qiUddlmZddlZddlZddlZddlmZmZddlZddl Zddl Z ddl m Z ddl ZddlmZddlZddlmZddlmZddlmZddlmZdd lmZejZee d <Gd d eZ!Gd dejZ"dS))SequenceN)Any TypeAlias) base_policy)override) transforms)model) array_typing) nnx_utils BasePolicyc eZdZdddddddddejdejdzdeej d eej d e e e fdzd e e e fdzd e d e fdZeddde dejdzde fdZede e e ffdZdS)PolicyNcpuF)rngroutput_transforms sample_kwargsmetadatapytorch_device is_pytorchr rrrrrrrc||_tj||_tj||_|pi|_|pi|_||_||_|jrF|j ||_|j |j |_ dStj|j |_ |ptjd|_dS)aInitialize the Policy. Args: model: The model to use for action sampling. rng: Random number generator key for JAX models. Ignored for PyTorch models. transforms: Input data transformations to apply before inference. output_transforms: Output data transformations to apply after inference. sample_kwargs: Additional keyword arguments to pass to model.sample_actions. metadata: Additional metadata to store with the policy. pytorch_device: Device to use for PyTorch models (e.g., "cpu", "cuda:0"). Only relevant when is_pytorch=True. is_pytorch: Whether the model is a PyTorch model. If False, assumes JAX model. rN)_model _transformscompose_input_transform_output_transform_sample_kwargs _metadata_is_pytorch_model_pytorch_devicetoevalsample_actions_sample_actionsr module_jitjaxrandomkey_rng) selfr rrrrrrrs 7/home/robot-lab/Pi0.5_yam/src/openpi/policies/policy.py__init__zPolicy.__init__s2 + 3J ? ?!,!45F!G!G+1r!R!+-  ! 1+..88DK K     #(#7D $-#78L#M#MD 0sz~~a00DIII)noiseobsr.returnctjd|}|}jsNtjd|}tjj\_}n*tjfd|}j}tj }|_jr,tj | jntj|}|jdkr|d}||d<t"j|}t)j}|dj||fi|d}t)j|z } jr"tjd |}n!tjd |}|}d | d zi|d <|S)Nc|SNrxs r+zPolicy.infer..Fsr-cNtj|tjdfSN.)jnpasarraynpnewaxisr4s r+r6zPolicy.infer..JsCKNN2:s?,Kr-ctjtj|jdS)Nr8)torch from_numpyr;arrayr!r )r5r*s r+r6zPolicy.infer..Ns1E,.bs,RZ& 8H8H8J8J8N8N8P8P-Q-Qr-c6tj|dSrE)r;r:r4s r+r6zPolicy.infer..dsRZ& -B-Br-infer_msi policy_timing)r&treemaprrr'splitr)r dictrr>r?r!r9r:ndimr Observation from_dicttime monotonicr$r) r*r/r.inputssample_rng_or_pytorch_devicer observation start_timeoutputs model_times ` r+inferz Policy.inferCskk3//&&v..% @X\\"K"KVTTF69j6F6Fty6Q6Q 3DI33X\\"m"m"m"mouvvF+/+? (T011  HLH^vE$U++..t/CDDDdgdopudvdvEzQi(%*M' "(226:: ^%% G_+t+,H+ggYfgg  ^%% 2  ! Mhll#Q#QSZ[[GGhll#B#BGLLG((11  T)$  r-c|jSr3)r)r*s r+rzPolicy.metadatals ~r-)__name__ __module__ __qualname__r BaseModelat KeyArrayLikerrDataTransformFnrMstrrboolr,rr;ndarrayrYpropertyrrr-r+rrsE '+<>CE/3*.# (1(1(1(1_t # (1 [89 (1 $K$?@ (1CH~,(1sCx.4'(1(1(1(1(1(1T=A&&&&d):&d&&&X&P$sCx.Xr-rcLeZdZdZdejdefdZede de fdZ dS) PolicyRecorderz&Records the policy's behavior to disk.policy record_dirc||_tjd|tj||_|jddd|_dS)NzDumping policy records to: T)parentsexist_okr)_policylogginginfopathlibPath _record_dirmkdir _record_step)r*rhris r+r,zPolicyRecorder.__init__ts^  ?:??@@@"< 33 td;;;r-r/r0c|j|}||d}tj|d}|jd|jz }|xjdz c_tj|tj ||S)N)rSrW/)sepstep_) rmrYflax traverse_util flatten_dictrrrtr;saver:)r*r/resultsdata output_paths r+rYzPolicyRecorder.infer|s,$$S))'22!..t.==&)D1B)D)DD  Q  RZ--...r-N) r[r\r]__doc__ _base_policyr rbr,rrMrYrr-r+rgrgqsm00|6C  $   X   r-rg)#collections.abcrrnrprQtypingrrrzflax.traverse_utilr& jax.numpynumpyr9r; openpi_clientrrr>typing_extensionsropenpirr openpi.modelsr r openpi.sharedr r_r r __annotations__rrgrr-r+rs{$$$$$$$ !!!!!!!!  555555 &&&&&&,,,,,,)))))),,,,,,######$/ I///VVVVVZVVVr\,r-