File size: 2,218 Bytes
0d4f91f a4e2cc4 0d4f91f | 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 | #!/usr/bin/env python3
"""Verify the full online GWAM final graph path on a live RoboCasa env."""
from __future__ import annotations
import argparse
import json
import subprocess
import sys
import tempfile
from pathlib import Path
def main() -> int:
ap = argparse.ArgumentParser()
ap.add_argument('--package-root', type=Path, default=Path(__file__).resolve().parents[1])
ap.add_argument('--task', default='OpenDrawer')
ap.add_argument('--robots', default='PandaOmron')
ap.add_argument('--device', default='cuda')
ap.add_argument('--visual-backend', choices=['sam2', 'fake'], default='sam2')
args = ap.parse_args()
example = args.package_root / 'examples/realtime_env_graph_eval_loop.py'
with tempfile.TemporaryDirectory(prefix='gwam-final-graph-verify-') as td:
out = Path(td) / 'summary.json'
cmd = [
sys.executable,
str(example),
'--task', args.task,
'--robots', args.robots,
'--steps', '1',
'--visual-backend', args.visual_backend,
'--device', args.device,
'--json-output', str(out),
]
subprocess.run(cmd, check=True)
data = json.loads(out.read_text())
row = data['summaries'][0]
assert row['final_graph'] is True, row
assert row['N_real'] > 1, row
assert row['D_node'] == 342, row
assert row['D_edge'] == 8, row
assert row['first_slots'][0] == 0, row
assert row['visual_features_written'] >= 0, row
assert row['invalid_visible_pairs'] >= 0, row
# Example summaries expose the underlying snapshot['rgb_frames'] and
# snapshot['rgb_frame_cameras'] alignment contract as these JSON fields.
assert row['rgb_view_count'] == 3, row
assert row['rgb_aligned_with_view_ids'] is True, row
assert row['rgb_cameras'] == ['robot0_agentview_right', 'robot0_agentview_left', 'robot0_eye_in_hand'], row
for shape in row['rgb_shapes'].values():
assert shape == [256, 256, 3], row
print('verify_realtime_final_graph_ok', json.dumps(row, sort_keys=True))
return 0
if __name__ == '__main__':
raise SystemExit(main())
|