feat: franka/lerobot environment support - #29
Draft
jx-qiu wants to merge 22 commits into
Draft
Conversation
jx-qiu
force-pushed
the
feature/lerobot
branch
2 times, most recently
from
July 24, 2026 03:19
4e174ff to
6751f24
Compare
Ported from jx-qiu/feature/lerobot (d3ee39c) onto the rpent/robots layout: physical_agent.* -> rpent.*, env package moved to robots/lerobot/ with env_client.py, MCP namespace mcp__rpent__. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Ported from jx-qiu/feature/lerobot (72b9911) onto the rpent/robots layout: env package under robots/franka/ with env_client.py, deployment/franka driver scripts, calibration board resources. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Ported from jx-qiu/feature/lerobot (2b165f5): cap resent history by a max recent-image count (_MAX_HISTORY_IMAGES) instead of a cumulative byte budget. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
This branch keeps per-robot driver code under robots/<robot>/ (e.g. robots/libero/env_server.py); deployment/ has no tracked files. The ported lerobot/franka env_server + calibration/geometry/kinematics/scene-camera helpers landed under deployment/ by mistake. Move them into robots/lerobot/ and robots/franka/, rewrite intra-package imports (deployment.<robot> -> robots.<robot>), and update build_command paths and the ADD_A_NEW_ENV docs example. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Main moved rpent.rpc_driver.{base,socket} to rpent.utils.{rpc,socket_rpc}. Point the rebased lerobot/franka drivers (RpcClient, SocketRpcClient, SocketRpcServer) at the new module paths so they import against new main.
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Dropping cbb0ee8 removed rpent/deployment/launcher.py and the EnvSpec build_command/requires_suite_task fields it added. Strip the launcher-era machinery (EnvDriverContext import, _build_driver_command, unused driver_context param) so robots.lerobot and robots.franka import and register against the current EnvSpec(name, prompts) contract, matching robots.libero. Driver wiring is deferred to the later refactor. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
start_env_server now selects the driver per --env: libero (python env_server + LIBERO_TYPE/MUJOCO_GL, suite/task/seed), lerobot (python env_server + --max-episode-steps), franka (bash run_env_server.sh). The VLA/model server and its --vla-endpoint requirement are now libero-only; franka/lerobot build their toolkit via get_toolkit(rpc_client=...). --suite/--task are required only for libero, and the output-dir slug and recipe_tag fall back to the env name otherwise. Fix stale run_env_server.sh usage comment. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Align the lerobot (SO101) and franka env packages with main's conventions: - get_toolkit now takes primitives_kwargs (assembled in the CLI) instead of an rpc_client, matching robots/libero. - env_server.py serves via rpent.utils.rpc.RpcFacade (--transport/--host/--port, healthz readiness) instead of a raw SocketRpcServer with a stdout transport_ready event, so ProcessDaemon + wait_for_ready drive them like libero. Socket stays the default transport for the numpy obs/action payloads. - Real-hardware cleanup is preserved: SIGTERM/SIGINT trigger a graceful shutdown that runs env.close() (arm parking / motor + camera release); parent death is handled by RpcFacade's stdin-EOF watch. - run_env_server.sh usage notes updated to the --env-endpoint CLI. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
The env_server now uses --port (not --transport-port); also fix the stale toolkits/ path to robots/. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Match libero's default: spawn the lerobot/franka env_servers with --transport http and talk to them over HttpRpcClient (http_rpc base64-encodes the numpy obs/action payloads). Socket transport stays available via --transport socket or an explicit socket://host:port --env-endpoint. Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
The env refactor (RLinf#41) made rpent/cli/main.py env-agnostic: env-specific CLI args and runtime init now live behind EnvSpec's add_cli_args / parse_config / init_runtime hooks. Port lerobot and franka to that contract, mirroring robots/libero: - get_env_spec() now wires _add_cli_args / _parse_config / _init_runtime (previously these envs returned a bare EnvSpec(name, prompts), which no longer satisfies the now-required hook fields). - _init_runtime moves the old CLI-side _init_lerobot / _init_franka spawn/attach logic into the env package (ProcessDaemon spawn with --transport http, or attach via --env-endpoint [socket|http]://host:port; lazy heavy imports). - _parse_config derives a real-robot run identity (recipe_tag/output_dir/ task_desc keyed by env name; no suite/task/seed) and returns dashboard_state=None (the dashboard is libero-shaped; a warning is logged if --dashboard is passed). - main.py: widen --env choices to libero | lerobot | franka (the only CLI change; all other wiring is env-agnostic). Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
…d improved target grid Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
…_FRAME_ARTIFACTS Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This draft PR adds support for franka and lerobot.
A few progress blockers: