def __init__(self):
# Handlers
self._vc = None
self._sim = None
try:
self._vc = VirtualCoach(environment='local')
except:
self._vc = None
# Flags
self._done = False
# Data
self._weights = None
self._data = np.empty(0)
def start_experiment(experiment_id):
# Instantiate Virtual Coach and launch Experiment
vc = VirtualCoach(environment='local', storage_username='******')
sim = vc.launch_experiment(experiment_id)
# roslaunch fh_desc controllers.launch
fh_desc_launch_file = "/home/akl-ma/.opt/nrpStorage/{}/controllers.launch".format(
experiment_id)
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch = roslaunch.parent.ROSLaunchParent(uuid, [fh_desc_launch_file])
launch.start()
time.sleep(10)
sim.start()
return sim
def main():
# set parameters
episodes = 100
steps = 32
gamma = .98
epsilon = np.linspace(.6, .1, episodes)
alpha = .1
n_env = 16
n_actions = 3
# start virtual coach
vc = VirtualCoach(environment='local',
storage_username='******',
storage_password='******')
# run training
model = Model(episodes=episodes,
steps=steps,
gamma=gamma,
epsilon=epsilon,
alpha=alpha,
n_env=n_env,
n_actions=n_actions)
model.run_training(vc)
def main():
# initialize agents
dqn = Agent(param.alpha, param.n_observations, param.n_actions,
param.n_neurons)
# if you want to run the experiment from an external program, use VC
# this will allow you to use frontend interface from python
vc = VirtualCoach(environment='local',
storage_username='******',
storage_password='******')
for episode in range(param.episodes):
count = 0
while True:
try:
sim = vc.launch_experiment('template_husky_0')
break
except:
count += 1
print('Try:', count)
time.sleep(2)
# subscribe to topics published by ros
nhl.perform_subscribers()
# start the experiment
nhl.sync_params(episode + 1)
sim.start()
time.sleep(2)
# inner-loop for running an episode
run_episode(episode, dqn)
# stop experiment
sim.stop()
time.sleep(2)
# save metrics and network for postprocessing
if (episode + 1) % 100 == 0:
dhl.save_objects(dqn, episode + 1)
print('Target score:', sum(param.target_scores) / float(param.episodes))
print('Reward visits:', np.sum(param.reward_visits))
import logging
import evolution_utils
import numpy as np
from gazebo_msgs.msg import ModelState
from IPython.display import clear_output
from tf.transformations import quaternion_from_euler
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
# disable global logging from the virtual coach
logging.disable(logging.INFO)
logging.getLogger('rospy').propagate = False
logging.getLogger('rosout').propagate = False
vc = VirtualCoach(environment='local', storage_username='******', storage_password='******')
display_episode_tf = """@nrp.Robot2Neuron()
def display_episode_number(t):
clientLogger.advertise('%s')
"""
class FloreanoExperiment(object):
def __init__(self, experiment_name, population, generations):
self.experiment_name = experiment_name
self.experiment_dir = os.environ['HOME'] + '/.opt/nrpStorage/' + self.experiment_name
self.last_status = [None]
self.sim = None
self.initial_pose = np.array([])
import time
import os
import argparse
import timeit
parser = argparse.ArgumentParser(
description='Run a number of trial and store data.')
parser.add_argument('--n', type=int, default=10, help='number of trials')
parser.add_argument('--duration',
type=float,
default=1.,
help='duration of a trial (in second)')
args = parser.parse_args()
vc = VirtualCoach(environment='local', storage_username='******')
fname_base = "/home/nrpuser/.ros/cdp4/experiment"
def setup(sim):
pass
start = timeit.default_timer()
for i in range(args.n):
print "### Running experiment %d" % i
print "Launching"
sim = vc.launch_experiment('CDP4_experiment_0')
setup(sim)
print "Starting"
sim.start()
reward = (1 + cylinder_reward)**2 - distance_reward
print('FINISHED TEST WITH REWARD {}'.format(reward))
return reward
return get_reward
if __name__ == '__main__':
# Start simulation and launch experiment
csv_name = "cylinder_position.csv"
try:
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
vc = VirtualCoach(environment='local', storage_username='******')
except ImportError as e:
print(e)
print("You have to start this notebook with the command:\
cle-virtual-coach jupyter notebook")
raise e
sim = vc.launch_experiment('hbpprak_2018_throwing')
sim.register_status_callback(on_status) #solution
# Network params and init
topology = [6, 50, 20, 6]
weights = []
class MotionChallenge:
# Constants
# Experiment name
EXC_NAME = 'ExDHBPPrak_Motion'
# Csv file name to save distance
CSV_NAME = 'distance.csv'
# Placeholder for the smallest (unreal) distance value
MIN_VAL = -1000.0
# New transfer function to save distance in csv file
RECORD_DISTANCE_TF = '''# Imported Python Transfer Function
@nrp.MapRobotSubscriber("ball_distance", Topic("/ball_distance", Float32))
@nrp.MapCSVRecorder("distance_recorder", filename="''' + CSV_NAME + '''", headers=["time", "distance"])
@nrp.Robot2Neuron()
def record_distance(t, ball_distance, distance_recorder):
distance_recorder.record_entry(t, ball_distance.value.data if ball_distance.value else ''' + str(
MIN_VAL) + ''')'''
# Brain code from challenge with ability to set weigths
BRAIN_TEMPLATE = '''# -*- coding: utf-8 -*-
# pragma: no cover
__author__ = 'Template'
from hbp_nrp_cle.brainsim import simulator as sim
import numpy as np
import logging
logger = logging.getLogger(__name__)
sim.setup(timestep=0.1, min_delay=0.1, max_delay=20.0, threads=1, rng_seeds=[1234])
# Following parameters were taken from the husky braitenberg brain experiment (braitenberg.py)
sensors = sim.Population(3, cellclass=sim.IF_curr_exp())
actors = sim.Population(3, cellclass=sim.IF_curr_exp())
sim.Projection(sensors, actors, sim.AllToAllConnector(), sim.StaticSynapse(weight={syn_weights}))
circuit = sensors + actors'''
def __init__(self):
# Handlers
self._vc = None
self._sim = None
try:
self._vc = VirtualCoach(environment='local')
except:
self._vc = None
# Flags
self._done = False
# Data
self._weights = None
self._data = np.empty(0)
def getData(self):
return np.reshape(self._data, (-1, 10))
def getDataCount(self):
return self._data.shape[0] / 10
def clearData(self):
self._data = np.empty(0)
def popData(self):
data = self.getData()
self.clearData()
return data
def initialized(self):
return self._vc != None
def stopSim(self):
try:
self._done = True
self._sim.stop()
time.sleep(2.0)
except:
pass
def receiveDistance(self):
try:
csv_data = self._sim.get_csv_data(self.CSV_NAME)
if not csv_data:
return self.MIN_VAL
return float(csv_data[-1][-1])
except:
print('Unable to get csv data')
return self.MIN_VAL
def makeOnStatus(self):
def onStatus(msg):
if not self._done:
print("Current simulation time: {}".format(
msg['simulationTime']))
distance = self.receiveDistance()
if distance > self.MIN_VAL:
self._sim.pause()
self._done = True
self._data = np.append(self._data,
np.append(self._weights, distance))
print('Weights:\n' + str(self._weights) + '\nDistance: ' +
str(distance))
#print('Distance: ' + str(distance))
return onStatus
def run(self, weights):
if not self.initialized():
print('Virtual coach hasn\'t been initialized')
return
self._done = False
# Launch experiment
try:
self._sim = self._vc.launch_experiment(self.EXC_NAME)
except:
print('Unable to launch experiment')
if self._sim:
self.stopSim()
return
# Set experiment
try:
self._sim.register_status_callback(self.makeOnStatus())
self._sim.add_transfer_function(self.RECORD_DISTANCE_TF)
self._weights = weights
self._sim.edit_brain(
self.BRAIN_TEMPLATE.format(
**{'syn_weights': numpyArrayToInitStr(self._weights)}))
except:
print(
'Unable to set callback function, transfer function or brain')
self._sim.stopSim()
time.sleep(2.0)
return
# Start experiment
try:
self._sim.start()
except:
print('Unable to start simulation')
self.stopSim()
time.sleep(2.0)
return
# Wait until end of experiment and stop it
while not self._done:
time.sleep(0.2)
self.stopSim()
time.sleep(3.0)
import numpy as np
import rospy
from PIL import Image
from geometry_msgs.msg import Pose
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
from cdp4_data_collection import CDP4DataCollection as data_collection
objects = list(['cube_a', 'coffee_machine', 'aeroplane_toy'])
vc = VirtualCoach(environment='local', storage_username='******')
sim = vc.launch_experiment('scene_understanding_icub_holodeck_0_1')
sim.start()
dc = data_collection()
path = 'training_data'
orig_pose = Pose()
orig_pose.position.z = 10
for i in range(3):
dc.add_object(objects[i], orig_pose)
for i in range(100):
pose = dc.generate_random_pose()
idx = np.random.randint(3)
dc.set_object_pose(objects[idx], pose, True)
dc.move_eyes(pose.position)
rospy.sleep(0.2)
image = dc.capture_image().astype(np.uint8)
image = Image.fromarray(image)
file_name = '%s/images/snapshot_%.3d.jpg' % (path, i)
image.save(file_name)
#!/usr/bin/python
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
vc = VirtualCoach(environment='local',
storage_username='******',
storage_password='******')
import sys
from StringIO import StringIO
old_stdout = sys.stdout
result = StringIO()
sys.stdout = result
vc.print_cloned_experiments()
sys.stdout = old_stdout
result_string = result.getvalue()
if not ("ser_rl_ss20_0" in result_string):
vc.import_experiment('/home/bbpnrsoa/nrp/src/Worker/ser_rl_ss20.zip')
else:
print("Experiment already imported")
sim = vc.launch_experiment('ser_rl_ss20_0')
sim.start()
exit()
def main():
# initialize agents
if param.episode:
str_ = 'double' if param.double else 'single'
str_ += '_replay' if param.replay else '_noreplay'
agent = pickle.load(open('results/agent_%s_%d.pkl' % (str_, param.episode), 'rb'))
memory = pickle.load(open('results/memory_%s_%d.pkl' % (str_, param.episode), 'rb'))
else:
agent = Agent(param.n_observations, param.n_actions, param.n_neurons,
param.gamma, param.batch_size, param.tau, param.double)
memory = Memory(50000)
# if you want to run the experiment from an external program, use VC
# this will allow you to use frontend interface from python
vc = VirtualCoach(environment='local', storage_username='******',
storage_password='******')
# start training
start = time.time()
while param.episode < param.episodes:
# choose initial position
# start_pos = np.random.rand(2) * 10 + 3
# start_dir = np.random.rand() * 2 + np.pi
# print('Starting position: %.2f %.2f' % (start_pos[0], start_pos[1]))
# print('Starting direction: %.2f' % start_dir)
start_pos = np.array([8.0, 8.0])
# with open(folder + 'experiment_configuration.exc', 'r') as file:
# data = file.readlines()
# data[13] = ' <robotPose robotId="husky" x="%.2f" y="%.2f" ' \
# 'z="0.5" roll="0.0" pitch="-0.0" yaw="%.2f" />\n' \
# % (start_pos[0], start_pos[1], start_dir)
# with open(folder + 'experiment_configuration.exc', 'w') as file:
# file.writelines(data)
# launch experiment
count = 0
while True:
try:
sim = vc.launch_experiment('template_husky_0')
break
except:
count += 1
print('Try:', count)
time.sleep(2)
# subscribe to topics published by ros
nhl.perform_subscribers()
# start the experiment
sim.start()
time.sleep(2)
# inner-loop for running an episode
done = run_episode(start_pos, param.episode, agent, memory)
if done:
param.episode += 1
# stop experiment
sim.stop()
time.sleep(2)
# save metrics and network for postprocessing
if (param.episode + 1) % 100 == 0:
dhl.save_objects(agent, memory, param.episode + 1)
# print final score
print('Time elapsed:', time.time() - start)
print('Target score:', param.target_scores[-1])
print('Reward visits:', np.sum(param.reward_visits))
def main():
logger = init_logger()
args = init_parser()
num_generations = args['num_generations']
population_size = args['population_size']
mutation = args['mutation']
load = args['load']
subscribe_cylinder_distance()
# create evolution
evol = EvolutionaryAlgo(num_generations, population_size, mutation=mutation)
if load:
logger.warning('load generation {}'.format(load))
try:
evol.load(load)
except:
raise ValueError('Could not load generation: {}'.format(load))
# log into the virtual coach
vc = VirtualCoach(environment='local', storage_username='******', storage_password='******')
# start simulation
logger.warning('start expe !!!')
sim = vc.launch_experiment('template_manipulation_0')
for gen in range(evol.generation_size):
logger.warning('Generation: {}/{}'.format(gen + 1, evol.generation_size))
for individual in range(evol.population_size):
logger.warning('Individual: {}/{}'.format(individual + 1, evol.population_size))
# set id
evol.set_id(gen, individual)
logger.warning('ID: {}'.format(evol.get_id(gen, individual)))
# get weights
weights = evol.get_weights(gen, individual)
# run simulation
distance = test_weights(sim, weights)
# save distance
evol.set_distance(distance, gen, individual)
logger.warning('Distance: {}'.format(distance))
# save weights
filen = evol.save(gen)
logger.warning('Saved Generation {} to {}'.format(gen, filen))
# mutate generation
if gen < evol.generation_size - 1:
evol.mutate()
# reset simulation
sim.reset('full')
# stop simulation
sim.stop()
# print best weights per generation
for g in evol.generations:
logger.warning("Elite:")
logger.warning(g.get_elite(1))
new_individual = ind1.cross(ind2)
new_individual.mutate()
new_population.append(new_individual)
population = new_population
except (KeyboardInterrupt, rospy.exceptions.ROSInterruptException):
pass
finally:
best = max(population, key=lambda x: x._fitness)
logger.critical(best._fitness)
logger.critical(repr(best.weights))
# log into the virtual coach, update with your credentials
try:
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
vc = VirtualCoach(environment='local')
except ImportError as e:
print(e)
print("You have to start this file with the command:\
cle-virtual-coach learn_weights.py")
raise e
sim = vc.launch_experiment('ExDHBPPrak_Motion')
last_restart = time.time()
try:
# If you can't keep your logging diarrhea in check, I will not respect your private variables
sim._Simulation__logger.setLevel(logging.WARNING)
# Additionally, you may want to change line 281 of nrp_virtual_coach/simulation.py to
# if 'state' in status and status['state'] in ['stopped', 'halted']:
# to avoid additional (unproblematic) error messages
genetic_search()
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
import rospy
import time
import os
vc = VirtualCoach(environment='local')
fname_base = "/home/nrpuser/.ros/cdp4/experiment"
for i in range(0, 10):
print "### Running experiment %d" % i
print "Launching"
sim = vc.launch_experiment('cdp4')
print "Starting"
sim.start()
while rospy.get_time() <= 8.7:
time.sleep(2)
print "Pausing"
sim.pause()
print "Stopping"
sim.stop()
while os.path.isfile(fname_base + ".bag.active"):
time.sleep(2)
print "Renaming"
os.rename(fname_base + ".bag", fname_base + "_" + str(i) + ".bag")
import numpy as np
import rospy
from PIL import Image
from geometry_msgs.msg import Pose
from hbp_nrp_virtual_coach.virtual_coach import VirtualCoach
from cdp4_data_collection import CDP4DataCollection as data_collection
objects = list(['cube_a', 'coffee_machine','aeroplane_toy'])
# create directory to save training data if doesn't exist
if not os.path.exists('training_data'):
os.mkdir('training_data')
os.mkdir('training_data/images/')
vc = VirtualCoach(environment='local', storage_username='******', storage_password='******')
sim = vc.launch_experiment('cdp4_toy_experiment_0')
sim.start()
dc = data_collection()
path = 'training_data'
orig_pose = Pose()
orig_pose.position.z = 10
for i in range(3):
dc.add_object(objects[i], orig_pose)
for i in range(100):
