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

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Remi
2024-10-10 17:12:45 +02:00
committed by GitHub
parent c29e70e5a1
commit 97b1feb0b3
20 changed files with 464 additions and 188 deletions
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9
tests/conftest.py
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@@ -52,8 +52,9 @@ def is_robot_available(robot_type):
print(f"\nInstall module '{e.name}'")
elif isinstance(e, SerialException):
print("\nNo physical motors bus detected.")
else:
traceback.print_exc()
traceback.print_exc()
return False
@@ -77,8 +78,9 @@ def is_camera_available(camera_type):
print(f"\nInstall module '{e.name}'")
elif isinstance(e, ValueError) and "camera_index" in e.args[0]:
print("\nNo physical camera detected.")
else:
traceback.print_exc()
traceback.print_exc()
return False
@@ -102,8 +104,9 @@ def is_motor_available(motor_type):
print(f"\nInstall module '{e.name}'")
elif isinstance(e, SerialException):
print("\nNo physical motors bus detected.")
else:
traceback.print_exc()
traceback.print_exc()
return False

0
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors → tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/actions.safetensors
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0
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/grad_stats.safetensors → tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/grad_stats.safetensors
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0
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors → tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/output_dict.safetensors
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0
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors → tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/param_stats.safetensors
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3
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b5a9f73a2356aff9c717cdfd0d37a6da08b0cf2cc09c98edbc9492501b7f64a5
size 5104

3
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:28738b3cfad17af0ac5181effdd796acdf7953cd5bcca3f421a11ddfd6b0076f
size 30800

3
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4bb8a197a40456fdbc16029126268e6bcef3eca1837d88235165dc7e14618bea
size 68

3
tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:bea60cce42d324f539dd3bca1e66b5ba6391838fdcadb00efc25f3240edb529a
size 33600

64
tests/test_control_robot.py
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@@ -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

5
tests/test_datasets.py
View File

@@ -308,12 +308,11 @@ def test_flatten_unflatten_dict():
# "lerobot/cmu_stretch",
],
)
# TODO(rcadene, aliberts): all these tests fail locally on Mac M1, but not on Linux
def test_backward_compatibility(repo_id):
"""The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`."""
dataset = LeRobotDataset(
repo_id,
)
dataset = LeRobotDataset(repo_id)
test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id

3
tests/test_policies.py
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@@ -367,8 +367,7 @@ def test_normalize(insert_temporal_dim):
),
("aloha", "act", ["policy.n_action_steps=10"], ""),
("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"),
("dora_aloha_real", "act_real", ["policy.n_action_steps=10"], ""),
("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"], ""),
("dora_aloha_real", "act_aloha_real", ["policy.n_action_steps=10"], ""),
],
)
# As artifacts have been generated on an x86_64 kernel, this test won't