Initial commit

examples/simple_client/main.py

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+import dataclasses
+import enum
+import logging
+import time
+
+import numpy as np
+from openpi_client import websocket_client_policy as _websocket_client_policy
+import tyro
+
+
+class EnvMode(enum.Enum):
+    """Supported environments."""
+
+    ALOHA = "aloha"
+    ALOHA_SIM = "aloha_sim"
+    DROID = "droid"
+    LIBERO = "libero"
+
+
+@dataclasses.dataclass
+class Args:
+    host: str = "0.0.0.0"
+    port: int = 8000
+
+    env: EnvMode = EnvMode.ALOHA_SIM
+    num_steps: int = 10
+
+
+def main(args: Args) -> None:
+    obs_fn = {
+        EnvMode.ALOHA: _random_observation_aloha,
+        EnvMode.ALOHA_SIM: _random_observation_aloha,
+        EnvMode.DROID: _random_observation_droid,
+        EnvMode.LIBERO: _random_observation_libero,
+    }[args.env]
+
+    policy = _websocket_client_policy.WebsocketClientPolicy(
+        host=args.host,
+        port=args.port,
+    )
+    logging.info(f"Server metadata: {policy.get_server_metadata()}")
+
+    # Send 1 observation to make sure the model is loaded.
+    policy.infer(obs_fn())
+
+    start = time.time()
+    for _ in range(args.num_steps):
+        policy.infer(obs_fn())
+    end = time.time()
+
+    print(f"Total time taken: {end - start:.2f} s")
+    print(f"Average inference time: {1000 * (end - start) / args.num_steps:.2f} ms")
+
+
+def _random_observation_aloha() -> dict:
+    return {
+        "state": np.ones((14,)),
+        "images": {
+            "cam_high": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8),
+            "cam_low": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8),
+            "cam_left_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8),
+            "cam_right_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8),
+        },
+        "prompt": "do something",
+    }
+
+
+def _random_observation_droid() -> dict:
+    return {
+        "observation/exterior_image_1_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8),
+        "observation/wrist_image_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8),
+        "observation/joint_position": np.random.rand(7),
+        "observation/gripper_position": np.random.rand(1),
+        "prompt": "do something",
+    }
+
+
+def _random_observation_libero() -> dict:
+    return {
+        "observation/state": np.random.rand(8),
+        "observation/image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8),
+        "observation/wrist_image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8),
+        "prompt": "do something",
+    }
+
+
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO)
+    main(tyro.cli(Args))