mujoco test - #48
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mujoco test#48
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Add model-independent VLA action contracts, policy and embodiment adapters, versioned session transport, deterministic chunk runtime, safety checks, and simulator boundaries. Integrate LingBot VLA v2 through the new abstractions while preserving its existing HTTP and RoboTwin WebSocket contracts, and add additive PipelinePool session leases for replica affinity.\n\nVerification:\n- 59 focused VLA, session lease, LingBot compatibility, and simulator adapter tests passed\n- 50 existing PipelinePool, structured-task, and service-route tests passed\n- ruff check passed for changed Python paths\n- git diff --check passed
Route generic VLA OPEN, PREDICT, RESET, and CLOSE operations through session-affine PipelinePool replicas and add a standalone LingBot VLA WebSocket entrypoint. Connect deterministic inference chunk state with a simulator-side execution runtime, standardize replica error handling, and preserve existing HTTP and non-VLA service behavior. Centralize LingBot H100 SDPA setup and VLA session composition while retaining the upstream RoboTwin MessagePack endpoint as a documented compatibility path. Verification: 82 VLA/LingBot/simulator unit tests and 231 non-LiveKit service unit tests passed; ruff check, ruff format --check, and git diff --check passed.
Add the semantic VLA client, contracts, serialization, embodiment and session APIs. Integrate replica-backed VLA lifecycle handling and cover client, service, pipeline, and process behavior with focused tests. Document the generic session and legacy compatibility boundaries.
Add an optional MuJoCo simulator adapter with semantic joint bindings, PD execution, headless camera capture, and lifecycle validation. Provide an isolated local setup script and LingBot VLA WebSocket smoke entrypoint, and mark generic WebSocket as the primary online path while retaining compatibility entries.
Add a transport-neutral simulator execution report and an async helper for overlapping inference with synchronous simulator adapters. Preserve the legacy execute_ready API and cover success, failure, no-action, and async paths with focused tests. Document the trimmed P0 validation and keep the generic VLA WebSocket as the primary service entrypoint.
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Description
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Type of Change
Changes Made
Testing
pytest tests/)Test commands:
# Add the commands used to test your changes pytest tests/Checklist
ruff)pre-commit run --all-files)pytest tests/)[TYPE] Brief descriptionRelated Issues
Fixes #
Additional Notes
GPU Architecture Support
Performance Impact