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e479c46 | 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 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from __future__ import annotations
import ast
import logging
import os
import pathlib
import subprocess
from gr00t.data.state_action.droid_frame import DROID_EEF_ROTATION_CORRECT
import numpy as np
import pytest
from test_support.readme import extract_code_blocks, find_block, replace_once, run_bash_blocks
from test_support.runtime import (
assert_port_available,
get_root,
start_server_process,
timed,
wait_for_server_ready,
)
logger = logging.getLogger(__name__)
REPO_ROOT = get_root()
TRAINING_STEPS = 2
README = REPO_ROOT / "examples/DROID/README.md"
MODEL_CHECKPOINT = pathlib.Path(f"/tmp/droid_finetune/checkpoint-{TRAINING_STEPS}")
DEFAULT_SERVER_STARTUP_SECONDS = 900.0
def _vendored_array_literal(source: str, name: str) -> np.ndarray:
"""Extract a ``name = np.array(<literal>, ...)`` assignment from source text.
Parses the AST instead of importing the module: ``main_gr00t.py`` requires
the droid robot stack (cv2, the droid repo, ...) that is not installed in CI.
"""
for node in ast.walk(ast.parse(source)):
if isinstance(node, ast.Assign) and any(
isinstance(t, ast.Name) and t.id == name for t in node.targets
):
call = node.value
if isinstance(call, ast.Call) and call.args:
return np.asarray(ast.literal_eval(call.args[0]), dtype=np.float64)
raise AssertionError(f"{name} np.array assignment not found in source")
def test_droid_eef_rotation_correct_mirror_in_sync() -> None:
"""The slim DROID example vendors DROID_EEF_ROTATION_CORRECT because it runs
without the gr00t package; enforce that the mirror matches the canonical."""
example_src = (REPO_ROOT / "examples/DROID/main_gr00t.py").read_text()
vendored = _vendored_array_literal(example_src, "DROID_EEF_ROTATION_CORRECT")
np.testing.assert_array_equal(vendored, DROID_EEF_ROTATION_CORRECT)
@pytest.mark.gpu
@pytest.mark.timeout(1800)
@pytest.mark.parametrize(
"occurrence",
[1, 2],
ids=["base", "finetuned"],
)
def test_droid_readme_server_starts(occurrence: int) -> None:
"""Verify the DROID inference server starts and accepts connections."""
env = {**os.environ}
blocks = extract_code_blocks(README)
model_server_host = "127.0.0.1"
model_server_port = 5557
server_code = find_block(
blocks, "run_gr00t_server.py", language="bash", occurrence=occurrence
).code
server_code += f" --device cuda:0 --host {model_server_host} --port {model_server_port}"
assert_port_available(model_server_host, model_server_port)
model_server_proc, server_log = start_server_process(server_code, cwd=REPO_ROOT, env=env)
try:
wait_for_server_ready(
proc=model_server_proc,
host=model_server_host,
port=model_server_port,
timeout_s=float(
os.getenv("DROID_SERVER_STARTUP_SECONDS", str(DEFAULT_SERVER_STARTUP_SECONDS))
),
server_log=server_log,
)
finally:
if model_server_proc.poll() is None:
model_server_proc.terminate()
try:
model_server_proc.wait(timeout=15)
except subprocess.TimeoutExpired:
model_server_proc.kill()
model_server_proc.wait(timeout=15)
@pytest.mark.gpu
@pytest.mark.timeout(1800)
def test_droid_finetune_and_finetuned_server() -> None:
"""Run a short DROID finetune, then verify server starts with the finetuned checkpoint."""
env = {**os.environ}
blocks = extract_code_blocks(README)
finetune_code = replace_once(
replace_once(
replace_once(
replace_once(
find_block(blocks, "--output-dir /tmp/droid_finetune", language="bash").code,
"NUM_GPUS=8",
"NUM_GPUS=1",
),
"MAX_STEPS=20000",
f"MAX_STEPS={TRAINING_STEPS}",
),
"SAVE_STEPS=1000",
f"SAVE_STEPS={TRAINING_STEPS}",
),
"GLOBAL_BATCH_SIZE=640",
"GLOBAL_BATCH_SIZE=2",
)
finetune_code = finetune_code.rstrip() + " -- --skip_weight_loading"
run_bash_blocks(
[finetune_code],
cwd=REPO_ROOT,
env={
**env,
"USE_WANDB": "0",
"DATALOADER_NUM_WORKERS": "0",
"SHARD_SIZE": "64",
"NUM_SHARDS_PER_EPOCH": "1",
},
)
assert MODEL_CHECKPOINT.exists(), (
f"Expected model checkpoint after finetune: {MODEL_CHECKPOINT}"
)
model_server_host = "127.0.0.1"
model_server_port = 5558
server_code = replace_once(
find_block(blocks, "nvidia/GR00T-N1.7-DROID", language="bash").code,
"nvidia/GR00T-N1.7-DROID",
str(MODEL_CHECKPOINT),
)
server_code += f" --device cuda:0 --host {model_server_host} --port {model_server_port}"
assert_port_available(model_server_host, model_server_port)
model_server_proc, server_log = start_server_process(server_code, cwd=REPO_ROOT, env=env)
try:
with timed("finetuned server startup"):
wait_for_server_ready(
proc=model_server_proc,
host=model_server_host,
port=model_server_port,
timeout_s=float(
os.getenv("DROID_SERVER_STARTUP_SECONDS", str(DEFAULT_SERVER_STARTUP_SECONDS))
),
server_log=server_log,
)
finally:
if model_server_proc.poll() is None:
model_server_proc.terminate()
try:
model_server_proc.wait(timeout=15)
except subprocess.TimeoutExpired:
model_server_proc.kill()
model_server_proc.wait(timeout=15)
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