tangger/lerobot_piper
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Simplify configs (#550)

Browse Source 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
This commit is contained in:
Simon Alibert
2025-01-31 13:57:37 +01:00
committed by GitHub
parent 1ee1acf8ad
commit 3c0a209f9f
119 changed files with 5761 additions and 5466 deletions
Download Patch File Download Diff File Expand all files Collapse all files

47
lerobot/common/robot_devices/control_utils.py
View File

@@ -19,11 +19,9 @@ from termcolor import colored
from lerobot.common.datasets.image_writer import safe_stop_image_writer
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.utils import get_features_from_robot
from lerobot.common.policies.factory import make_policy
from lerobot.common.robot_devices.robots.utils import Robot
from lerobot.common.robot_devices.utils import busy_wait
from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, set_global_seed
from lerobot.scripts.eval import get_pretrained_policy_path
from lerobot.common.utils.utils import get_safe_torch_device, has_method
def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
@@ -89,10 +87,6 @@ def is_headless():
return True
def has_method(_object: object, method_name: str):
return hasattr(_object, method_name) and callable(getattr(_object, method_name))
def predict_action(observation, policy, device, use_amp):
observation = copy(observation)
with (
@@ -161,26 +155,6 @@ def init_keyboard_listener():
return listener, events
def init_policy(pretrained_policy_name_or_path, policy_overrides):
"""Instantiate the policy and load fps, device and use_amp from config yaml"""
pretrained_policy_path = get_pretrained_policy_path(pretrained_policy_name_or_path)
hydra_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", policy_overrides)
policy = make_policy(hydra_cfg=hydra_cfg, pretrained_policy_name_or_path=pretrained_policy_path)
# Check device is available
device = get_safe_torch_device(hydra_cfg.device, log=True)
use_amp = hydra_cfg.use_amp
policy_fps = hydra_cfg.env.fps
policy.eval()
policy.to(device)
torch.backends.cudnn.benchmark = True
torch.backends.cuda.matmul.allow_tf32 = True
set_global_seed(hydra_cfg.seed)
return policy, policy_fps, device, use_amp
def warmup_record(
robot,
events,
@@ -233,9 +207,9 @@ def control_loop(
dataset: LeRobotDataset | None = None,
events=None,
policy=None,
device=None,
use_amp=None,
fps=None,
device: torch.device | str | None = None,
use_amp: bool | None = None,
fps: int | None = None,
):
# TODO(rcadene): Add option to record logs
if not robot.is_connected:
@@ -253,6 +227,9 @@ def control_loop(
if dataset is not None and fps is not None and dataset.fps != fps:
raise ValueError(f"The dataset fps should be equal to requested fps ({dataset['fps']} != {fps}).")
if isinstance(device, str):
device = get_safe_torch_device(device)
timestamp = 0
start_episode_t = time.perf_counter()
while timestamp < control_time_s:
@@ -324,21 +301,21 @@ def stop_recording(robot, listener, display_cameras):
cv2.destroyAllWindows()
def sanity_check_dataset_name(repo_id, policy):
def sanity_check_dataset_name(repo_id, policy_cfg):
_, dataset_name = repo_id.split("/")
# either repo_id doesnt start with "eval_" and there is no policy
# or repo_id starts with "eval_" and there is a policy
# Check if dataset_name starts with "eval_" but policy is missing
if dataset_name.startswith("eval_") and policy is None:
if dataset_name.startswith("eval_") and policy_cfg is None:
raise ValueError(
f"Your dataset name begins with 'eval_' ({dataset_name}), but no policy is provided."
f"Your dataset name begins with 'eval_' ({dataset_name}), but no policy is provided ({policy_cfg.type})."
)
# Check if dataset_name does not start with "eval_" but policy is provided
if not dataset_name.startswith("eval_") and policy is not None:
if not dataset_name.startswith("eval_") and policy_cfg is not None:
raise ValueError(
f"Your dataset name does not begin with 'eval_' ({dataset_name}), but a policy is provided ({policy})."
f"Your dataset name does not begin with 'eval_' ({dataset_name}), but a policy is provided ({policy_cfg.type})."
)