def run():
dummy_env = get_env(env_name)
model = ActorCritic(dummy_env.observation_space.shape[0] * num_stack,
dummy_env.action_space)
del dummy_env
optimizer = optimizer = optim.RMSprop(
model.parameters(), lr, eps=eps, alpha=alpha)
train(model, optimizer, lambda: get_env(env_name), num_envs, num_stack,
num_steps, num_updates, gamma, value_loss_coef, entropy_coef,
max_grad_norm)
def test_get_env():
ret = env.get_env(TEST_BASH_FILE)
assert ret['FIRST'] == '1'
assert ret['FILE'] == 'the file'
assert os.environ['FIRST'] == '1'
assert os.environ['FILE'] == 'the file'
ret2 = env.get_env(profile_dir=dirname(TEST_BASH_FILE), prefix='ctools')
print(ret2)
assert ret2['CTOOLS'] == 'YES'
def __init__(self, X, Y, Z, pos=None, rpy=None, color='r', name=None,
pose=None, visible=True, transparency=None):
"""
Create a new rectangular box.
X -- box half-length
Y -- box half-width
Z -- box half-height
pos -- initial position in inertial frame
rpy -- initial orientation in inertial frame
color -- color letter in ['r', 'g', 'b']
name -- object's name (optional)
pose -- initial pose (supersedes pos and rpy)
visible -- initial box visibility
transparency -- transparency value, 0. is opaque and 1. is transparent
"""
if not name:
name = "Box-%s" % str(uuid.uuid1())[0:3]
self.X = X
self.Y = Y
self.Z = Z
aabb = [0, 0, 0, X, Y, Z]
env = get_env()
with env:
box = openravepy.RaveCreateKinBody(env, '')
box.InitFromBoxes(array([array(aabb)]), True)
super(Box, self).__init__(
box, pos=pos, rpy=rpy, color=color, name=name, pose=pose,
visible=visible, transparency=transparency)
env.Add(box, True)
def _setup(self):
self.env_id = "CartPole-v0"
self.env, self.val_env = get_env(self.env_id)
self.config = {
"num_trials": 5,
"num_frames": 30000,
"num_val_trials": 10,
"batch_size": 32,
"gamma": 0.99,
"method": 'our',
"var": 1.,
"mean": 0.,
"decision_eps": 1.,
"theta": 1.,
"cnn": False,
"invert_actions": False,
"return_latent": 'second_hidden',
"num_val_trials": 10,
"batch_size": 32,
"gamma": 0.99,
"num_trials": 5,
"USE_CUDA": True,
"device": "",
"eps": 1.,
"num_workers": 0,
"num_gpus": 0,
# These params are tuned from a fixed starting value.
"lr": 1e-4
# These params start off randomly drawn from a set.
}
def draw_3d_cone(apex, axis, section, combined='r-#', color=None, linewidth=2.,
pointsize=0.05):
"""
Draw a 3D cone defined from its apex, axis vector and a cross-section
polygon (defined in the plane orthogonal to the axis vector).
INPUT:
- ``apex`` -- position of the origin of the cone in world coordinates
- ``axis`` -- unit vector directing the cone axis and lying inside the cone
- ``combined`` -- (default: 'g-#') drawing spec in matplotlib fashion: color
letter followed by faces to draw (see ``color`` and ``faces``)
- ``linewidth`` -- thickness of the edges of the cone
- ``pointsize`` -- point size in meters
OUTPUT:
A list of OpenRAVE handles. Must be stored in some variable, otherwise the
drawn object will vanish instantly.
"""
if len(section) < 1:
warn("Trying to draw an empty cone")
return []
color = color if color is not None else _matplotlib_to_rgba(combined[0])
env = get_env()
handles = draw_polygon(
points=section, normal=axis, combined=combined, color=color)
edges = vstack([[apex, vertex] for vertex in section])
edges = array(edges)
edge_color = array(color) * 0.7
edge_color[3] = 1.
handles.append(env.drawlinelist(
edges, linewidth=linewidth, colors=edge_color))
return handles
def check_env_vars(env_vars):
"""Checks if the env variables are set as required to run the test.
Returns:
True if all the env variables are set as required, otherwise False.
"""
if not env_vars:
return True
for key in env_vars:
if env.get_env(key) != env_vars.get(key):
return False
return True
def draw_force_lines(self, length=0.25):
env = get_env()
self.gui_handles = []
for c in self.vertices:
color = [0.1, 0.1, 0.1]
color[numpy.random.randint(3)] += 0.2
for f in self.force_span:
self.gui_handles.append(env.drawlinelist(
array([c, c + length * f]),
linewidth=1, colors=color))
self.gui_handles.append(env.drawlinelist(
array([c, c + length * self.n]),
linewidth=5, colors=color))
def check_env_vars(env_vars):
"""Checks if the env variables are set as required to run the test.
Returns:
True if all the env variables are set as required, otherwise False.
"""
if not env_vars:
return True
for key in env_vars:
if env.get_env(key) != env_vars.get(key):
return False
return True
def get(self, url_nonce):
util.EnableCors(self)
user = model.User.all().filter("url_nonce =", url_nonce).get()
if user is None:
self.error(404)
self.response.write("user not found")
return
# maybe we should do sum instead?
biggest_pledge = None
biggest_amount = 0
for pledge in itertools.chain(
model.Pledge.all().filter("email =", user.email), model.WpPledge.all().filter("email =", user.email)
):
if (pledge.amountCents or 0) >= biggest_amount:
biggest_pledge = pledge
biggest_amount = pledge.amountCents or 0
if biggest_pledge is None:
self.error(404)
self.response.write("user not found")
return
stripe.api_key = env.get_env().stripe_backend.stripe_private_key
cus = stripe.Customer.retrieve(biggest_pledge.stripeCustomer)
if len(cus.cards.data) == 0:
self.error(404)
self.response.write("user not found")
return
if user.first_name or user.last_name:
# TODO(jt): we should backfill this information
user_name = "%s %s" % (user.first_name or "", user.last_name or "")
else:
user_name = cus.cards.data[0].name
zip_code = cus.cards.data[0].address_zip
self.response.headers["Content-Type"] = "application/javascript"
self.response.write(
json.dumps(
{
"user": {
"name": user_name,
"email": user.email,
"pledge_amount_cents": biggest_amount,
"zip_code": zip_code,
}
}
)
)
def get(self, url_nonce):
util.EnableCors(self)
user = model.User.all().filter('url_nonce =', url_nonce).get()
if user is None:
self.error(404)
self.response.write('user not found')
return
# maybe we should do sum instead?
biggest_pledge = None
biggest_amount = 0
for pledge in itertools.chain(
model.Pledge.all().filter('email =', user.email),
model.WpPledge.all().filter('email =', user.email)):
if (pledge.amountCents or 0) >= biggest_amount:
biggest_pledge = pledge
biggest_amount = (pledge.amountCents or 0)
if biggest_pledge is None:
self.error(404)
self.response.write("user not found")
return
cc_user_name = None
cc_zip_code = None
stripe.api_key = env.get_env().stripe_backend.stripe_private_key
if biggest_pledge.stripeCustomer:
cus = stripe.Customer.retrieve(biggest_pledge.stripeCustomer)
if len(cus.sources.data) > 0:
cc_user_name = cus.sources.data[0].name
cc_zip_code = cus.sources.data[0].address_zip
if user.first_name or user.last_name:
# TODO(jt): we should backfill this information
user_name = "%s %s" % (user.first_name or "", user.last_name or "")
else:
user_name = cc_user_name
zip_code = cc_zip_code
self.response.headers['Content-Type'] = 'application/javascript'
self.response.write(
json.dumps({
"user": {
"name": user_name,
"email": user.email,
"pledge_amount_cents": biggest_amount,
"zip_code": zip_code
}
}))
def __init__(self, path=None, xml=None, qd_lim=None):
"""
Create a new robot model.
INPUT:
- ``path`` -- path to the COLLADA model of the robot
- ``xml`` -- (optional) string in OpenRAVE XML format
- ``qd_lim`` -- maximum angular joint velocity (in [rad] / [s])
"""
assert path is not None or xml is not None
name = basename(splitext(path)[0])
if xml is None:
xml = Robot.__default_xml % (path, name)
env = get_env()
env.LoadData(xml)
rave = env.GetRobot(name)
nb_dofs = rave.GetDOF()
set_default_background_color() # [dirty] reset by LoadData
q_min, q_max = rave.GetDOFLimits()
rave.SetDOFVelocities([0] * nb_dofs)
rave.SetDOFVelocityLimits([1000.] * nb_dofs)
if qd_lim is None:
qd_lim = 10. # [rad] / [s]; this is already quite fast
qd_max = +qd_lim * ones(nb_dofs)
qd_min = -qd_lim * ones(nb_dofs)
self.active_dofs = None
self.has_free_flyer = False
self.ik = None # created by self.init_ik()
self.ik_lock = None
self.ik_thread = None
self.is_visible = True
self.mass = sum([link.GetMass() for link in rave.GetLinks()])
self.nb_dofs = nb_dofs
self.q_max = q_max
self.q_max.flags.writeable = False
self.q_max_active = None
self.q_min = q_min
self.q_min.flags.writeable = False
self.q_min_active = None
self.qd_max = qd_max
self.qd_max_active = None
self.qd_min = qd_min
self.qd_min_active = None
self.qdd_max = None # set in child class
self.rave = rave
self.tau_max = None # set by hand in child robot class
self.transparency = 0. # initially opaque
def draw_arrow(p1, p2, color='r', linewidth=0.02):
"""
Draw an arrow between two points.
INPUT:
- ``p1`` -- 3D coordinates of the origin of the arrow
- ``p2`` -- 3D coordinates of the end of the arrow
- ``color`` -- (default: 'r') matplotlib color letter or RGB triplet
- ``linewidth`` -- thickness of force vector
OUTPUT:
And OpenRAVE handle. Must be stored in some variable, otherwise the drawn
object will vanish instantly.
"""
if type(color) is str:
color = _matplotlib_to_rgb(color)
return get_env().drawarrow(p1, p2, linewidth=linewidth, color=color)
def draw_line(p1, p2, color='g', linewidth=1.):
"""
Draw a line between points p1 and p2.
INPUT:
- ``p1`` -- one end of the line
- ``p2`` -- other end of the line
- ``color`` -- (default: 'g') matplotlib color letter or RGB triplet
- ``linewidth`` -- thickness of drawn line
OUTPUT:
And OpenRAVE handle. Must be stored in some variable, otherwise the drawn
object will vanish instantly.
"""
if type(color) is str:
color = _matplotlib_to_rgb(color)
return get_env().drawlinelist(
array([p1, p2]), linewidth=linewidth, colors=color)
def init_components(args, unknown_args) -> Tuple[Env, Agent]:
# Initialize environment
env = get_env(args.env, **unknown_args)
# Get model class
if args.model is not None:
model_cls = model_registry.get(args.model)
else:
env_type = _get_gym_env_type(args.env)
if env_type == 'atari':
model_cls = model_registry.get('qcnn')
elif env_type == 'classic_control':
model_cls = model_registry.get('qmlp')
else:
raise NotImplementedError(
f'No default model for environment: {args.env!r})')
# Initialize agent
agent_cls = agent_registry.get(args.alg)
agent = agent_cls(model_cls, env.get_observation_space(),
env.get_action_space(), args.agent_config,
**unknown_args)
return env, agent
def draw_force(p, f, scale=0.005, color='r', linewidth=0.015):
"""
Draw a force acting at a given point.
INPUT:
- ``p`` -- point where the force is acting
- ``f`` -- force vector
- ``color`` -- (default: 'r') matplotlib color letter or RGB triplet
- ``scale`` -- scaling factor between Euclidean and Force spaces
- ``linewidth`` -- thickness of force vector
OUTPUT:
And OpenRAVE handle. Must be stored in some variable, otherwise the drawn
object will vanish instantly.
"""
if type(color) is str:
color = _matplotlib_to_rgb(color)
f_scale = scale * f
if dot(f_scale, f_scale) < 1e-6:
return None
return get_env().drawarrow(
p, p + f_scale, linewidth=linewidth, color=color)
self.response.write('Command started.')
def _get_cmd(self):
if 'cmds' not in self.app.registry:
self.app.registry['cmds'] = {}
if cmd_cls.SHORT_NAME not in self.app.registry['cmds']:
self.app.registry['cmds'][cmd_cls.SHORT_NAME] = cmd_cls(
self.app.config)
return self.app.registry['cmds'][cmd_cls.SHORT_NAME]
return ('/admin/command/' + cmd_cls.SHORT_NAME, H)
COMMAND_HANDLERS = [MakeCommandHandler(c) for c in commands.COMMANDS]
app = webapp2.WSGIApplication([
('/admin/generate/pledge_amounts.csv', GeneratePledgeAmountsCsvHandler),
('/admin/generate/pledges.csv', GeneratePledgesCsvHandler),
('/admin/generate/pledges_full_data.csv',
GeneratePledgesFullDataCsvHandler),
('/admin/files(.+)/pledge_amounts.csv', CsvHandler),
('/admin/files(.+)/pledges.csv', CsvHandler),
('/admin/files(.+)/pledges_full_data.csv', CsvHandler),
('/admin/pledges_export', PledgesExportHandler),
('/admin/pledges_export/pledges.json', PledgesExportJSONHandler),
('/admin/stretch', StretchHandler),
('/admin/?', AdminDashboardHandler),
] + COMMAND_HANDLERS,
debug=False,
config=dict(env=env.get_env()))
logging.config.fileConfig('logging.ini')
from apscheduler.triggers.cron import CronTrigger
from apscheduler.schedulers.background import BackgroundScheduler, BlockingScheduler
from env import get_env
from server import AuthServer
from dump import dump_database
from slack import send_slack_message
logger = logging.getLogger('ddgscheduler')
if __name__ == "__main__":
environment = get_env()
if environment.get('TEST'):
import time
time.sleep(10)
dump_database(environment)
time.sleep(300)
else:
if environment.get('START_MANUAL_MANAGEMENT_SERVER'):
dumper_scheduler = BackgroundScheduler()
else:
dumper_scheduler = BlockingScheduler()
dumper_scheduler.add_job(lambda: dump_database(environment), CronTrigger.from_crontab(environment.get('CRON')))
dumper_scheduler.start()
to be executed.
"""
class H(webapp2.RequestHandler):
def get(self):
self.response.write("""
<h1>You are about to run command "{}". Are you sure?</h1>
<form action="" method="POST">
<button>Punch it</button>
</form>""".format(self._get_cmd().NAME))
def post(self):
deferred.defer(self._get_cmd().run)
self.response.write('Command started.')
def _get_cmd(self):
if 'cmds' not in self.app.registry:
self.app.registry['cmds'] = {}
if cmd_cls.SHORT_NAME not in self.app.registry['cmds']:
self.app.registry['cmds'][cmd_cls.SHORT_NAME] = cmd_cls(self.app.config)
return self.app.registry['cmds'][cmd_cls.SHORT_NAME]
return ('/admin/command/' + cmd_cls.SHORT_NAME, H)
COMMAND_HANDLERS = [MakeCommandHandler(c) for c in commands.COMMANDS]
app = webapp2.WSGIApplication([
('/admin/pledges.csv', PledgesCsvHandler),
('/admin/?', AdminDashboardHandler),
] + COMMAND_HANDLERS, debug=False, config=dict(env=env.get_env()))
def main():
main_arg_parser = argparse.ArgumentParser(description="The PrAE Learner")
subparsers = main_arg_parser.add_subparsers(title="subcommands",
dest="subcommand")
train_arg_parser = subparsers.add_parser("train",
help="parser for training")
train_arg_parser.add_argument("--epochs",
type=int,
default=200,
help="the number of training epochs")
train_arg_parser.add_argument("--batch-size",
type=int,
default=32,
help="size of batch")
train_arg_parser.add_argument("--seed",
type=int,
default=1234,
help="random number seed")
train_arg_parser.add_argument(
"--device",
type=int,
default=0,
help="device index for GPU; if GPU unavailable, leave it as default")
train_arg_parser.add_argument(
"--dataset",
type=str,
default="/home/chizhang/Datasets/RAVEN-10000/",
help="dataset path")
train_arg_parser.add_argument("--config",
type=str,
default="distribute_four",
help="the configuration used for training")
train_arg_parser.add_argument("--checkpoint-dir",
type=str,
default="./runs/ckpt/",
help="checkpoint save path")
train_arg_parser.add_argument("--save-dir",
type=str,
default="./runs/save/",
help="final model save path")
train_arg_parser.add_argument("--log-dir",
type=str,
default="./runs/log/",
help="log save path")
train_arg_parser.add_argument("--img-size",
type=int,
default=32,
help="image region size for training")
train_arg_parser.add_argument("--lr",
type=float,
default=0.95e-4,
help="learning rate")
train_arg_parser.add_argument(
"--weight-decay",
type=float,
default=0.0,
help="weight decay of optimizer, same as l2 reg")
train_arg_parser.add_argument(
"--error",
type=str,
default="JSD",
help="error used to measure difference between distributions")
train_arg_parser.add_argument("--num-workers",
type=int,
default=2,
help="number of workers for data loader")
train_arg_parser.add_argument("--resume",
type=str,
default=None,
help="resume from a initialized model")
train_arg_parser.add_argument("--aux",
type=float,
default=1.0,
help="weight of auxiliary training")
test_arg_parser = subparsers.add_parser("test", help="parser for testing")
test_arg_parser.add_argument("--batch-size",
type=int,
default=32,
help="size of batch")
test_arg_parser.add_argument(
"--device",
type=int,
default=0,
help="device index for GPU; if GPU unavailable, leave it as default")
test_arg_parser.add_argument("--dataset",
type=str,
default="/home/chizhang/Datasets/RAVEN-10000",
help="dataset path")
test_arg_parser.add_argument("--config",
type=str,
default="distribute_four",
help="the configuration used for testing")
test_arg_parser.add_argument("--model-path",
type=str,
required=True,
help="path to a trained model")
test_arg_parser.add_argument("--img-size",
type=int,
default=32,
help="image region size for training")
test_arg_parser.add_argument(
"--error",
type=str,
default="JSD",
help="error used to measure difference betweeen distributions")
test_arg_parser.add_argument("--shuffle",
type=int,
default=0,
help="whether to shuffle the dataset")
test_arg_parser.add_argument("--num-workers",
type=int,
default=2,
help="number of workers for data loader")
args = main_arg_parser.parse_args()
args.cuda = torch.cuda.is_available()
device = torch.device("cpu")
# device = torch.device("cuda:{}".format(args.device) if args.cuda else "cpu")
env = get_env(args.config, device)
if env is None:
print("ERROR: Unsupported environment")
sys.exit(1)
if args.subcommand is None:
print("ERROR: Specify train or test")
sys.exit(1)
if args.subcommand == "train":
check_paths(args)
train(args, env, device)
elif args.subcommand == "test":
test(args, env, device)
else:
print("ERROR: Unknown subcommand")
sys.exit(1)
if __name__ == "__main__":
import sys
from presets import preset
preset.load_default()
exp_settings = preset.experiment
env_settings = preset.env
env_settings.enable_rendering = True
for i in range(1, len(sys.argv) - 1):
preset.load_custom(sys.argv[i])
preset.load_env_override()
checkpoint = sys.argv[-1]
from env import get_env
test_env = get_env(exp_settings.env)(seed=0, evaluate=True)
from algorithm import algorithm_bundle_dict
algorithm_name = preset.experiment.algorithm
model_class = algorithm_bundle_dict[algorithm_name].model_class
from model import model_dict
load_model = model_dict[model_class].loader
model = load_model(checkpoint)
test_model(test_env, model, exp_settings.record_motion)
def draw_points(points, color='g', pointsize=0.05):
if type(color) is str:
color = _matplotlib_to_rgba(color, alpha=1.)
return get_env().plot3(
array(points), pointsize=pointsize, drawstyle=1,
colors=color)
import sys
from presets import preset
preset.load_default()
exp_settings = preset.experiment
env_settings = preset.env
env_settings.enable_rendering = True
for i in range(1, len(sys.argv) - 1):
preset.load_custom(sys.argv[i])
preset.load_env_override()
checkpoint = sys.argv[-1]
from env import get_env
test_env = get_env(exp_settings.env)(seed=0,
checkpoint=checkpoint,
evaluate=True)
from algorithm import algorithm_bundle_dict
algorithm_name = preset.experiment.algorithm
model_class = algorithm_bundle_dict[algorithm_name].model_class
from model import model_dict
load_model = model_dict[model_class].loader
model = load_model(checkpoint)
test_model(test_env, model, exp_settings.record_motion)
def remove(self):
"""Remove body from OpenRAVE environment."""
env = get_env()
with env:
env.Remove(self.rave)
def rl2d(config: dict, run_args: dict) -> VAEExperiment:
run_config = config['run_params']['config']
env = get_env(run_config['env_config']['name'])
run_config = {**run_config, 'framework': 'torch', 'env': env}
config['run_params']['config'] = run_config
tune.run(config['algorithm'], loggers=[TBXLogger], **config['run_params'])
json.dumps(
{
"user": {
"name": user_name,
"email": user.email,
"pledge_amount_cents": biggest_amount,
"zip_code": zip_code,
}
}
)
)
def options(self):
util.EnableCors(self)
app = webapp2.WSGIApplication(
[
("/total", GetTotalHandler),
(r"/user-update/(\w+)", UserUpdateHandler),
(r"/user-info/(\w+)", UserInfoHandler),
("/campaigns/may-one/?", EmbedHandler),
("/contact.do", ContactHandler),
# See wp_import
# ('/import.do', wp_import.ImportHandler),
]
+ handlers.HANDLERS,
debug=False,
config=dict(env=env.get_env()),
)
import time
import board
import neopixel
import math
import env
e = env.get_env()
COUNTDOWN_DELAY = e['COUNTDOWNDELAY']
# Choose an open pin connected to the Data In of the NeoPixel strip, i.e. board.D18
# NeoPixels must be connected to D10, D12, D18 or D21 to work.
pixel_pin = board.D18
# The number of NeoPixels
num_pixels = 20
# The order of the pixel colors - RGB or GRB. Some NeoPixels have red and green reversed!
# For RGBW NeoPixels, simply change the ORDER to RGBW or GRBW.
ORDER = neopixel.GRB
DEFAULT_BRIGHTNESS = 0.2
pixels = neopixel.NeoPixel(pixel_pin,
num_pixels,
brightness=DEFAULT_BRIGHTNESS,
auto_write=False,
pixel_order=ORDER)
rainbow_count = 0
def wheel(pos):
def draw_polyhedron(points, combined='g-#', color=None, faces=None,
linewidth=1., pointsize=0.01, hull=None):
"""
Draw a polyhedron defined as the convex hull of a set of points.
INPUT:
- ``points`` -- list of 3D points
- ``combined`` -- (default: 'g-#') drawing spec in matplotlib fashion: color
letter followed by faces to draw (see ``color`` and ``faces``)
- ``color`` -- color letter or RGBA tuple
- ``faces`` -- string of symbols indicating the faces of the polyhedron to
draw: use '.' for vertices, '-' for edges and '#' for facets
- ``hull`` -- used in the 2D case where the hull has zero volume
- ``linewidth`` -- line thickness in meters
- ``pointsize`` -- point size in meters
OUTPUT:
And OpenRAVE handle. Must be stored in some variable, otherwise the drawn
object will vanish instantly.
"""
is_2d = hull is not None
if color is None:
color = combined[0]
if faces is None:
faces = combined[1:]
if type(color) is str:
color = _matplotlib_to_rgba(color)
if hull is None:
try:
hull = ConvexHull(points)
except QhullError:
warn("QhullError: maybe polyhedron is empty?")
return []
vertices = array([points[i] for i in hull.vertices])
points = array(points)
color = array(color if color is not None else (0.0, 0.5, 0.0, 0.5))
handles = []
env = get_env()
if '-' in faces: # edges
edge_color = color * 0.7
edge_color[3] = 1.
edges = vstack([[points[i], points[j]]
for s in hull.simplices
for (i, j) in itertools.combinations(s, 2)])
edges = array(edges)
handles.append(env.drawlinelist(
edges, linewidth=linewidth, colors=edge_color))
if '#' in faces: # facets
if is_2d:
nv = len(vertices)
indices = array([(0, i, i + 1) for i in xrange(nv - 1)], int64)
handles.append(env.drawtrimesh(vertices, indices, colors=color))
else:
indices = array(hull.simplices, int64)
handles.append(env.drawtrimesh(points, indices, colors=color))
if '.' in faces: # vertices
color[:3] *= 0.75
color[3] = 1.
handles.append(env.plot3(
vertices, pointsize=pointsize, drawstyle=1, colors=color))
return handles