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vllm_omni.entrypoints.openpi.connection ¶

WebSocket connection for robot policy inference (OpenPI protocol).

Protocol (compatible with OpenPI policy clients): Connect -> server sends msgpack(PolicyServerConfig fields) Infer -> client sends msgpack(obs), server sends msgpack(ndarray) Reset -> client sends msgpack({endpoint:reset}), server sends msgpack(status)

MAX_OPENPI_PAYLOAD_BYTES `module-attribute` ¶

MAX_OPENPI_PAYLOAD_BYTES = 64 * 1024 * 1024

logger `module-attribute` ¶

logger = init_logger(__name__)

RobotRealtimeConnection ¶

WebSocket connection for robot policy inference.

serving `instance-attribute` ¶

serving = serving

websocket `instance-attribute` ¶

websocket = websocket

handle_connection `async` ¶

handle_connection() -> None

Main loop for OpenPI-compatible policy serving.

reset ¶

reset() -> None