File size: 2,258 Bytes
00c55c8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 | #!/usr/bin/env bash
set -Eeuo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
if [ -n "${OPENPI_PYTHON:-}" ]; then
PY="$OPENPI_PYTHON"
elif [ -x "$ROOT/.venv/bin/python" ]; then
PY="$ROOT/.venv/bin/python"
else
PY="$(command -v python3 || true)"
fi
if [ -z "$PY" ] || [ ! -x "$PY" ]; then
echo "ERROR: no usable Python interpreter found"
exit 1
fi
export PYTHONDONTWRITEBYTECODE=1
export PYTHONPATH="$ROOT:$ROOT/src:$ROOT/packages/openpi-client/src"
export OPENPI_REAL_PIPER_X_ASSETS="$ROOT/checkpoints/29999/assets"
echo "Repository: $ROOT"
echo "Python: $PY"
"$PY" "$ROOT/deployment/verify_checkpoint.py"
"$PY" - "$ROOT" <<'PY'
from pathlib import Path
import inspect
import json
import sys
root = Path(sys.argv[1])
manifest = json.loads(
(root / "metadata" / "release_manifest.json").read_text(
encoding="utf-8"
)
)
from openpi.training import config as train_config
from deployment import piperx_client
from deployment import serve_piperx
config_name = "pi05_stream3_piper_x_real_6tasks"
config = train_config.get_config(config_name)
assert config.model.hist_horizon == 3
assert config.model.action_horizon == 10
assert config.data.repo_id == "real_piper_x_6tasks"
assert config.data.use_delta_joint_actions is True
assert config.data.base_config.hist_interval == 5
source = inspect.getsource(type(config.data).create)
assert "DeltaActions" in source
assert "AbsoluteActions" in source
assert "make_bool_mask(6, -1, 6, -1)" in source
model = manifest["model"]
assert serve_piperx.CONFIG_NAME == config_name
assert serve_piperx.HISTORY_HORIZON == model["history_horizon"]
assert serve_piperx.ACTION_HORIZON == model["action_horizon"]
assert serve_piperx.EXECUTE_STEPS == model["execute_steps"]
assert serve_piperx.STATE_DIM == model["state_dim"]
assert serve_piperx.ACTION_DIM == model["action_dim"]
assert piperx_client.HISTORY_HORIZON == model["history_horizon"]
assert piperx_client.ACTION_HORIZON == model["action_horizon"]
assert piperx_client.EXECUTE_STEPS == model["execute_steps"]
assert list(piperx_client.CAMERA_NAMES) == model["cameras"]
print("CONFIG_REGISTRATION_OK")
print("DELTA_TO_ABSOLUTE_TRANSFORM_OK")
print("SERVER_CLIENT_PROTOCOL_OK")
print("RELEASE_VERIFY_OK")
PY
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