from an atomically cached paired-camera observation.""" + + rgb: NDArray[np.uint8] + stamp_monotonic_ns: int + stamp_wall_ns: int + + +class _PairedObservationCache: + """Serve both camera views from one Runtime bridge observation.""" + + def __init__( + self, + read_observation: Callable[[], dict[str, NDArray[np.uint8]] | None], + ) -> None: + self._read_observation = read_observation + self._lock = RLock() + self._observation: dict[str, NDArray[np.uint8]] | None = None + self._consumed: set[str] = set() + self._stamp_monotonic_ns = 0 + self._stamp_wall_ns = 0 + + def read( + self, + camera: Literal["front", "wrist"], + *, + max_age_ms: int, + ) -> _CachedCameraFrame: + """Return ``camera`` while pairing one front and one wrist read.""" + if max_age_ms <= 0: + raise ROSConfigError("max_age_ms must be positive") + with self._lock: + if self._observation is None or camera in self._consumed: + started_ns = time.monotonic_ns() + observation = self._read_observation() + completed_ns = time.monotonic_ns() + if observation is None: + raise ROSPerceptionStale("no fresh synchronized Galaxea A1 camera pair") + elapsed_ms = (completed_ns - started_ns) / 1e6 + if elapsed_ms > max_age_ms: + raise ROSPerceptionStale( + "Galaxea A1 paired camera bridge read took " + f"{elapsed_ms:.1f} ms (budget {max_age_ms} ms)" + ) + self._observation = { + name: self._validated_rgb(observation, name) for name in ("front", "wrist") + } + self._consumed.clear() + self._stamp_monotonic_ns = completed_ns + self._stamp_wall_ns = time.time_ns() + + rgb = self._observation[camera] + self._consumed.add(camera) + return _CachedCameraFrame( + rgb=rgb, + stamp_monotonic_ns=self._stamp_monotonic_ns, + stamp_wall_ns=self._stamp_wall_ns, + ) + + @staticmethod + def _validated_rgb( + observation: dict[str, NDArray[np.uint8]], + camera: str, + ) -> NDArray[np.uint8]: + try: + rgb = np.asarray(observation[camera]) + except (KeyError, TypeError) as exc: + raise RuntimeError(f"Galaxea A1 paired observation is missing {camera!r}") from exc + if rgb.ndim != _COLOR_NDIM or rgb.shape[2] != _COLOR_CHANNELS or rgb.dtype != np.uint8: + raise RuntimeError( + f"Galaxea A1 {camera} camera returned shape={rgb.shape} " + f"dtype={rgb.dtype}, expected HWC uint8 RGB" + ) + return rgb + + +class _GalaxeaA1CameraBridgeSession: + """Reference-counted owner of one paired A1 Runtime camera client.""" + + def __init__( + self, + *, + runtime_root_env: str, + system_config: str, + ) -> None: + """Store the Runtime root selector and relative System config.""" + if not runtime_root_env: + raise ROSConfigError("runtime_root_env must be a non-empty environment variable name") + if Path(system_config).is_absolute(): + raise ROSConfigError("system_config must be relative to the A1 Runtime root") + self.runtime_root_env = runtime_root_env + self.system_config = system_config + self._lock = RLock() + self._owners = 0 + self._policy_session: Any | None = None + self._cache: _PairedObservationCache | None = None + + def open(self) -> None: + """Acquire this shared session, opening the Runtime client once.""" + with self._lock: + if self._owners: + self._owners += 1 + return + root, config_path = self._runtime_paths() + embodied_ops = root / "external" / "embodied-ops" / "src" + for import_root in (embodied_ops, root): + value = str(import_root) + if value not in sys.path: + sys.path.insert(0, value) + + config_module = import_module("galaxea_a1_runtime.configuration.system") + camera_module = import_module("galaxea_a1_runtime.apps.policy_camera") + system = config_module.load_system_config(config_path, repo_root=root) + policy_session = camera_module.PolicyCameraSession( + system, + front_key="front", + wrist_key="wrist", + ) + self._policy_session = policy_session + self._cache = _PairedObservationCache(policy_session.read_observation) + self._owners = 1 + + def close(self) -> None: + """Release one reader and close the Runtime client after the last.""" + with self._lock: + if not self._owners: + return + self._owners -= 1 + if self._owners: + return + policy_session, self._policy_session = self._policy_session, None + self._cache = None + if policy_session is not None: + policy_session.close() + + def read( + self, + camera: Literal["front", "wrist"], + *, + max_age_ms: int, + ) -> _CachedCameraFrame: + """Read one view from the current shared observation pair.""" + with self._lock: + if self._cache is None: + raise RuntimeError("Galaxea A1 paired camera session is closed") + return self._cache.read(camera, max_age_ms=max_age_ms) + + def _runtime_paths(self) -> tuple[Path, Path]: + raw_root = os.environ.get(self.runtime_root_env) + if raw_root is None: + raise ROSConfigError( + f"{self.runtime_root_env} is required for the Galaxea A1 camera bridge" + ) + root = Path(raw_root).expanduser().resolve() + config_path = (root / self.system_config).resolve() + if not config_path.is_relative_to(root): + raise ROSConfigError("system_config escapes the A1 Runtime root") + if not config_path.is_file(): + raise ROSConfigError(f"A1 Runtime system config not found: {config_path}") + return root, config_path + + class GalaxeaA1CameraBridgeReader: """Expose one synchronized A1 Camera Bridge view as an RGB8 sensor.""" @@ -33,97 +200,48 @@ def __init__( *, sensor_id: str, camera: Literal["front", "wrist"], - runtime_root_env: str, - deployment_config: str, + session: _GalaxeaA1CameraBridgeSession, default_max_age_ms: int, ) -> None: - """Store the explicit bridge and A1 Runtime configuration.""" - if not runtime_root_env: - raise ROSConfigError("runtime_root_env must be a non-empty environment variable name") - if Path(deployment_config).is_absolute(): - raise ROSConfigError("deployment_config must be relative to the A1 Runtime root") + """Store the camera view and explicitly shared paired session.""" if default_max_age_ms <= 0: raise ROSConfigError("default_max_age_ms must be positive") self.sensor_id = sensor_id self.is_open = False self._camera = camera - self._runtime_root_env = runtime_root_env - self._deployment_config = deployment_config + self._session = session self._default_max_age_ms = default_max_age_ms - self._session: Any | None = None def open(self) -> None: """Connect to the persistent A1 Camera Bridge without opening hardware.""" if self.is_open: return - raw_root = os.environ.get(self._runtime_root_env) - if raw_root is None: - raise ROSConfigError( - f"{self._runtime_root_env} is required for the Galaxea A1 camera bridge" - ) - root = Path(raw_root).expanduser().resolve() - config_path = (root / self._deployment_config).resolve() - if not config_path.is_relative_to(root): - raise ROSConfigError("deployment_config escapes the A1 Runtime root") - if not config_path.is_file(): - raise ROSConfigError(f"A1 Runtime deployment config not found: {config_path}") - embodied_ops = root / "external" / "embodied-ops" / "src" - for import_root in (embodied_ops, root): - value = str(import_root) - if value not in sys.path: - sys.path.insert(0, value) - - config_module = import_module("galaxea_a1_runtime.apps.lingbot.config") - camera_module = import_module("galaxea_a1_runtime.apps.policy_camera") - config = config_module.load_lingbot_config(config_path, repo_root=root) - self._session = camera_module.PolicyCameraSession( - config.system, - front_key="front", - wrist_key="wrist", - ) + self._session.open() self.is_open = True def close(self) -> None: """Close only this bridge client; the persistent camera owner remains alive.""" - session, self._session = self._session, None + if not self.is_open: + return try: - if session is not None: - session.close() + self._session.close() finally: self.is_open = False def read_latest(self, max_age_ms: int | None = None) -> SensorFrame: """Return the latest synchronized view as an inline RGB8 frame.""" - if not self.is_open or self._session is None: + if not self.is_open: raise RuntimeError(f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}) is closed") budget_ms = self._default_max_age_ms if max_age_ms is None else max_age_ms - started_ns = time.monotonic_ns() - observation = self._session.read_observation() - if observation is None: - raise ROSPerceptionStale( - f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}): " - "no fresh synchronized camera pair" - ) - rgb = np.asarray(observation[self._camera], dtype=np.uint8) - if rgb.ndim != _COLOR_NDIM or rgb.shape[2] != _COLOR_CHANNELS: - raise RuntimeError( - f"Galaxea A1 {self._camera} camera returned shape {rgb.shape}, expected HWC RGB" - ) - age_ms = (time.monotonic_ns() - started_ns) / 1e6 - if age_ms > budget_ms: - raise ROSPerceptionStale( - f"GalaxeaA1CameraBridgeReader({self.sensor_id!r}): bridge read " - f"took {age_ms:.1f} ms (budget {budget_ms} ms)" - ) - stamp_monotonic_ns = time.monotonic_ns() - height, width, channels = rgb.shape + frame = self._session.read(self._camera, max_age_ms=budget_ms) + height, width, channels = frame.rgb.shape return SensorFrame( sensor_id=self.sensor_id, - stamp_monotonic_ns=stamp_monotonic_ns, - stamp_wall_ns=time.time_ns(), + stamp_monotonic_ns=frame.stamp_monotonic_ns, + stamp_wall_ns=frame.stamp_wall_ns, encoding=FrameEncoding.RGB8, width=int(width), height=int(height), channels=int(channels), - data=rgb.tobytes(), + data=frame.rgb.tobytes(), ) diff --git a/python/runner/src/openral_runner/factory.py b/python/runner/src/openral_runner/factory.py index 2e579f1..98b41f6 100644 --- a/python/runner/src/openral_runner/factory.py +++ b/python/runner/src/openral_runner/factory.py @@ -16,8 +16,8 @@ from __future__ import annotations -from collections.abc import Callable -from typing import Literal, cast +from collections.abc import Callable, Sequence +from typing import TYPE_CHECKING, Literal, cast import structlog from openral_core import ( @@ -31,9 +31,15 @@ from openral_runner.backends.gstreamer.pipeline import PipelineSpec, Source from openral_runner.sensor_reader import SensorReader +if TYPE_CHECKING: + from openral_runner.backends.galaxea_a1_camera_bridge import ( + _GalaxeaA1CameraBridgeSession, + ) + __all__ = [ "SENSOR_BACKEND_REGISTRY", "SKILL_REGISTRY", + "make_sensor_readers", ] log = structlog.get_logger(__name__) @@ -188,14 +194,12 @@ def _make_gstreamer_reader(cfg: SensorReaderConfig) -> SensorReader: ) -def _make_galaxea_a1_camera_bridge_reader(cfg: SensorReaderConfig) -> SensorReader: - """Build the A1 Runtime Camera Bridge adapter from explicit scene params.""" - from openral_runner.backends.galaxea_a1_camera_bridge import ( - GalaxeaA1CameraBridgeReader, - ) - +def _galaxea_a1_camera_bridge_params( + cfg: SensorReaderConfig, +) -> tuple[Literal["front", "wrist"], str, str]: + """Validate and return the explicit A1 camera bridge scene parameters.""" params = cfg.backend_params - allowed = {"camera", "runtime_root_env", "deployment_config"} + allowed = {"camera", "runtime_root_env", "system_config"} unknown = set(params) - allowed if unknown: raise ROSConfigError( @@ -210,24 +214,76 @@ def _make_galaxea_a1_camera_bridge_reader(cfg: SensorReaderConfig) -> SensorRead "backend_params.camera to be 'front' or 'wrist'" ) runtime_root_env = params.get("runtime_root_env", "OPENRAL_GALAXEA_A1_RUNTIME_ROOT") - deployment_config = params.get("deployment_config") + system_config = params.get("system_config") if not isinstance(runtime_root_env, str) or not runtime_root_env: raise ROSConfigError("Galaxea A1 camera bridge runtime_root_env must be a non-empty string") - if not isinstance(deployment_config, str) or not deployment_config: + if not isinstance(system_config, str) or not system_config: raise ROSConfigError( f"SensorReaderConfig({cfg.sensor_id!r}, " "backend=galaxea_a1_camera_bridge) requires " - "backend_params.deployment_config" + "backend_params.system_config" + ) + return cast(Literal["front", "wrist"], camera), runtime_root_env, system_config + + +def _make_galaxea_a1_camera_bridge_reader( + cfg: SensorReaderConfig, + *, + session: _GalaxeaA1CameraBridgeSession | None = None, +) -> SensorReader: + """Build one view over an explicitly shareable A1 paired-camera session.""" + from openral_runner.backends.galaxea_a1_camera_bridge import ( + GalaxeaA1CameraBridgeReader, + _GalaxeaA1CameraBridgeSession, + ) + + camera, runtime_root_env, system_config = _galaxea_a1_camera_bridge_params(cfg) + if session is None: + paired_session = _GalaxeaA1CameraBridgeSession( + runtime_root_env=runtime_root_env, + system_config=system_config, ) + elif isinstance(session, _GalaxeaA1CameraBridgeSession): + paired_session = session + else: + raise TypeError("session must be an A1 camera bridge session") return GalaxeaA1CameraBridgeReader( sensor_id=cfg.sensor_id, - camera=cast(Literal["front", "wrist"], camera), - runtime_root_env=runtime_root_env, - deployment_config=deployment_config, + camera=camera, + session=paired_session, default_max_age_ms=cfg.max_age_ms, ) +def make_sensor_readers(configs: Sequence[SensorReaderConfig]) -> list[SensorReader]: + """Build readers in order, sharing resources within one deployment batch.""" + a1_backend = "galaxea_a1_camera_bridge" + a1_sessions: dict[tuple[str, str], _GalaxeaA1CameraBridgeSession] = {} + readers: list[SensorReader] = [] + for cfg in configs: + if cfg.backend.value == a1_backend: + from openral_runner.backends.galaxea_a1_camera_bridge import ( + _GalaxeaA1CameraBridgeSession, + ) + + _, runtime_root_env, system_config = _galaxea_a1_camera_bridge_params(cfg) + key = runtime_root_env, system_config + session = a1_sessions.get(key) + if session is None: + session = _GalaxeaA1CameraBridgeSession( + runtime_root_env=runtime_root_env, + system_config=system_config, + ) + a1_sessions[key] = session + readers.append(_make_galaxea_a1_camera_bridge_reader(cfg, session=session)) + continue + factory = SENSOR_BACKEND_REGISTRY.get(cfg.backend.value) + if factory is None: + raise ROSConfigError(f"unknown sensor reader backend {cfg.backend.value!r}") + readers.append(factory(cfg)) + return readers + + def _gstreamer_spec_from_params( cfg: SensorReaderConfig, source_param: object, diff --git a/scenes/deploy/galaxea_a1_bench.yaml b/scenes/deploy/galaxea_a1_bench.yaml index 12137d4..15027db 100644 --- a/scenes/deploy/galaxea_a1_bench.yaml +++ b/scenes/deploy/galaxea_a1_bench.yaml @@ -28,7 +28,7 @@ sensors: backend_params: camera: front runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT - deployment_config: configs/deployments/lingbot/fruit_placement_eef.toml + system_config: configs/system/a1.toml max_age_ms: 500 - name: wrist modality: rgb @@ -51,7 +51,7 @@ sensors: backend_params: camera: wrist runtime_root_env: OPENRAL_GALAXEA_A1_RUNTIME_ROOT - deployment_config: configs/deployments/lingbot/fruit_placement_eef.toml + system_config: configs/system/a1.toml max_age_ms: 500 runtime: enable_reasoner: false diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py index dfed3e6..e128504 100644 --- a/tests/unit/test_galaxea_a1.py +++ b/tests/unit/test_galaxea_a1.py @@ -34,7 +34,8 @@ _SocketTransport, ) from openral_hal.protocol import HAL, HALHealthProvider, LifecycleEStopHAL -from openral_runner.factory import SENSOR_BACKEND_REGISTRY +from openral_runner.backends.galaxea_a1_camera_bridge import _PairedObservationCache +from openral_runner.factory import SENSOR_BACKEND_REGISTRY, make_sensor_readers from openral_sim.policies.lingbot_va_a1 import ( _bounded_joint_substep, _joint_limits_from_description, @@ -234,7 +235,7 @@ def test_camera_bridge_backend_requires_explicit_a1_runtime_root( backend_params={ "camera": "front", "runtime_root_env": "OPENRAL_TEST_A1_RUNTIME_ROOT", - "deployment_config": "configs/deployments/lingbot/fruit_placement_eef.toml", + "system_config": "configs/system/a1.toml", }, max_age_ms=500, ) @@ -246,14 +247,14 @@ def test_camera_bridge_backend_requires_explicit_a1_runtime_root( reader.open() -def test_camera_bridge_backend_requires_explicit_deployment_config() -> None: +def test_camera_bridge_backend_requires_explicit_system_config() -> None: cfg = SensorReaderConfig( sensor_id="front", backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, backend_params={"camera": "front"}, ) - with pytest.raises(ROSConfigError, match=r"backend_params\.deployment_config"): + with pytest.raises(ROSConfigError, match=r"backend_params\.system_config"): SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) @@ -267,6 +268,52 @@ def test_camera_bridge_backend_rejects_unknown_camera() -> None: SENSOR_BACKEND_REGISTRY[cfg.backend.value](cfg) +def test_camera_bridge_batch_shares_one_paired_session() -> None: + configs = [ + SensorReaderConfig( + sensor_id=camera, + backend=SensorReaderBackend.GALAXEA_A1_CAMERA_BRIDGE, + backend_params={ + "camera": camera, + "runtime_root_env": "OPENRAL_TEST_A1_RUNTIME_ROOT", + "system_config": "configs/system/a1.toml", + }, + max_age_ms=500, + ) + for camera in ("front", "wrist") + ] + + front, wrist = make_sensor_readers(configs) + + assert front._session is wrist._session + + +def test_camera_bridge_pair_is_read_once_with_one_shared_timestamp() -> None: + calls = 0 + + def read_observation() -> dict[str, np.ndarray]: + nonlocal calls + calls += 1 + return { + "front": np.full((2, 3, 3), calls, dtype=np.uint8), + "wrist": np.full((2, 4, 3), calls + 10, dtype=np.uint8), + } + + cache = _PairedObservationCache(read_observation) + + front = cache.read("front", max_age_ms=500) + wrist = cache.read("wrist", max_age_ms=500) + + assert calls == 1 + assert front.stamp_monotonic_ns == wrist.stamp_monotonic_ns + assert front.stamp_wall_ns == wrist.stamp_wall_ns + assert int(front.rgb[0, 0, 0]) == 1 + assert int(wrist.rgb[0, 0, 0]) == 11 + + cache.read("front", max_age_ms=500) + assert calls == 2 + + def test_lingbot_joint_lowering_respects_manifest_step_limit() -> None: current = np.zeros(6, dtype=np.float64) target = np.array([0.16, -0.08, 0.04, 0.0, 0.0, 0.0], dtype=np.float64) diff --git a/tests/unit/test_skill_runner_camera_slots.py b/tests/unit/test_skill_runner_camera_slots.py index 6247604..52b2d47 100644 --- a/tests/unit/test_skill_runner_camera_slots.py +++ b/tests/unit/test_skill_runner_camera_slots.py @@ -25,7 +25,7 @@ import numpy as np import pytest -from openral_core import RobotDescription +from openral_core import RobotDescription, RSkillManifest from openral_core.exceptions import ROSRuntimeError from openral_core.schemas import FrameEncoding, SensorFrame @@ -148,9 +148,10 @@ def _capture(env_cfg: object) -> object: description=description, ) + manifest = RSkillManifest.from_yaml(str(yaml_path)) assert captured["extra"] == { - "max_joint_substep_rad": 0.045, - "latency_budget_ms": 6000.0, + **manifest.policy_extras, + "latency_budget_ms": manifest.latency_budget.per_chunk_ms, } def test_overrides_sensor_name_scene_cameras_with_vla_slots( From a3327e67a1448035b07cf65a45d47f2ad4864515 Mon Sep 17 00:00:00 2001 From: PengYue Date: Sat, 25 Jul 2026 23:04:49 +0800 Subject: [PATCH 06/10] chore: clean Galaxea A1 PR artifacts Signed-off-by: PengYue --- 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GPU/runtime fields moved here from `RobotCapabilities` to separate physical robot capabilities from host compute properties. - `supports_cumotion() -> bool` — True when the host meets the cuMotion (Isaac ROS) GPU floor: compute capability >= (8, 0), CUDA toolkit major >= 13, and `gpu_vram_gb` >= `_CUMOTION_MIN_VRAM_GIB` (7.5; nominal-8 GB cards report ~7.99 GiB). The MoveIt planner gate uses it to pick cuMotion vs OMPL. False on non-CUDA hosts or when the CUDA toolkit version is unknown. -- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8079) +- `class ReasonerModel(BaseModel)` — Frozen curated S2 model registry entry (ADR-0088). Fields: `id`, `display_name`, `dialect (anthropic|openai)`, `hosting (cloud|managed_local|byo_local)`, `served_model_id`, `default_endpoint`, `auth_required`, `tool_choice`, `max_tokens_default`, `min_gpu_vram_gb`, `required_dtype`, `weights_license`; property `is_local`. `REASONER_MODELS` is the curated map (`claude-opus-4-8`, `gpt-5.5`, `gpt-5.6`, `cosmos3-edge`); membership means the model passed the robotics tool-calling contract. `REASONER_MANAGED_ENDPOINT="managed"` is the managed-local sentinel. (L8080) - `class RobotCapabilities(BaseModel)` — Physical capability flags for skill compatibility. (L760) fields: `locomotion, can_lift_kg, has_dexterous_hands, has_tactile, has_force_control, has_vision, has_lidar, has_vision_slam, has_audio, bimanual, supported_control_modes, supported_vla_embodiments, embodiment_tags`. GPU/compute fields moved to `ComputeSpec` (attached at `RobotDescription.compute`). **`has_vision_slam`** gates the camera-based cuVSLAM+nvblox SLAM backend for lidar-less robots; independent of `has_lidar` (lidar backend wins when both set). - `class SafetyEnvelope(BaseModel)` — Constraints enforced by C++ safety kernel. (L808) @@ -210,7 +210,7 @@ _Advisory, queryable Layer-2 world model the S2 Reasoner consults to recall wher - `WRAPPED_TASK_SPACE_LAYOUTS: frozenset[StateLayout]` — Subset of `StateLayout` covering Cartesian/FK-derived composites: `{rc365, human300_16d, libero_eef8d}`. These layouts REQUIRE `StateContract.bindings`; the cross-validator on `StateContract` enforces this at manifest load (`human300_16d`/`rc365` require `eef_frame`+`base_frame`; `libero_eef8d` requires `eef_frame`+`gripper_qpos_joints` — world-frame absolute EE pose, so no `base_frame`). Joint-space layouts (`smolvla_9d`, `gr1`, `simpler_*`) are excluded — they're served verbatim from raw `JointState.position`. - `StateContractBindings` (Pydantic model) — Per-robot source bindings for an rSkill's `state_contract.layout`. Fields: `eef_frame: str | None`, `base_frame: str | None`, `world_frame: str | None = "map"`, `gripper_qpos_joints: list[str]`, `quaternion_convention: Literal["xyzw","wxyz"] = "xyzw"`. Symmetric to `ControlModeSemantics` on the action side. Required when `StateContract.layout` is in `WRAPPED_TASK_SPACE_LAYOUTS`, forbidden otherwise. - `BenchmarkName` (TypeAlias = Literal[...]) — Closed canonical benchmark ids matching `benchmarks/*.yaml` suites (plus retained `aloha_insertion`/`aloha_transfer_cube` task-level ids cited by the act-aloha* manifests after the two suites were unified into `aloha.yaml`). Members: `aloha, aloha_insertion, aloha_transfer_cube, gr1_tabletop, libero_10, libero_goal, libero_object, libero_spatial, maniskill3_panda, metaworld_mt10, metaworld_mt50, pusht, rlbench, robocasa_pnp, robotwin, simpler_env_widowx`. (L2633) -- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1` (a separate V1 repo + transformers==4.51.3 / lerobot==0.4.2 venv). `internvla_n1` (InternRobotics InternVLA-N1 / DualVLN, arXiv:2512.08186) is a dual-system vision-language **navigation** policy (Qwen2.5-VL-7B System-2 + NavDP DiT System-1); it runs out-of-process via a py3.11 ZMQ sidecar (upstream pins transformers 4.51) and emits a 6-D `BODY_TWIST` base velocity from RGB-D + instruction. (L2655) +- `ModelFamily` (TypeAlias = Literal["smolvla","pi05","xvla","act","diffusion","rldx","molmoact2","gr00t","diffuser_actor","openvla","lingbot_vla2","lingbot_vla","lingbot_va","internvla_n1"]) — Closed VLA/policy family used by the eval/runner adapter dispatch. Required only when `RSkillManifest.kind == "vla"`. `gr00t` (NVIDIA Isaac GR00T) runs out-of-process via a ZMQ sidecar, reusing the `rldx` adapter. `diffuser_actor` (3D Diffuser Actor, RLBench keyframe policy) runs out-of-process via its own py3.10 sidecar. `openvla` (OpenVLA / OpenVLA-OFT) loads in-process as a transformers custom-code model and de-normalizes discrete action tokens via the checkpoint's `unnorm_key`. `lingbot_vla2` (Robbyant LingBot-VLA 2.0, Qwen3-VL-4B + sparse-MoE flow-matching expert, Apache-2.0) runs out-of-process via its own auto-provisioned py3.12 + torch-2.8 sidecar (`openral_sim.policies.lingbot_vla2`); `lingbot_vla` (LingBot-VLA 1.0, 4B Qwen2.5-VL + dense Qwen2 flow-matching expert, the RoboTwin post-train) shares that sidecar via `--variant v1` (a separate V1 repo + transformers==4.51.3 / lerobot==0.4.2 venv). `lingbot_va` is the separate LingBot-VA family; its current adapter targets the Galaxea A1 and lowers contract-checked EEF outputs to absolute joint/gripper actions before the OpenRAL safety boundary. `internvla_n1` (InternRobotics InternVLA-N1 / DualVLN, arXiv:2512.08186) is a dual-system vision-language **navigation** policy (Qwen2.5-VL-7B System-2 + NavDP DiT System-1); it runs out-of-process via a py3.11 ZMQ sidecar (upstream pins transformers 4.51) and emits a 6-D `BODY_TWIST` base velocity from RGB-D + instruction. (L2655) - `RSkillKind` (TypeAlias = Literal["vla","wam","ros_action","ros_service","detector","vlm","reward","playbook"]) — Discriminator selecting the loader / runner branch. `"vla"` is today's learnable policy path; `"ros_action"` / `"ros_service"` route through `ROSActionRskill`; `"wam"` is reserved (loader rejects at resolve time); `"detector"` is a perception producer that runs an exported ONNX/TRT detection model and publishes `ObjectsMetadata` — emits no `Action`; `"vlm"` is a video-language model answering natural-language scene queries from camera frames — emits text, no actions/boxes, `role: s2` (reached via the read-only `query_scene` tool, not `ExecuteRskill`); `"reward"` is a progress/reward monitor; `"playbook"` is a symbolic, human-authored S2 decision procedure (Markdown SOP) the reasoner *reads* into its system prompt — no weights, actuators, or `Action`, `role: s2`. (L2752) **Pydantic models — skill benchmark results (`rskills//eval/.json`)** diff --git a/docs/methods/01-hal.md b/docs/methods/01-hal.md index 3a08400..82f1f1a 100644 --- a/docs/methods/01-hal.md +++ b/docs/methods/01-hal.md @@ -179,8 +179,8 @@ _SO100FollowerHAL — wraps lerobot's SO-100 follower arm USB driver._ ### `python/hal/src/openral_hal/galaxea_a1.py` _Real-only Galaxea A1 HAL. OpenRAL stays ROS 2 / Python 3.12; the operator's -official ROS 1 Noetic SDK runs out of process behind a loopback JSON-lines -sidecar. No vendor source, binary, or message package is distributed._ +official ROS 1 Noetic SDK runs out of process behind a literal IPv4-loopback +JSON-lines sidecar. No vendor source, binary, or message package is distributed._ - `class GalaxeaA1HAL(HALBase)` — six-axis joint-position + normalized gripper adapter. `read_state` and `send_action` use a cached snapshot/latest @@ -194,7 +194,10 @@ sidecar. No vendor source, binary, or message package is distributed._ - const `GALAXEA_A1_DESCRIPTION` — real-only `RobotDescription`, mirrored by `robots/galaxea_a1/robot.yaml`; official A1 URDF joint names/limits, explicit sidecar deadlines, motor masks, 0..104 mm normalized gripper mapping, and - the calibrated D455 front / D405 wrist RGB observation contracts. + the calibrated D455 front / D405 wrist RGB observation contracts. The six + joint origins, orientations, and axes are transcribed from the official A1 + URDF; collision primitives remain absent until their redistribution and + lowering provenance is cleared. - `tools/galaxea_a1_ros1_sidecar.py` — Python-3.8-compatible ROS 1 process that owns `roscore`, `signal_arm/single_arm_node.launch`, and the official `mobiman/jointTracker_demo_node` binary. The tracker publishes to @@ -281,9 +284,9 @@ GALAXEA_A1_HIL=1 GALAXEA_A1_ALLOW_HOLD=1 just hil galaxea_a1 ``` After the hold passes, a separate lab opt-in moves `arm_joint1` by +0.01 rad, -requires it to settle within 0.006 rad (above the observed 0.001 rad encoder -quantization), continuously bounds all six joint excursions, returns to the -measured start, and then performs the same downstream e-stop: +requires it to settle within 0.008 rad (covering the measured 0.007 rad +small-command residual), continuously bounds all six joint excursions, returns +to the measured start, and then performs the same downstream e-stop: ```bash GALAXEA_A1_HIL=1 GALAXEA_A1_ALLOW_NUDGE=1 just hil galaxea_a1 @@ -359,18 +362,26 @@ A1 Camera Bridge -> OpenRAL WorldState -> LingBot-VA rSkill The A1 Runtime is a public capability provider, not a second controller: start only its persistent camera owner and LingBot policy server. Do not start its LingBot ROS execution bridge or A1 joint runtime while OpenRAL owns the -deployment. The rSkill reads `max_target_step_rad` from the same -`RobotDescription` used to construct the HAL, takes the tighter of the tracked -policy bound and `initial_alignment_tolerance_rad`, and explicitly subdivides a -larger IK result. The policy substep is 0.045 rad, above the official tracker's -observed 0.03..0.038 rad steady-state residual but below the 0.05 rad locked-relay -alignment bound. The independent HAL/sidecar limit is 0.08 rad, leaving 0.035 -rad of feedback/transport headroom and remaining far below the A1 Runtime's -validated 1.70 rad IK-solution bound. An action already within the policy bound -advances in one 30 Hz model tick, matching the A1 Runtime LingBot rollout -cadence. A larger IK solution is subdivided from fresh measured feedback until -it reaches the requested solution. Tracker steady-state error is not a -completion gate. Neither limit is bypassed or duplicated. +deployment. The rSkill owns its `policy_extras.max_joint_substep_rad` replay +setting and reads the independent `max_target_step_rad` ceiling from the same +`RobotDescription` used to construct the HAL. Startup rejects a policy bound +that exceeds either the HAL's live target-step ceiling or locked-relay +alignment tolerance. The policy bound is 0.045 rad, below the 0.05 rad +locked-relay alignment threshold; the independent HAL/sidecar live limit is +0.08 rad. The adapter also constructs the Runtime-provided IK implementation +with the active OpenRAL `RobotDescription`'s ordered command limits. Runtime +calibration bounds may be wider, but they cannot widen the typed OpenRAL, +safety-kernel, or official sidecar command envelope. + +The adapter emits one bounded target per 30 Hz control tick. When its IK +solution is farther than 0.045 rad from fresh feedback, it keeps advancing +toward that same solved target on subsequent ticks and only consumes the next +model action after the solved target has been dispatched. The FK of the actual +dispatched target is written into the KV cache, so the policy state reflects +what OpenRAL commanded rather than an unreachable ideal. The official tracker's +steady-state error cannot widen the command envelope or bypass the bounded +step. The A1 Runtime's 1.70 rad IK-solution validation remains an upstream +reachability check, not a motor-command step limit. ```bash # Terminal A — A1 Runtime capability providers only (no ROS command publisher). diff --git a/docs/methods/07-eval-sim.md b/docs/methods/07-eval-sim.md index 654dc2a..fd00ca1 100644 --- a/docs/methods/07-eval-sim.md +++ b/docs/methods/07-eval-sim.md @@ -402,6 +402,34 @@ _Robbyant LingBot-VLA 2.0 policy adapter (Apache-2.0 code + weights). Proxies th - `_build_lingbot_vla2(env_cfg)` / `_build_lingbot_vla(env_cfg)` — `@POLICIES.register("lingbot_vla2")` (6B) and `@POLICIES.register("lingbot_vla")` (4B RoboTwin post-train, `model_family: "lingbot_vla"` in `rskills/lingbot-vla-4b-robotwin/rskill.yaml`) thin wrappers over `_build_lingbot`. (L385) - `_policy_default_port(model_id, robo_name, variant="v2") -> int` / `_resolve_camera_keys(env_cfg, extra) -> tuple[str, ...]` / `_resolve_model_id(spec, extra, default_model_id) -> str` / `_locate_sidecar_script() -> Path` / `_opt_int(value, default) -> int` — per-(variant, model, embodiment) SHA-256-bucketed default port (20000–39999); scene-camera resolution (order load-bearing: top/left-wrist/right-wrist); model-id resolution (`vla.extra.model_id` > manifest `weights_uri` > `spec.weights_uri` > per-variant default); boot-helper locator; `vla.extra` int coercion. (L119) +#### `python/sim/src/openral_sim/policies/lingbot_va_a1.py` +_LingBot-VA real-deployment adapter for the Galaxea A1 embodiment. The external +A1 Runtime owns model serving, EEF validation, IK, and synchronized camera +acquisition; this adapter returns absolute six-joint plus normalized-gripper +actions through OpenRAL's normal candidate-action and safety path._ + +- `_LingBotVaA1Adapter(spec, *, robot_description)` — Validates the A1 + embodiment, loads the tracked external deployment contract, sends paired RGB + observations to LingBot, validates/solves each EEF target, and replays the + resulting joint solution using the rSkill-owned + `policy_extras.max_joint_substep_rad` bounded by the robot HAL's target-step + and initial-alignment ceilings. Chunk-boundary inference runs on one worker + while the adapter repeats the last validated absolute target. +- `_bounded_joint_substep(current, target, *, max_step_rad)` — Pure + feedback-relative subdivision; finite matching vectors and a positive bound + are required. +- `_joint_limits_from_description(robot_description, *, expected_joint_names)` — + Extracts the ordered finite joint-position command envelope from the active + OpenRAL `RobotDescription`. +- `_build_manifest_bounded_ik_solver(*, ik_module, system, robot_description)` — + Constructs the A1 Runtime IK implementation with the OpenRAL limits rather + than its independently calibrated Runtime bounds, so every lowered target + already matches the C++ kernel and ROS 1 sidecar contract. +- `_build_lingbot_va(env_cfg) -> _LingBotVaA1Adapter` — + `@POLICIES.register("lingbot_va")` factory. The model family remains + robot-agnostic; the current adapter explicitly accepts only the + `galaxea_a1` embodiment. + #### `tools/lingbot_vla2_sidecar.py` + `tools/_lingbot_vla2_server.py` _Boot helper + server for the LingBot-VLA 2.0 sidecar, companion to `openral_sim.policies.lingbot_vla2`._ The boot helper runs under the openral interpreter: it clones `github.com/robbyant/lingbot-vla-v2` at the pinned SHA `69729b4` into `/source` (shallow-fetch of the exact commit; `$OPENRAL_LINGBOT_VLA2_REPO` reuses a checkout), builds a Python 3.12 venv from the upstream fully-pinned `requirements.txt` (torch==2.8.0 / transformers==4.57.3 / triton==3.4.0 / numpy==1.26.4) + `pyzmq` + `bitsandbytes` via the shared `ensure_pip_venv` (`$OPENRAL_LINGBOT_VLA2_SIDECAR_PYTHON` reuses an interpreter), stamps the sidecar identity record, then `os.execvpe`s into the server with `make_isolated_env`. The server (sidecar venv, no openral import) loads `LingbotVLAv2Server` (NF4 Qwen3-VL backbone via `_nf4_backbone_in_place`, bf16 MoE expert), reconstructs the missing `lingbotvla_cli.yaml` from `configs/vla/robotwin/robotwin.yaml`, and answers `ping`/`reset`/`get_action`/`close` over the same msgpack ndarray wire as `openral_sim.sidecar`. flash-attn is NOT installed; `_install_attn_fallback` / `_coerce_attn_config` patch the upstream `flash_attention_2` hardcode to `sdpa` (or `eager`) before the model is built. `_install_lerobot_stub` installs a meta-path finder that stubs the training-only `lerobot.*` imports the model class pulls in (uninstallable here — it wants transformers 5.x), and `_write_cli_yaml` stringifies the `joints`/`norm_type` entries the upstream loader `ast.literal_eval`s; both are required for the inference-only load to succeed (verified live). A `--variant {v2,v1}` switch selects the model family end-to-end. **v1** (LingBot-VLA 1.0, 4B) clones the separate V1 repo `github.com/robbyant/lingbot-vla` at pinned SHA `4eb34b7` and provisions its own `transformers==4.51.3` / `lerobot==0.4.2` (flat layout) venv via `_install_v1` — it uses **real lerobot** (no stub) and its checkpoint ships real `config.json` + `lingbotvla_cli.yaml` (no `_write_cli_yaml` reconstruction). The V1 model (`_LingBotV1Policy`, upstream `LingbotVLAServer`) is a Qwen2.5-VL-3B backbone + a *dense* Qwen2 flow-matching expert; three server-side patches make its flash-free path correct: inject the missing `rotate_half` into the eager vision attention, force `attn=eager` (its custom attention has no `sdpa` kernel), and skip `o_proj` in NF4 (the interleaved attention reads `o_proj.weight.dtype`). diff --git a/docs/reference/schemas/BenchmarkScene.json b/docs/reference/schemas/BenchmarkScene.json index 6c18d21..652f846 100644 --- a/docs/reference/schemas/BenchmarkScene.json +++ b/docs/reference/schemas/BenchmarkScene.json @@ -140,6 +140,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -827,12 +839,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/DeployScene.json b/docs/reference/schemas/DeployScene.json index 65b5340..95d4061 100644 --- a/docs/reference/schemas/DeployScene.json +++ b/docs/reference/schemas/DeployScene.json @@ -96,6 +96,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -783,12 +795,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/RSkillManifest.json b/docs/reference/schemas/RSkillManifest.json index a1051ef..41d7f6f 100644 --- a/docs/reference/schemas/RSkillManifest.json +++ b/docs/reference/schemas/RSkillManifest.json @@ -1312,6 +1312,7 @@ "openvla", "lingbot_vla2", "lingbot_vla", + "lingbot_va", "internvla_n1" ], "type": "string" @@ -1332,6 +1333,7 @@ "custom", "franka_panda", "g1", + "galaxea_a1", "google_robot", "gr1", "h1", diff --git a/docs/reference/schemas/RobotDescription.json b/docs/reference/schemas/RobotDescription.json index ee71b80..40cd30f 100644 --- a/docs/reference/schemas/RobotDescription.json +++ b/docs/reference/schemas/RobotDescription.json @@ -1392,12 +1392,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/SensorBundle.json b/docs/reference/schemas/SensorBundle.json index 8470df0..172f85f 100644 --- a/docs/reference/schemas/SensorBundle.json +++ b/docs/reference/schemas/SensorBundle.json @@ -193,12 +193,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/SensorDeployBinding.json b/docs/reference/schemas/SensorDeployBinding.json index 73d36bd..5b1a7aa 100644 --- a/docs/reference/schemas/SensorDeployBinding.json +++ b/docs/reference/schemas/SensorDeployBinding.json @@ -1,12 +1,13 @@ { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/SensorReaderBackend.json b/docs/reference/schemas/SensorReaderBackend.json index 9067bf9..2c57a64 100644 --- a/docs/reference/schemas/SensorReaderBackend.json +++ b/docs/reference/schemas/SensorReaderBackend.json @@ -7,6 +7,7 @@ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ] } diff --git a/docs/reference/schemas/SensorReaderConfig.json b/docs/reference/schemas/SensorReaderConfig.json index b9d1247..6da2e0a 100644 --- a/docs/reference/schemas/SensorReaderConfig.json +++ b/docs/reference/schemas/SensorReaderConfig.json @@ -1,12 +1,13 @@ { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/SensorSpec.json b/docs/reference/schemas/SensorSpec.json index 02aaebc..7d0f436 100644 --- a/docs/reference/schemas/SensorSpec.json +++ b/docs/reference/schemas/SensorSpec.json @@ -193,12 +193,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/SimScene.json b/docs/reference/schemas/SimScene.json index a6bcaa2..4f7f81b 100644 --- a/docs/reference/schemas/SimScene.json +++ b/docs/reference/schemas/SimScene.json @@ -140,6 +140,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -827,12 +839,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/docs/reference/schemas/all.json b/docs/reference/schemas/all.json index 4fae408..480a4d8 100644 --- a/docs/reference/schemas/all.json +++ b/docs/reference/schemas/all.json @@ -155,7 +155,8 @@ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ] }, "DeadlineOverrunPolicy": { @@ -514,12 +515,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -1071,12 +1073,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -3607,12 +3610,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -6182,6 +6186,7 @@ "openvla", "lingbot_vla2", "lingbot_vla", + "lingbot_va", "internvla_n1" ], "type": "string" @@ -6202,6 +6207,7 @@ "custom", "franka_panda", "g1", + "galaxea_a1", "google_robot", "gr1", "h1", @@ -8851,6 +8857,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -9538,12 +9556,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -10159,6 +10178,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -10846,12 +10877,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -11611,6 +11643,18 @@ "additionalProperties": false, "description": "Committed deploy-posture toggles for a workcell scene.\n\nEvery runtime leg ``openral deploy sim`` / ``deploy run`` can bring up is\ndeclared here so a committed :class:`DeployScene` pins its posture\nexplicitly instead of relying on per-invocation CLI flags. Precedence is\n``CLI flag > scene runtime > auto`` \u2014 an explicit CLI flag always wins,\nand ``None`` means \"auto\" (the manifest-derived / built-in default the CLI\ndocuments for that flag: SLAM from ``capabilities.has_lidar``/vision-SLAM,\nNav2 tracks SLAM, octomap from a depth SensorSpec, detector on,\nkernel-check on, reward monitor / critic off).\n\nHost-operational knobs (dashboard, foxglove, ports, dataset recording,\n``--initial-task``, ``--dry-run``) stay CLI-only \u2014 they describe the\ninvocation, not the workcell.\n\nRelative ``*_manifest`` / ``object_detector_onnx`` paths that exist next\nto the scene YAML are resolved against the scene's directory; otherwise\nthe value is passed through verbatim (repo-relative default / alias).", "properties": { + "enable_reasoner": { + "anyOf": [ + { + "type": "boolean" + }, + { + "type": "null" + } + ], + "default": null, + "title": "Enable Reasoner" + }, "enable_slam": { "anyOf": [ { @@ -12298,12 +12342,13 @@ "type": "string" }, "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -13246,12 +13291,13 @@ "SensorReaderConfig": { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" @@ -13320,12 +13366,13 @@ "SensorDeployBinding": { "$defs": { "SensorReaderBackend": { - "description": "Which :class:`SensorReader` implementation to instantiate.\n\nFour backends are reserved. ``opencv_thread``\nis the default and mirrors lerobot's per-camera background-thread\npattern. ``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", + "description": "Which :class:`SensorReader` implementation to instantiate.\n\n``opencv_thread`` is the default and mirrors lerobot's per-camera\nbackground-thread pattern. ``galaxea_a1_camera_bridge`` consumes the\npaired raw-frame service owned by an external A1 Runtime checkout without\nopening either RealSense device. Three additional backends are reserved.\n``ros2_image`` subscribes to a ROS 2 image topic published by\na vendor driver. ``gstreamer`` runs a GStreamer pipeline whose appsink\ndelivers frames (NVMM / DMA-BUF on Jetson; CPU bytes on x86).\n\n``holoscan`` is **reserved-but-unimplemented**: a 2026-05-12 evaluation\nof NVIDIA Holoscan SDK as a parallel ingest backbone\ndeferred adoption (lean GStreamer with custom NvBufSurface glue\nwon the comparison). The enum value exists so a future PR can add\nthe backend additively without bumping the schema again; configs\nthat select it today raise ``ROSConfigError`` at factory time.", "enum": [ "opencv_thread", "ros2_image", "gstreamer", - "holoscan" + "holoscan", + "galaxea_a1_camera_bridge" ], "title": "SensorReaderBackend", "type": "string" diff --git a/packages/openral_hal_galaxea_a1/README.md b/packages/openral_hal_galaxea_a1/README.md index 0e1a868..04abfec 100644 --- a/packages/openral_hal_galaxea_a1/README.md +++ b/packages/openral_hal_galaxea_a1/README.md @@ -3,6 +3,9 @@ ROS 2 lifecycle host for the real-only Galaxea A1 HAL. The Python HAL talks to `tools/galaxea_a1_ros1_sidecar.py`; the sidecar runs in an operator-provisioned ROS Noetic environment and owns the official SDK driver and joint tracker. +The HAL accepts only literal IPv4 loopback sidecar addresses and strict integer +TCP ports; remote, IPv6, and DNS-resolved endpoints are rejected before any +connection attempt. The vendor SDK is not bundled. See `docs/methods/01-hal.md` for the deployment and hardware bring-up sequence. diff --git a/packages/openral_hal_galaxea_a1/package.xml b/packages/openral_hal_galaxea_a1/package.xml index 5973beb..bf1e147 100644 --- a/packages/openral_hal_galaxea_a1/package.xml +++ b/packages/openral_hal_galaxea_a1/package.xml @@ -23,5 +23,9 @@ ament_cmake_pytest ament_flake8 ament_pep257 - ament_cmake + python3-pytest + + + ament_cmake + diff --git a/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py b/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py index 53b4305..314ad3f 100644 --- a/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py +++ b/packages/openral_rskill_ros/openral_rskill_ros/rskill_runner_node.py @@ -1846,13 +1846,15 @@ def _build_runtime_skill_from_manifest( "are resolved via make_default_skill_resolver(), which branches " "on manifest.kind before reaching this helper." ) + policy_extra = dict(manifest.policy_extras) + policy_extra["latency_budget_ms"] = manifest.latency_budget.per_chunk_ms vla = VLASpec( id=manifest.model_family, # Pass the absolute local directory so the same resolver that # `openral sim run` uses can find the manifest on disk. weights_uri=str(yaml_path.parent), device="auto", - extra={"latency_budget_ms": manifest.latency_budget.per_chunk_ms}, + extra=policy_extra, ) # The policy factories only access `env_cfg.vla`; a SimpleNamespace # wrapper is enough to avoid building a full Pydantic SimEnvironment diff --git a/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py b/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py index 40be584..acdd7b7 100644 --- a/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py +++ b/packages/openral_rskill_ros/openral_rskill_ros/sensor_leg.py @@ -11,7 +11,7 @@ This module is that leg. :func:`open_deploy_sensor_readers` builds one reader per bound spec via the runner's ``SENSOR_BACKEND_REGISTRY`` and -guarantees every camera ends up on the WorldState subscription topic +prepares every camera for the WorldState subscription topic ``//image``: * ``gstreamer`` backend — the reader's built-in ROS tee publishes @@ -38,10 +38,11 @@ WorldState's ``direct_image_frame_sensors`` parameter stops ``_on_image`` from double-writing those sensors into the aggregator. -The caller owns teardown: :meth:`SensorLeg.close` stops publishers and -closes readers idempotently. ``runtime_node`` wires this in when its -``deploy_config`` parameter is set (real deploys only — sim keeps the -HAL bridge as its single camera source). +The caller starts the prepared pumps with :meth:`SensorLeg.start` only after +the composed ROS lifecycle nodes are configured, then owns teardown through +:meth:`SensorLeg.close`. ``runtime_node`` wires this in when its +``deploy_config`` parameter is set (real deploys only — sim keeps the HAL +bridge as its single camera source). """ from __future__ import annotations @@ -130,13 +131,13 @@ def _run(self) -> None: @dataclass class SensorLeg: - """Open readers + started publishers for one deploy session. + """Open readers + prepared publishers for one deploy session. Attributes: readers: Open :class:`SensorReader` instances, one per deploy-bound :class:`SensorSpec` (gstreamer readers publish via their internal ROS tee). - publishers: Started :class:`SensorRosPublisher` pumps for the + publishers: Prepared :class:`SensorRosPublisher` pumps for the readers without a native ROS tee. Parallel list, NOT index-aligned with ``readers``. """ @@ -148,6 +149,19 @@ class SensorLeg: #: so ``_on_image`` doesn't double-write them from the ROS tee. direct_sensors: list[str] = field(default_factory=list) + def start(self) -> None: + """Start every prepared publisher after ROS lifecycle configuration. + + Entity creation and lifecycle transitions remain single-threaded. + Only after those complete may camera pumps publish concurrently. + """ + try: + for publisher in self.publishers: + publisher.start() # type: ignore[attr-defined] # reason: duck-typed pump + except Exception: + self.close() + raise + def close(self) -> None: """Stop publishers first (they poll the readers), then close readers. @@ -248,8 +262,9 @@ def open_deploy_sensor_readers( *, topic_prefix: str = DEFAULT_TOPIC_PREFIX, aggregator: Any | None = None, # reason: WorldStateAggregator — deferred import + ros_node: Any | None = None, # reason: composed rclpy node — deferred import ) -> SensorLeg: - """Open every deploy-bound sensor in ``sensors`` and publish each onto ROS. + """Open deploy-bound sensors and prepare their ROS publishing resources. Args: sensors: Robot-manifest sensors plus :attr:`DeployScene.sensors` @@ -264,10 +279,13 @@ def open_deploy_sensor_readers( intact) straight into it, and the sensor is recorded in :attr:`SensorLeg.direct_sensors` — forward that list to WorldState's ``direct_image_frame_sensors`` parameter. + ros_node: Existing composed ROS node that owns image publishers. When + omitted, each fallback publisher owns its historical private node. Returns: - A :class:`SensorLeg` holding the open readers + started - publishers. Call :meth:`SensorLeg.close` on shutdown. + A :class:`SensorLeg` holding open readers and prepared publishers. + Call :meth:`SensorLeg.start` after the owning ROS lifecycle nodes are + configured, then :meth:`SensorLeg.close` on shutdown. Raises: ROSConfigError: A binding names an unknown backend, or a backend's @@ -278,6 +296,7 @@ def open_deploy_sensor_readers( >>> desc = RobotDescription.from_yaml("robots/so101_follower/robot.yaml") # doctest: +SKIP >>> scene = DeployScene.from_yaml("scenes/deploy/so101_bench.yaml") # doctest: +SKIP >>> leg = open_deploy_sensor_readers([*desc.sensors, *scene.sensors]) # doctest: +SKIP + >>> leg.start() # doctest: +SKIP >>> try: # doctest: +SKIP ... ... # spin the graph ... finally: @@ -342,15 +361,14 @@ def open_deploy_sensor_readers( frame_id=spec.frame_id, camera_info=spec.intrinsics, info_topic=f"{topic_prefix}/{spec.name}/camera_info", + node=ros_node, ) - publisher.start() leg.publishers.append(publisher) if aggregator is not None: # Zero-copy vision path: in-process reader → aggregator, no ROS hop # for the policy leg (NVMM handles survive). The ROS tee above # keeps serving observability consumers. pump = _AggregatorPump(reader, spec.name, aggregator, _publish_rate_hz(spec)) - pump.start() leg.publishers.append(pump) leg.direct_sensors.append(spec.name) log.info( @@ -360,6 +378,14 @@ def open_deploy_sensor_readers( topic=topic, direct_to_aggregator=aggregator is not None, ) + # Prepare every ROS entity while execution is still single-threaded. + # SensorLeg.start() runs only after the composed lifecycle nodes have + # also finished creating their publishers, subscriptions, and action + # servers. + for publisher in leg.publishers: + prepare = getattr(publisher, "prepare", None) + if prepare is not None: + prepare() except Exception: # Half-open leg → close what we already opened before re-raising; # a failed camera must not leak a v4l2 handle past the error. diff --git a/packages/openral_rskill_ros/scripts/runtime_node b/packages/openral_rskill_ros/scripts/runtime_node index 4bcdf6a..1c22287 100755 --- a/packages/openral_rskill_ros/scripts/runtime_node +++ b/packages/openral_rskill_ros/scripts/runtime_node @@ -147,9 +147,7 @@ def _main() -> int: # noqa: PLR0911, PLR0912, PLR0915 # reason: linear bootstr dataset_license: str = ( bootstrap.get_parameter("dataset_license").get_parameter_value().string_value ) - deploy_config: str = ( - bootstrap.get_parameter("deploy_config").get_parameter_value().string_value - ) + deploy_config: str = bootstrap.get_parameter("deploy_config").get_parameter_value().string_value bootstrap.destroy_node() if not robot_yaml: @@ -238,6 +236,7 @@ def _main() -> int: # noqa: PLR0911, PLR0912, PLR0915 # reason: linear bootstr sensor_leg = open_deploy_sensor_readers( merge_deploy_sensors(runtime.description.sensors, scene.sensors), aggregator=runtime.aggregator, + ros_node=runtime.world_state_node, ) if sensor_leg.direct_sensors: from rclpy.parameter import Parameter @@ -297,6 +296,17 @@ def _main() -> int: # noqa: PLR0911, PLR0912, PLR0915 # reason: linear bootstr rclpy.try_shutdown() return 5 + # Start camera publication only after both composed lifecycle nodes have + # created all ROS entities. Concurrent publishing during runner configure + # can block rclpy entity creation before the ExecuteRskill server exists. + if sensor_leg is not None: + try: + sensor_leg.start() + except Exception as exc: # surface as exit code, not stack trace + print(f"runtime_node: sensor leg failed to start: {exc!s}", file=sys.stderr) + rclpy.try_shutdown() + return 6 + try: executor.spin() except (KeyboardInterrupt, ExternalShutdownException): diff --git a/python/core/src/openral_core/schemas.py b/python/core/src/openral_core/schemas.py index 309fb2c..4139bad 100644 --- a/python/core/src/openral_core/schemas.py +++ b/python/core/src/openral_core/schemas.py @@ -4401,7 +4401,7 @@ class EmbodimentExtra(BaseModel): "openvla", "lingbot_vla2", "lingbot_vla", - "lingbot_va_a1", + "lingbot_va", "internvla_n1", ] """VLA / policy family the skill belongs to. @@ -4430,7 +4430,8 @@ class EmbodimentExtra(BaseModel): ``lerobot==0.4.2`` venv, driven by ``tools/_lingbot_vla2_server.py --variant v1`` (adapter: ``openral_sim.policies.lingbot_vla2`` id ``lingbot_vla``). -``lingbot_va_a1`` is a checkpoint-specific real-deployment connector. It +``lingbot_va`` is the LingBot-VA model family. Its current real-deployment +adapter supports the Galaxea A1 embodiment and uses a separately maintained A1 Runtime checkout for the contract-checked LingBot service, paired camera bridge, EEF transforms, and IK, then returns joint/gripper actions through the normal OpenRAL safety and HAL path. @@ -5994,7 +5995,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "3d_diffuser_actor", # family diffuser_actor "lingbot_vla", # family lingbot_vla "lingbot_vla2", # family lingbot_vla2 - "lingbot_va", # family lingbot_va_a1 + "lingbot_va", # family lingbot_va "internvla_n1", # family internvla_n1 (InternVLA-N1 / DualVLN) # Non-VLA tool-model tokens (detector / vlm / reward). "omdet_turbo", @@ -6028,7 +6029,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": "openvla_oft", "lingbot_vla": "lingbot_vla", "lingbot_vla2": "lingbot_vla2", - "lingbot_va_a1": "lingbot_va", + "lingbot_va": "lingbot_va", "internvla_n1": "internvla_n1", } """VLA :data:`ModelFamily` → its canonical ```` *suggestion* token @@ -6048,7 +6049,7 @@ def from_yaml(cls, path: str) -> RSkillManifest: "openvla": frozenset({"openvla", "openvla_oft"}), "lingbot_vla": frozenset({"lingbot_vla"}), "lingbot_vla2": frozenset({"lingbot_vla2"}), - "lingbot_va_a1": frozenset({"lingbot_va"}), + "lingbot_va": frozenset({"lingbot_va"}), "internvla_n1": frozenset({"internvla_n1"}), } """The documented **family → allowed ```` tokens** map: when a manifest diff --git a/python/hal/README.md b/python/hal/README.md index c0b4f2f..456ff32 100644 --- a/python/hal/README.md +++ b/python/hal/README.md @@ -36,7 +36,7 @@ satisfies it. There is no inheritance requirement. | `ros_control.py` | `RosControlHAL` — adapter on top of `ros2_control` (no real ROS 2 import; works against `SimTransport` for unit tests and the live transport at runtime). | | `sim_transport.py` | `SimTransport` — typed in-memory `ros2_control` transport for unit tests. | | `so100_follower.py` | `SO100FollowerHAL` + `SO100_DESCRIPTION` + `so100_with_sensors` — real SO-100 follower arm via the `lerobot` SDK. | -| `galaxea_a1.py` | `GalaxeaA1HAL` + `GALAXEA_A1_DESCRIPTION` — real-only six-axis A1 and normalized gripper over a loopback JSON-lines transport. The operator-provided ROS 1 SDK stays in an isolated sidecar; OpenRAL bundles no vendor code. | +| `galaxea_a1.py` | `GalaxeaA1HAL` + `GALAXEA_A1_DESCRIPTION` — real-only six-axis A1 and normalized gripper over a literal IPv4-loopback JSON-lines transport. The operator-provided ROS 1 SDK stays in an isolated sidecar; OpenRAL bundles no vendor code. | | `so100_sim.py` | `SO100DigitalTwin` + `SO100DigitalTwinConfig` — pure-Python in-process simulator (used by smoketests, sim tests, and as a stand-in when no hardware is connected). | | `so100_mujoco.py` | `SO100MujocoHAL` — MuJoCo digital twin for the SO-100 follower, driving the `mujoco_menagerie` MJCF with the same 6-DoF action layout as `SO100FollowerHAL`. | | `_mujoco_arm.py` | `MujocoArmHAL` + `MujocoArmHAL.from_description` (MJCF resolved via `openral_core.assets.resolve_asset`) — shared MuJoCo backend for the arms below. It self-constructs from `RobotDescription.sim` (`SimDescription`), so per-robot subclasses are 5-line wrappers and **no Python file is required to add a new MuJoCo HAL** — declare a `sim:` block in `robots//robot.yaml` and call `MujocoArmHAL.from_description(desc)`. | diff --git a/python/hal/src/openral_hal/galaxea_a1.py b/python/hal/src/openral_hal/galaxea_a1.py index bf56c6f..6114849 100644 --- a/python/hal/src/openral_hal/galaxea_a1.py +++ b/python/hal/src/openral_hal/galaxea_a1.py @@ -9,6 +9,7 @@ from __future__ import annotations import contextlib +import ipaddress import json import math import select @@ -58,6 +59,22 @@ (-1.6581, 1.6581), (-2.8798, 2.8798), ) +_JOINT_ORIGINS_XYZ = ( + (-0.0011147, 0.0, 0.0892), + (0.0, -0.00004, 0.0615), + (0.34928, 0.02, 0.0), + (0.07, -0.00395, -0.00004), + (0.0, 0.0, 0.2776), + (0.0, -0.1575, -0.00023266), +) +_JOINT_ORIGINS_RPY = ( + (0.0, 0.0, 3.1416), + (1.5708, 0.0, 0.0), + (0.0, 0.0, 1.5708), + (-1.5708, 1.5708, 0.0), + (-1.5708, 0.0, 3.1416), + (1.5708, 0.0, 0.0), +) _PROTOCOL_VERSION = 1 _GRIPPER_STATUS_INDEX = len(_JOINT_NAMES) _MAX_TCP_PORT = 65536 @@ -74,6 +91,9 @@ joint_type=JointType.REVOLUTE, parent_link="base_link" if index == 1 else f"arm_seg{index - 1}", child_link=f"arm_seg{index}", + axis_xyz=(0.0, 0.0, 1.0), + origin_xyz=_JOINT_ORIGINS_XYZ[index - 1], + origin_rpy=_JOINT_ORIGINS_RPY[index - 1], position_limits=limits, velocity_limit=velocity, effort_limit=effort, @@ -184,7 +204,6 @@ "initial_alignment_tolerance_rad": 0.05, "tracker_alignment_timeout_s": 5.0, "max_target_step_rad": 0.08, - "policy_substep_rad": 0.045, "command_lease_s": 0.5, "idle_timeout_error_mask": 64, "gripper_ignored_error_mask": 8, @@ -547,7 +566,6 @@ def __init__( initial_alignment_tolerance_rad: float = 0.05, tracker_alignment_timeout_s: float = 5.0, max_target_step_rad: float = 0.08, - policy_substep_rad: float = 0.045, command_lease_s: float = 0.5, idle_timeout_error_mask: int = 64, gripper_ignored_error_mask: int = 8, @@ -557,15 +575,25 @@ def __init__( transport: _A1Transport | None = None, ) -> None: """Configure the sidecar endpoint and explicit safety deadlines.""" - if not host.strip() or not 0 < int(port) < _MAX_TCP_PORT: - raise ROSConfigError("GalaxeaA1HAL requires a valid sidecar host and TCP port.") + if not isinstance(host, str): + raise ROSConfigError("GalaxeaA1HAL requires a literal IPv4 loopback address.") + try: + sidecar_address = ipaddress.ip_address(host) + except ValueError as exc: + raise ROSConfigError("GalaxeaA1HAL requires a literal IPv4 loopback address.") from exc + if ( + not isinstance(sidecar_address, ipaddress.IPv4Address) + or not sidecar_address.is_loopback + ): + raise ROSConfigError("GalaxeaA1HAL requires a literal IPv4 loopback address.") + if isinstance(port, bool) or not isinstance(port, int) or not 0 < port < _MAX_TCP_PORT: + raise ROSConfigError("GalaxeaA1HAL requires a TCP port in [1, 65535].") positive = { "state_timeout_s": state_timeout_s, "status_timeout_s": status_timeout_s, "initial_alignment_tolerance_rad": initial_alignment_tolerance_rad, "tracker_alignment_timeout_s": tracker_alignment_timeout_s, "max_target_step_rad": max_target_step_rad, - "policy_substep_rad": policy_substep_rad, "command_lease_s": command_lease_s, "connect_timeout_s": connect_timeout_s, } @@ -573,8 +601,6 @@ def __init__( raise ROSConfigError( f"GalaxeaA1HAL timing and motion limits must be positive: {positive}" ) - if policy_substep_rad >= max_target_step_rad: - raise ROSConfigError("policy_substep_rad must be smaller than max_target_step_rad.") if not math.isfinite(feedback_limit_tolerance_rad) or feedback_limit_tolerance_rad < 0.0: raise ROSConfigError("feedback_limit_tolerance_rad must be finite and non-negative.") if ( @@ -590,14 +616,13 @@ def __init__( if any(isinstance(v, bool) or not 0 <= int(v) <= _MAX_STATUS_MASK for v in masks.values()): raise ROSConfigError(f"GalaxeaA1HAL motor status masks must be uint32 values: {masks}") self._host = host - self._port = int(port) + self._port = port self._state_timeout_s = state_timeout_s self._status_timeout_s = status_timeout_s self._feedback_limit_tolerance = feedback_limit_tolerance_rad self._alignment = initial_alignment_tolerance_rad self._tracker_alignment_timeout = tracker_alignment_timeout_s self._max_step = max_target_step_rad - self._policy_substep = policy_substep_rad self._lease = command_lease_s self._idle_mask = int(idle_timeout_error_mask) self._gripper_mask = int(gripper_ignored_error_mask) @@ -723,7 +748,6 @@ def health(self) -> HALHealthReport: message="A1 feedback and motor status healthy", fields={ "sidecar": f"{self._host}:{self._port}", - "policy_substep_rad": f"{self._policy_substep:.6f}", "joint_state_age_s": f"{now - state.received_monotonic:.3f}", "motor_status_age_s": f"{now - state.status_received_monotonic:.3f}", "motor_status_codes": ",".join(str(code) for code in state.status_codes), diff --git a/python/sensors/src/openral_sensors/ros_publisher.py b/python/sensors/src/openral_sensors/ros_publisher.py index 2348887..5db4331 100644 --- a/python/sensors/src/openral_sensors/ros_publisher.py +++ b/python/sensors/src/openral_sensors/ros_publisher.py @@ -129,6 +129,7 @@ def __init__( qos_depth: int = _DEFAULT_QOS_DEPTH, camera_info: IntrinsicsPinhole | None = None, info_topic: str | None = None, + node: Node | None = None, ) -> None: """Stash configuration; no ROS I/O until :meth:`start`.""" if not topic.startswith("/"): @@ -149,8 +150,10 @@ def __init__( self._qos_depth = qos_depth self._camera_info_spec = camera_info - # Populated by start(). - self._node: Node | None = None + # A composed runtime injects its existing node. Standalone callers + # retain the original private-node behavior. + self._node: Node | None = node + self._owns_node = node is None self._image_publisher: Publisher | None = None self._info_publisher: Publisher | None = None self._we_initialised_rclpy = False @@ -187,15 +190,19 @@ def info_topic(self) -> str: """The configured ``CameraInfo`` companion topic (read-only).""" return self._info_topic - def start(self) -> None: - """Init rclpy (if needed), create publishers, start the pump thread. + def prepare(self) -> None: + """Create ROS resources without starting the frame-pump thread. + + Multi-camera callers prepare every publisher before starting any + background pump. This avoids concurrent rclpy operations while another + camera's node is still being constructed. Raises: RuntimeError: When ``rclpy`` / ``sensor_msgs`` are not importable. Source a ROS 2 install before instantiating the lifecycle node that owns this publisher. """ - if self._is_started: + if self._image_publisher is not None: return try: import rclpy @@ -217,9 +224,10 @@ def start(self) -> None: rclpy.init() self._we_initialised_rclpy = True - from rclpy.node import Node + if self._node is None: + from rclpy.node import Node - self._node = Node(self._node_name) + self._node = Node(self._node_name) # Image stream QoS — sensor_data-style per CLAUDE.md §5.3. image_qos = QoSProfile( history=QoSHistoryPolicy.KEEP_LAST, @@ -240,6 +248,11 @@ def start(self) -> None: CameraInfo, self._info_topic, info_qos ) + def start(self) -> None: + """Prepare ROS resources and start the frame-pump thread.""" + if self._is_started: + return + self.prepare() self._stop_event.clear() self._thread = threading.Thread( target=self._pump_loop, @@ -263,7 +276,7 @@ def stop(self) -> None: to finish its current publish; a stuck thread is logged but not awaited indefinitely. """ - if not self._is_started: + if not self._is_started and self._image_publisher is None: return self._stop_event.set() if self._thread is not None: @@ -281,10 +294,10 @@ def stop(self) -> None: if self._info_publisher is not None and self._node is not None: self._node.destroy_publisher(self._info_publisher) self._info_publisher = None - if self._node is not None: + if self._node is not None and self._owns_node: self._node.destroy_node() - self._node = None - if self._we_initialised_rclpy: + self._node = None + if self._we_initialised_rclpy and self._owns_node: import rclpy if rclpy.ok(): diff --git a/python/sim/src/openral_sim/policies/lingbot_va_a1.py b/python/sim/src/openral_sim/policies/lingbot_va_a1.py index 549c494..93f6e6b 100644 --- a/python/sim/src/openral_sim/policies/lingbot_va_a1.py +++ b/python/sim/src/openral_sim/policies/lingbot_va_a1.py @@ -59,24 +59,84 @@ def _bounded_joint_substep( return current + delta * (float32_bound / largest), False -def _effective_joint_substep_limit( +def _validated_joint_substep_limit( *, + policy_substep_rad: float, max_target_step_rad: float, initial_alignment_tolerance_rad: float, ) -> float: - """Return the tighter live-step and locked-relay alignment limit.""" - limits = (float(max_target_step_rad), float(initial_alignment_tolerance_rad)) + """Validate the policy bound against both HAL command phases.""" + policy_limit = float(policy_substep_rad) + limits = (policy_limit, float(max_target_step_rad), float(initial_alignment_tolerance_rad)) if any(not np.isfinite(value) or value <= 0.0 for value in limits): raise ValueError("A1 joint substep limits must be finite and positive") - return min(limits) + if policy_limit > min(limits[1:]): + raise ValueError( + "policy joint substep must not exceed the HAL target-step or initial-alignment limit" + ) + return policy_limit + + +def _joint_limits_from_description( + robot_description: Any, + *, + expected_joint_names: tuple[str, ...], +) -> tuple[NDArray[np.float64], NDArray[np.float64]]: + """Return ordered command limits from the active OpenRAL robot contract.""" + joints = getattr(robot_description, "joints", ()) + by_name = {getattr(joint, "name", None): joint for joint in joints} + if len(by_name) != len(joints) or set(by_name) != set(expected_joint_names): + raise ValueError("A1 Runtime IK joint names must exactly match the OpenRAL description") + lower: list[float] = [] + upper: list[float] = [] + for name in expected_joint_names: + limits = getattr(by_name[name], "position_limits", None) + if limits is None: + raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") + try: + lo_raw, hi_raw = limits + lo, hi = float(lo_raw), float(hi_raw) + except (TypeError, ValueError): + raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") from None + if not np.isfinite((lo, hi)).all() or lo >= hi: + raise ValueError(f"OpenRAL joint {name!r} requires finite position limits") + lower.append(lo) + upper.append(hi) + return np.asarray(lower, dtype=np.float64), np.asarray(upper, dtype=np.float64) + + +def _build_manifest_bounded_ik_solver( + *, + ik_module: Any, + system: Any, + robot_description: Any, +) -> Any: + """Construct Runtime IK with the active OpenRAL command envelope.""" + joint_names = tuple(system.joint_safety.names) + lower_limits, upper_limits = _joint_limits_from_description( + robot_description, + expected_joint_names=joint_names, + ) + config = system.eef_ik + return ik_module.A1EefIkSolver( + urdf_path=config.urdf, + joint_names=joint_names, + lower_limits=lower_limits, + upper_limits=upper_limits, + max_iterations=config.max_iterations, + damping=config.damping, + orientation_weight=config.orientation_weight, + max_iteration_step_rad=config.max_iteration_step_rad, + position_tolerance_m=config.position_tolerance_m, + orientation_tolerance_rad=config.orientation_tolerance_rad, + max_solution_delta_rad=config.max_solution_delta_rad, + ) def _runtime_root() -> Path: raw = os.environ.get(_RUNTIME_ROOT_ENV) if raw is None: - raise ROSConfigError( - f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va_a1 policy adapter" - ) + raise ROSConfigError(f"{_RUNTIME_ROOT_ENV} is required for the lingbot_va policy adapter") root = Path(raw).expanduser().resolve() config = root / _DEPLOYMENT_CONFIG if not config.is_file(): @@ -95,11 +155,13 @@ class _LingBotVaA1Adapter: def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: root = _runtime_root() - client_module = import_module("galaxea_a1_runtime.apps.lingbot.client") - config_module = import_module("galaxea_a1_runtime.apps.lingbot.config") - protocol_module = import_module("galaxea_a1_runtime.apps.lingbot.protocol") - ik_module = import_module("galaxea_a1_runtime.hardware.eef_ik") - action_module = import_module("galaxea_a1_runtime.policies.eef_actions") + client_module, config_module, protocol_module, ik_module, action_module = ( + import_module("galaxea_a1_runtime.apps.lingbot.client"), + import_module("galaxea_a1_runtime.apps.lingbot.config"), + import_module("galaxea_a1_runtime.apps.lingbot.protocol"), + import_module("galaxea_a1_runtime.hardware.eef_ik"), + import_module("galaxea_a1_runtime.policies.eef_actions"), + ) self.spec = spec self._config = config_module.load_lingbot_config( root / _DEPLOYMENT_CONFIG, @@ -108,22 +170,38 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: self._action_config = action_module.build_action_transform_config( system=self._config.system ) - self._solver = ik_module.build_eef_ik_solver(self._config.system) if robot_description is None or robot_description.name != "galaxea_a1": - raise ROSConfigError("lingbot_va_a1 requires the Galaxea A1 RobotDescription") + raise ROSConfigError("lingbot_va requires the Galaxea A1 RobotDescription") + system = self._config.system + try: + self._solver = _build_manifest_bounded_ik_solver( + ik_module=ik_module, + system=system, + robot_description=robot_description, + ) + except (AttributeError, KeyError, TypeError, ValueError) as exc: + raise ROSConfigError( + "lingbot_va could not construct A1 Runtime IK with the " + "OpenRAL RobotDescription joint contract" + ) from exc try: hal_defaults = robot_description.hal.parameters.defaults - self._max_joint_step_rad = _effective_joint_substep_limit( - max_target_step_rad=min( - hal_defaults["max_target_step_rad"], - hal_defaults["policy_substep_rad"], - ), + policy_substep_raw = spec.extra["max_joint_substep_rad"] + if isinstance(policy_substep_raw, bool) or not isinstance( + policy_substep_raw, (int, float) + ): + raise TypeError("max_joint_substep_rad must be numeric") + policy_substep_rad = float(policy_substep_raw) + self._max_joint_step_rad = _validated_joint_substep_limit( + policy_substep_rad=policy_substep_rad, + max_target_step_rad=hal_defaults["max_target_step_rad"], initial_alignment_tolerance_rad=hal_defaults["initial_alignment_tolerance_rad"], ) except (AttributeError, KeyError, TypeError, ValueError) as exc: raise ROSConfigError( - "Galaxea A1 RobotDescription requires finite positive " - "joint step, policy-substep, and initial-alignment limits" + "lingbot_va requires a finite positive policy " + "max_joint_substep_rad plus the Galaxea A1 HAL target-step " + "and initial-alignment limits" ) from exc server = self._config.server self._client = client_module.LingBotClient( @@ -135,12 +213,10 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: ) latency_budget_ms = spec.extra.get("latency_budget_ms") if isinstance(latency_budget_ms, bool) or not isinstance(latency_budget_ms, (int, float)): - raise ROSConfigError( - "lingbot_va_a1 requires its manifest latency budget in VLASpec.extra" - ) + raise ROSConfigError("lingbot_va requires its manifest latency budget in VLASpec.extra") self._inference_timeout_s = float(latency_budget_ms) / 1000.0 if not np.isfinite(self._inference_timeout_s) or self._inference_timeout_s <= 0.0: - raise ROSConfigError("lingbot_va_a1 requires a positive per-chunk latency budget") + raise ROSConfigError("lingbot_va requires a positive per-chunk latency budget") self._inference_executor = ThreadPoolExecutor( max_workers=1, thread_name_prefix="openral-lingbot-a1", @@ -158,7 +234,6 @@ def __init__(self, spec: VLASpec, *, robot_description: Any) -> None: self._model_calls = 0 self._active_joint_target: NDArray[np.float64] | None = None self._active_gripper: float | None = None - self._active_cache_action: NDArray[np.float64] | None = None self._active_cache_frame_index: int | None = None self._active_action_index: int | None = None self._last_joint_target: NDArray[np.float64] | None = None @@ -355,25 +430,13 @@ def _begin_action( except Exception as exc: raise ROSRuntimeError(f"LingBot A1 EEF target was rejected: {exc}") from exc solved_joints = np.asarray(solution.joint_positions, dtype=np.float64) - executed_xyz, executed_quat = self._solver.forward(solved_joints) - executed = np.concatenate([executed_xyz, executed_quat, [validated[7]]]) - cache_action = ( - executed - if self._config.action.pose_mode == "absolute" - else action_module.absolute_action_to_relative( - executed, - self._origin_pose7, - min_quat_norm=self._action_config.min_quat_norm, - ) - ) self._active_joint_target = solved_joints self._active_gripper = float(validated[7]) - self._active_cache_action = np.asarray(cache_action, dtype=np.float64) self._active_cache_frame_index = cache_frame_index self._active_action_index = action_index def _step_active_action(self, joints: NDArray[np.float64]) -> NDArray[np.float32]: - """Advance one manifest-bounded joint substep toward the EEF solution.""" + """Advance one model action without truncating its solved joint target.""" assert self._active_joint_target is not None assert self._active_gripper is not None target, reaches_solution = _bounded_joint_substep( @@ -381,33 +444,41 @@ def _step_active_action(self, joints: NDArray[np.float64]) -> NDArray[np.float32 self._active_joint_target, max_step_rad=self._max_joint_step_rad, ) + + action = np.concatenate([target, [self._active_gripper]]).astype(np.float32) self._last_joint_target = target.copy() self._last_gripper_target = self._active_gripper if not reaches_solution: - return np.concatenate([target, [self._active_gripper]]).astype(np.float32) + return action assert self._chunk is not None - assert self._active_cache_action is not None assert self._active_cache_frame_index is not None assert self._active_action_index is not None + assert self._origin_pose7 is not None + executed_xyz, executed_quat = self._solver.forward(target) + executed = np.concatenate([executed_xyz, executed_quat, [self._active_gripper]]) + if self._config.action.pose_mode == "absolute": + cache_action = executed + else: + action_module = import_module("galaxea_a1_runtime.policies.eef_actions") + cache_action = action_module.absolute_action_to_relative( + executed, + self._origin_pose7, + min_quat_norm=self._action_config.min_quat_norm, + ) self._chunk.cache_state[ :, self._active_cache_frame_index, self._active_action_index, - ] = self._active_cache_action + ] = cache_action self._pending_observation = self._chunk.needs_observation_after(self._active_action_index) self._step_index += 1 - action = np.concatenate([self._active_joint_target, [self._active_gripper]]).astype( - np.float32 - ) - self._last_joint_target = self._active_joint_target.copy() self._clear_active_action() return action def _clear_active_action(self) -> None: self._active_joint_target = None self._active_gripper = None - self._active_cache_action = None self._active_cache_frame_index = None self._active_action_index = None @@ -416,14 +487,14 @@ def _joint_state(observation: dict[str, Any]) -> NDArray[np.float64]: state = np.asarray(observation.get("state"), dtype=np.float64) if state.shape != (6,) or not np.isfinite(state).all(): raise ROSRuntimeError( - f"lingbot_va_a1 requires six finite A1 joint positions, got {state.shape}" + f"lingbot_va requires six finite A1 joint positions, got {state.shape}" ) return state def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[np.uint8]]: images = observation.get("images") if not isinstance(images, dict): - raise ROSRuntimeError("lingbot_va_a1 requires OpenRAL image observations") + raise ROSRuntimeError("lingbot_va requires OpenRAL image observations") result: dict[str, NDArray[np.uint8]] = {} for source, target in ( ("front", self._config.observations.front_key), @@ -436,15 +507,15 @@ def _model_observation(self, observation: dict[str, Any]) -> dict[str, NDArray[n or image.dtype != np.uint8 ): raise ROSRuntimeError( - f"lingbot_va_a1 image {source!r} must be HWC uint8 RGB, " + f"lingbot_va image {source!r} must be HWC uint8 RGB, " f"got shape={image.shape} dtype={image.dtype}" ) result[target] = image return result -@POLICIES.register("lingbot_va_a1") -def _build_lingbot_va_a1(env_cfg: Any) -> _LingBotVaA1Adapter: +@POLICIES.register("lingbot_va") +def _build_lingbot_va(env_cfg: Any) -> _LingBotVaA1Adapter: """Build the external A1 Runtime-backed LingBot adapter.""" return _LingBotVaA1Adapter( env_cfg.vla, diff --git a/python/sim/src/openral_sim/policy_deps.py b/python/sim/src/openral_sim/policy_deps.py index 4aa512c..12dda3d 100644 --- a/python/sim/src/openral_sim/policy_deps.py +++ b/python/sim/src/openral_sim/policy_deps.py @@ -96,7 +96,7 @@ "runs in tools/lingbot_vla2_sidecar.py's own auto-provisioned Python 3.12 " "+ torch-2.8 venv." ), - "lingbot_va_a1": ( + "lingbot_va": ( "Install the LingBot wire dependencies with `just sync --all-packages " "--group lingbot`, set OPENRAL_GALAXEA_A1_RUNTIME_ROOT to the A1 " "Runtime checkout, and start its contract-checked policy server." @@ -128,7 +128,7 @@ "gr00t": ("sim", "gr00t"), "diffuser_actor": ("rlbench",), "lingbot_vla2": ("lingbot",), - "lingbot_va_a1": ("lingbot",), + "lingbot_va": ("lingbot",), "internvla_n1": ("rldx",), "mock": (), } @@ -164,7 +164,7 @@ # sidecar's own auto-provisioned py3.12 + torch-2.8 venv). See # openral_sim.policies.lingbot_vla2. "lingbot_vla2": ("zmq", "msgpack"), - "lingbot_va_a1": ("websockets", "msgpack"), + "lingbot_va": ("websockets", "msgpack"), # InternVLA-N1 shares the sidecar contract — the openral side only # needs the ZMQ + msgpack wire; the transformers-4.51 stack lives in # the sidecar's auto-provisioned py3.11 venv. diff --git a/robots/galaxea_a1/robot.yaml b/robots/galaxea_a1/robot.yaml index fab5be1..e7095fe 100644 --- a/robots/galaxea_a1/robot.yaml +++ b/robots/galaxea_a1/robot.yaml @@ -15,6 +15,9 @@ joints: joint_type: revolute parent_link: base_link child_link: arm_seg1 + axis_xyz: [0, 0, 1] + origin_xyz: [-0.0011147, 0, 0.0892] + origin_rpy: [0, 0, 3.1416] position_limits: [-2.8798, 2.8798] velocity_limit: 20.944 effort_limit: 40.0 @@ -23,6 +26,9 @@ joints: joint_type: revolute parent_link: arm_seg1 child_link: arm_seg2 + axis_xyz: [0, 0, 1] + origin_xyz: [0, -0.00004, 0.0615] + origin_rpy: [1.5708, 0, 0] position_limits: [0.0, 3.1415] velocity_limit: 20.944 effort_limit: 40.0 @@ -31,6 +37,9 @@ joints: joint_type: revolute parent_link: arm_seg2 child_link: arm_seg3 + axis_xyz: [0, 0, 1] + origin_xyz: [0.34928, 0.02, 0] + origin_rpy: [0, 0, 1.5708] position_limits: [-3.3161, 0.0] velocity_limit: 7.5398 effort_limit: 27.0 @@ -39,6 +48,9 @@ joints: joint_type: revolute parent_link: arm_seg3 child_link: arm_seg4 + axis_xyz: [0, 0, 1] + origin_xyz: [0.07, -0.00395, -0.00004] + origin_rpy: [-1.5708, 1.5708, 0] position_limits: [-2.8798, 2.8798] velocity_limit: 25.133 effort_limit: 7.0 @@ -47,6 +59,9 @@ joints: joint_type: revolute parent_link: arm_seg4 child_link: arm_seg5 + axis_xyz: [0, 0, 1] + origin_xyz: [0, 0, 0.2776] + origin_rpy: [-1.5708, 0, 3.1416] position_limits: [-1.6581, 1.6581] velocity_limit: 25.133 effort_limit: 7.0 @@ -55,6 +70,9 @@ joints: joint_type: revolute parent_link: arm_seg5 child_link: arm_seg6 + axis_xyz: [0, 0, 1] + origin_xyz: [0, -0.1575, -0.00023266] + origin_rpy: [1.5708, 0, 0] position_limits: [-2.8798, 2.8798] velocity_limit: 25.133 effort_limit: 7.0 @@ -143,9 +161,6 @@ hal: # rad IK-solution bound, while allowing the official tracker to cross its # observed 0.03..0.038 rad steady-state residual. max_target_step_rad: 0.08 - # Policy targets stay below both the 0.05 rad locked-relay alignment - # bound and the independent HAL/sidecar command bound above. - policy_substep_rad: 0.045 command_lease_s: 0.5 # The vendor documents bit 6 as ECU->ACU timeout. It is observed while # idle and is the only accepted arm bit. The gripper additionally ignores diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md index 8b97673..a07f371 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/README.md @@ -6,7 +6,7 @@ pipeline_tag: robotics tags: - OpenRAL - rskill -- lingbot_va_a1 +- lingbot_va - vision-language-action - galaxea_a1 base_model: @@ -60,13 +60,17 @@ action-channel map `[0, 1, 2, 3, 4, 5, 6, 28]` are applied in the external LingBot server from the checkpoint's `configs/va_a1_cfg.py`; this is not a LeRobot `PolicyProcessorPipeline`. -OpenRAL's `lingbot_va_a1` adapter validates each physical EEF target with the A1 +OpenRAL's `lingbot_va` adapter validates each physical EEF target with the A1 Runtime contract, solves IK, and emits six absolute joint targets plus one -normalized gripper target. If an IK solution is farther than the robot -manifest's per-tick joint-step limit, the adapter explicitly subdivides it -before advancing the model action or KV cache. The typed action then follows -OpenRAL's normal candidate-action, C++ safety-kernel, safe-action, and Galaxea A1 -HAL path. +normalized gripper target. If an IK solution is farther than the rSkill's +feedback-relative joint-step bound, the adapter advances toward that same +solution on subsequent 30 Hz ticks and does not consume the next model action +until the full solved target can be dispatched. It then writes the dispatched +target's FK result into the LingBot KV cache. The typed action follows OpenRAL's normal +candidate-action, C++ safety-kernel, safe-action, and Galaxea A1 HAL path. +The Runtime-provided IK implementation is constructed with the active OpenRAL +robot manifest's ordered joint limits, so Runtime calibration margins cannot +widen the official command envelope. ## Sensors and observation contract @@ -78,13 +82,13 @@ HAL path. | out | action | `(7,)` float32 | Six absolute joint targets in radians and one normalized gripper target | The A1 Runtime remains the sole camera-device owner. OpenRAL connects to its -public paired Camera Bridge and does not open either RealSense device itself. +paired Camera Bridge and does not open either RealSense device itself. ## Supported robots | Robot | Embodiment tag | Status | Notes | | --- | --- | --- | --- | -| Galaxea A1, original arm | `galaxea_a1` | Hardware-in-the-loop integration | Joint and gripper OpenRAL HAL round trips have passed; the combined model-to-hardware task run is the remaining validation step | +| Galaxea A1, original arm | `galaxea_a1` | Hardware-in-the-loop integration | Joint/gripper round trips and one visually verified model-driven lemon pick-and-place have passed through OpenRAL; automatic task adjudication remains pending | This rSkill is specific to the six-joint Galaxea A1 contract in `robots/galaxea_a1/robot.yaml`. It is not a generic Cartesian HAL and does not @@ -97,7 +101,7 @@ enable the vendor AnyGrasp/AnyEffector path. | `name` | `OpenRAL/rskill-lingbot_va-galaxea_a1-fruit_placement-bf16` | | `version` | `0.1.0` | | `license` | `apache-2.0` | -| `model_family` | `lingbot_va_a1` | +| `model_family` | `lingbot_va` | | `embodiment_tags` | `galaxea_a1` | | `runtime` / precision | `pytorch` / `bf16` | | `weights_uri` | revision-pinned public LingBot-VA A1 checkpoint | @@ -126,12 +130,15 @@ bridge at the same time. ## Evaluation -No formal task-success result is shipped yet. Offline validation has exercised -the real paired cameras, real model server, manifest-to-policy construction, -EEF validation and IK, joint-step subdivision, and OpenRAL typed joint/gripper -dispatch. The OpenRAL candidate-action-to-HAL path has also passed separate -real-hardware joint and gripper round trips. One combined live rollout is still -required before claiming end-to-end OpenRAL model deployment on the A1. +No formal automatic task-success result is shipped yet. Validation has +exercised the real paired cameras, real model server, manifest-to-policy +construction, EEF validation and IK, joint-step subdivision, and OpenRAL typed +joint/gripper dispatch. Separate real-hardware joint/gripper round trips and a +visually verified lemon pick-and-place have traversed candidate action, the C++ +safety kernel, safe action, HAL, ROS 1 relay, and the official driver. The +non-terminating VLA continued after the visible placement and was stopped by +the unchanged joint-solution jump guard; a success detector or bounded episode +termination is still needed for a formal task-success result. ## License diff --git a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml index eae4907..fdc194d 100644 --- a/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml +++ b/rskills/lingbot-va-galaxea-a1-fruit-placement/rskill.yaml @@ -10,7 +10,7 @@ version: "0.1.0" license: "apache-2.0" role: "s1" kind: "vla" -model_family: "lingbot_va_a1" +model_family: "lingbot_va" embodiment_tags: - "galaxea_a1" @@ -60,7 +60,7 @@ latency_budget: # Measured through the full OpenRAL camera + websocket + EEF/IK adapter: # ~4.05 s for the first model call on this A1 host; replay ticks are cheap. per_chunk_ms: 6000.0 - max_execution_s: 180.0 + max_execution_s: 420.0 dataset_uri: "hf://pengyue-polaron/nyush-galaxea-a1-fruit-placement-eef-v21@1bc2c4035e7dc638f7dd9fa5ec7987bec66d0933" source_repo: "hf://robbyant/lingbot-va-base" @@ -70,6 +70,13 @@ description: > and continuous gripper chunks, and uses the tracked A1 Runtime IK contract before OpenRAL validates and executes the resulting joint/gripper actions. +# The LingBot EEF solution may be farther from current feedback than the A1 +# joint tracker accepts in one update. This policy-owned per-tick lowering +# bound remains below both the HAL's 0.08 rad live target-step ceiling and its +# 0.05 rad initial-alignment ceiling. +policy_extras: + max_joint_substep_rad: 0.045 + actions: - "pick" - "place" diff --git a/tests/hil/test_galaxea_a1.py b/tests/hil/test_galaxea_a1.py index 219f029..afffdf3 100644 --- a/tests/hil/test_galaxea_a1.py +++ b/tests/hil/test_galaxea_a1.py @@ -18,7 +18,7 @@ default is observation-only and sends no action. GALAXEA_A1_ALLOW_NUDGE: When ``"1"``, implies the hold gate, then moves ``arm_joint1`` by +0.01 rad and returns to the measured start. Both - legs must settle within 0.006 rad while every joint remains inside a + legs must settle within 0.008 rad while every joint remains inside a bounded excursion from the initial feedback. GALAXEA_A1_ALLOW_GRIPPER: When ``"1"``, implies the hold gate, moves the G2 gripper by the vendor example's 10 mm step away from the nearest @@ -48,7 +48,7 @@ _HOST = os.environ.get("GALAXEA_A1_HOST", "127.0.0.1") _PORT = int(os.environ.get("GALAXEA_A1_PORT", "46011")) _NUDGE_RAD = 0.01 -_SETTLE_TOLERANCE_RAD = 0.006 +_SETTLE_TOLERANCE_RAD = 0.008 _MOTION_TIMEOUT_S = 3.0 _MAX_EXCURSION_RAD = 0.025 _GRIPPER_NUDGE_MM = 10.0 diff --git a/tests/hil/test_galaxea_a1_deploy.py b/tests/hil/test_galaxea_a1_deploy.py index 5b3d109..709242d 100644 --- a/tests/hil/test_galaxea_a1_deploy.py +++ b/tests/hil/test_galaxea_a1_deploy.py @@ -53,7 +53,7 @@ _ESTOP_TIMEOUT_S = 5.0 _COMMAND_PERIOD_S = 0.05 _NUDGE_RAD = 0.01 -_SETTLE_TOLERANCE_RAD = 0.006 +_SETTLE_TOLERANCE_RAD = 0.008 _MOTION_TIMEOUT_S = 3.0 _MAX_EXCURSION_RAD = 0.025 diff --git a/tests/unit/test_eval_registry_and_runner.py b/tests/unit/test_eval_registry_and_runner.py index 69f410c..973cefc 100644 --- a/tests/unit/test_eval_registry_and_runner.py +++ b/tests/unit/test_eval_registry_and_runner.py @@ -72,7 +72,7 @@ def test_builtin_registries_populated() -> None: assert "zero" in POLICIES assert "random" in POLICIES assert "smolvla" in POLICIES - assert "lingbot_va_a1" in POLICIES + assert "lingbot_va" in POLICIES def test_registry_unknown_id_raises_with_known_list() -> None: diff --git a/tests/unit/test_galaxea_a1.py b/tests/unit/test_galaxea_a1.py index 401a394..293e3f6 100644 --- a/tests/unit/test_galaxea_a1.py +++ b/tests/unit/test_galaxea_a1.py @@ -18,9 +18,11 @@ from openral_core import ( Action, ControlMode, + RobotDescription, ROSConfigError, ROSEStopRequested, ROSRuntimeError, + RSkillManifest, SensorReaderBackend, SensorReaderConfig, ) @@ -34,8 +36,9 @@ from openral_runner.factory import SENSOR_BACKEND_REGISTRY from openral_sim.policies.lingbot_va_a1 import ( _bounded_joint_substep, - _effective_joint_substep_limit, + _joint_limits_from_description, _LingBotVaA1Adapter, + _validated_joint_substep_limit, ) _SIDECAR = runpy.run_path( @@ -100,6 +103,73 @@ def test_description_and_protocol_surface() -> None: assert hal.description.hal.sim is None assert hal.description.capabilities.has_vision assert [sensor.name for sensor in hal.description.sensors] == ["front", "wrist"] + assert "policy_substep_rad" not in hal.description.hal.parameters.defaults + + +def test_lingbot_manifest_owns_policy_joint_substep() -> None: + manifest_path = ( + Path(__file__).resolve().parents[2] + / "rskills" + / "lingbot-va-galaxea-a1-fruit-placement" + / "rskill.yaml" + ) + manifest = RSkillManifest.from_yaml(str(manifest_path)) + + assert manifest.policy_extras["max_joint_substep_rad"] == 0.045 + + +def test_lingbot_ik_uses_openral_manifest_joint_limits() -> None: + names = tuple(joint.name for joint in GALAXEA_A1_DESCRIPTION.joints) + + lower, upper = _joint_limits_from_description( + GALAXEA_A1_DESCRIPTION, + expected_joint_names=names, + ) + + assert lower == pytest.approx([-2.8798, 0.0, -3.3161, -2.8798, -1.6581, -2.8798]) + assert upper == pytest.approx([2.8798, 3.1415, 0.0, 2.8798, 1.6581, 2.8798]) + + +def test_lingbot_ik_rejects_description_without_command_limits() -> None: + joints = list(GALAXEA_A1_DESCRIPTION.joints) + joints[1] = joints[1].model_copy(update={"position_limits": None}) + description = GALAXEA_A1_DESCRIPTION.model_copy(update={"joints": joints}) + + with pytest.raises(ValueError, match="finite position limits"): + _joint_limits_from_description( + description, + expected_joint_names=tuple(joint.name for joint in joints), + ) + + +def test_manifest_and_hal_pin_official_a1_joint_transforms() -> None: + manifest_path = Path(__file__).resolve().parents[2] / "robots" / "galaxea_a1" / "robot.yaml" + manifest = RobotDescription.from_yaml(str(manifest_path)) + expected = [ + ((-0.0011147, 0.0, 0.0892), (0.0, 0.0, 3.1416), (0.0, 0.0, 1.0)), + ((0.0, -0.00004, 0.0615), (1.5708, 0.0, 0.0), (0.0, 0.0, 1.0)), + ((0.34928, 0.02, 0.0), (0.0, 0.0, 1.5708), (0.0, 0.0, 1.0)), + ((0.07, -0.00395, -0.00004), (-1.5708, 1.5708, 0.0), (0.0, 0.0, 1.0)), + ((0.0, 0.0, 0.2776), (-1.5708, 0.0, 3.1416), (0.0, 0.0, 1.0)), + ((0.0, -0.1575, -0.00023266), (1.5708, 0.0, 0.0), (0.0, 0.0, 1.0)), + ] + + for description in (manifest, GALAXEA_A1_DESCRIPTION): + assert [ + (joint.origin_xyz, joint.origin_rpy, joint.axis_xyz) for joint in description.joints + ] == expected + + +@pytest.mark.parametrize("host", ["0.0.0.0", "192.168.1.20", "sidecar.example", "::1"]) +def test_hal_rejects_non_loopback_sidecar_hosts(host: str) -> None: + with pytest.raises(ROSConfigError, match="IPv4 loopback"): + GalaxeaA1HAL(host=host) + + +@pytest.mark.parametrize("port", [True, "46011", 46011.5, 0, 65536]) +def test_hal_rejects_invalid_sidecar_ports(port: object) -> None: + with pytest.raises(ROSConfigError, match="TCP port"): + GalaxeaA1HAL(port=port) # type: ignore[arg-type] # reason: runtime validation contract def test_camera_bridge_backend_requires_explicit_a1_runtime_root( @@ -136,7 +206,8 @@ def test_camera_bridge_backend_rejects_unknown_camera() -> None: def test_lingbot_joint_lowering_respects_manifest_step_limit() -> None: current = np.zeros(6, dtype=np.float64) target = np.array([0.16, -0.08, 0.04, 0.0, 0.0, 0.0], dtype=np.float64) - step_limit = _effective_joint_substep_limit( + step_limit = _validated_joint_substep_limit( + policy_substep_rad=0.04, max_target_step_rad=0.04, initial_alignment_tolerance_rad=0.05, ) @@ -172,6 +243,15 @@ def test_lingbot_joint_lowering_rejects_nonfinite_input() -> None: ) +def test_lingbot_joint_lowering_rejects_policy_bound_above_hal_phase_limits() -> None: + with pytest.raises(ValueError, match="must not exceed"): + _validated_joint_substep_limit( + policy_substep_rad=0.06, + max_target_step_rad=0.08, + initial_alignment_tolerance_rad=0.05, + ) + + def test_lingbot_boundary_inference_replays_last_safe_target_without_blocking() -> None: adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) adapter._boundary_future = Future() @@ -197,19 +277,27 @@ def test_lingbot_boundary_inference_fails_at_manifest_latency_budget() -> None: adapter._poll_chunk_boundary() -def test_lingbot_small_action_advances_without_feedback_completion_gate() -> None: +def test_lingbot_action_advances_only_after_reaching_solved_target() -> None: adapter = _LingBotVaA1Adapter.__new__(_LingBotVaA1Adapter) adapter._active_joint_target = np.array( - [0.01, -0.005, 0.0025, 0.0, 0.0, 0.0], + [0.12, -0.06, 0.03, 0.0, 0.0, 0.0], dtype=np.float64, ) adapter._active_gripper = 0.25 adapter._max_joint_step_rad = 0.03 + adapter._origin_pose7 = np.array([0.5, 0.0, 0.2, 0.0, 0.0, 0.0, 1.0]) + adapter._solver = SimpleNamespace( + forward=lambda joints: ( + np.asarray(joints[:3], dtype=np.float64), + np.array([0.0, 0.0, 0.0, 1.0]), + ) + ) + adapter._config = SimpleNamespace(action=SimpleNamespace(pose_mode="absolute")) + adapter._action_config = SimpleNamespace(min_quat_norm=1e-6) adapter._chunk = SimpleNamespace( cache_state=np.zeros((8, 1, 1), dtype=np.float64), needs_observation_after=lambda _index: True, ) - adapter._active_cache_action = np.arange(8, dtype=np.float64) adapter._active_cache_frame_index = 0 adapter._active_action_index = 0 adapter._step_index = 0 @@ -217,13 +305,27 @@ def test_lingbot_small_action_advances_without_feedback_completion_gate() -> Non adapter._last_joint_target = None adapter._last_gripper_target = None - action = adapter._step_active_action(np.zeros(6, dtype=np.float64)) + first = adapter._step_active_action(np.zeros(6, dtype=np.float64)) - assert action == pytest.approx([0.01, -0.005, 0.0025, 0.0, 0.0, 0.0, 0.25]) + assert first == pytest.approx([0.03, -0.015, 0.0075, 0.0, 0.0, 0.0, 0.25]) + assert adapter._step_index == 0 + assert adapter._pending_observation is False + assert adapter._active_joint_target is not None + assert adapter._chunk.cache_state == pytest.approx(np.zeros((8, 1, 1))) + + final_feedback = np.array( + [0.11, -0.055, 0.0275, 0.0, 0.0, 0.0], + dtype=np.float64, + ) + final = adapter._step_active_action(final_feedback) + + assert final == pytest.approx([0.12, -0.06, 0.03, 0.0, 0.0, 0.0, 0.25]) assert adapter._step_index == 1 assert adapter._pending_observation is True assert adapter._active_joint_target is None - assert adapter._chunk.cache_state[:, 0, 0] == pytest.approx(np.arange(8)) + assert adapter._chunk.cache_state[:, 0, 0] == pytest.approx( + [0.12, -0.06, 0.03, 0.0, 0.0, 0.0, 1.0, 0.25] + ) def test_connect_reads_state_and_sends_aligned_joint_target() -> None: diff --git a/tests/unit/test_sensor_leg.py b/tests/unit/test_sensor_leg.py index 9abd91f..a25b385 100644 --- a/tests/unit/test_sensor_leg.py +++ b/tests/unit/test_sensor_leg.py @@ -14,7 +14,12 @@ from pathlib import Path import pytest -from openral_core import SensorDeployBinding, SensorSpec +from openral_core import ( + SensorDeployBinding, + SensorReaderBackend, + SensorReaderConfig, + SensorSpec, +) from openral_rskill_ros.sensor_leg import ( SensorLeg, _publish_rate_hz, @@ -82,6 +87,70 @@ def test_empty_leg_close_is_idempotent() -> None: assert leg.publishers == [] +def test_multi_camera_ros_publishers_start_only_after_explicit_lifecycle_gate( + monkeypatch: pytest.MonkeyPatch, +) -> None: + """All ROS entities are prepared before background publishing is allowed.""" + from openral_runner.factory import SENSOR_BACKEND_REGISTRY + from openral_sensors.ros_publisher import SensorRosPublisher + + events: list[tuple[str, str]] = [] + + class _Reader: + def __init__(self, sensor_id: str) -> None: + self.sensor_id = sensor_id + + def open(self) -> None: + events.append(("open", self.sensor_id)) + + def close(self) -> None: + events.append(("close", self.sensor_id)) + + def build_reader(config: SensorReaderConfig) -> _Reader: + return _Reader(config.sensor_id) + + backend = SensorReaderBackend.OPENCV_THREAD + monkeypatch.setitem(SENSOR_BACKEND_REGISTRY, backend.value, build_reader) + monkeypatch.setattr( + SensorRosPublisher, + "prepare", + lambda self: events.append(("prepare", self._reader.sensor_id)), + ) + monkeypatch.setattr( + SensorRosPublisher, + "start", + lambda self: events.append(("start", self._reader.sensor_id)), + ) + monkeypatch.setattr(SensorRosPublisher, "stop", lambda self: None) + + binding = SensorDeployBinding(backend=backend) + leg = open_deploy_sensor_readers( + [ + _spec("front", binding=binding), + _spec("wrist", binding=binding), + ], + ros_node=object(), + ) + try: + assert events == [ + ("open", "front"), + ("open", "wrist"), + ("prepare", "front"), + ("prepare", "wrist"), + ] + leg.start() + assert events == [ + ("open", "front"), + ("open", "wrist"), + ("prepare", "front"), + ("prepare", "wrist"), + ("start", "front"), + ("start", "wrist"), + ] + finally: + leg.close() + + def test_gstreamer_testsrc_leg_publishes_frames(tmp_path: Path) -> None: """Full leg over a real videotestsrc pipeline: open → ROS tee → frame → close. @@ -143,6 +212,7 @@ def update_image_frame(self, sensor_name, frame): aggregator = _CountingAggregator(description) leg = open_deploy_sensor_readers([spec], aggregator=aggregator) try: + leg.start() assert len(leg.readers) == 1, leg.readers # The direct-aggregator pump is registered as a publisher-shaped pump; # the sensor is recorded for WorldState's direct_image_frame_sensors. diff --git a/tests/unit/test_sensor_ros_publisher.py b/tests/unit/test_sensor_ros_publisher.py index c5c7f3f..73618fd 100644 --- a/tests/unit/test_sensor_ros_publisher.py +++ b/tests/unit/test_sensor_ros_publisher.py @@ -115,6 +115,23 @@ def test_publisher_construction_does_not_touch_ros() -> None: assert pub.info_topic == "/cam/image_raw/camera_info" +def test_publisher_accepts_external_node_without_owning_its_lifecycle() -> None: + """Composed runtimes retain node ownership across publisher stop.""" + from openral_sensors.ros_publisher import SensorRosPublisher + + reader = _FakeReader(sensor_id="wrist_rgb", frame=_make_frame()) + node = object() + pub = SensorRosPublisher( + reader=reader, + topic="/cam/image_raw", + rate_hz=30.0, + node=node, # type: ignore[arg-type] # reason: constructor is ROS-I/O-free + ) + + assert pub._node is node + assert pub._owns_node is False + + def test_publisher_start_without_rclpy_raises_runtime_error() -> None: """When rclpy is genuinely absent, start() raises RuntimeError with install hint. diff --git a/tests/unit/test_skill_runner_camera_slots.py b/tests/unit/test_skill_runner_camera_slots.py index 2d06646..6247604 100644 --- a/tests/unit/test_skill_runner_camera_slots.py +++ b/tests/unit/test_skill_runner_camera_slots.py @@ -19,30 +19,42 @@ from __future__ import annotations +import importlib.util from pathlib import Path +from types import ModuleType import numpy as np import pytest - -# The module under test bundles the full lifecycle node (rclpy / IDL). -# Skip cleanly when those aren't sourced — the helpers are still defined -# at module top-level, just unreachable. -pytest.importorskip("rclpy") -pytest.importorskip("openral_msgs") - from openral_core import RobotDescription from openral_core.exceptions import ROSRuntimeError from openral_core.schemas import FrameEncoding, SensorFrame -from openral_rskill_ros.rskill_runner_node import ( - _build_runtime_skill_from_manifest, - _decode_image_frames, - _sensor_name_to_vla_slot, - _vla_camera_slots, -) _REPO_ROOT = Path(__file__).resolve().parents[2] +def _load_skill_runner_module() -> ModuleType: + """Load the runner helpers without requiring a sourced ROS 2 workspace.""" + source = ( + _REPO_ROOT + / "packages" + / "openral_rskill_ros" + / "openral_rskill_ros" + / "rskill_runner_node.py" + ) + spec = importlib.util.spec_from_file_location("_test_camera_skill_runner_node", source) + assert spec is not None and spec.loader is not None + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + return module + + +_RUNNER = _load_skill_runner_module() +_build_runtime_skill_from_manifest = _RUNNER._build_runtime_skill_from_manifest +_decode_image_frames = _RUNNER._decode_image_frames +_sensor_name_to_vla_slot = _RUNNER._sensor_name_to_vla_slot +_vla_camera_slots = _RUNNER._vla_camera_slots + + def _franka() -> RobotDescription: return RobotDescription.from_yaml(str(_REPO_ROOT / "robots" / "franka_panda" / "robot.yaml")) @@ -110,6 +122,37 @@ def test_frames_without_data_are_skipped(self) -> None: class TestBuildRuntimeSkillSceneCameras: + def test_threads_manifest_policy_extras_into_runtime_vla( + self, monkeypatch: pytest.MonkeyPatch + ) -> None: + """The deploy runner preserves adapter-owned rSkill configuration.""" + import openral_sim.factory as _sim_factory + + yaml_path = _REPO_ROOT / "rskills" / "lingbot-va-galaxea-a1-fruit-placement" / "rskill.yaml" + description = RobotDescription.from_yaml( + str(_REPO_ROOT / "robots" / "galaxea_a1" / "robot.yaml") + ) + captured: dict[str, object] = {} + + def _capture(env_cfg: object) -> object: + captured["extra"] = dict(env_cfg.vla.extra) # type: ignore[attr-defined] + raise ImportError("stop before A1 Runtime import") + + monkeypatch.setattr(_sim_factory, "make_policy", _capture) + + with pytest.raises(ROSRuntimeError): + _build_runtime_skill_from_manifest( + yaml_path=yaml_path, + prompt="put the mango into the blue bowl", + scene_cameras=("front", "wrist"), + description=description, + ) + + assert captured["extra"] == { + "max_joint_substep_rad": 0.045, + "latency_budget_ms": 6000.0, + } + def test_overrides_sensor_name_scene_cameras_with_vla_slots( self, monkeypatch: pytest.MonkeyPatch ) -> None: diff --git a/uv.lock b/uv.lock index f074e84..5a61e2d 100644 --- a/uv.lock +++ b/uv.lock @@ -44,16 +44,16 @@ overrides = [{ name = "egl-probe", marker = "python_full_version == '3.99.*'" }] [[package]] name = "absl-py" version = "2.4.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = 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