Isaac-GR00T/tests/examples/test_droid.py

# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from __future__ import annotations

import ast
import logging
import os
import pathlib
import subprocess

from gr00t.data.state_action.droid_frame import DROID_EEF_ROTATION_CORRECT
import numpy as np
import pytest
from test_support.readme import extract_code_blocks, find_block, replace_once, run_bash_blocks
from test_support.runtime import (
    assert_port_available,
    get_root,
    start_server_process,
    timed,
    wait_for_server_ready,
)


logger = logging.getLogger(__name__)


REPO_ROOT = get_root()

TRAINING_STEPS = 2

README = REPO_ROOT / "examples/DROID/README.md"

MODEL_CHECKPOINT = pathlib.Path(f"/tmp/droid_finetune/checkpoint-{TRAINING_STEPS}")

DEFAULT_SERVER_STARTUP_SECONDS = 900.0


def _vendored_array_literal(source: str, name: str) -> np.ndarray:
    """Extract a ``name = np.array(<literal>, ...)`` assignment from source text.

    Parses the AST instead of importing the module: ``main_gr00t.py`` requires
    the droid robot stack (cv2, the droid repo, ...) that is not installed in CI.
    """
    for node in ast.walk(ast.parse(source)):
        if isinstance(node, ast.Assign) and any(
            isinstance(t, ast.Name) and t.id == name for t in node.targets
        ):
            call = node.value
            if isinstance(call, ast.Call) and call.args:
                return np.asarray(ast.literal_eval(call.args[0]), dtype=np.float64)
    raise AssertionError(f"{name} np.array assignment not found in source")


def test_droid_eef_rotation_correct_mirror_in_sync() -> None:
    """The slim DROID example vendors DROID_EEF_ROTATION_CORRECT because it runs
    without the gr00t package; enforce that the mirror matches the canonical."""
    example_src = (REPO_ROOT / "examples/DROID/main_gr00t.py").read_text()
    vendored = _vendored_array_literal(example_src, "DROID_EEF_ROTATION_CORRECT")
    np.testing.assert_array_equal(vendored, DROID_EEF_ROTATION_CORRECT)


@pytest.mark.gpu
@pytest.mark.timeout(1800)
@pytest.mark.parametrize(
    "occurrence",
    [1, 2],
    ids=["base", "finetuned"],
)
def test_droid_readme_server_starts(occurrence: int) -> None:
    """Verify the DROID inference server starts and accepts connections."""

    env = {**os.environ}
    blocks = extract_code_blocks(README)

    model_server_host = "127.0.0.1"
    model_server_port = 5557

    server_code = find_block(
        blocks, "run_gr00t_server.py", language="bash", occurrence=occurrence
    ).code
    server_code += f" --device cuda:0 --host {model_server_host} --port {model_server_port}"

    assert_port_available(model_server_host, model_server_port)
    model_server_proc, server_log = start_server_process(server_code, cwd=REPO_ROOT, env=env)
    try:
        wait_for_server_ready(
            proc=model_server_proc,
            host=model_server_host,
            port=model_server_port,
            timeout_s=float(
                os.getenv("DROID_SERVER_STARTUP_SECONDS", str(DEFAULT_SERVER_STARTUP_SECONDS))
            ),
            server_log=server_log,
        )
    finally:
        if model_server_proc.poll() is None:
            model_server_proc.terminate()
            try:
                model_server_proc.wait(timeout=15)
            except subprocess.TimeoutExpired:
                model_server_proc.kill()
                model_server_proc.wait(timeout=15)


@pytest.mark.gpu
@pytest.mark.timeout(1800)
def test_droid_finetune_and_finetuned_server() -> None:
    """Run a short DROID finetune, then verify server starts with the finetuned checkpoint."""

    env = {**os.environ}
    blocks = extract_code_blocks(README)

    finetune_code = replace_once(
        replace_once(
            replace_once(
                replace_once(
                    find_block(blocks, "--output-dir /tmp/droid_finetune", language="bash").code,
                    "NUM_GPUS=8",
                    "NUM_GPUS=1",
                ),
                "MAX_STEPS=20000",
                f"MAX_STEPS={TRAINING_STEPS}",
            ),
            "SAVE_STEPS=1000",
            f"SAVE_STEPS={TRAINING_STEPS}",
        ),
        "GLOBAL_BATCH_SIZE=640",
        "GLOBAL_BATCH_SIZE=2",
    )
    finetune_code = finetune_code.rstrip() + " -- --skip_weight_loading"
    run_bash_blocks(
        [finetune_code],
        cwd=REPO_ROOT,
        env={
            **env,
            "USE_WANDB": "0",
            "DATALOADER_NUM_WORKERS": "0",
            "SHARD_SIZE": "64",
            "NUM_SHARDS_PER_EPOCH": "1",
        },
    )
    assert MODEL_CHECKPOINT.exists(), (
        f"Expected model checkpoint after finetune: {MODEL_CHECKPOINT}"
    )

    model_server_host = "127.0.0.1"
    model_server_port = 5558

    server_code = replace_once(
        find_block(blocks, "nvidia/GR00T-N1.7-DROID", language="bash").code,
        "nvidia/GR00T-N1.7-DROID",
        str(MODEL_CHECKPOINT),
    )
    server_code += f" --device cuda:0 --host {model_server_host} --port {model_server_port}"

    assert_port_available(model_server_host, model_server_port)
    model_server_proc, server_log = start_server_process(server_code, cwd=REPO_ROOT, env=env)
    try:
        with timed("finetuned server startup"):
            wait_for_server_ready(
                proc=model_server_proc,
                host=model_server_host,
                port=model_server_port,
                timeout_s=float(
                    os.getenv("DROID_SERVER_STARTUP_SECONDS", str(DEFAULT_SERVER_STARTUP_SECONDS))
                ),
                server_log=server_log,
            )
    finally:
        if model_server_proc.poll() is None:
            model_server_proc.terminate()
            try:
                model_server_proc.wait(timeout=15)
            except subprocess.TimeoutExpired:
                model_server_proc.kill()
                model_server_proc.wait(timeout=15)