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python scripts/board.py (needs pyyaml)
board.json holds:
bodies the body registry (carrier, rigs with their hand count, status, the goal predicates it runs)
tasks per task: its results ranked, the best per (body, world) on the reference simulator
matrix task x body: one cell per pair, the best score if any, else whether the body could run it
(runs: unscored / missing: the predicates it lacks / needs 2 hands / coming)
skills predicate x body: which body runs which goal predicate, and how many cards use each predicate
Only results on the reference simulator compete for best (see cablepilot.cardrun.REFERENCE_SIM).
"""
from __future__ import annotations
import json
from datetime import datetime, timezone
from pathlib import Path
import yaml
ROOT = Path(__file__).resolve().parents[1]
TWO_HANDS = {"left_hand", "right_hand", "other_hand"}
def rank_key(r: dict):
s = r["score"]
return (-s["done_frac"], s.get("furniture_contact_ticks", 0), s.get("s_per_item") or 1e9)
def card_needs(card: dict) -> dict:
"""The goal predicates a card's stages and done test use, and how many hands it needs."""
preds = set()
for st in card.get("stages") or []:
for g in st.get("goals") or []:
preds |= set(g) - {"tol"}
if card.get("done"):
preds |= set(card["done"]) - {"tol"}
hands = 2 if TWO_HANDS & set(card.get("roles") or []) else 1
return {"predicates": sorted(preds), "hands": hands}
def load_results(task_dir: Path) -> list[dict]:
out = []
for f in sorted((task_dir / "results").glob("*.json")):
r = json.loads(f.read_text())
if r.get("format") != "pilot-result/1":
continue
env = r.get("env") or {}
out.append({"id": f.stem, "body": r["body"], "world": r["world"], "seed": r["seed"], "episodes": r["episodes"],
"score": r["score"], "compute": r["compute"], "card_sha": r["card_sha"],
"tuning_sha": r.get("tuning_sha"), "lineage": r.get("lineage"), "by": r["by"], "date": r["date"],
"sim": env.get("mujoco"), "reference_sim": bool(env.get("reference_sim")),
"result": f"tasks/{task_dir.name}/results/{f.name}",
"media": f"tasks/{task_dir.name}/media/{f.stem}.mp4"
if (task_dir / "media" / f"{f.stem}.mp4").exists() else None})
return sorted(out, key=rank_key)
def cell(task: dict, body: dict) -> dict:
best = [r for r in task["best"] if r["body"] == body["body"]]
if best:
b = best[0]
return {"state": "scored", "done": b["score"]["done"], "of": b["score"]["of"], "world": b["world"],
"result": b["result"]}
if body["status"] != "open":
return {"state": "coming"}
max_hands = max((rg["hands"] for rg in body.get("rigs", []) if rg.get("status") == "open"), default=0)
if task["needs"]["hands"] > max_hands:
return {"state": "gap", "missing": [f"{task['needs']['hands']} hands"]}
missing = [p for p in task["needs"]["predicates"] if p not in set(body.get("predicates") or [])]
return {"state": "gap", "missing": missing} if missing else {"state": "runs"}
def main():
bodies = [yaml.safe_load(p.read_text()) for p in sorted((ROOT / "bodies").glob("*.yaml"))]
order = {"open": 0, "coming": 1}
bodies.sort(key=lambda b: (order.get(b["status"], 2), b["body"]))
tasks = {}
for task_dir in sorted((ROOT / "tasks").iterdir()):
if not (task_dir / "card.yaml").exists():
continue
card = yaml.safe_load((task_dir / "card.yaml").read_text())
results = load_results(task_dir)
best = {}
for r in results:
if r["reference_sim"]:
best.setdefault(f"{r['body']}|{r['world']}", r)
tasks[task_dir.name] = {"needs": card_needs(card), "lineage": card.get("lineage"),
"tunings": sorted(p.stem for p in (task_dir / "tuning").glob("*.yaml")),
"results": results, "best": list(best.values())}
matrix = {t: {b["body"]: cell(v, b) for b in bodies} for t, v in tasks.items()}
used = {}
for t, v in tasks.items():
for p in v["needs"]["predicates"]:
used.setdefault(p, []).append(t)
skills = {p: {"cards": sorted(ts), "bodies": [b["body"] for b in bodies if p in set(b.get("predicates") or [])]}
for p, ts in sorted(used.items())}
board = {"format": "pilot-board/2", "built": datetime.now(timezone.utc).isoformat(timespec="seconds"),
"bodies": bodies, "tasks": tasks, "matrix": matrix, "skills": skills}
(ROOT / "board.json").write_text(json.dumps(board, indent=1))
w = max(len(t) for t in tasks) + 2
print(" " * w + "".join(f"{b['body']:<14}" for b in bodies))
for t, row in matrix.items():
txt = []
for b in bodies:
c = row[b["body"]]
txt.append({"scored": lambda: f"{c['done']}/{c['of']}", "coming": lambda: "coming", "runs": lambda: "runs",
"gap": lambda: "-" + ",".join(c["missing"])}[c["state"]]()[:13])
print(f"{t:<{w}}" + "".join(f"{x:<14}" for x in txt))
if __name__ == "__main__":
main()
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