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Add Run pi0.5 Policy objective wiring ExecutePolicyPi05Torch #786

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Add Run pi0.5 Policy objective wiring ExecutePolicyPi05Torch #786

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50 changes: 50 additions & 0 deletions src/lab_sim/objectives/run_pi05_policy.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Run pi0.5 Policy">
<!--//////////-->
<BehaviorTree
ID="Run pi0.5 Policy"
_description="Runs the in-process libtorch pi0.5 vision-language-action policy on the lab_sim arm. Wiring demo: runnable end-to-end once a matching-dims checkpoint (real lab_sim joint count, not the base checkpoint's 32-dim placeholder) is exported -- see moveit_pro PR that adds ExecutePolicyPi05Torch."
_favorite="false"
>
<Control ID="Sequence">
<!-- Move to a known start pose so the policy's first observation is reproducible. -->
<SubTree
ID="Move to Waypoint"
_collapsed="true"
waypoint_name="Look at Table"
/>
<Action
ID="ExecutePolicyPi05Torch"
prefix_pt_path="/models/pi05/pi05_prefix.pt"
expert_pt_path="/models/pi05/pi05_expert.pt"
tokenizer_path=""
stats_path="/models/pi05/pi05_stats.json"
prompt="pick up the block"
joint_group_name="manipulator"
total_action_steps="200"
committed_action_steps="32"
dt="0.05"
num_interpolation_points="100"
goal_path_tolerance="0.05"
policy_tracking_weight="300.0"
policy_uses_real_time_chunking="false"
guidance_horizon="0"
controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
absolute_force_torque_threshold="45;45;45;10;10;10"
policy_call_timeout="30.0"
image_names="observation.images.base_0_rgb;observation.images.left_wrist_0_rgb;observation.images.right_wrist_0_rgb"
image_topics="/scene_camera/color;/wrist_camera/color;/wrist_camera/color"
joint_states_topic="/joint_states"
policy_service_name="unused"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Run pi0.5 Policy">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="Application - ML (GPU Recommended)" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>
1 change: 1 addition & 0 deletions src/lab_sim/test/objectives_integration_test.py
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Expand Up @@ -295,6 +295,7 @@ def _controller_safe_mujoco_reset(
# rate even with the 0.003 s scene timestep and CPU pinning. See PR #615.
"Push Button With a Trajectory",
"Record Square Trajectory",
"Run pi0.5 Policy", # Wiring demo only: needs an external ~15 GB libtorch checkpoint export not present in CI.
"Scan Scene - Multiple Point Clouds",
"Stack Objects with ICP", # Skipped because there is no primary ui to switch to in ci
"Stitch Multiple Point Clouds Together",
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