File size: 9,339 Bytes
d8290eb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 | """Typed loading and validation for the standalone H2 deployment config."""
from __future__ import annotations
from dataclasses import dataclass
import math
from pathlib import Path
import yaml
from .h2_contract import COMMAND_JOINT_MARGIN_RAD
from .deployment_versions import deployment_bundle
PROJECT_ROOT = Path(__file__).resolve().parents[1]
def _resolve(value: str) -> Path:
path = Path(str(value)).expanduser()
return path.resolve() if path.is_absolute() else (PROJECT_ROOT / path).resolve()
def _section(data: dict, key: str) -> dict:
value = data.get(key, {})
if not isinstance(value, dict):
raise ValueError(f"config section {key!r} must be a mapping")
return value
def _bounded_float(name: str, value: object, lower: float, upper: float) -> float:
result = float(value)
if not math.isfinite(result) or not lower <= result <= upper:
raise ValueError(f"{name} must be finite and in [{lower},{upper}], got {value!r}")
return result
@dataclass(frozen=True)
class DeploySettings:
source: Path
deployment_version: str
policy_path: Path
policy_device: str
generator_device: str | None
generator_sampling_steps: int | None
generator_warmup_steps: int
seed: int
hardware_joint_map_revision: str
landing_xy: tuple[float, float]
active_latency_skip_s: float
hit_plane_tolerance_m: float
joint_limit_tolerance_rad: float
command_joint_margin_rad: float
stop_hold_torque_fraction: float
max_joint_velocity_rad_s: float
max_tilt_rad: float
max_abs_incoming_velocity_mps: float
robot_mocap_timeout_s: float
ball_mocap_timeout_s: float
max_control_gap_s: float
ready_position_tolerance_rad: float
ready_arm_position_tolerance_rad: float
ready_velocity_tolerance_rad_s: float
ready_settle_duration_s: float
ready_post_interpolation_timeout_s: float
max_initial_root_xy_error_m: float
max_mocap_root_jump_m: float
max_mocap_root_speed_mps: float
max_mocap_root_xy_m: float
max_mocap_heading_jump_rad: float
max_mocap_heading_rate_rad_s: float
def load_settings(path: str | Path, *, deployment_version: str | None = None) -> DeploySettings:
source = Path(path).expanduser().resolve()
with source.open("r", encoding="utf-8") as stream:
data = yaml.safe_load(stream) or {}
if not isinstance(data, dict):
raise ValueError("top-level config must be a mapping")
if str(data.get("robot", "")).lower() != "h2":
raise ValueError("this deployment package only accepts robot: h2")
policy = _section(data, "policy")
version = deployment_version if deployment_version is not None else str(data.get("deployment_version", "original"))
bundle = deployment_bundle(version)
if "path" in policy and _resolve(str(policy["path"])) != bundle.policy_path:
raise ValueError(
f"policy.path must resolve exactly to the {version} bundle policy: {bundle.policy_path}; "
"remove policy.path and select --deployment-version original|v1|v2"
)
generator = _section(data, "generator")
command = _section(data, "command")
safety = _section(data, "safety")
hardware = _section(data, "hardware")
policy_device = str(policy.get("device", "cpu")).lower()
if policy_device not in ("cpu", "cuda"):
raise ValueError("policy.device must be cpu or cuda")
generator_device = generator.get("device")
if generator_device is not None:
generator_device = str(generator_device).lower()
if generator_device not in ("cpu", "cuda"):
raise ValueError("generator.device must be cpu, cuda or null")
sampling_steps = generator.get("sampling_steps")
sampling_steps = None if sampling_steps is None else int(sampling_steps)
landing = tuple(float(x) for x in command.get("target_landing_xy", [2.87, 0.0]))
if len(landing) != 2 or not all(math.isfinite(value) for value in landing):
raise ValueError("command.target_landing_xy must have two finite values")
settings = DeploySettings(
source=source,
deployment_version=version,
policy_path=bundle.policy_path,
policy_device=policy_device,
generator_device=generator_device,
generator_sampling_steps=sampling_steps,
generator_warmup_steps=max(0, int(generator.get("warmup_steps", 1))),
seed=int(data.get("seed", 0)),
hardware_joint_map_revision=str(hardware.get("joint_map_revision", "")),
landing_xy=(landing[0], landing[1]),
active_latency_skip_s=_bounded_float(
"command.active_latency_skip_s", command.get("active_latency_skip_s", 0.0), 0.0, 1.0
),
hit_plane_tolerance_m=_bounded_float(
"safety.hit_plane_tolerance_m", safety.get("hit_plane_tolerance_m", 0.06), 0.0, 0.20
),
joint_limit_tolerance_rad=_bounded_float(
"safety.joint_limit_tolerance_rad",
safety.get("joint_limit_tolerance_rad", 0.05), 0.0, 0.20,
),
command_joint_margin_rad=_bounded_float(
"safety.command_joint_margin_rad",
safety.get("command_joint_margin_rad", COMMAND_JOINT_MARGIN_RAD),
COMMAND_JOINT_MARGIN_RAD,
0.10,
),
stop_hold_torque_fraction=_bounded_float(
"safety.stop_hold_torque_fraction",
safety.get("stop_hold_torque_fraction", 0.90), 0.25, 0.90,
),
max_joint_velocity_rad_s=_bounded_float(
"safety.max_joint_velocity_rad_s",
safety.get("max_joint_velocity_rad_s", 40.0), 0.1, 60.0,
),
max_tilt_rad=_bounded_float(
"safety.max_tilt_rad", safety.get("max_tilt_rad", 0.80), 0.1, 1.2
),
max_abs_incoming_velocity_mps=_bounded_float(
"safety.max_abs_incoming_velocity_mps",
safety.get("max_abs_incoming_velocity_mps", 15.0), 0.1, 30.0,
),
robot_mocap_timeout_s=_bounded_float(
"safety.robot_mocap_timeout_s",
safety.get("robot_mocap_timeout_s", 0.10), 0.02, 0.25,
),
ball_mocap_timeout_s=_bounded_float(
"safety.ball_mocap_timeout_s",
safety.get("ball_mocap_timeout_s", 0.12), 0.02, 0.25,
),
max_control_gap_s=_bounded_float(
"safety.max_control_gap_s", safety.get("max_control_gap_s", 0.06), 0.02, 0.099
),
ready_position_tolerance_rad=_bounded_float(
"safety.ready_position_tolerance_rad",
safety.get("ready_position_tolerance_rad", 0.10), 0.001, 0.30,
),
ready_arm_position_tolerance_rad=_bounded_float(
"safety.ready_arm_position_tolerance_rad",
safety.get("ready_arm_position_tolerance_rad", 0.55), 0.30, 0.60,
),
ready_velocity_tolerance_rad_s=_bounded_float(
"safety.ready_velocity_tolerance_rad_s",
safety.get("ready_velocity_tolerance_rad_s", 1.0), 0.01, 3.0,
),
ready_settle_duration_s=_bounded_float(
"safety.ready_settle_duration_s",
safety.get("ready_settle_duration_s", 0.50), 0.10, 3.0,
),
ready_post_interpolation_timeout_s=_bounded_float(
"safety.ready_post_interpolation_timeout_s",
safety.get("ready_post_interpolation_timeout_s", 10.0), 2.0, 30.0,
),
max_initial_root_xy_error_m=_bounded_float(
"safety.max_initial_root_xy_error_m",
safety.get("max_initial_root_xy_error_m", 0.30), 0.01, 0.50,
),
max_mocap_root_jump_m=_bounded_float(
"safety.max_mocap_root_jump_m",
safety.get("max_mocap_root_jump_m", 0.10), 0.01, 0.50,
),
max_mocap_root_speed_mps=_bounded_float(
"safety.max_mocap_root_speed_mps",
safety.get("max_mocap_root_speed_mps", 2.0), 0.1, 5.0,
),
max_mocap_root_xy_m=_bounded_float(
"safety.max_mocap_root_xy_m",
safety.get("max_mocap_root_xy_m", 0.75), 0.10, 2.0,
),
max_mocap_heading_jump_rad=_bounded_float(
"safety.max_mocap_heading_jump_rad",
safety.get("max_mocap_heading_jump_rad", 0.25), 0.01, 1.0,
),
max_mocap_heading_rate_rad_s=_bounded_float(
"safety.max_mocap_heading_rate_rad_s",
safety.get("max_mocap_heading_rate_rad_s", 4.0), 0.1, 10.0,
),
)
if not settings.hardware_joint_map_revision:
raise ValueError("hardware.joint_map_revision is required for the H2 real-robot contract")
if settings.max_control_gap_s >= 0.10:
raise ValueError("safety.max_control_gap_s must stay below the 0.10s bridge watchdog")
if settings.max_initial_root_xy_error_m > settings.max_mocap_root_xy_m:
raise ValueError("initial root gate cannot exceed the runtime root-domain gate")
if settings.ready_arm_position_tolerance_rad < settings.ready_position_tolerance_rad:
raise ValueError("ready arm tolerance cannot be smaller than the common ready tolerance")
if not settings.policy_path.is_file():
raise FileNotFoundError(f"H2 policy not found: {settings.policy_path}")
return settings
__all__ = [
"DeploySettings",
"PROJECT_ROOT",
"load_settings",
]
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