policy_client: wire-format codecs (openpi msgpack + lerobot pickle)#251
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Adds the two codecs that translate the neutral Observation/ActionChunk to and from each server family's wire bytes: msgpack_ndarray (openpi msgpack-numpy) and lerobot_codec (pinned LeRobot pickle/torch, fixture-tested). Introduces the TROSSEN_SDK_ENABLE_POLICY_CLIENT build gate (FetchContent msgpack-cxx).
- The lerobot emit path (encode_observation, encode_policy_setup) shipped with no automated test while decode had a byte-exact tripwire, so any future edit or numpy pin bump would silently corrupt the wire format. Add EmitObservationParity / EmitPolicySetupParity comparing emitter output against reviewed goldens (structurally verified against the CPython disassembly; emitter omits the memo table by design, so the goldens are emitter-produced, not the CPython .pkl) (PR251-F1/F2). - Guard pack_ndarray against >4 GiB payloads that would truncate the msgpack bin32 length prefix (PR251-F7). - Document that emitted numpy._core.multiarray requires the server run numpy >= 2.0 (PR251-F3); correct the emit fidelity comment that wrongly claimed byte-identical numpy output (PR251-F5).
Update the codec pin comment and captured codec fixtures to LeRobot v0.6.0 (commit 30da8e68).
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Summary
Adds the two wire-format codecs that translate the neutral
Observation/ActionChunkto and from each server family's bytes, and introduces theTROSSEN_SDK_ENABLE_POLICY_CLIENTbuild gate (off by default). No transport or client yet — just the encode/decode primitives, fixture-tested.Changes
include/trossen_sdk/hw/policy/msgpack_ndarray.{hpp}+src/hw/policy/msgpack_ndarray.cpp: openpi msgpack-numpy ndarray encode/decode.include/trossen_sdk/hw/policy/lerobot_codec.hpp+src/hw/policy/lerobot_codec.cpp: a pinned, self-contained LeRobot pickle/torch reader/writer (no libtorch dependency) — decodes the server's pickled action chunks and emits the pickled policy-setup/observation payloads.CMakeLists.txt+cmake/policy_client.cmake: introduce theTROSSEN_SDK_ENABLE_POLICY_CLIENToption (default OFF) andFetchContentofmsgpack-cxx; append the codec sources totrossen_sdkbehind the gate.tests/test_msgpack_ndarray.cpp,tests/test_lerobot_codec.cpp,tests/fixtures/lerobot_codec/*,tests/CMakeLists.txt: round-trip + parity tests against pinned fixtures captured from the real LeRobot version (capture_fixtures.py+versions.jsondocument provenance); malformed-input/whitelist-safety cases.Test Plan
-DTROSSEN_SDK_ENABLE_POLICY_CLIENT=ONtest_msgpack_ndarray,test_lerobot_codec(fixture parity exact)pre-commit run --all-files)Breaking Changes
None. New gated sources; the build gate defaults OFF so existing builds are unaffected.
Related
Based on #248. Stacked on #250; followed by #252–#255.