def main(args):
U.make_session(num_cpu=1).__enter__()
set_global_seeds(args.seed)
env = robosuite.make(args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
reward_shaping=True,
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
#box_pos = [0.23522776, 0.2287869, 0.82162434], #shift3
#box_quat=[0.3775825618903728, 0, 0, 0.679425538604203], #shift3
#box_pos = [0.53522776, 0.3287869, 0.82162434], #shift4
#box_quat=[0.5775825618903728, 0, 0, 0.679425538604203], #shift4
#box_pos = [0.53522776, 0.1287869, 0.82162434], #shift5
#box_quat=[0.4775825618903728, 0, 0, 0.679425538604203], #shift5
#box_pos = [0.48522776, -0.187869, 0.82162434], #shift6
#box_quat=[0.8775825618903728, 0, 0, 0.679425538604203], #shift6
box_pos = [0.43522776, -0.367869, 0.82162434], #shift7
box_quat=[0.2775825618903728, 0, 0, 0.679425538604203], #shift7
) # Switch from gym to robosuite, also add reward shaping to see reach goal
env = GymWrapper(env) # wrap in the gym environment
# Environment joints should be clipped at 1 and -1 for sawyer
# Task
#task = 'train'
task = 'evaluate'
# parser.add_argument('--task', type=str, choices=['train', 'evaluate', 'sample'], default='train')
# Expert Path
#expert_path = '/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/demonstrations/ac100/combined/combined_0.npz' # path for 100 trajectories
expert_path = '/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/demonstrations/120_shift7/combined/combined_0.npz' # path for 100 trajectories
#parser.add_argument('--expert_path', type=str, default='data/deterministic.trpo.Hopper.0.00.npz')
def policy_fn(name, ob_space, ac_space, reuse=False):
return mlp_policy_sawyer.MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
reuse=reuse, hid_size=args.policy_hidden_size, num_hid_layers=2)
env = bench.Monitor(env, logger.get_dir() and
osp.join(logger.get_dir(), "monitor.json"), allow_early_resets=True)
#env.seed(args.seed) # Sawyer does not have seed
gym.logger.setLevel(logging.WARN)
task_name = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
args.log_dir = osp.join(args.log_dir, task_name)
#if not os.path.isdir(args.log_dir):
# os.makedirs(args.log_dir)
logger.log("log_directories: ",args.log_dir)
logger.log("environment action space range: ", env.action_space) #logging the action space
if task == 'train':
dataset = Mujoco_Dset(expert_path=expert_path, traj_limitation=args.traj_limitation)
# Check dimensions of the dataset
#print("dimension of inputs", dataset.dset.inputs.shape) # dims seem correct
#print("dimension of inputs", dataset.dset.labels.shape) # dims seem correct
reward_giver = TransitionClassifier(env, args.adversary_hidden_size, entcoeff=args.adversary_entcoeff)
train(env,
args.seed,
policy_fn,
reward_giver,
dataset,
args.algo,
args.g_step,
args.d_step,
args.policy_entcoeff,
args.num_timesteps,
args.save_per_iter,
args.checkpoint_dir,
args.log_dir,
args.pretrained,
args.BC_max_iter,
task_name
)
elif task == 'evaluate':
# Create the playback environment
play_env = robosuite.make(args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
#box_pos = [0.23522776, 0.2287869, 0.82162434], #shift3
#box_quat=[0.3775825618903728, 0, 0, 0.679425538604203], #shift3
#box_pos = [0.53522776, 0.3287869, 0.82162434], #shift4
#box_quat=[0.5775825618903728, 0, 0, 0.679425538604203], #shift4
#box_pos = [0.53522776, 0.1287869, 0.82162434], #shift5
#box_quat=[0.4775825618903728, 0, 0, 0.679425538604203], #shift5
#box_pos = [0.48522776, -0.187869, 0.82162434], #shift6
#box_quat=[0.8775825618903728, 0, 0, 0.679425538604203], #shift6
box_pos = [0.43522776, -0.367869, 0.82162434], #shift7
box_quat=[0.2775825618903728, 0, 0, 0.679425538604203], #shift7
)
#play_env.viewer.set_camera(camera_id=2) # Switch views for eval
runner(env,
play_env,
policy_fn,
args.load_model_path,
timesteps_per_batch=4000, # Change time step per batch to be more reasonable
number_trajs=20, # change from 10 to 1 for evaluation
stochastic_policy=args.stochastic_policy,
save=args.save_sample
)
else:
raise NotImplementedError
env.close()
class NutAssemblyDenseHand(gym.Env):
"""
TODO: change obs and reward setting
NutAssemblyHand:
'FetchPickAndPlace-v1' with a perfect controller
Action taken as:
pi_theta(s) = pi(s) + f_theta(s)
Parameters:
-----------
kp: float
Scaling factor for position control
"""
def __init__(self, kp: float = 20, *args, **kwargs):
options = {}
controller_name = 'OSC_POSE'
options["controller_configs"] = suite.load_controller_config(
default_controller=controller_name)
self.env = GymWrapper(
suite.make(
"NutAssemblyRound", # Nut Assembly task with the round peg
robots="IIWA", # use IIWA robot
**options, # controller options
use_object_obs=True,
use_camera_obs=False, # do not use pixel observations
has_offscreen_renderer=
False, # not needed since not using pixel obs
has_renderer=False, # make sure we can render to the screen
reward_shaping=False, # use dense rewards
control_freq=
20, # control should happen fast enough so that simulation looks smooth
))
self.max_episode_steps = 500
self.action_space = self.env.action_space
self.observation_space = self.env.observation_space
self.reward_type = 'sparse'
self.distance_threshold = 0.065
def step(self, residual_action: np.ndarray):
controller_action = np.array(
self.controller_action(self.last_observation))
if (controller_action > 1).any() or (controller_action < -1).any():
print(controller_action)
action = np.add(controller_action, residual_action)
action = np.clip(action, -1, 1)
ob, reward, done, info = self.env.step(action)
ob = self.env.env._get_observation()
observation = {}
observation['observation'] = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat']))
observation['desired_goal'] = np.array(
self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation['achieved_goal'] = ob['RoundNut0_pos']
self.last_observation = observation.copy()
info['is_success'] = reward
return observation, reward, done, info
def reset(self):
self.env.reset() # reset according to task defaults
ob = self.env.env._get_observation()
observation = {}
observation['observation'] = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat']))
observation['desired_goal'] = np.array(
self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation['achieved_goal'] = ob['RoundNut0_pos']
self.last_observation = observation.copy()
self.object_in_hand = False
self.object_below_hand = False
self.gripper_reoriented = 0
return observation
def seed(self, seed: int = 0):
self.np_random, seed = seeding.np_random(seed)
return self.env.seed(seed=seed)
def render(self, mode: str = "human", *args, **kwargs):
return self.env.render()
def close(self):
return self.env.close()
def goal_distance(self, achieved_goal, desired_goal):
return np.linalg.norm(achieved_goal - desired_goal, axis=1)
def compute_reward(self, achieved_goal, goal, info):
# Compute distance between goal and the achieved goal.
d = self.goal_distance(achieved_goal, goal)
if self.reward_type == 'sparse':
return -(d > self.distance_threshold).astype(np.float32)
else:
return -d
def controller_action(self,
obs: dict,
take_action: bool = True,
DEBUG: bool = False):
observation = obs['observation']
goal_pos = obs['desired_goal']
achieved_goal = obs['achieved_goal']
gripper_pos = observation[:3]
gripper_quat = observation[3:7]
object_pos = observation[7:10]
object_quat = observation[10:]
z_table = 0.8610982
object_axang = T.quat2axisangle(object_quat)
if abs(object_axang[-1] - 1.24) < 0.2:
object_axang_touse = [
0, 0, object_axang[-1] % (2 * pi / 8) + (2 * pi / 8)
]
else:
object_axang_touse = [0, 0, object_axang[-1] % (2 * pi / 8)]
gripper_axang = T.quat2axisangle(gripper_quat)
# print('object axang to use ' + str(object_axang_touse))
if self.gripper_reoriented == 0:
self.gripper_init_quat = gripper_quat
self.gripper_reoriented = 1
init_inv = T.quat_inverse(self.gripper_init_quat)
changing_wf = T.quat_multiply(init_inv, gripper_quat)
changing_wf_axang = T.quat2axisangle(changing_wf)
# gripper_quat_inv = T.quat_inverse(gripper_quat)
# changing_wf = T.quat_multiply(gripper_quat_inv,self.gripper_init_quat)
# changing_wf_axang = T.quat2axisangle(changing_wf)
# print('changing wf axis ' +str(changing_wf_axang))
if not self.object_below_hand or self.gripper_reoriented < 5:
self.nut_p = T.quat2axisangle(object_quat)[-1]
# print(self.nut_p)
if not self.object_below_hand:
action = 20 * (object_pos[:2] - gripper_pos[:2])
else:
action = [0, 0]
action = 20 * (object_pos[:2] - gripper_pos[:2])
# frac = 0.2 # Rate @ which to rotate gripper about z.
# ang_goal = frac*self.nut_p # Nut p is the nut's random intial pertubation about z.
# if self.gripper_reoriented == 0:
# self.gripper_init_quat = gripper_quat
# if self.gripper_reoriented < 5: # Gripper should be aligned with nut after 5 action steps
# action_angle= [0,0,ang_goal]
# #print('object ' + str(object_axang))
# #print('gripper ' + str(gripper_axang))
# init_inv = T.quat_inverse(self.gripper_init_quat)
# init_inv_mat = T.quat2mat(init_inv)
# rel = T.quat_multiply(gripper_quat,init_inv)
# rel_axang = T.quat2axisangle(rel)
# #print('rel_axang ' +str(rel_axang))
# rel_axang_WF = np.matmul(init_inv_mat,rel_axang)
# #print('rel_axang_WF ' +str(rel_axang_WF))
# if take_action:
# self.gripper_reoriented+=1
# else: # After 5 action steps, don't rotate gripper any more
# action_angle=[0,0,0]
action_angle = 0.2 * (object_axang_touse - changing_wf_axang)
action_angle = [0, 0, action_angle[-1]]
#action_angle = [0,0,0]
#print('action angle ' +str(action_angle))
if np.linalg.norm(object_axang_touse - changing_wf_axang) < 0.1:
if take_action:
self.gripper_reoriented = 5
action = np.hstack((action, [0], action_angle, [-1]))
if np.linalg.norm((object_pos[:2] - gripper_pos[:2])) < 0.01:
if take_action:
self.object_below_hand = True
#self.gripper_reoriented = 5
elif not self.object_in_hand: # Close gripper
action = [0, 0, -1, 0, 0, 0, -1]
if np.linalg.norm((object_pos[2] - gripper_pos[2])) < 0.01:
action = [0, 0, 0, 0, 0, 0, 1]
if take_action:
self.object_in_hand = True
else: # Move gripper up and toward goal position
action = [0, 0, 1, 0, 0, 0, 1]
if object_pos[2] - z_table > 0.1:
action = 20 * (goal_pos[:2] - object_pos[:2])
action = np.hstack((action, [0, 0, 0, 0, 1]))
if np.linalg.norm((goal_pos[:2] - object_pos[:2])) < 0.0225:
action = [0, 0, 0, 0, 0, 0,
-1] # Drop nut once it's close enough to the peg
action = np.clip(action, -1, 1)
return action
class NutAssemblyDense(gym.Env):
"""
NutAssembly:
NutAssembly task from robosuite with no controller. Can be used for learning from scratch.
"""
def __init__(self, horizon=500, *args, **kwargs):
options = {}
controller_name = 'OSC_POSE'
options["controller_configs"] = suite.load_controller_config(
default_controller=controller_name)
self.env = GymWrapper(
suite.make(
"NutAssemblyRound", # Nut Assembly task with the round peg
robots="IIWA", # use IIWA robot
**options, # controller options
use_object_obs=True,
use_camera_obs=False, # do not use pixel observations
has_offscreen_renderer=
False, # not needed since not using pixel obs
has_renderer=False, # make sure we can render to the screen
reward_shaping=True, # use dense rewards
reward_scale=1.0,
control_freq=
20, # control should happen fast enough so that simulation looks smooth
horizon=horizon, # number of timesteps for ending episode
))
self.max_episode_steps = horizon
self.action_space = self.env.action_space
self.observation_space = self.env.observation_space
self.reward_type = 'sparse'
self.distance_threshold = 0.065
def step(self, action):
ob, reward, done, info = self.env.step(action)
ob = self.env.env._get_observation()
peg_pos = np.array(self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat'], peg_pos))
# info['is_success'] = self.get_success(ob['RoundNut0_pos'], peg_pos)
info['is_success'] = self.env.env._check_success()
return observation, reward, done, info
def reset(self):
ob = self.env.reset()
ob = self.env.env._get_observation()
peg_pos = np.array(self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat'], peg_pos))
return observation
def seed(self, seed=0):
self.np_random, seed = seeding.np_random(seed)
return self.env.seed(seed=seed)
def render(self, mode="human", *args, **kwargs):
return self.env.render()
def close(self):
return self.env.close()
def goal_distance(self, achieved_goal, desired_goal):
return np.linalg.norm(achieved_goal - desired_goal)
def get_success(self, object_pos, goal):
# Compute distance between goal and the achieved goal.
d = self.goal_distance(object_pos, goal)
return (d < self.distance_threshold).astype(np.float32)
def main(args):
U.make_session(num_cpu=1).__enter__()
set_global_seeds(args.seed)
def policy_fn(name, ob_space, ac_space, reuse=False):
return mlp_policy_sawyer.MlpPolicy(name=name,
ob_space=ob_space,
ac_space=ac_space,
reuse=reuse,
hid_size=args.policy_hidden_size,
num_hid_layers=2)
#------- Run policy for reaching ---------#
play_env = robosuite.make(
args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
box_pos=[0.23522776, 0.2287869, 0.82162434], #shift3
box_quat=[0.3775825618903728, 0, 0, 0.679425538604203], #shift3
#box_pos = [0.53522776, 0.3287869, 0.82162434], #shift4
#box_quat=[0.5775825618903728, 0, 0, 0.679425538604203], #shift4
#box_pos = [0.53522776, 0.1287869, 0.82162434], #shift5
#box_quat=[0.4775825618903728, 0, 0, 0.679425538604203], #shift5
#box_pos = [0.48522776, -0.187869, 0.82162434], #shift6
#box_quat=[0.8775825618903728, 0, 0, 0.679425538604203], #shift6
#box_pos = [0.43522776, -0.367869, 0.82162434], #shift7
#box_quat=[0.2775825618903728, 0, 0, 0.679425538604203], #shift7
)
play_env = GymWrapper(play_env, keys=None,
generalized_goal=False) # false for loading prevs
#Weights are loaded from reach model grasp_strange
#play_env.viewer.set_camera(camera_id=2) # Switch views for eval
# Setup network
# ----------------------------------------
ob_space = play_env.observation_space
ac_space = play_env.action_space
pi_reach = policy_fn("pi", ob_space, ac_space, reuse=False)
# Hack for loading policies using tensorflow
init_op = tf.compat.v1.global_variables_initializer()
saver = tf.compat.v1.train.Saver(max_to_keep=5)
with tf.compat.v1.Session() as sess:
sess.run(init_op)
# Load Checkpoint
#ckpt_path = './reach_and_grasp_weights/reach_one/trpo_gail.transition_limitation_2100.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
#ckpt_path = './reach_and_grasp_weights/reach_shift2/trpo_gail.transition_limitation_2500.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
ckpt_path = './reach_and_grasp_weights/reach_3_almost/trpo_gail.transition_limitation_1100.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
#ckpt_path = './reach_and_grasp_weights/reach_4/trpo_gail.transition_limitation_2400.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/' # problem child 2
#ckpt_path = './reach_and_grasp_weights/reach_5/trpo_gail.transition_limitation_2000.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/' #problem child 1
#ckpt_path = './reach_and_grasp_weights/reach_6/trpo_gail.transition_limitation_2500.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
#ckpt_path = './reach_and_grasp_weights/reach_7/trpo_gail.transition_limitation_3000.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
ckpt = tf.compat.v1.train.get_checkpoint_state(ckpt_path)
saver.restore(sess, ckpt.model_checkpoint_path)
# Create the playback environment
_, _, last_ob, last_jpos, obs_array, jpos_array = runner_1_traj(
play_env,
pi_reach,
None,
timesteps_per_batch=3500,
number_trajs=1,
stochastic_policy=args.stochastic_policy,
save=False)
# Gripping load + setting up the last observation
play_ob_dim = play_env.observation_space.shape[0]
play_ac_dim = play_env.action_space.shape[0]
grip_policy = GaussianMlpPolicy(play_ob_dim, play_ac_dim)
grip_vf = NeuralNetValueFunction(play_ob_dim, play_ac_dim)
grip_saver = tf.compat.v1.train.Saver(max_to_keep=5)
unchanged_ob = np.float32(np.zeros(play_ob_dim))
with tf.compat.v1.Session() as sess2:
sess2.run(init_op)
# Load Checkpoint
#ckpt_path = './reach_and_grasp_weights/reach_one/trpo_gail.transition_limitation_2100.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
#grip_ckpt_path = './reach_and_grasp_weights/grasp_and_pickup2/grasp_acktr_rl.transition_limitation_1500.SawyerLift'
grip_ckpt_path = './reach_and_grasp_weights/grasp_3/grasp_acktr_rl.transition_limitation_1000.SawyerLift/' #3rd grasp
#ckpt_path = './reach_and_grasp_weights/reach_4/trpo_gail.transition_limitation_2400.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/' # problem child 2
#ckpt_path = './reach_and_grasp_weights/reach_5/trpo_gail.transition_limitation_2000.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/' #problem child 1
#ckpt_path = './reach_and_grasp_weights/reach_6/trpo_gail.transition_limitation_2500.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
#ckpt_path = './reach_and_grasp_weights/reach_7/trpo_gail.transition_limitation_3000.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
grip_ckpt = tf.compat.v1.train.get_checkpoint_state(grip_ckpt_path)
#print(grip_ckpt)
grip_saver.restore(sess2, grip_ckpt.model_checkpoint_path)
tt = 0
cum_rew = 0
#ob = last_ob
#prev_ob = np.float32(np.zeros(ob.shape)) # check if indeed starts at all zeros
obfilter = ZFilter(play_env.observation_space.shape)
#statsu = np.load("./reach_and_grasp_weights/grasp_and_pickup2/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_22953000.npz") # shift 2, is a problem?
#statsu = np.load("./reach_and_grasp_weights/grasp_and_pickup2/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_22953000.npz") # shift 2
statsu = np.load(
"./reach_and_grasp_weights/grasp_3/grasp_acktr_rl.transition_limitation_1000.SawyerLift/filter_stats_21002000.npz"
) # shift 3
#statsu = np.load("./reach_and_grasp_weights/grasp_4/grasp_acktr_rl.transition_limitation_1200.SawyerLift/filter_stats_20162400.npz") # shift 4
#statsu = np.load("./reach_and_grasp_weights/grasp_5/grasp_acktr_rl.transition_limitation_1200.SawyerLift/filter_stats_26066400.npz") #shift 5
#statsu = np.load("./reach_and_grasp_weights/grasp_and_then_throws_somehow_6/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_27363000.npz") #shift 6
#statsu = np.load("./reach_and_grasp_weights/grasp_pickup_7/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_22773000.npz") #shift 7
print("load n: ", statsu["n"])
print("load M: ", statsu["M"])
print("load S: ", statsu["S"])
obfilter.rs._n = statsu["n"]
obfilter.rs._M = statsu["M"]
obfilter.rs._S = statsu["S"]
print("obf n: ", obfilter.rs._n)
print("obf M: ", obfilter.rs._M)
print("obf S: ", obfilter.rs._S)
#env.set_robot_joint_positions(last_jpos)
#ob = np.concatenate((last_ob,env.box_end),axis=0)
ob = last_ob
# Will this change the behavior of loading?
play_env.set_robot_joint_positions(last_jpos)
prev_ob = np.float32(np.zeros(
ob.shape)) # check if indeed starts at all zeros
unchanged_ob = ob
ob = obfilter(ob)
while True:
s = np.concatenate([ob, prev_ob], -1)
ac, _, _ = grip_policy.act(s)
prev_ob = np.copy(ob)
scaled_ac = play_env.action_space.low + (ac + 1.) * 0.5 * (
play_env.action_space.high - play_env.action_space.low)
scaled_ac = np.clip(scaled_ac, play_env.action_space.low,
play_env.action_space.high)
ob, rew, new, _ = play_env.step(scaled_ac)
unchanged_ob = ob
ob = obfilter(ob)
cum_rew += rew
play_env.render() # check the running in for the first part
#logger.log("rendering for reach policy")
if new or tt >= 200:
break
tt += 1
print("Cumulative reward over session: " + str(cum_rew))
#obs_array = None
#jpos_array = None
#print(last_jpos)
#print(last_ob)
last_joint_after_grip = play_env._joint_positions
last_after_grip = unchanged_ob
# Change environment box position to start from the last position on playenv
#env.model.box_pos_array = np.array(play_env.sim.data.body_xpos[play_env.cube_body_id])
#env.model.box_quat_array = convert_quat(
# np.array(play_env.sim.data.body_xquat[play_env.cube_body_id]), to="xyzw"
# )
#env.box_pos = play_env.model.box_pos_array
#env.box_quat = play_env.model.box_quat_array
# set up the environment for loading or training
env = robosuite.make(
args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
reward_shaping=True,
rob_init=last_joint_after_grip,
box_pos=np.array(
play_env.sim.data.body_xpos[play_env.cube_body_id]), #shift3
box_quat=convert_quat(np.array(
play_env.sim.data.body_xquat[play_env.cube_body_id]),
to="xyzw"), #shift3
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
#box_pos = [0.23522776, 0.2287869, 0.82162434], #shift3
#box_quat=[0.3775825618903728, 0, 0, 0.679425538604203], #shift3
box_end=[0.3, 0.1, 1.0] # shift 3
#box_pos = [0.53522776, 0.3287869, 0.82162434], #shift4, try to increase traj limit to 2000
#box_quat=[0.5775825618903728, 0, 0, 0.679425538604203], #shift4
#box_pos = [0.53522776, 0.1287869, 0.82162434], #shift5
#box_quat=[0.4775825618903728, 0, 0, 0.679425538604203], #shift5
#box_pos = [0.48522776, -0.187869, 0.82162434], #shift6
#box_quat=[0.8775825618903728, 0, 0, 0.679425538604203], #shift6
#box_pos = [0.43522776, -0.367869, 0.82162434], #shift7
#box_quat=[0.2775825618903728, 0, 0, 0.679425538604203], #shift7
) # Switch from gym to robosuite, also add reward shaping to see reach goal
env = GymWrapper(env, keys=None,
generalized_goal=True) # wrap in the gym environment
task = 'train'
#task = 'evaluate'
#task = 'cont_training'
#env = bench.Monitor(env, logger.get_dir() and
# osp.join(logger.get_dir(), "monitor.json"), allow_early_resets=True)
# Note: taking away the bench monitor wrapping allows rendering
#env.seed(args.seed) # Sawyer does not have seed
gym.logger.setLevel(logging.WARN)
task_name = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
args.log_dir = osp.join(args.log_dir, task_name)
logger.log("log_directories: ", args.log_dir)
logger.log("environment action space range: ",
env.action_space) #logging the action space
if task == 'train':
play_env.close()
#init_op2 = tf.compat.v1.global_variables_initializer()
#sess2 = tf.compat.v1.Session(config=tf.ConfigProto())
#with tf.compat.v1.Session(config=tf.ConfigProto()) as sess2:
#sess2.run(init_op)
ob_dim = env.observation_space.shape[0]
ac_dim = env.action_space.shape[0]
lift_vf = NeuralNetValueFunction(ob_dim, ac_dim, name="lift_vf_aktr")
lift_policy = GaussianMlpPolicy(ob_dim, ac_dim, name="lift_pi_aktr")
#sess2.run(init_op2)
old_acktr_learn(
env,
policy=lift_policy,
vf=lift_vf,
gamma=0.99,
lam=0.97,
timesteps_per_batch=1500,
desired_kl=0.001,
num_timesteps=args.num_timesteps,
save_per_iter=args.save_per_iter,
ckpt_dir=args.checkpoint_dir,
traj_limitation=args.traj_limitation,
last_ob=[last_after_grip],
last_jpos=[last_joint_after_grip],
animate=True,
pi_name="lift_pi_aktr",
)
env.close()
elif task == 'cont_training':
play_env.close()
# with tf.compat.v1.Session(config=tf.ConfigProto()):
ob_dim = env.observation_space.shape[0]
ac_dim = env.action_space.shape[0]
#with tf.compat.v1.variable_scope("vf_aktr"):
cont_vf = NeuralNetValueFunction(ob_dim, ac_dim, name="lift_vf_aktr")
#with tf.compat.v1.variable_scope("pi_aktr"):
cont_policy = GaussianMlpPolicy(ob_dim, ac_dim, name="lift_pi_aktr")
ckpt_path_cont = './checkpoint/grasp_acktr_rl.transition_limitation_1500.SawyerLift'
stat_cont = "./checkpoint/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_19713000.npz"
old_acktr_learn(
env,
policy=cont_policy,
vf=cont_vf,
gamma=0.99,
lam=0.97,
timesteps_per_batch=1500,
desired_kl=0.001,
num_timesteps=args.num_timesteps,
save_per_iter=args.save_per_iter,
ckpt_dir=args.checkpoint_dir,
traj_limitation=args.traj_limitation,
last_ob=obs_array,
last_jpos=jpos_array,
animate=True,
cont_training=True,
load_path=ckpt_path_cont,
obfilter_load=stat_cont,
pi_name="lift_pi_aktr",
)
env.close()
elif task == 'evaluate':
play_env.close()
# with tf.compat.v1.Session(config=tf.ConfigProto()):
ob_dim = env.observation_space.shape[0]
ac_dim = env.action_space.shape[0]
eval_lift_vf = NeuralNetValueFunction(ob_dim,
ac_dim,
name="lift_vf_aktr")
eval_lift_policy = GaussianMlpPolicy(ob_dim,
ac_dim,
name="lift_pi_aktr")
saver_2 = tf.compat.v1.train.Saver(max_to_keep=5)
#sess2 = tf.compat.v1.Session(config=tf.ConfigProto())
#with tf.compat.v1.Session(config=tf.ConfigProto()) as sess3:
with tf.compat.v1.Session() as sess3:
sess3.run(init_op)
ckpt_path_2 = './checkpoint/grasp_acktr_rl.transition_limitation_1500.SawyerLift'
#ckpt_path_2 = './reach_and_grasp_weights/grasp_and_pickup2/grasp_acktr_rl.transition_limitation_1500.SawyerLift' # shift 2
#ckpt_path_2 = './reach_and_grasp_weights/grasp_3/grasp_acktr_rl.transition_limitation_1000.SawyerLift' # shift 3
#ckpt_path_2 = './reach_and_grasp_weights/grasp_4/grasp_acktr_rl.transition_limitation_1200.SawyerLift' # shift 4
#ckpt_path_2 = './reach_and_grasp_weights/grasp_5/grasp_acktr_rl.transition_limitation_1200.SawyerLift' # shift 5
#ckpt_path_2 = './reach_and_grasp_weights/grasp_and_then_throws_somehow_6/grasp_acktr_rl.transition_limitation_1500.SawyerLift' #shift 6
#ckpt_path_2 = './reach_and_grasp_weights/grasp_pickup_7/grasp_acktr_rl.transition_limitation_1500.SawyerLift' #shift 7
ckpt_2 = tf.compat.v1.train.get_checkpoint_state(ckpt_path_2)
saver_2.restore(sess3, ckpt_2.model_checkpoint_path)
tt = 0
cum_rew = 0
#ob = last_ob
#prev_ob = np.float32(np.zeros(ob.shape)) # check if indeed starts at all zeros
obfilter = ZFilter(env.observation_space.shape)
statsu = np.load(
"./checkpoint/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_23493000.npz"
)
#statsu = np.load("./reach_and_grasp_weights/grasp_and_pickup2/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_22953000.npz") # shift 2
#statsu = np.load("./reach_and_grasp_weights/grasp_3/grasp_acktr_rl.transition_limitation_1000.SawyerLift/filter_stats_21002000.npz") # shift 3
#statsu = np.load("./reach_and_grasp_weights/grasp_4/grasp_acktr_rl.transition_limitation_1200.SawyerLift/filter_stats_20162400.npz") # shift 4
#statsu = np.load("./reach_and_grasp_weights/grasp_5/grasp_acktr_rl.transition_limitation_1200.SawyerLift/filter_stats_26066400.npz") #shift 5
#statsu = np.load("./reach_and_grasp_weights/grasp_and_then_throws_somehow_6/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_27363000.npz") #shift 6
#statsu = np.load("./reach_and_grasp_weights/grasp_pickup_7/grasp_acktr_rl.transition_limitation_1500.SawyerLift/filter_stats_22773000.npz") #shift 7
print("load n: ", statsu["n"])
print("load M: ", statsu["M"])
print("load S: ", statsu["S"])
obfilter.rs._n = statsu["n"]
obfilter.rs._M = statsu["M"]
obfilter.rs._S = statsu["S"]
print("obf n: ", obfilter.rs._n)
print("obf M: ", obfilter.rs._M)
print("obf S: ", obfilter.rs._S)
env.set_robot_joint_positions(last_jpos)
ob = np.concatenate((last_ob, env.box_end), axis=0)
prev_ob = np.float32(np.zeros(
ob.shape)) # check if indeed starts at all zeros
ob = obfilter(ob)
while True:
s = np.concatenate([ob, prev_ob], -1)
ac, _, _ = eval_lift_policy.act(s)
prev_ob = np.copy(ob)
scaled_ac = env.action_space.low + (ac + 1.) * 0.5 * (
env.action_space.high - env.action_space.low)
scaled_ac = np.clip(scaled_ac, env.action_space.low,
env.action_space.high)
ob, rew, new, _ = env.step(scaled_ac)
ob = obfilter(ob)
cum_rew += rew
env.render() # check the running in for the first part
#logger.log("rendering for reach policy")
if new or tt >= args.traj_limitation:
break
tt += 1
print("Cumulative reward over session: " + str(cum_rew))
env.close()
def main(args):
U.make_session(num_cpu=1).__enter__()
set_global_seeds(args.seed)
env = robosuite.make(
args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
reward_shaping=True,
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
) # Switch from gym to robosuite, also add reward shaping to see reach goal
env = GymWrapper(env) # wrap in the gym environment
#task = 'train'
task = 'evaluate'
# Expert Path
expert_path = '/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/demonstrations/150_grasp_shift2/combined/combined_0.npz' # path for 100 trajectories
#parser.add_argument('--expert_path', type=str, default='data/deterministic.trpo.Hopper.0.00.npz')
def policy_fn(name, ob_space, ac_space, reuse=False):
return mlp_policy_sawyer.MlpPolicy(name=name,
ob_space=ob_space,
ac_space=ac_space,
reuse=reuse,
hid_size=args.policy_hidden_size,
num_hid_layers=2)
env = bench.Monitor(env,
logger.get_dir()
and osp.join(logger.get_dir(), "monitor.json"),
allow_early_resets=True)
# Note: taking away the bench monitor wrapping allows rendering
#env.seed(args.seed) # Sawyer does not have seed
gym.logger.setLevel(logging.WARN)
task_name = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
args.log_dir = osp.join(args.log_dir, task_name)
logger.log("log_directories: ", args.log_dir)
logger.log("environment action space range: ",
env.action_space) #logging the action space
#------- Run policy for reaching ---------#
play_env = robosuite.make(
args.env_id,
ignore_done=True,
use_camera_obs=False,
has_renderer=True,
control_freq=100,
gripper_visualization=True,
#box_pos = [0.63522776, -0.3287869, 0.82162434], # shift2
#box_quat=[0.6775825618903728, 0, 0, 0.679425538604203], # shift2
)
play_env = GymWrapper(play_env)
#Weights are loaded from reach model grasp_strange
#play_env.viewer.set_camera(camera_id=2) # Switch views for eval
# Setup network
# ----------------------------------------
ob_space = env.observation_space
ac_space = env.action_space
pi_reach = policy_fn("pi", ob_space, ac_space, reuse=False)
# Hack for loading policies using tensorflow
init_op = tf.compat.v1.global_variables_initializer()
saver = tf.compat.v1.train.Saver(max_to_keep=5)
with tf.compat.v1.Session() as sess:
sess.run(init_op)
# Load Checkpoint
ckpt_path = './reach_and_grasp_weights/reach_one/trpo_gail.transition_limitation_2100.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
ckpt = tf.compat.v1.train.get_checkpoint_state(ckpt_path)
saver.restore(sess, ckpt.model_checkpoint_path)
# Create the playback environment
_, _, last_ob, last_jpos = runner_1_traj(
play_env,
pi_reach,
None,
timesteps_per_batch=3500,
number_trajs=1,
stochastic_policy=args.stochastic_policy,
save=False)
if task == 'train':
play_env.close()
dataset = Mujoco_Dset(expert_path=expert_path,
traj_limitation=args.traj_limitation)
reward_giver = TransitionClassifier(env,
args.adversary_hidden_size,
entcoeff=args.adversary_entcoeff)
train_grasp(env, last_ob, last_jpos, args.seed, policy_fn,
reward_giver, dataset, args.algo, args.g_step, args.d_step,
args.policy_entcoeff, args.num_timesteps,
args.save_per_iter, args.checkpoint_dir, args.log_dir,
args.pretrained, args.BC_max_iter, task_name)
elif task == 'evaluate':
pi_grasp = policy_fn("pi_grasp", ob_space, ac_space, reuse=False)
saver_2 = tf.compat.v1.train.Saver(max_to_keep=5)
with tf.compat.v1.Session() as sess:
sess.run(init_op)
ckpt_path_2 = './reach_and_grasp_weights/grasp_shift1_after_reach/grasptrpo_gail.transition_limitation_2000.SawyerLift.g_step_1.d_step_1.policy_entcoeff_0.adversary_entcoeff_0.001.seed_0/'
ckpt_2 = tf.compat.v1.train.get_checkpoint_state(ckpt_path_2)
saver_2.restore(sess, ckpt_2.model_checkpoint_path)
tt = 0
ob = last_ob
while True:
ac, vpred = pi_grasp.act(False, ob)
ob, rew, new, _ = play_env.step(ac)
play_env.render() # check the running in for the first part
#logger.log("rendering for reach policy")
if new or tt >= args.traj_limitation:
break
tt += 1
play_env.close()
env.close()
grippers = ["TwoFingerGripper", "PR2Gripper", "RobotiqGripper"]
for gripper in grippers:
# create environment with selected grippers
env = GymWrapper(
suite.make(
"SawyerPickPlace",
gripper_type=gripper,
use_camera_obs=False, # do not use pixel observations
has_offscreen_renderer=
False, # not needed since not using pixel obs
has_renderer=True, # make sure we can render to the screen
reward_shaping=True, # use dense rewards
control_freq=
100, # control should happen fast enough so that simulation looks smooth
))
# run a random policy
observation = env.reset()
for t in range(500):
env.render()
action = env.action_space.sample()
observation, reward, done, info = env.step(action)
if done:
print("Episode finished after {} timesteps".format(t + 1))
break
# close window
env.close()