qiUdZddlmZddlZddlZddlmZdZdddd Z e e e fe d <d ej d ej d ej fdZdej d ej fdZGddeZdZedkr edSdS)uNOpenPI Pi0.5 bridge for YAM robot deployment. Implements the ``ModelBridge`` interface from raiden. Connects to a running OpenPI policy server (``serve_policy.py``) via websocket and translates between raiden observations and the OpenPI observation format. The OpenPI server handles all model inference, normalization, and delta→absolute action conversion. This bridge is purely an observation reformatter and action reorderer. Usage (server + bridge):: # Terminal 1: start the OpenPI policy server python scripts/serve_policy.py \ --policy.config pi05_yam \ --policy.dir /path/to/checkpoint \ --port 8000 # Terminal 2: run raiden inference rd infer \ --bridge deployment.openpi_bridge:OpenPiBridge \ --ckpt_path unused \ --action_hz 50.0 \ --host localhost --port 8000 \ --action_horizon 10 \ --prompt "pick up the lock and put it into the box" OpenPI 14D layout: [left_joint(6), left_grip(1), right_joint(6), right_grip(1)] Raiden 14D layout: [right_joint(6), right_grip(1), left_joint(6), left_grip(1)] )OptionalN) ModelBridgezobservation/image_headzobservation/image_left_wristzobservation/image_right_wrist)head left_wrist right_wrist_CAM_MAP r_joint_pos l_joint_posreturnctj|dd|dd|dd|ddgtjS)zConvert raiden proprio (7,) pairs to OpenPI 14D state. Raiden: r_joint_pos = [r_joints(6), r_grip(1)] l_joint_pos = [l_joints(6), l_grip(1)] OpenPI: [l_joints(6), l_grip(1), r_joints(6), r_grip(1)] Nnp concatenateastypefloat32)r r s 5/home/robot-lab/Pi0.5_yam/deployment/openpi_bridge.py_raiden_to_openpi_stater1s\ >BQBAaCBQBAaC    vbj  action_14dctj|dd|ddgtjS)zConvert OpenPI 14D action to raiden 14D motor command. OpenPI: [l_joints(6), l_grip(1), r_joints(6), r_grip(1)] Raiden: [r_joints(6), r_grip(1), l_joints(6), l_grip(1)] rrr)rs r_openpi_action_to_raidenrCsE >1R41Q3  vbjrcZeZdZdZd defdZdeddfdZd d Zde j fd Z de fd Z dS) OpenPiBridgezModelBridge implementation for OpenPI Pi0.5 on YAM. Connects to a running OpenPI websocket server and translates between raiden observations and OpenPI's expected input format. action_horizoncZd|_||_d|_d|_d|_d|_dS)Nr)_broker_action_horizon_prompt_step_n_infer _t_infer_sum)selfrs r__init__zOpenPiBridge.__init__Vs4 -   r ckpt_pathr Nc ddlm}ddlm}|dd}t |dd}t |d|j}|d d |_td |d |||| }| } td| | |||_ td|ddS)aConnect to the OpenPI policy server. The ckpt_path is unused (the server loads the model). Connection parameters are passed via kwargs. Keyword args: host: Server host (default: "localhost"). port: Server port (default: 8000). action_horizon: Number of actions to execute per inference call. prompt: Language instruction for the task. r)action_chunk_broker)websocket_client_policyhost localhostport@rpromptr!z([openpi_bridge] Connecting to server at :)r/r1z![openpi_bridge] Server metadata: )policyrz&[openpi_bridge] Ready (action_horizon=)N) openpi_clientr-r.getintr$r%printWebsocketClientPolicyget_server_metadataActionChunkBrokerr#) r)r+kwargsr-_wsr/r1r ws_policymetadatas rloadzOpenPiBridge.load^s- 655555@@@@@@zz&+..6::fd++,,VZZ(8$:NOOPPzz(B//  FFFFFGGG--4d-CC 0022 <(<<===*<<)=    H~HHHIIIIIrcp|j|jd|_d|_d|_dS)zReset action chunk buffer.Nrr")r#resetr&r'r()r)s rrDzOpenPiBridge.reset~s: < # L     rc ddl}|}||}|j|}||z dz}|xj|z c_|xjdz c_|jdzdkr.td|jdd|d d |j|jz d d |d }t|S) uConvert raiden observation → OpenPI input → inference → 14D action. Returns (14,) float32 motor command in raiden order: [r_joints(6), r_grip(1), l_joints(6), l_grip(1)] rNg@@2z[openpi_bridge] step=4dz infer=z.1fzms avg=msactions) time perf_counter _preprocessr#inferr(r&r:r)r)obsrKt0obs_dictresultinfer_msrJs rpredictzOpenPiBridge.predicts     ##C((##H--%%''",3 X% a :?a   > 9>>!+>>(4:5=>>>    #'000rc"i}|jD]n}t|j}|$t j|jtj}t j|ttf}|||<o|j dtj dtj }|j dtj dtj }t|||d<|jr |j|d<|S)z6Convert raiden Observation to OpenPI observation dict.Nfollower_r_joint_posr)dtypefollower_l_joint_poszobservation/stater3)camerasr r8namecv2cvtColorimage COLOR_BGR2RGBresizeMODEL_IMG_SIZEpropriosrzerosrrr%)r)rOrQcamobs_keyrgbr_posl_poss rrMzOpenPiBridge._preprocesss; $ $Cll38,,G,sy#*;<>"BCCC #HW     "BHQbj$A$A$A     "BHQbj$A$A$A  )@u(M(M$% < .!%HX r)r)r N)__name__ __module__ __qualname____doc__r9r*strrBrDrndarrayrTdictrMrrrrOs   s    JcJJJJJ@    1bj11114$rrc Tddl}|d}|ddd|dd d |d td d |dtdd|dtd|ddd|dd|dd|ddddg |d!d"|}dd#lm}t|j $}|||j |j |j |j |j |jd%|j|j|j|j&}|dS)'Nrz'Deploy OpenPI Pi0.5 policy on YAM robot) descriptionz --ckpt_pathunusedzUnused (server loads model))defaulthelpz--hostr0zOpenPI server hostz--portr2zOpenPI server port)typersrtz--action_horizonrzActions per inferencez --action_hzgI@)rursz--promptr!zLanguage instructionz--camera_config_filez./config/camera_config.json)rsz--calibration_filez!./config/calibration_results.jsonz--stereo_methodzedffs)rschoicesz --depth_mode NEURAL_LIGHT)RaidenInferenceLoop)r)r/r1rr3)bridger+ action_hz bridge_kwargscamera_config_filecalibration_file stereo_method depth_mode)argparseArgumentParser add_argumentr9float parse_argsraiden.inferencerzrrr+r|r/r1r3r~rrrrun)rparserargsrzr{loops rmainrsOOO  $ $=%F  x>[\\\ +rsE> (((((( %02$sCx.Z$      kkkkk;kkkf&&&R zDFFFFFr