[Open Notebook](002_Using_Physical_AI_Studio.ipynb)"
+ "## 1) Train a model using Physical AI Studio or LeRobot\n",
+ "* Use the Pi0.5 policy supported in Physical AI Studio or LeRobot to train a model.
\n",
+ "* The output of this stage should be a trained Pi0.5 model.
\n",
+ "* For the Physical AI Studio workflow, follow the official [Physical AI Studio documentation](https://github.com/open-edge-platform/physical-ai-studio/blob/main/application/README.md)."
]
},
{
@@ -49,7 +49,9 @@
"id": "3c28a826-a284-4623-8a7b-74765529bdd6",
"metadata": {},
"source": [
- "Clone the OpenVINO Physical AI repo and install."
+ "Install OpenVINO Physical AI from PyPI with a pinned released version. If this notebook is run outside a full repository checkout, the install cell also clones the tutorial sources into `_physicalai_tutorial_repo` so it can find `requirements.txt`.\n",
+ "\n",
+ "> **Why pin the version?** The OpenVINO Physical AI APIs are evolving quickly. This notebook depends on a tested `physicalai` release, so the install cell below pins the package version. Update `PHYSICALAI_VERSION` only after re-validating the rest of this notebook.\n"
]
},
{
@@ -60,16 +62,40 @@
"outputs": [],
"source": [
"from pathlib import Path\n",
+ "import subprocess\n",
+ "import sys\n",
+ "\n",
+ "WORKSPACE = Path.cwd().resolve()\n",
+ "TUTORIALS_REF = \"docs/tutorials\"\n",
+ "TUTORIALS_REPO = \"https://github.com/openvinotoolkit/physicalai.git\"\n",
+ "TUTORIAL_REPO_DIR = WORKSPACE / \"_physicalai_tutorial_repo\"\n",
+ "\n",
+ "local_requirements = WORKSPACE / \"requirements.txt\"\n",
+ "fallback_requirements = WORKSPACE / \"notebooks\" / \"requirements.txt\"\n",
"\n",
- "requirements_file = Path(\"requirements.txt\")\n",
- "if not requirements_file.exists():\n",
- " requirements_file = Path(\"notebooks/requirements.txt\")\n",
+ "if local_requirements.exists():\n",
+ " requirements_file = local_requirements\n",
+ "elif fallback_requirements.exists():\n",
+ " requirements_file = fallback_requirements\n",
+ "else:\n",
+ " if not TUTORIAL_REPO_DIR.exists():\n",
+ " subprocess.check_call([\n",
+ " \"git\",\n",
+ " \"clone\",\n",
+ " \"--depth\",\n",
+ " \"1\",\n",
+ " \"--branch\",\n",
+ " TUTORIALS_REF,\n",
+ " TUTORIALS_REPO,\n",
+ " str(TUTORIAL_REPO_DIR),\n",
+ " ])\n",
+ " requirements_file = TUTORIAL_REPO_DIR / \"examples\" / \"tutorials\" / \"requirements.txt\"\n",
"\n",
- "if not Path(\"physicalai\").exists():\n",
- " !git clone https://github.com/openvinotoolkit/physicalai.git\n",
+ "# Tested with this notebook. Pinning avoids breakage from fast-moving API changes.\n",
+ "PHYSICALAI_VERSION = \"0.1.1\"\n",
"\n",
"%pip install -q --extra-index-url https://download.pytorch.org/whl/cpu -r {requirements_file}\n",
- "%pip install -q -e physicalai"
+ "%pip install -q physicalai=={PHYSICALAI_VERSION}\n"
]
},
{
@@ -88,19 +114,9 @@
"outputs": [],
"source": [
"from pathlib import Path\n",
- "import json\n",
- "import os\n",
- "import time\n",
- "\n",
- "import numpy as np\n",
- "import openvino as ov\n",
- "from huggingface_hub import hf_hub_download, snapshot_download\n",
- "from physicalai.inference import InferenceModel\n",
"\n",
"WORKSPACE = Path.cwd().resolve()\n",
- "RUNTIME_ROOT = WORKSPACE / \"physicalai\"\n",
- "ROOT = RUNTIME_ROOT\n",
- "os.chdir(ROOT)"
+ "print(\"Workspace:\", WORKSPACE)"
]
},
{
@@ -118,19 +134,19 @@
"metadata": {},
"outputs": [],
"source": [
- "INSTALL_HARDWARE_DEPS = \"True\"\n",
- "USE_SHARED_CAMERA = \"True\"\n",
+ "INSTALL_HARDWARE_DEPS = True\n",
+ "USE_SHARED_CAMERA = True\n",
"\n",
"if INSTALL_HARDWARE_DEPS:\n",
" import subprocess\n",
" import sys\n",
"\n",
" hardware_extras = \"transport,so101\" if USE_SHARED_CAMERA else \"so101\"\n",
- " runtime_with_hardware_extras = str(WORKSPACE / \"physicalai\") + f\"[{hardware_extras}]\"\n",
- " subprocess.check_call([sys.executable, \"-m\", \"pip\", \"install\", \"-q\", \"-e\", runtime_with_hardware_extras])\n",
- " print(f\"[DONE] Installed PhysicalAI hardware extras: {hardware_extras}\")\n",
+ " package_spec = f\"physicalai[{hardware_extras}]=={PHYSICALAI_VERSION}\"\n",
+ " subprocess.check_call([sys.executable, \"-m\", \"pip\", \"install\", \"-q\", package_spec])\n",
+ " print(f\"[DONE] Installed PhysicalAI hardware extras: {package_spec}\")\n",
"else:\n",
- " print(\"[SKIP] Hardware extras are not installed. Set INSTALL_HARDWARE_DEPS = True if this environment needs them.\")\n"
+ " print(\"[SKIP] Hardware extras are not installed. Set INSTALL_HARDWARE_DEPS = True if this environment needs them.\")"
]
},
{
@@ -138,7 +154,56 @@
"id": "2694f43e-7753-4ce5-9124-7faf9bc32490",
"metadata": {},
"source": [
- "## 3) Discover and connect to Robot and Cameras"
+ "## 3) Discover and connect to Robot and Cameras\n",
+ "\n",
+ "> **Before continuing on Linux:** make sure the user running Jupyter has permission to access USB cameras and the SO101 serial device. If the robot appears as `/dev/ttyACM0`, the user usually needs to be in the `dialout` group. Camera access may require membership in the `video` group."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "linux-permission-check",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# Optional Linux permission check for cameras and the SO101 serial device.\n",
+ "# If the current user is missing the required groups, run the printed commands\n",
+ "# in a terminal, then log out/in or restart the machine before continuing.\n",
+ "import getpass\n",
+ "import os\n",
+ "from pathlib import Path\n",
+ "\n",
+ "try:\n",
+ " import grp\n",
+ "except ImportError:\n",
+ " grp = None\n",
+ "\n",
+ "user = getpass.getuser()\n",
+ "print(\"Current user:\", user)\n",
+ "\n",
+ "if grp is None:\n",
+ " print(\"Group membership checks are only available on Unix-like systems.\")\n",
+ "else:\n",
+ " groups = {g.gr_name for g in grp.getgrall() if user in g.gr_mem}\n",
+ " try:\n",
+ " groups.add(grp.getgrgid(os.getgid()).gr_name)\n",
+ " except KeyError:\n",
+ " pass\n",
+ " print(\"Groups:\", \" \".join(sorted(groups)))\n",
+ "\n",
+ " for group in [\"video\", \"dialout\"]:\n",
+ " if group not in groups:\n",
+ " print(f\"[ACTION REQUIRED] Add {user!r} to the {group!r} group:\")\n",
+ " print(f\" sudo usermod -aG {group} {user}\")\n",
+ "\n",
+ "serial_port = Path(\"/dev/ttyACM0\")\n",
+ "if serial_port.exists():\n",
+ " print(\"/dev/ttyACM0 mode/owner:\", oct(serial_port.stat().st_mode), serial_port.stat().st_uid, serial_port.stat().st_gid)\n",
+ " if not os.access(serial_port, os.R_OK | os.W_OK):\n",
+ " print(\"[ACTION REQUIRED] Current process cannot read/write /dev/ttyACM0.\")\n",
+ " print(\"After adding the user to dialout, restart the login session/Jupyter server.\")\n",
+ "else:\n",
+ " print(\"/dev/ttyACM0 was not found. Update SO101_PORT later if your robot uses a different serial device.\")\n"
]
},
{
@@ -146,7 +211,9 @@
"id": "7c427976-07a9-49ac-86da-8b68a2a6dbdd",
"metadata": {},
"source": [
- "Discover cameras."
+ "\n",
+ "Discover cameras.\n",
+ "
\n"
]
},
{
@@ -173,10 +240,22 @@
"id": "85241b2b-6119-4bba-8986-aa2fa0f57123",
"metadata": {},
"source": [
- "To set up cameras
\n",
- "* Use the output of previous cell in the next cell
\n",
- "* Use the same names of camera as set in the dataset
\n",
- "![\"Description\"](\"media/detect-cameras.png\")
\n"
+ "\n",
+ "ACTION REQUIRED: Configure your cameras before running the next code cell.\n",
+ "
\n",
+ "\n",
+ "\n",
+ "Use the device IDs printed by the previous cell. Keep the camera names exactly the same as the names used during dataset collection and model export.\n",
+ "
\n",
+ "\n",
+ "For the released Pi0.5 pick-and-place model used in this tutorial, the model expects **two** cameras. Do not add a third camera such as `table-cam` unless your exported model was trained with that camera.\n",
+ "\n",
+ "Expected names for the example model:\n",
+ "\n",
+ "- `top-cam`\n",
+ "- `gripper-cam`\n",
+ "\n",
+ "\n"
]
},
{
@@ -186,13 +265,20 @@
"metadata": {},
"outputs": [],
"source": [
- "# Cameras — use the same names and setup as used for the dataset collection\n",
+ "# Cameras - use the same names and setup as used for dataset collection and model export.\n",
"# ============================================================\n",
- "# 🔴 USER PARAMETERS — Edit these before running 🔧\n",
+ "# ACTION REQUIRED - Edit these before running.\n",
"# ============================================================\n",
+ "# Use the LEFT column from the camera discovery output as device_id.\n",
+ "# For UVC cameras, prefer stable /dev/v4l/by-id/... paths instead of numeric IDs.\n",
+ "#\n",
+ "# The example Pi0.5 model expects exactly two cameras:\n",
+ "# - \"top-cam\"\n",
+ "# - \"gripper-cam\"\n",
+ "# Remove or rename cameras only if your exported model was trained with different names.\n",
"CAMERAS = [\n",
- " (, \"uvc\", ),\n",
- " (, \"uvc\", ),\n",
+ " (\"top-cam\", \"uvc\", \"/dev/v4l/by-id/\"),\n",
+ " (\"gripper-cam\", \"uvc\", \"/dev/v4l/by-id/\"),\n",
"]\n",
"\n",
"CAMERA_WIDTH = 640\n",
@@ -201,7 +287,7 @@
"\n",
"# Runtime\n",
"FPS = 30\n",
- "DURATION_S = 60.0"
+ "DURATION_S = 60.0\n"
]
},
{
@@ -210,33 +296,59 @@
"id": "19ae4018-7f3d-4c98-917c-843c58074b8a",
"metadata": {},
"source": [
- "Define robot and get the robot ID from Physical AI Studio
\n",
- "![\"Description\"](\"media/robot-ID.png\")
\n",
- "\n"
+ "Define robot and get the robot ID from Physical AI Studio.\n",
+ "\n",
+ "\n",
+ "\n",
+ "\n",
+ "ACTION REQUIRED: Configure the SO101 serial port and calibration file before connecting the robot.\n",
+ "
\n",
+ "\n",
+ "The calibration file path depends on how you collected data:\n",
+ "\n",
+ "- Physical AI Studio: `~/.cache/physicalai/robots//calibrations/.json`\n",
+ "- LeRobot: `~/.cache/calibration/so101_follower.json`\n",
+ "\n",
+ "Make sure the Jupyter user can read the calibration JSON. If you see `PermissionError`, fix file ownership/permissions or copy the calibration file to a readable path.\n"
]
},
{
"cell_type": "code",
"execution_count": null,
- "id": "35aa390b-c7e4-4bc2-ab08-13aecff652d5",
+ "id": "so101-port-config",
"metadata": {},
"outputs": [],
"source": [
"# ============================================================\n",
- "# 🔴 USER PARAMETERS — Edit these before running 🔧\n",
+ "# ACTION REQUIRED - Edit these before running.\n",
"# ============================================================\n",
- "# Robot\n",
- "SO101_PORT = \"/dev/ttyACM0\"\n",
- "\n",
+ "# Robot serial port. Common Linux values are /dev/ttyACM0 or /dev/ttyUSB0.\n",
+ "SO101_PORT = \"/dev/ttyACM0\"\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "so101-calibration-config",
+ "metadata": {},
+ "outputs": [],
+ "source": [
"# ============================================================\n",
- "# 🔴 USER PARAMETERS — Edit these before running 🔧\n",
+ "# ACTION REQUIRED - Edit this calibration path before running the connect cell.\n",
"# ============================================================\n",
- "# Calibration file location depends on how you collected data:\n",
- "# Physical AI Studio: ~/.cache/physicalai/robots//calibrations/.json\n",
- "# LeRobot: ~/.cache/calibration/so101_follower.json\n",
+ "# Physical AI Studio example:\n",
+ "# SO101_CALIBRATION = \"~/.cache/physicalai/robots//calibrations/.json\"\n",
+ "#\n",
+ "# LeRobot example:\n",
+ "# SO101_CALIBRATION = \"~/.cache/calibration/so101_follower.json\"\n",
+ "SO101_CALIBRATION = \"~/.cache/physicalai/robots//calibrations/.json\"\n",
"\n",
- "#SO101_CALIBRATION = \"~/.cache/physicalai/robots//calibrations/.json\"\n",
- "SO101_CALIBRATION = \"/home/intel/.cache/physicalai/robots/7549dd0c-a292-41c4-a8c0-712aae14c55f/calibrations/b28a2ed2-66db-4f61-848e-b65c88827d48.json\""
+ "SO101_CALIBRATION = str(Path(SO101_CALIBRATION).expanduser())\n",
+ "if \"<\" in SO101_CALIBRATION or \">\" in SO101_CALIBRATION:\n",
+ " raise ValueError(\"Update SO101_CALIBRATION to your actual calibration JSON path before continuing.\")\n",
+ "if not Path(SO101_CALIBRATION).is_file():\n",
+ " raise FileNotFoundError(f\"Calibration file not found: {SO101_CALIBRATION}\")\n",
+ "print(\"Using SO101 calibration:\", SO101_CALIBRATION)\n"
]
},
{
@@ -244,8 +356,18 @@
"id": "6c86a75f-9cd6-46ba-99fb-880521a689c8",
"metadata": {},
"source": [
- "Connect cameras and robot together. This is an important step as it sets up an environment for robot and camera together.\n",
- "* Make sure Physical AI Studio application is closed and no other application is using the cameras or robot"
+ "Connect cameras and robot together. This sets up the synchronized robot/camera runtime environment.\n",
+ "\n",
+ "\n",
+ "ACTION REQUIRED: Confirm cameras, robot connection, and permissions before running the next code cell.\n",
+ "
\n",
+ "\n",
+ "Before running this cell:\n",
+ "\n",
+ "- Make sure Physical AI Studio and other camera applications are closed.\n",
+ "- Confirm the current user can access the SO101 serial port, for example `/dev/ttyACM0`.\n",
+ "- Confirm `CAMERAS` contains exactly the camera names expected by your exported model. The example model expects `top-cam` and `gripper-cam` only.\n",
+ "- If a previous connection attempt failed, disconnect cameras or restart the kernel before trying again.\n"
]
},
{
@@ -260,17 +382,25 @@
"\n",
"# Cameras\n",
"cameras = {}\n",
- "for name, driver, device_id in CAMERAS:\n",
- " kwargs = {\"serial_number\": device_id} if driver == \"realsense\" else {\"device\": device_id}\n",
- " cam = SharedCamera(driver, **kwargs, width=CAMERA_WIDTH, height=CAMERA_HEIGHT, fps=CAMERA_FPS)\n",
- " cam.connect()\n",
- " cameras[name] = cam\n",
- " print(f\"Camera '{name}' connected: {cam.actual_width}x{cam.actual_height} @ {cam.actual_fps}fps\")\n",
- "\n",
- "# Robot\n",
- "robot = SO101(port=SO101_PORT, calibration=SO101_CALIBRATION, role=\"follower\")\n",
- "robot.connect()\n",
- "print(f\"Robot connected on {SO101_PORT}\")"
+ "try:\n",
+ " for name, driver, device_id in CAMERAS:\n",
+ " kwargs = {\"serial_number\": device_id} if driver == \"realsense\" else {\"device\": device_id}\n",
+ " cam = SharedCamera(driver, **kwargs, width=CAMERA_WIDTH, height=CAMERA_HEIGHT, fps=CAMERA_FPS)\n",
+ " cam.connect()\n",
+ " cameras[name] = cam\n",
+ " print(f\"Camera '{name}' connected: {cam.actual_width}x{cam.actual_height} @ {cam.actual_fps}fps\")\n",
+ "\n",
+ " # Robot\n",
+ " robot = SO101(port=SO101_PORT, calibration=SO101_CALIBRATION, role=\"follower\")\n",
+ " robot.connect()\n",
+ " print(f\"Robot connected on {SO101_PORT}\")\n",
+ "except Exception:\n",
+ " for cam in cameras.values():\n",
+ " try:\n",
+ " cam.disconnect()\n",
+ " except Exception:\n",
+ " pass\n",
+ " raise\n"
]
},
{
@@ -278,7 +408,14 @@
"id": "66334671-4691-44d7-a37b-59bc92693798",
"metadata": {},
"source": [
- "## 4) Load the model"
+ "## 4) Load the model\n",
+ "\n",
+ "This notebook supports two model sources:\n",
+ "\n",
+ "1. **Your own exported model** from Physical AI Studio or LeRobot. Set `MODEL_SOURCE = \"local\"` and point `EXPORT_DIR` to the exported OpenVINO policy package. Use this path for real SO101 robot deployment.\n",
+ "2. **The official OpenVINO example model** from Hugging Face. Set `MODEL_SOURCE = \"hub\"`; the notebook downloads a released OpenVINO policy package from the official [OpenVINO Physical AI collection](https://huggingface.co/collections/OpenVINO/physical-ai). This is useful for validating model package download and loading before using your own exported model.\n",
+ "\n",
+ "The exported model must match your runtime setup, especially the robot action space and the number and names of cameras."
]
},
{
@@ -289,10 +426,24 @@
"outputs": [],
"source": [
"# ============================================================\n",
- "# 🔴 USER PARAMETERS — Edit these before running 🔧\n",
+ "# ACTION REQUIRED - Choose model source and deployment device.\n",
"# ============================================================\n",
+ "# \"local\": use your own exported model from Physical AI Studio or LeRobot.\n",
+ "# \"hub\": download an official OpenVINO example Pi0.5 policy package.\n",
+ "MODEL_SOURCE = \"local\" # \"local\" or \"hub\"\n",
+ "\n",
+ "# Used when MODEL_SOURCE == \"local\".\n",
"EXPORT_DIR = \"exports/pi05-pick-place-purple-cube\"\n",
- "DEVICE = \"GPU\" # OpenVINO can run on \"GPU\", \"CPU\", \"NPU\"\n",
+ "\n",
+ "# Used when MODEL_SOURCE == \"hub\".\n",
+ "# This official example is from https://huggingface.co/collections/OpenVINO/physical-ai.\n",
+ "# It is a LIBERO benchmark model, so do not deploy it on a real SO101 robot unless\n",
+ "# you have verified that the robot, cameras, and action schema match your setup.\n",
+ "MODEL_REPO_ID = \"OpenVINO/pi05-libero-fp16-ov\"\n",
+ "HUB_MODEL_IS_ROBOT_COMPATIBLE = False\n",
+ "ASSETS_DIR = Path(\"physicalai_assets\").resolve()\n",
+ "\n",
+ "DEVICE = \"GPU\" # OpenVINO can run on \"GPU\", \"CPU\", \"NPU\".\n",
"TASK = \"pick up the box\""
]
},
@@ -301,10 +452,11 @@
"id": "d4ed8ff1-4c78-4060-b9d2-6e8fb9e9c891",
"metadata": {},
"source": [
- "
Make sure to copy all the model files from the studio to the $EXPORT_DIR\n",
- "
Then, load the model to the target device\n",
- "
\n",
- "![\"Description\"](\"media/download-model.png\")
"
+ "If `MODEL_SOURCE = \"local\"`, make sure `EXPORT_DIR` contains the full exported policy package, including `manifest.json`, model IR files, tokenizer files, and metadata.\n",
+ "\n",
+ "If `MODEL_SOURCE = \"hub\"`, the next cell downloads the official example model package from the OpenVINO Hugging Face collection. Use this path to validate model loading; for real robot deployment, use a model exported from a dataset collected with the same robot, camera names, and action schema.\n",
+ "\n",
+ ""
]
},
{
@@ -314,11 +466,39 @@
"metadata": {},
"outputs": [],
"source": [
- "import openvino_tokenizers \n",
+ "import openvino_tokenizers # noqa: F401 - registers OpenVINO tokenizer custom ops\n",
+ "from huggingface_hub import snapshot_download\n",
"from physicalai.inference import InferenceModel\n",
"\n",
- "policy = InferenceModel.load(EXPORT_DIR, device=DEVICE)\n",
- "print(f\"Model loaded on {DEVICE}\")"
+ "if MODEL_SOURCE == \"hub\":\n",
+ " EXPORT_DIR = Path(\n",
+ " snapshot_download(\n",
+ " repo_id=MODEL_REPO_ID,\n",
+ " local_dir=ASSETS_DIR / \"models\" / MODEL_REPO_ID.replace(\"/\", \"__\"),\n",
+ " allow_patterns=[\n",
+ " \"manifest.json\",\n",
+ " \"pi05.xml\",\n",
+ " \"pi05.bin\",\n",
+ " \"tokenizer.xml\",\n",
+ " \"tokenizer.bin\",\n",
+ " \"metadata.yaml\",\n",
+ " \"README.md\",\n",
+ " ],\n",
+ " local_dir_use_symlinks=False,\n",
+ " )\n",
+ " ).resolve()\n",
+ "elif MODEL_SOURCE == \"local\":\n",
+ " EXPORT_DIR = Path(EXPORT_DIR).expanduser().resolve()\n",
+ "else:\n",
+ " raise ValueError(\"MODEL_SOURCE must be 'local' or 'hub'.\")\n",
+ "\n",
+ "required_model_files = [\"manifest.json\", \"pi05.xml\", \"pi05.bin\", \"tokenizer.xml\", \"tokenizer.bin\"]\n",
+ "missing = [name for name in required_model_files if not (EXPORT_DIR / name).exists()]\n",
+ "if missing:\n",
+ " raise FileNotFoundError(f\"Missing required model package files in {EXPORT_DIR}: {missing}\")\n",
+ "\n",
+ "policy = InferenceModel.load(EXPORT_DIR, backend=\"openvino\", device=DEVICE)\n",
+ "print(f\"Model loaded from {EXPORT_DIR} on {DEVICE}\")"
]
},
{
@@ -344,23 +524,39 @@
"metadata": {},
"outputs": [],
"source": [
- "from physicalai.runtime import ActionQueue, PolicyRuntime, SyncExecution\n",
+ "if MODEL_SOURCE == \"hub\" and not HUB_MODEL_IS_ROBOT_COMPATIBLE:\n",
+ " raise RuntimeError(\n",
+ " \"The official Hugging Face example model is intended for model-loading validation. \"\n",
+ " \"Before running it on a real SO101 robot, verify that its robot action space, \"\n",
+ " \"camera count, camera names, and preprocessing metadata match your setup, then set \"\n",
+ " \"HUB_MODEL_IS_ROBOT_COMPATIBLE = True.\"\n",
+ " )\n",
+ "\n",
+ "from physicalai.runtime import PolicyRuntime, SyncExecution\n",
"\n",
"runtime = PolicyRuntime(\n",
" robot=robot,\n",
" model=policy,\n",
- " execution=SyncExecution(fps=FPS, request_threshold=0.5),\n",
+ " execution=SyncExecution(request_threshold=0.5),\n",
" fps=FPS,\n",
" cameras=cameras,\n",
- " action_queue=ActionQueue(),\n",
" task=TASK,\n",
")\n",
"\n",
+ "# Optional sanity check: the example Pi0.5 model expects two camera inputs.\n",
+ "sample_obs = runtime._build_model_input()\n",
+ "print(\"Runtime model inputs:\")\n",
+ "for key, value in sample_obs.items():\n",
+ " print(\" \", key, getattr(value, \"shape\", None))\n",
+ "image_keys = [key for key in sample_obs if key.startswith(\"images.\")]\n",
+ "if len(image_keys) != len(CAMERAS):\n",
+ " raise RuntimeError(f\"Camera input mismatch: CAMERAS has {len(CAMERAS)} entries but runtime built {len(image_keys)} image inputs.\")\n",
+ "\n",
"with runtime:\n",
- " print(f\"Running policy at {FPS} fps for {DURATION_S}s — task: {TASK!r}\")\n",
+ " print(f\"Running policy at {FPS} fps for {DURATION_S}s - task: {TASK!r}\")\n",
" stats = runtime.run(duration_s=DURATION_S)\n",
"\n",
- "print(f\"\\nDone — {stats.steps} steps, {stats.inference_count} inferences, {stats.total_holds} holds\")"
+ "print(f\"\\nDone - {stats.steps} steps, {stats.inference_count} inferences, {stats.total_holds} holds\")\n"
]
},
{
@@ -379,11 +575,19 @@
"outputs": [],
"source": [
"for name, cam in cameras.items():\n",
- " cam.disconnect()\n",
- " print(f\"Camera '{name}' disconnected\")\n",
+ " try:\n",
+ " cam.disconnect()\n",
+ " print(f\"Camera '{name}' disconnected\")\n",
+ " except Exception as exc:\n",
+ " print(f\"Camera '{name}' disconnect warning: {exc}\")\n",
"\n",
- "robot.disconnect()\n",
- "print(\"Robot disconnected\")"
+ "try:\n",
+ " robot.disconnect()\n",
+ " print(\"Robot disconnected\")\n",
+ "except NameError:\n",
+ " print(\"Robot was not created\")\n",
+ "except Exception as exc:\n",
+ " print(f\"Robot disconnect warning: {exc}\")\n"
]
}
],