Add Xtrainer2 real robot source and Chinese handoff guide

8101696 verified 6 days ago

2.74 kB

# Copyright 2025 starVLA community. All rights reserved.
# Licensed under the MIT License, Version 1.0 (the "License"); 

import logging
import socket
import argparse
from deployment.model_server.tools.websocket_policy_server import WebsocketPolicyServer
from deployment.model_server.policy_wrapper import PolicyServerWrapper
import os


def main(args) -> None:
    # Example usage:
    # policy = YourPolicyClass()  # Replace with your actual policy class
    # server = WebsocketPolicyServer(policy, host="localhost", port=10091)
    # server.serve_forever()

    policy = PolicyServerWrapper(
        ckpt_path=args.ckpt_path,
        device="cuda",
        use_bf16=args.use_bf16,
        unnorm_key=args.unnorm_key,
    )

    hostname = socket.gethostname()
    local_ip = socket.gethostbyname(hostname)
    logging.info("Creating server (host: %s, ip: %s)", hostname, local_ip)
    # The handshake metadata is the request contract; log it so a client
    # mismatch (camera order, state width, quaternion order) is visible here.
    for key, value in sorted(policy.metadata.items()):
        logging.info("  metadata %-24s %s", key, value)

    # start websocket server
    server = WebsocketPolicyServer(
        policy=policy,
        host="0.0.0.0",
        port=args.port,
        idle_timeout=args.idle_timeout,
        metadata={**policy.metadata, "policy_seed": args.seed},
    )
    logging.info("server running ...")
    server.serve_forever()


def build_argparser():
    parser = argparse.ArgumentParser()
    parser.add_argument("--ckpt_path", type=str, default="Qwen/Qwen2.5-VL-3B-Instruct")
    parser.add_argument("--port", type=int, default=10093)
    parser.add_argument("--use_bf16", action="store_true")
    parser.add_argument(
        "--unnorm_key",
        type=str,
        default=None,
        help="dataset_statistics.json key for un-normalization; required only for multi-dataset checkpoints",
    )
    parser.add_argument("--seed", type=int, default=0)
    parser.add_argument("--idle_timeout" , type=int, default=1800, help="Idle timeout in seconds, -1 means never close")
    return parser


def start_debugpy_once():
    """start debugpy once"""
    import debugpy
    if getattr(start_debugpy_once, "_started", False):
        return
    debugpy.listen(("0.0.0.0", 10095))
    print("Waiting for VSCode attach on 0.0.0.0:10095 ...")
    debugpy.wait_for_client()
    start_debugpy_once._started = True


if __name__ == "__main__":
    logging.basicConfig(level=logging.INFO, force=True)
    parser = build_argparser()
    args = parser.parse_args()
    if os.getenv("DEBUG", "").strip().lower() in {"1", "true", "yes"}:
        print("DEBUGPY is enabled")
        start_debugpy_once()
    main(args)

	# Copyright 2025 starVLA community. All rights reserved.
	# Licensed under the MIT License, Version 1.0 (the "License");

	import logging
	import socket
	import argparse
	from deployment.model_server.tools.websocket_policy_server import WebsocketPolicyServer
	from deployment.model_server.policy_wrapper import PolicyServerWrapper
	import os


	def main(args) -> None:
	# Example usage:
	# policy = YourPolicyClass() # Replace with your actual policy class
	# server = WebsocketPolicyServer(policy, host="localhost", port=10091)
	# server.serve_forever()

	policy = PolicyServerWrapper(
	ckpt_path=args.ckpt_path,
	device="cuda",
	use_bf16=args.use_bf16,
	unnorm_key=args.unnorm_key,
	)

	hostname = socket.gethostname()
	local_ip = socket.gethostbyname(hostname)
	logging.info("Creating server (host: %s, ip: %s)", hostname, local_ip)
	# The handshake metadata is the request contract; log it so a client
	# mismatch (camera order, state width, quaternion order) is visible here.
	for key, value in sorted(policy.metadata.items()):
	logging.info(" metadata %-24s %s", key, value)

	# start websocket server
	server = WebsocketPolicyServer(
	policy=policy,
	host="0.0.0.0",
	port=args.port,
	idle_timeout=args.idle_timeout,
	metadata={**policy.metadata, "policy_seed": args.seed},
	)
	logging.info("server running ...")
	server.serve_forever()


	def build_argparser():
	parser = argparse.ArgumentParser()
	parser.add_argument("--ckpt_path", type=str, default="Qwen/Qwen2.5-VL-3B-Instruct")
	parser.add_argument("--port", type=int, default=10093)
	parser.add_argument("--use_bf16", action="store_true")
	parser.add_argument(
	"--unnorm_key",
	type=str,
	default=None,
	help="dataset_statistics.json key for un-normalization; required only for multi-dataset checkpoints",
	)
	parser.add_argument("--seed", type=int, default=0)
	parser.add_argument("--idle_timeout" , type=int, default=1800, help="Idle timeout in seconds, -1 means never close")
	return parser


	def start_debugpy_once():
	"""start debugpy once"""
	import debugpy
	if getattr(start_debugpy_once, "_started", False):
	return
	debugpy.listen(("0.0.0.0", 10095))
	print("Waiting for VSCode attach on 0.0.0.0:10095 ...")
	debugpy.wait_for_client()
	start_debugpy_once._started = True


	if __name__ == "__main__":
	logging.basicConfig(level=logging.INFO, force=True)
	parser = build_argparser()
	args = parser.parse_args()
	if os.getenv("DEBUG", "").strip().lower() in {"1", "true", "yes"}:
	print("DEBUGPY is enabled")
	start_debugpy_once()
	main(args)