Carve positronic-client: light workspace package for the inference wire - #500
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vertix wants to merge 5 commits into
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Carve positronic-client: light workspace package for the inference wire#500vertix wants to merge 5 commits into
positronic-client: light workspace package for the inference wire#500vertix wants to merge 5 commits into
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The sync client API the package imports needs a modern websockets; a standalone install (the package's stated use case) must not resolve an older release that lacks it. Mirrors the floor the main package carries. Ticket: none (Codex review finding on PR #500)
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The package is pure Python and exists to be installed into foreign venvs whose ML stacks pin their own numpy; a version constraint here only manufactures resolver conflicts. Requested-by: Vladimir Yakunin Ticket: none (dependency-policy comment, PR #500 review discussion)
…wire
A real MolmoSpaces eval needed `RemotePolicy` importable inside molmo's venv
— i.e. installing all of positronic into a foreign dependency world. The
wire-facing client now lives in `packages/positronic-client` (deps: numpy,
msgpack, websockets, httpx, pillow — the openpi-client pattern), so adapters
and customers install the light client only:
- `positronic_client.keys` — the canonical raw observation keys, defined
once; openpi codecs and the molmo adapter import them instead of mirroring
string literals.
- `positronic_client.serialization` — the base wire (numpy/scalars/JPEG)
with extension hooks; positronic's dialect (`utils/serialization.py`)
layers the roboarm-command/RobotStatus envelopes on top via `make_wire`.
- `positronic_client.client` — `InferenceClient`/`InferenceSession` moved
from `offboard/client.py`; the negotiated image downsizing moves from
`RemoteSession` into `InferenceSession`, so every wire consumer gets it
by default. `RemotePolicy` stays in positronic as the Policy veneer,
wiring in the command-aware dialect.
- The molmo adapter talks to `InferenceClient` directly (commands read via
their wire envelopes), dropping its lazy positronic import — molmo's venv
needs only `positronic-client`.
robolab/libero adapters are untouched: they speak the env-server vocabulary
('robot_state' object + 'grip'), not the inference-wire keys.
Requested-by: Vladimir Yakunin
Ticket: Positronic-Robotics/internal#91 #refs
Ticket: Positronic-Robotics/internal#90 #refs
The sync client API the package imports needs a modern websockets; a standalone install (the package's stated use case) must not resolve an older release that lacks it. Mirrors the floor the main package carries. Ticket: none (Codex review finding on PR #500)
The package is pure Python and exists to be installed into foreign venvs whose ML stacks pin their own numpy; a version constraint here only manufactures resolver conflicts. Requested-by: Vladimir Yakunin Ticket: none (dependency-policy comment, PR #500 review discussion)
Same gap as the adapter suite: the workflow's hard-coded testpaths override omitted the new package's tests. Ticket: none (completes the carve's CI wiring, PR #500)
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It applies to every session including localhost (smaller payloads, codec output unchanged — the codec resizes to the same advertised target either way); in-process inference never constructs a session, so nothing local to the process is touched. Requested-by: Vladimir Yakunin Ticket: none (PR #500 review discussion)
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Closing unmerged — the observation-key dedup is recut in #505 as a canonical The |
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Stacked on #495 (base:
molmo-spaces-adapter) — retarget tomainafter #495 merges. (Opened outside publish_pr deliberately: it only targets the default base, and this PR must diff against #495's branch.)Implements Positronic-Robotics/internal#91, agreed in the founders' Slack discussion of #495's constants/dependency duplication.
Why
A real (non-fake) MolmoSpaces eval needed
positronic.policy.remote.RemotePolicyimportable inside molmo's venv — installing all of positronic into a foreign dependency world (the dependency/version-clash concern). And the wire's vocabulary ('robot_state.q','grip','image.wrist', …) had no importable home, so every adapter mirrored it as literals.What
packages/positronic-client— a uv-workspace member (the openpi-client pattern; deps only numpy/msgpack/websockets/httpx/pillow):positronic_client.keys— the canonical raw observation keys, defined once. openpi codecs and the molmo adapter now import them; the literal mirrors are gone.positronic_client.serialization— the base wire with extension hooks (make_wire). positronic's dialect (positronic/utils/serialization.py) layers the roboarm-command/RobotStatus envelopes on top — the registry refactor the module's own TODO called for. A bare client receives unknown envelopes as plain wire dicts.positronic_client.client—InferenceClient/InferenceSessionmoved fromoffboard/client.py. The negotiated image downsizing (server-advertisedimage_sizes) moves fromRemoteSessionintoInferenceSession, so every wire consumer gets it by default, not just positronic's ownRemotePolicy(which stays as the Policy-interface veneer, wiring in the command-aware dialect).InferenceClientdirectly and drops its lazy positronic import — molmo's venv installspositronic-clientonly.robolab/libero adapters are deliberately untouched: they speak the env-server vocabulary (
'robot_state'state object +'grip'), not the inference-wire keys — their literals are internal#74/internal#90 territory.Testing
187 tests green across the client package, offboard, policy, and molmo adapter suites (client tests moved into
packages/positronic-client/positronic_client/tests/); serialization-adjacent suites (dataset remote, lerobot servers, cfg) green; ruff + format clean.🤖 Generated with Claude Code