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add: grpc service between robot and remote policy server

This commit is contained in:
Francesco Capuano 2025-04-14 15:40:15 +02:00
parent 854bfb4ff8
commit 188bcf48fd
3 changed files with 286 additions and 0 deletions
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51
lerobot/scripts/server/async_inference.proto Normal file
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// !/usr/bin/env python
// Copyright 2024 The HuggingFace Inc. team.
// All rights reserved.
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
syntax = "proto3";
package async_inference;
// AsyncInference: from Robot perspective
// Robot send observations to & executes action received from a remote Policy server
service AsyncInference {
// Robot -> Policy to share observations with a remote inference server
// Policy -> Robot to share actions predicted for given observations
rpc SendObservations(stream Observation) returns (Empty);
rpc StreamActions(Empty) returns (stream Action);
rpc Ready(Empty) returns (Empty);
}
enum TransferState {
TRANSFER_UNKNOWN = 0;
TRANSFER_BEGIN = 1;
TRANSFER_MIDDLE = 2;
TRANSFER_END = 3;
}
// Messages
message Observation {
// sent by Robot, to remote Policy
TransferState transfer_state = 1;
bytes data = 2;
}
message Action {
// sent by remote Policy, to Robot
TransferState transfer_state = 1;
bytes data = 2;
}
message Empty {}

44
lerobot/scripts/server/async_inference_pb2.py Normal file
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# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# NO CHECKED-IN PROTOBUF GENCODE
# source: async_inference.proto
# Protobuf Python Version: 5.29.0
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import descriptor_pool as _descriptor_pool
from google.protobuf import runtime_version as _runtime_version
from google.protobuf import symbol_database as _symbol_database
from google.protobuf.internal import builder as _builder
_runtime_version.ValidateProtobufRuntimeVersion(
_runtime_version.Domain.PUBLIC,
5,
29,
0,
'',
'async_inference.proto'
)
# @@protoc_insertion_point(imports)
_sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x61sync_inference.proto\x12\x0f\x61sync_inference\"S\n\x0bObservation\x12\x36\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x1e.async_inference.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"N\n\x06\x41\x63tion\x12\x36\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x1e.async_inference.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xd9\x01\n\x0e\x41syncInference\x12J\n\x10SendObservations\x12\x1c.async_inference.Observation\x1a\x16.async_inference.Empty(\x01\x12\x42\n\rStreamActions\x12\x16.async_inference.Empty\x1a\x17.async_inference.Action0\x01\x12\x37\n\x05Ready\x12\x16.async_inference.Empty\x1a\x16.async_inference.Emptyb\x06proto3')
_globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'async_inference_pb2', _globals)
if not _descriptor._USE_C_DESCRIPTORS:
DESCRIPTOR._loaded_options = None
_globals['_TRANSFERSTATE']._serialized_start=216
_globals['_TRANSFERSTATE']._serialized_end=312
_globals['_OBSERVATION']._serialized_start=42
_globals['_OBSERVATION']._serialized_end=125
_globals['_ACTION']._serialized_start=127
_globals['_ACTION']._serialized_end=205
_globals['_EMPTY']._serialized_start=207
_globals['_EMPTY']._serialized_end=214
_globals['_ASYNCINFERENCE']._serialized_start=315
_globals['_ASYNCINFERENCE']._serialized_end=532
# @@protoc_insertion_point(module_scope)

191
lerobot/scripts/server/async_inference_pb2_grpc.py Normal file
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# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
"""Client and server classes corresponding to protobuf-defined services."""
import grpc
import warnings
import async_inference_pb2 as async__inference__pb2
GRPC_GENERATED_VERSION = '1.71.0'
GRPC_VERSION = grpc.__version__
_version_not_supported = False
try:
from grpc._utilities import first_version_is_lower
_version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
except ImportError:
_version_not_supported = True
if _version_not_supported:
raise RuntimeError(
f'The grpc package installed is at version {GRPC_VERSION},'
+ f' but the generated code in async_inference_pb2_grpc.py depends on'
+ f' grpcio>={GRPC_GENERATED_VERSION}.'
+ f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+ f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
)
class AsyncInferenceStub(object):
"""AsyncInference: from Robot perspective
Robot send observations to & executes action received from a remote Policy server
"""
def __init__(self, channel):
"""Constructor.
Args:
channel: A grpc.Channel.
"""
self.SendObservations = channel.stream_unary(
'/async_inference.AsyncInference/SendObservations',
request_serializer=async__inference__pb2.Observation.SerializeToString,
response_deserializer=async__inference__pb2.Empty.FromString,
_registered_method=True)
self.StreamActions = channel.unary_stream(
'/async_inference.AsyncInference/StreamActions',
request_serializer=async__inference__pb2.Empty.SerializeToString,
response_deserializer=async__inference__pb2.Action.FromString,
_registered_method=True)
self.Ready = channel.unary_unary(
'/async_inference.AsyncInference/Ready',
request_serializer=async__inference__pb2.Empty.SerializeToString,
response_deserializer=async__inference__pb2.Empty.FromString,
_registered_method=True)
class AsyncInferenceServicer(object):
"""AsyncInference: from Robot perspective
Robot send observations to & executes action received from a remote Policy server
"""
def SendObservations(self, request_iterator, context):
"""Robot -> Policy to share observations with a remote inference server
Policy -> Robot to share actions predicted for given observations
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def StreamActions(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def Ready(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def add_AsyncInferenceServicer_to_server(servicer, server):
rpc_method_handlers = {
'SendObservations': grpc.stream_unary_rpc_method_handler(
servicer.SendObservations,
request_deserializer=async__inference__pb2.Observation.FromString,
response_serializer=async__inference__pb2.Empty.SerializeToString,
),
'StreamActions': grpc.unary_stream_rpc_method_handler(
servicer.StreamActions,
request_deserializer=async__inference__pb2.Empty.FromString,
response_serializer=async__inference__pb2.Action.SerializeToString,
),
'Ready': grpc.unary_unary_rpc_method_handler(
servicer.Ready,
request_deserializer=async__inference__pb2.Empty.FromString,
response_serializer=async__inference__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'async_inference.AsyncInference', rpc_method_handlers)
server.add_generic_rpc_handlers((generic_handler,))
server.add_registered_method_handlers('async_inference.AsyncInference', rpc_method_handlers)
# This class is part of an EXPERIMENTAL API.
class AsyncInference(object):
"""AsyncInference: from Robot perspective
Robot send observations to & executes action received from a remote Policy server
"""
@staticmethod
def SendObservations(request_iterator,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.stream_unary(
request_iterator,
target,
'/async_inference.AsyncInference/SendObservations',
async__inference__pb2.Observation.SerializeToString,
async__inference__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def StreamActions(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_stream(
request,
target,
'/async_inference.AsyncInference/StreamActions',
async__inference__pb2.Empty.SerializeToString,
async__inference__pb2.Action.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def Ready(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/async_inference.AsyncInference/Ready',
async__inference__pb2.Empty.SerializeToString,
async__inference__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)