Add policy/act_aloha_real.yaml + env/act_real.yaml (#429)

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

tests/test_control_robot.py

@@ -23,6 +23,7 @@ pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
 ```
 """
 
+import multiprocessing
 from pathlib import Path
 
 import pytest
@@ -37,7 +38,7 @@ from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_r
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
 @require_robot
 def test_teleoperate(tmpdir, request, robot_type, mock):
-    if mock:
+    if mock and robot_type != "aloha":
         request.getfixturevalue("patch_builtins_input")
 
         # Create an empty calibration directory to trigger manual calibration
@@ -78,7 +79,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
     # Avoid using cameras
     overrides = ["~cameras"]
 
-    if mock:
+    if mock and robot_type != "aloha":
         request.getfixturevalue("patch_builtins_input")
 
         # Create an empty calibration directory to trigger manual calibration
@@ -101,13 +102,14 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
         run_compute_stats=False,
         push_to_hub=False,
         video=False,
+        play_sounds=False,
     )
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
 @require_robot
 def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
-    if mock:
+    if mock and robot_type != "aloha":
         request.getfixturevalue("patch_builtins_input")
 
         # Create an empty calibration directory to trigger manual calibration
@@ -115,12 +117,9 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
         calibration_dir = Path(tmpdir) / robot_type
         overrides = [f"calibration_dir={calibration_dir}"]
     else:
-        # Use the default .cache/calibration folder when mock=False
+        # Use the default .cache/calibration folder when mock=False or for aloha
         overrides = None
 
-    if robot_type == "aloha":
-        pytest.skip("TODO(rcadene): enable test once aloha_real and act_aloha_real are merged")
-
     env_name = "koch_real"
     policy_name = "act_koch_real"
 
@@ -141,21 +140,58 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
         video=False,
         # TODO(rcadene): display cameras through cv2 sometimes crashes on mac
         display_cameras=False,
+        play_sounds=False,
     )
 
-    replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
+    replay(robot, episode=0, fps=30, root=root, repo_id=repo_id, play_sounds=False)
+
+    # TODO(rcadene, aliberts): rethink this design
+    if robot_type == "aloha":
+        env_name = "aloha_real"
+        policy_name = "act_aloha_real"
+    elif robot_type in ["koch", "koch_bimanual"]:
+        env_name = "koch_real"
+        policy_name = "act_koch_real"
+    else:
+        raise NotImplementedError(robot_type)
+
+    overrides = [
+        f"env={env_name}",
+        f"policy={policy_name}",
+        f"device={DEVICE}",
+    ]
+
+    if robot_type == "koch_bimanual":
+        overrides += ["env.state_dim=12", "env.action_dim=12"]
 
     cfg = init_hydra_config(
         DEFAULT_CONFIG_PATH,
-        overrides=[
-            f"env={env_name}",
-            f"policy={policy_name}",
-            f"device={DEVICE}",
-        ],
+        overrides=overrides,
     )
 
     policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
 
+    # In `examples/9_use_aloha.md`, we advise using `num_image_writer_processes=1`
+    # during inference, to reach constent fps, so we test this here.
+    if robot_type == "aloha":
+        num_image_writer_processes = 1
+
+        # `multiprocessing.set_start_method("spawn", force=True)` avoids a hanging issue
+        # before exiting pytest. However, it outputs the following error in the log:
+        # Traceback (most recent call last):
+        #     File "<string>", line 1, in <module>
+        #     File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/spawn.py", line 116, in spawn_main
+        #         exitcode = _main(fd, parent_sentinel)
+        #     File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/spawn.py", line 126, in _main
+        #         self = reduction.pickle.load(from_parent)
+        #     File "/Users/rcadene/miniconda3/envs/lerobot/lib/python3.10/multiprocessing/synchronize.py", line 110, in __setstate__
+        #         self._semlock = _multiprocessing.SemLock._rebuild(*state)
+        # FileNotFoundError: [Errno 2] No such file or directory
+        # TODO(rcadene, aliberts): fix FileNotFoundError in multiprocessing
+        multiprocessing.set_start_method("spawn", force=True)
+    else:
+        num_image_writer_processes = 0
+
     record(
         robot,
         policy,
@@ -167,6 +203,8 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
         push_to_hub=False,
         video=False,
         display_cameras=False,
+        play_sounds=False,
+        num_image_writer_processes=num_image_writer_processes,
     )
 
     del robot