| #!/usr/bin/env bash |
| set -euo pipefail |
|
|
| H2_ROOT=${H2_ROOT:-$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)} |
| H2_IF=${H2_IF:-enp4s0f0} |
| H2_PY=${H2_PY:-python3} |
| H2_ADAPTER_ROOT=${H2_ADAPTER_ROOT:-$H2_ROOT/../mocap_ego_adapter} |
| UNITREE_ROS2_ROOT=${UNITREE_ROS2_ROOT:-$HOME/unitree_ros2} |
| SESSION=${H2_TMUX_SESSION:-h2-deploy} |
| MODE= |
| ACK_SUSPENDED= |
| ACK_JOINTS= |
| ACK_L1= |
| RELEASE_MOTION=0 |
| TIMING_ENABLED=1 |
| RL_MODE=off |
| RL_CHECKPOINT= |
| RL_CONFIG="$H2_ROOT/config.yaml" |
| EVAL_POLICY=off |
| EVAL_CONFIG="$H2_ROOT/configs/policy_eval.yaml" |
| source "$(dirname "${BASH_SOURCE[0]}")/h2_upstream_versions.sh" |
| h2_upstream_defaults |
|
|
| usage() { |
| cat <<'EOF' |
| Usage: |
| bash scripts/launch_h2_tmux.sh --dry-run |
| bash scripts/launch_h2_tmux.sh --layout-smoke |
| bash scripts/launch_h2_tmux.sh --live \ |
| --ack-suspended H2-SUSPENDED-ESTOP-READY \ |
| --ack-joint-ids H2-E02DC701-ID00-30-VERIFIED \ |
| --ack-l1-manual H2-L1-REMAINS-MANUAL |
|
|
| The live path creates one six-pane tmux session and stops at FROZEN_WAIT. |
| It never passes --start-immediately and never presses L1. |
| Optional: --release-motion explicitly releases high-level control before starting |
| the bridge; the existing suspended/E-stop acknowledgements still apply. |
| Optional: --no-timing disables the default diagnostic timing recorder; --timing enables it. |
| Optional: --deployment-version original|v1|v2 (default: original) |
| --upstream-version is an alias selecting the entire adapter/predictor/policy bundle. |
| Optional: --rl-mode off|train|residual|baseline --rl-checkpoint /absolute/h2/checkpoint.pt |
| --config /absolute/h2/config.yaml (real-ball RL remains opt-in) |
| Independent adapter/predictor/policy selection is not supported. |
| Optional: --eval-policy off|baseline --eval-config PATH |
| baseline records this selected ONNX's measured-ball scores only. |
| No learner, residual, exploration, time limit or automatic L1. |
| EOF |
| } |
| |
| while (($#)); do |
| case "$1" in |
| --dry-run|--layout-smoke|--live) MODE=${1#--}; shift ;; |
| --ack-suspended) ACK_SUSPENDED=${2:-}; shift 2 ;; |
| --ack-joint-ids) ACK_JOINTS=${2:-}; shift 2 ;; |
| --ack-l1-manual) ACK_L1=${2:-}; shift 2 ;; |
| --release-motion) RELEASE_MOTION=1; shift ;; |
| --timing) TIMING_ENABLED=1; shift ;; |
| --no-timing) TIMING_ENABLED=0; shift ;; |
| --rl-mode) RL_MODE=${2:-}; shift 2 ;; |
| --rl-checkpoint) RL_CHECKPOINT=${2:-}; shift 2 ;; |
| --config) RL_CONFIG=${2:-}; shift 2 ;; |
| --eval-policy) EVAL_POLICY=${2:?missing evaluation mode}; shift 2 ;; |
| --eval-config) EVAL_CONFIG=${2:?missing scoring config}; shift 2 ;; |
| --session) SESSION=${2:-}; shift 2 ;; |
| --upstream-version|--deployment-version) h2_upstream_preset "${2:-}"; shift 2 ;; |
| -h|--help) usage; exit 0 ;; |
| *) echo "unknown argument: $1" >&2; usage >&2; exit 2 ;; |
| esac |
| done |
| h2_upstream_validate |
| [[ $EVAL_POLICY == off || $EVAL_POLICY == baseline ]] \ |
| || { echo 'invalid --eval-policy (off|baseline)' >&2; exit 2; } |
| if [[ $EVAL_POLICY != off ]]; then |
| [[ $RL_MODE == off && -z $RL_CHECKPOINT ]] \ |
| || { echo 'policy evaluation cannot be combined with --rl-mode/checkpoint' >&2; exit 2; } |
| [[ $H2_DEPLOYMENT_VERSION == original || $H2_DEPLOYMENT_VERSION == v2 ]] \ |
| || { echo 'measured-ball evaluation supports original or v2' >&2; exit 2; } |
| [[ -f $EVAL_CONFIG ]] || { echo "missing scoring config: $EVAL_CONFIG" >&2; exit 2; } |
| fi |
| [[ $RL_MODE == off || $RL_MODE == train || $RL_MODE == residual || $RL_MODE == baseline ]] \ |
| || { echo 'invalid --rl-mode' >&2; exit 2; } |
| [[ $RL_MODE != residual || -n $RL_CHECKPOINT ]] \ |
| || { echo 'residual mode requires --rl-checkpoint' >&2; exit 2; } |
| [[ $RL_MODE != off || -z $RL_CHECKPOINT ]] \ |
| || { echo '--rl-checkpoint requires train or residual mode' >&2; exit 2; } |
| [[ $RL_MODE != baseline || -z $RL_CHECKPOINT ]] \ |
| || { echo 'baseline mode does not load a checkpoint' >&2; exit 2; } |
| [[ $RL_MODE == off || $H2_VELOCITY_VERSION == original ]] \ |
| || { echo 'RL racket reward requires --deployment-version original' >&2; exit 2; } |
| |
| [[ $MODE == dry-run || $MODE == layout-smoke || $MODE == live ]] \ |
| || { usage >&2; exit 2; } |
| |
| if [[ $MODE == dry-run ]]; then |
| h2_upstream_describe |
| cat <<EOF |
| [DRY RUN] session=$SESSION interface=$H2_IF release_motion=$RELEASE_MOTION |
| real-ball RL: mode=$RL_MODE config=$RL_CONFIG checkpoint=$RL_CHECKPOINT |
| policy evaluation: mode=$EVAL_POLICY scoring_config=$EVAL_CONFIG (actions unchanged, no training) |
| timing recorder: enabled=$TIMING_ENABLED (RUN_DIR/timing; no control changes) |
| panes: CONTROL | ADAPTER | BRIDGE | PREDICTOR | RUNNER | MONITOR |
| EOF |
| if [[ $H2_DEPLOYMENT_VERSION == original && $RL_MODE != off ]]; then |
| cat <<'EOF' |
| startup: simplified original RL (extended diagnostics remain manual) |
| gates: adapter identity -> optional explicit release -> publisher conflicts -> adapter/bridge/predictor |
| -> communication ready (0.2s stable, timeout 10s) -> verified models/learner |
| -> fresh CheckMode -> measured-to-frozen -> FROZEN_WAIT (runner timeout 180s) |
| EOF |
| else |
| cat <<'EOF' |
| gates: artifacts -> native LowState -> optional explicit release -> zero LowCmd -> ZMQ -> bridge/no-command -> planner |
| -> fresh CheckMode token -> measured-to-frozen -> FROZEN_WAIT |
| EOF |
| fi |
| if [[ $EVAL_POLICY == baseline && $H2_DEPLOYMENT_VERSION == v2 ]]; then |
| echo 'evaluation adapter: v2 estimator + measured racket snapshots (same transforms; record-only)' |
| fi |
| cat <<'EOF' |
| automatic L1: NEVER |
| active-mode release: only with --release-motion; dry-run never calls the robot |
| bundle options: --deployment-version original|v1|v2 (--upstream-version is an alias) |
| adapter/predictor/policy are always paired |
| EOF |
| exit 0 |
| fi |
| |
| command -v tmux >/dev/null || { echo "tmux is required" >&2; exit 1; } |
| |
| create_layout() { |
| local placeholder='printf "pane waiting for controller...\\n"; exec sleep infinity' |
| tmux new-session -d -s "$SESSION" -n deploy "bash -lc '$placeholder'" |
| tmux set-option -t "$SESSION" base-index 0 |
| tmux set-window-option -t "$SESSION:0" pane-base-index 0 |
| for _ in 1 2 3 4 5; do |
| tmux split-window -d -t "$SESSION:0" "bash -lc '$placeholder'" |
| tmux select-layout -t "$SESSION:0" tiled >/dev/null |
| done |
| local titles=(CONTROL ADAPTER BRIDGE PREDICTOR RUNNER MONITOR) |
| for index in 0 1 2 3 4 5; do |
| tmux select-pane -t "$SESSION:0.$index" -T "${titles[$index]}" |
| done |
| tmux set-option -t "$SESSION" pane-border-status top |
| tmux set-option -t "$SESSION" pane-border-format ' |
| tmux set-option -t "$SESSION" remain-on-exit on |
| } |
|
|
| if [[ $MODE == layout-smoke ]]; then |
| SESSION="h2-layout-smoke-$$" |
| trap 'tmux kill-session -t "$SESSION" 2>/dev/null || true' EXIT |
| create_layout |
| tmux list-panes -t "$SESSION:0" -F '#{pane_index} #{pane_title}' |
| [[ $(tmux list-panes -t "$SESSION:0" | wc -l) -eq 6 ]] |
| echo "[PASS] six-pane tmux layout smoke test; no deployment process was started" |
| exit 0 |
| fi |
|
|
| [[ $ACK_SUSPENDED == H2-SUSPENDED-ESTOP-READY ]] \ |
| || { echo "missing exact suspended/E-stop acknowledgement" >&2; exit 1; } |
| [[ $ACK_JOINTS == H2-E02DC701-ID00-30-VERIFIED ]] \ |
| || { echo "missing exact ID 00-30 acknowledgement" >&2; exit 1; } |
| [[ $ACK_L1 == H2-L1-REMAINS-MANUAL ]] \ |
| || { echo "missing exact manual-L1 acknowledgement" >&2; exit 1; } |
| [[ $SESSION =~ ^[A-Za-z0-9_.-]+$ ]] || { echo "invalid tmux session name" >&2; exit 2; } |
| tmux has-session -t "$SESSION" 2>/dev/null \ |
| && { echo "tmux session already exists: $SESSION" >&2; exit 1; } |
|
|
| RUN_DIR="/tmp/h2_tmux_$(date +%Y%m%d_%H%M%S)_$$" |
| if [[ $EVAL_POLICY == baseline ]]; then |
| mkdir -p "$H2_ROOT/artifacts/policy_evaluations" |
| RUN_DIR="$H2_ROOT/artifacts/policy_evaluations/${RUN_DIR##*/}" |
| fi |
| mkdir -m 700 "$RUN_DIR" |
| printf 'H2_TIMING_ENABLED=%q\n' "$TIMING_ENABLED" > "$RUN_DIR/timing.env" |
| h2_upstream_check_files |
| h2_upstream_write_selection "$RUN_DIR" |
| printf 'H2_RL_MODE=%q\nH2_RL_CHECKPOINT=%q\nH2_RL_CONFIG=%q\n' \ |
| "$RL_MODE" "$RL_CHECKPOINT" "$RL_CONFIG" > "$RUN_DIR/rl.env" |
| printf '%s\n' "$RUN_DIR" > /tmp/h2_tmux_latest_run |
| printf 'H2_EVAL_POLICY=%q\nH2_EVAL_CONFIG=%q\nH2_EVAL_RUN_DIR=%q\n' \ |
| "$EVAL_POLICY" "$EVAL_CONFIG" "$RUN_DIR/evaluation" > "$RUN_DIR/eval.env" |
|
|
| create_layout |
| if [[ $EVAL_POLICY == baseline ]]; then |
| printf 'H2_ROOT=%q\nH2_IF=%q\nH2_PY=%q\nH2_SESSION=%q\n' \ |
| "$H2_ROOT" "$H2_IF" "$H2_PY" "$SESSION" > "$RUN_DIR/eval_owner.env" |
| tmux set-option -t "$SESSION" @h2_eval_run_dir "$RUN_DIR" |
| roles=(control adapter bridge predictor runner monitor) |
| for index in 0 1 2 3 4 5; do |
| printf '%s\t%s\n' "${roles[$index]}" \ |
| "$(tmux display-message -p -t "$SESSION:0.$index" '#{pane_id}')" >> "$RUN_DIR/panes.tsv" |
| done |
| mkdir -p "$H2_ROOT/artifacts" |
| printf '%s\n' "$RUN_DIR" > "$H2_ROOT/artifacts/latest_eval_run" |
| fi |
| tmux respawn-pane -k -t "$SESSION:0.0" \ |
| "H2_ROOT='$H2_ROOT' H2_IF='$H2_IF' H2_PY='$H2_PY' H2_ADAPTER_ROOT='$H2_ADAPTER_ROOT' UNITREE_ROS2_ROOT='$UNITREE_ROS2_ROOT' bash '$H2_ROOT/scripts/h2_tmux_orchestrator.sh' '$SESSION' '$RUN_DIR' '$RELEASE_MOTION'" |
| tmux select-pane -t "$SESSION:0.0" |
|
|
| echo "Attaching tmux session $SESSION; logs: $RUN_DIR" |
| if [[ -n ${TMUX:-} ]]; then |
| tmux switch-client -t "$SESSION" |
| exit 0 |
| fi |
| exec tmux attach-session -t "$SESSION" |
|
|
