refactor(envs): move env-specific CLI + runtime init behind EnvSpec - #41
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Nice, this is the long-awaited refactor for env interfaces. Let me check if the current EnvSpec abstraction is good enough for lerobot and franka. |
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Move env-specific CLI registration, config parsing, and runtime init behind three EnvSpec hooks — add_cli_args / parse_config / init_runtime — so rpent/cli/main.py no longer knows about LIBERO's suite/task/seed shape, endpoint parsing, or env_server/vla_server subprocess wiring. A new RunConfig dataclass carries the derived per-run identifiers (recipe_tag, output_dir, prompt_vars, dashboard_state, task_desc) back to the runner. Single argparse pass: main.py calls parse_known_args() first to grab --env / --dashboard, then env_spec.add_cli_args(parser, use_dashboard=...) registers env flags on the shared parser (use_dashboard=True makes otherwise-required flags optional so the launcher can fill them), then parser.parse_args() owns all validation. parse_config(args) runs after the optional dashboard launcher to derive the RunConfig. init_runtime spawns env_server + vla_server (or attaches via --env-endpoint / --vla-endpoint) and returns (daemons, primitives_kwargs). Dropping a package under robots/ is now enough to plug in a new env — no central registry to edit. Docs (architecture / add_robot / add_primitive, en + zh) synced with the new EnvSpec contract. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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The env refactor (RLinf#41) made rpent/cli/main.py env-agnostic: env-specific CLI args and runtime init now live behind EnvSpec's add_cli_args / parse_config / init_runtime hooks. Port lerobot and franka to that contract, mirroring robots/libero: - get_env_spec() now wires _add_cli_args / _parse_config / _init_runtime (previously these envs returned a bare EnvSpec(name, prompts), which no longer satisfies the now-required hook fields). - _init_runtime moves the old CLI-side _init_lerobot / _init_franka spawn/attach logic into the env package (ProcessDaemon spawn with --transport http, or attach via --env-endpoint [socket|http]://host:port; lazy heavy imports). - _parse_config derives a real-robot run identity (recipe_tag/output_dir/ task_desc keyed by env name; no suite/task/seed) and returns dashboard_state=None (the dashboard is libero-shaped; a warning is logged if --dashboard is passed). - main.py: widen --env choices to libero | lerobot | franka (the only CLI change; all other wiring is env-agnostic). Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
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The env refactor (RLinf#41) made rpent/cli/main.py env-agnostic: env-specific CLI args and runtime init now live behind EnvSpec's add_cli_args / parse_config / init_runtime hooks. Port lerobot and franka to that contract, mirroring robots/libero: - get_env_spec() now wires _add_cli_args / _parse_config / _init_runtime (previously these envs returned a bare EnvSpec(name, prompts), which no longer satisfies the now-required hook fields). - _init_runtime moves the old CLI-side _init_lerobot / _init_franka spawn/attach logic into the env package (ProcessDaemon spawn with --transport http, or attach via --env-endpoint [socket|http]://host:port; lazy heavy imports). - _parse_config derives a real-robot run identity (recipe_tag/output_dir/ task_desc keyed by env name; no suite/task/seed) and returns dashboard_state=None (the dashboard is libero-shaped; a warning is logged if --dashboard is passed). - main.py: widen --env choices to libero | lerobot | franka (the only CLI change; all other wiring is env-agnostic). Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
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The env refactor (RLinf#41) made rpent/cli/main.py env-agnostic: env-specific CLI args and runtime init now live behind EnvSpec's add_cli_args / parse_config / init_runtime hooks. Port lerobot and franka to that contract, mirroring robots/libero: - get_env_spec() now wires _add_cli_args / _parse_config / _init_runtime (previously these envs returned a bare EnvSpec(name, prompts), which no longer satisfies the now-required hook fields). - _init_runtime moves the old CLI-side _init_lerobot / _init_franka spawn/attach logic into the env package (ProcessDaemon spawn with --transport http, or attach via --env-endpoint [socket|http]://host:port; lazy heavy imports). - _parse_config derives a real-robot run identity (recipe_tag/output_dir/ task_desc keyed by env name; no suite/task/seed) and returns dashboard_state=None (the dashboard is libero-shaped; a warning is logged if --dashboard is passed). - main.py: widen --env choices to libero | lerobot | franka (the only CLI change; all other wiring is env-agnostic). Signed-off-by: Jiaxing Qiu <jx.qiu@outlook.com>
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Introduce two Callable extension points on EnvSpec — parse_args and init_runtime — plus a RunConfig dataclass carrying the derived per-run identifiers (recipe_tag, output_dir, prompt_vars, dashboard_state, task_desc). rpent/cli/main.py is now env-agnostic: it no longer knows about LIBERO's suite/task/seed shape, endpoint parsing, or the env_server/vla_server subprocess wiring. Dropping a package under robots/ is enough to plug in a new env.