def test_404_err_registration():
config = BonsaiClientConfig()
config.server = "http://127.0.0.1:9000"
config.workspace = "notfound"
config.access_key = "111"
client = BonsaiClient(config)
try:
interface = SimulatorInterface(name="a", timeout=1)
client.session.create(config.workspace, interface)
except HttpResponseError as err:
assert err.status_code == 404
def test_flaky_sim(patched_sleep: Mock):
config = BonsaiClientConfig()
config.server = "http://127.0.0.1:9000"
config.workspace = "flaky"
config.access_key = "111"
client = BonsaiClient(config)
interface = SimulatorInterface(name="a", timeout=1)
client.session.create(config.workspace, interface)
counter = 0
while counter < 100:
sim_state = SimulatorState(session_id=1,
sequence_id=1,
state={},
halted=False)
client.session.advance(config.workspace, 1, body=sim_state)
counter += 1
def __init__(
self,
model_name: str,
render: bool = False,
log_data: bool = False,
):
"""
Parameters
----------
model_name: str
Name of the model to use. Must be an existing subfolder inside the "models" folder
render: bool, optional
Whether to visualize episodes during training, by default False
log_data: bool, optional
Whether to log data, by default False
"""
self.model_name = model_name
self.render = render
self.log_data = log_data
self.sim = SimulatorSession(model_name=model_name, render=render, log_data=log_data)
# The SIM_WORKSPACE and SIM_ACCESS_KEY are used internally by the BonsaiClient. So even if we don't use them, we check for their existence.
get_environment_variable("SIM_WORKSPACE")
get_environment_variable("SIM_ACCESS_KEY")
sim_prefix = get_environment_variable("SIM_PREFIX")
# Configure client to interact with Bonsai service
self.config_client = BonsaiClientConfig()
self.client = BonsaiClient(self.config_client)
# Create simulator session
self.registration_info = SimulatorInterface(
name=f"{sim_prefix}_{self.sim.model_name}",
timeout=60,
simulator_context=self.config_client.simulator_context,
)
self.registered_session = None
self.sequence_id = None
def main(render=False):
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession(render=render)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Load json file as simulator integration config type file
with open('moab_interface.json', "r") as file:
template_str = file.read()
# render the template with our constants
template = Template(template_str)
interface_str = template.render(
initial_pitch=sim.simulator.pitch,
initial_roll=sim.simulator.roll,
initial_height_z=sim.simulator.height_z,
time_delta=sim.simulator.time_delta,
gravity=sim.simulator.time_delta,
plate_radius=sim.simulator.plate_radius,
plate_theta_vel_limit=sim.simulator.plate_theta_vel_limit,
plate_theta_acc=sim.simulator.plate_theta_acc,
plate_theta_limit=sim.simulator.plate_theta_limit,
plate_z_limit=sim.simulator.plate_z_limit,
ball_mass=sim.simulator.ball_mass,
ball_radius=sim.simulator.ball_radius,
ball_shell=sim.simulator.ball_shell,
obstacle_radius=sim.simulator.obstacle_radius,
obstacle_x=sim.simulator.obstacle_x,
obstacle_y=sim.simulator.obstacle_y,
target_x=sim.simulator.target_x,
target_y=sim.simulator.target_y,
initial_x=sim.simulator.ball.x,
initial_y=sim.simulator.ball.y,
initial_z=sim.simulator.ball.z,
initial_vel_x=sim.simulator.ball_vel.x,
initial_vel_y=sim.simulator.ball_vel.y,
initial_vel_z=sim.simulator.ball_vel.z,
initial_speed=0,
initial_direction=0,
ball_noise=sim.simulator.ball_noise,
plate_noise=sim.simulator.plate_noise,
)
interface = json.loads(interface_str)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=interface["name"],
timeout=interface["timeout"],
simulator_context=config_client.simulator_context,
description=interface["description"],
)
registered_session = client.session.create(
workspace_name=config_client.workspace, body=registration_info)
print("Registered simulator.")
sequence_id = 1
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(sequence_id=sequence_id,
state=sim.get_state(),
halted=sim.halted())
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state)
sequence_id = event.sequence_id
print("[{}] Last Event: {}".format(time.strftime('%H:%M:%S'),
event.type))
# Event loop
if event.type == 'Idle':
time.sleep(event.idle.callback_time)
print('Idling...')
elif event.type == 'EpisodeStart':
sim.episode_start(event.episode_start.config)
elif event.type == 'EpisodeStep':
sim.episode_step(event.episode_step.action)
elif event.type == 'EpisodeFinish':
print('Episode Finishing...')
elif event.type == 'Unregister':
client.session.delete(workspace_name=config_client.workspace,
session_id=registered_session.session_id)
print("Unregistered simulator.")
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(workspace_name=config_client.workspace,
session_id=registered_session.session_id)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(workspace_name=config_client.workspace,
session_id=registered_session.session_id)
print("Unregistered simulator because: {}".format(err))
def main(render=False):
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession(render=render)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Load json file as simulator integration config type file
with open('interface.json') as file:
interface = json.load(file)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=interface['name'],
timeout=interface['timeout'],
simulator_context=config_client.simulator_context,
description=interface['description']
)
def CreateSession(registration_info: SimulatorInterface, config_client: BonsaiClientConfig):
"""Creates a new Simulator Session and returns new session, sequenceId
"""
try:
print("config: {}, {}".format(config_client.server, config_client.workspace))
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace, body=registration_info
)
print("Registered simulator. {}".format(registered_session.session_id))
return registered_session, 1
except HttpResponseError as ex:
print("HttpResponseError in Registering session: StatusCode: {}, Error: {}, Exception: {}".format(ex.status_code, ex.error.message, ex))
raise ex
except Exception as ex:
print("UnExpected error: {}, Most likely, It's some network connectivity issue, make sure, you are able to reach bonsai platform from your PC.".format(ex))
raise ex
registered_session, sequence_id = CreateSession(registration_info, config_client)
sequence_id = 1
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(
sequence_id=sequence_id, state=sim.get_state(),
halted=sim.halted()
)
try:
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state
)
sequence_id = event.sequence_id
print("[{}] Last Event: {}".format(time.strftime('%H:%M:%S'),
event.type))
except HttpResponseError as ex:
print("HttpResponseError in Advance: StatusCode: {}, Error: {}, Exception: {}".format(ex.status_code, ex.error.message, ex))
# This can happen in network connectivity issue, though SDK has retry logic, but even after that request may fail,
# if your network has some issue, or sim session at platform is going away..
# So let's re-register sim-session and get a new session and continue iterating. :-)
registered_session, sequence_id = CreateSession(registration_info, config_client)
continue
except Exception as err:
print("Unexpected error in Advance: {}".format(err))
# Ideally this shouldn't happen, but for very long-running sims It can happen with various reasons, let's re-register sim & Move on.
# If possible try to notify Bonsai team to see, if this is platform issue and can be fixed.
registered_session, sequence_id = CreateSession(registration_info, config_client)
continue
# Event loop
if event.type == 'Idle':
time.sleep(event.idle.callback_time)
print('Idling...')
elif event.type == 'EpisodeStart':
sim.episode_start(event.episode_start.config)
elif event.type == 'EpisodeStep':
sim.episode_step(event.episode_step.action)
elif event.type == 'EpisodeFinish':
print('Episode Finishing...')
elif event.type == 'Unregister':
print("Simulator Session unregistered by platform because '{}', Registering again!".format(event.unregister.details))
registered_session, sequence_id = CreateSession(registration_info, config_client)
continue
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id
)
print("Unregistered simulator because: {}".format(err))
def main(
render: bool = False, log_iterations: bool = False, config_setup: bool = False
):
"""Main entrypoint for running simulator connections
Parameters
----------
render : bool, optional
visualize steps in environment, by default True, by default False
log_iterations: bool, optional
log iterations during training to a CSV file
"""
# workspace environment variables
if config_setup:
env_setup()
load_dotenv(verbose=True, override=True)
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession(render=render, log_data=log_iterations)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# # Load json file as simulator integration config type file
with open("cartpole_description.json") as file:
interface = json.load(file)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=sim.env_name,
timeout=60,
simulator_context=config_client.simulator_context,
)
def CreateSession(
registration_info: SimulatorInterface, config_client: BonsaiClientConfig
):
"""Creates a new Simulator Session and returns new session, sequenceId
"""
try:
print(
"config: {}, {}".format(config_client.server, config_client.workspace)
)
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace, body=registration_info
)
print("Registered simulator. {}".format(registered_session.session_id))
return registered_session, 1
except HttpResponseError as ex:
print(
"HttpResponseError in Registering session: StatusCode: {}, Error: {}, Exception: {}".format(
ex.status_code, ex.error.message, ex
)
)
raise ex
except Exception as ex:
print(
"UnExpected error: {}, Most likely, it's some network connectivity issue, make sure you are able to reach bonsai platform from your network.".format(
ex
)
)
raise ex
registered_session, sequence_id = CreateSession(registration_info, config_client)
episode = 0
iteration = 0
try:
while True:
# Advance by the new state depending on the event type
# TODO: it's risky not doing doing `get_state` without first initializing the sim
sim_state = SimulatorState(
sequence_id=sequence_id, state=sim.get_state(), halted=sim.halted(),
)
try:
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print(
"[{}] Last Event: {}".format(time.strftime("%H:%M:%S"), event.type)
)
except HttpResponseError as ex:
print(
"HttpResponseError in Advance: StatusCode: {}, Error: {}, Exception: {}".format(
ex.status_code, ex.error.message, ex
)
)
# This can happen in network connectivity issue, though SDK has retry logic, but even after that request may fail,
# if your network has some issue, or sim session at platform is going away..
# So let's re-register sim-session and get a new session and continue iterating. :-)
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
except Exception as err:
print("Unexpected error in Advance: {}".format(err))
# Ideally this shouldn't happen, but for very long-running sims It can happen with various reasons, let's re-register sim & Move on.
# If possible try to notify Bonsai team to see, if this is platform issue and can be fixed.
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
# Event loop
if event.type == "Idle":
time.sleep(event.idle.callback_time)
print("Idling...")
elif event.type == "EpisodeStart":
print(event.episode_start.config)
sim.episode_start(event.episode_start.config)
episode += 1
elif event.type == "EpisodeStep":
iteration += 1
sim.episode_step(event.episode_step.action)
if sim.log_data:
sim.log_iterations(
episode=episode,
iteration=iteration,
state=sim.get_state(),
action=event.episode_step.action,
)
elif event.type == "EpisodeFinish":
print("Episode Finishing...")
iteration = 0
elif event.type == "Unregister":
print("Simulator Session unregistered by platform because '{}', Registering again!".format(event.unregister.details))
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator because: {}".format(err))
def main(cfg: DictConfig):
save_path = cfg["model"]["saver"]["filename"]
if cfg["data"]["full_or_relative"] == "relative":
save_path = os.path.join(dir_path, save_path)
model_name = cfg["model"]["name"]
states = cfg["simulator"]["states"]
actions = cfg["simulator"]["actions"]
configs = cfg["simulator"]["configs"]
initial_states = cfg["simulator"]["initial_states"]
policy = cfg["simulator"]["policy"]
# logflag = cfg["simulator"]["logging"]
# logging not yet implemented
scale_data = cfg["model"]["build_params"]["scale_data"]
diff_state = cfg["data"]["diff_state"]
workspace_setup = cfg["simulator"]["workspace_setup"]
episode_inits = cfg["simulator"]["episode_inits"]
input_cols = cfg["data"]["inputs"]
output_cols = cfg["data"]["outputs"]
augmented_cols = cfg["data"]["augmented_cols"]
if type(input_cols) == ListConfig:
input_cols = list(input_cols)
if type(output_cols) == ListConfig:
output_cols = list(output_cols)
if type(augmented_cols) == ListConfig:
augmented_cols = list(augmented_cols)
input_cols = input_cols + augmented_cols
logger.info(f"Using DDM with {policy} policy")
if model_name.lower() == "pytorch":
from all_models import available_models
else:
from model_loader import available_models
Model = available_models[model_name]
model = Model()
model.load_model(filename=save_path, scale_data=scale_data)
# model.build_model(**cfg["model"]["build_params"])
if not initial_states:
logger.warn(
"No initial values provided, using randomly initialized states which is probably NOT what you want"
)
initial_states = {k: random.random() for k in states}
signal_builder = cfg["simulator"]["signal_builder"]
# Grab standardized way to interact with sim API
sim = Simulator(
model,
states,
actions,
configs,
input_cols,
output_cols,
episode_inits,
initial_states,
signal_builder,
diff_state,
)
# do a random action to get initial state
sim.episode_start()
if policy == "random":
random_policy_from_keys = partial(random_policy,
action_keys=sim.action_keys)
test_policy(
sim=sim,
config={
**episode_inits,
**initial_states
},
policy=random_policy_from_keys,
)
elif isinstance(policy, int):
# If docker PORT provided, set as exported brain PORT
port = policy
url = f"http://localhost:{port}"
print(f"Connecting to exported brain running at {url}...")
trained_brain_policy = partial(brain_policy, exported_brain_url=url)
test_policy(
sim=sim,
config={
**episode_inits,
**initial_states
},
policy=trained_brain_policy,
)
elif policy == "bonsai":
if workspace_setup:
logger.info(f"Loading workspace information form .env")
env_setup()
load_dotenv(verbose=True, override=True)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=env_name,
timeout=60,
simulator_context=config_client.simulator_context,
)
def CreateSession(registration_info: SimulatorInterface,
config_client: BonsaiClientConfig):
"""Creates a new Simulator Session and returns new session, sequenceId"""
try:
print("config: {}, {}".format(config_client.server,
config_client.workspace))
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace,
body=registration_info)
print("Registered simulator. {}".format(
registered_session.session_id))
return registered_session, 1
# except HttpResponseError as ex:
# print(
# "HttpResponseError in Registering session: StatusCode: {}, Error: {}, Exception: {}".format(
# ex.status_code, ex.error.message, ex
# )
# )
# raise ex
except Exception as ex:
print(
"UnExpected error: {}, Most likely, it's some network connectivity issue, make sure you are able to reach bonsai platform from your network."
.format(ex))
raise ex
registered_session, sequence_id = CreateSession(
registration_info, config_client)
episode = 0
iteration = 0
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(
sequence_id=sequence_id,
state=sim.get_state(),
halted=sim.halted(),
)
try:
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print("[{}] Last Event: {}".format(
time.strftime("%H:%M:%S"), event.type))
# UPDATE #comment-out-azure-cli:
# - commented out the HttpResponseError since it relies on azure-cli-core which has
# - conflicting dependencies with microsoft-bonsai-api
# - the catch-all exception below should still re-connect on disconnects
# except HttpResponseError as ex:
# print(
# "HttpResponseError in Advance: StatusCode: {}, Error: {}, Exception: {}".format(
# ex.status_code, ex.error.message, ex
# )
# )
# # This can happen in network connectivity issue, though SDK has retry logic, but even after that request may fail,
# # if your network has some issue, or sim session at platform is going away..
# # So let's re-register sim-session and get a new session and continue iterating. :-)
# registered_session, sequence_id = CreateSession(
# registration_info, config_client
# )
# continue
except Exception as err:
print("Unexpected error in Advance: {}".format(err))
# Ideally this shouldn't happen, but for very long-running sims It can happen with various reasons, let's re-register sim & Move on.
# If possible try to notify Bonsai team to see, if this is platform issue and can be fixed.
registered_session, sequence_id = CreateSession(
registration_info, config_client)
continue
# Event loop
if event.type == "Idle":
time.sleep(event.idle.callback_time)
print("Idling...")
elif event.type == "EpisodeStart":
print(event.episode_start.config)
sim.episode_start(event.episode_start.config)
episode += 1
elif event.type == "EpisodeStep":
iteration += 1
sim.episode_step(event.episode_step.action)
elif event.type == "EpisodeFinish":
print("Episode Finishing...")
iteration = 0
elif event.type == "Unregister":
print(
"Simulator Session unregistered by platform because '{}', Registering again!"
.format(event.unregister.details))
registered_session, sequence_id = CreateSession(
registration_info, config_client)
continue
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator because: {}".format(err))
def main(
render: bool = False,
log_iterations: bool = False,
config_setup: bool = False,
sim_speed: int = 0,
sim_speed_variance: int = 0,
env_file: Union[str, bool] = ".env",
workspace: str = None,
accesskey: str = None,
):
"""Main entrypoint for running simulator connections
Parameters
----------
render : bool, optional
visualize steps in environment, by default True, by default False
log_iterations: bool, optional
log iterations during training to a CSV file
config_setup: bool, optional
if enabled then uses a local `.env` file to find sim workspace id and access_key
sim_speed: int, optional
the average delay to use, default = 0
sim_speed_variance: int, optional
the variance for sim delay
env_file: str, optional
if config_setup True, then where the environment variable for lookup exists
workspace: str, optional
optional flag from CLI for workspace to override
accesskey: str, optional
optional flag from CLI for accesskey to override
"""
# check if workspace or access-key passed in CLI
use_cli_args = all([workspace, accesskey])
# check for accesskey and workspace id in system variables
if all(
[
not use_cli_args,
"SIM_WORKSPACE" in os.environ,
"SIM_ACCESS_KEY" in os.environ,
]
):
workspace = os.environ["SIM_WORKSPACE"]
accesskey = os.environ["SIM_ACCESS_KEY"]
elif use_cli_args:
# Use workspace and access key from CLI args passed into main
pass
elif config_setup or env_file:
print(
f"No system variables for workspace-id or access-key found, checking in env-file (.env by default)"
)
workspace, accesskey = env_setup(env_file)
load_dotenv(verbose=True, override=True)
else:
pass
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession(render=render, log_data=log_iterations)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# # Load json file as simulator integration config type file
with open("cartpole_description.json") as file:
interface = json.load(file)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=sim.env_name,
timeout=interface["timeout"],
simulator_context=config_client.simulator_context,
description=interface["description"],
)
def CreateSession(
registration_info: SimulatorInterface, config_client: BonsaiClientConfig
):
"""Creates a new Simulator Session and returns new session, sequenceId
"""
try:
print(
"config: {}, {}".format(config_client.server, config_client.workspace)
)
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace, body=registration_info
)
print("Registered simulator. {}".format(registered_session.session_id))
return registered_session, 1
except HttpResponseError as ex:
print(
"HttpResponseError in Registering session: StatusCode: {}, Error: {}, Exception: {}".format(
ex.status_code, ex.error.message, ex
)
)
raise ex
except Exception as ex:
print(
"UnExpected error: {}, Most likely, it's some network connectivity issue, make sure you are able to reach bonsai platform from your network.".format(
ex
)
)
raise ex
registered_session, sequence_id = CreateSession(registration_info, config_client)
episode = 0
iteration = 0
try:
while True:
# Advance by the new state depending on the event type
# TODO: it's risky not doing doing `get_state` without first initializing the sim
sim_state = SimulatorState(
sequence_id=sequence_id, state=sim.get_state(), halted=sim.halted(),
)
try:
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print(
"[{}] Last Event: {}".format(time.strftime("%H:%M:%S"), event.type)
)
except HttpResponseError as ex:
print(
"HttpResponseError in Advance: StatusCode: {}, Error: {}, Exception: {}".format(
ex.status_code, ex.error.message, ex
)
)
# This can happen in network connectivity issue, though SDK has retry logic, but even after that request may fail,
# if your network has some issue, or sim session at platform is going away..
# So let's re-register sim-session and get a new session and continue iterating. :-)
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
except Exception as err:
print("Unexpected error in Advance: {}".format(err))
# Ideally this shouldn't happen, but for very long-running sims It can happen with various reasons, let's re-register sim & Move on.
# If possible try to notify Bonsai team to see, if this is platform issue and can be fixed.
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
# Event loop
if event.type == "Idle":
time.sleep(event.idle.callback_time)
print("Idling...")
elif event.type == "EpisodeStart":
print(event.episode_start.config)
sim.episode_start(event.episode_start.config)
episode += 1
elif event.type == "EpisodeStep":
iteration += 1
delay = 0.0
if sim_speed > 0:
if (
sim_speed_variance > 0
): # stochastic delay, truncated normal distribution
mu = sim_speed
sigma = sim_speed_variance
lower = np.max(
[0, sim_speed - 3 * sim_speed_variance]
) # truncating at min +/- 3*variance
upper = sim_speed + 3 * sim_speed_variance
delay = truncnorm.rvs(
(lower - mu) / sigma,
(upper - mu) / sigma,
loc=mu,
scale=sigma,
)
print("stochastic sim delay: {}s".format(delay))
time.sleep(delay)
else: # fixed delay
delay = sim_speed
print("sim delay: {}s".format(delay))
time.sleep(delay)
sim.episode_step(event.episode_step.action)
if sim.log_data:
sim.log_iterations(
episode=episode,
iteration=iteration,
state=sim.get_state(),
action=event.episode_step.action,
sim_speed_delay=delay,
)
elif event.type == "EpisodeFinish":
print("Episode Finishing...")
iteration = 0
elif event.type == "Unregister":
print(
"Simulator Session unregistered by platform because '{}', Registering again!".format(
event.unregister.details
)
)
registered_session, sequence_id = CreateSession(
registration_info, config_client
)
continue
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator because: {}".format(err))
if __name__ == "__main__":
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession()
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Load json file as simulator integration config type file
with open('predator_control_interface.json') as file:
interface = json.load(file)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=interface['name'],
timeout=interface['timeout'],
simulator_context=config_client.simulator_context)
registered_session = client.session.create(
workspace_name=config_client.workspace, body=registration_info)
print("Registered simulator.")
sequence_id = 1
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(sequence_id=sequence_id,
state=sim.get_state(),
halted=sim.halted())
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
def main(cfg: DictConfig):
save_path = cfg["model"]["saver"][0]["filename"]
if cfg["data"]["full_or_relative"] == "relative":
save_path = os.path.join(dir_path, save_path)
model_name = cfg["model"]["name"]
states = cfg["simulator"]["states"]
actions = cfg["simulator"]["actions"]
configs = cfg["simulator"]["configs"]
policy = cfg["simulator"]["policy"]
scale_data = cfg["model"]["build_params"][7]["scale_data"]
logger.info(f"Training with a new {policy} policy")
Model = available_models[model_name]
model = Model()
model.build_model(model_type=model_name)
model.load_model(filename=save_path, scale_data=scale_data)
# Grab standardized way to interact with sim API
sim = Simulator(model, states, actions, configs)
# do a random action to get initial state
sim.episode_start()
if policy == "random":
test_random_policy(1000, 250, sim)
elif policy == "bonsai":
env_setup()
load_dotenv(verbose=True, override=True)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=env_name,
timeout=60,
simulator_context=config_client.simulator_context,
)
def CreateSession(registration_info: SimulatorInterface,
config_client: BonsaiClientConfig):
"""Creates a new Simulator Session and returns new session, sequenceId
"""
try:
print("config: {}, {}".format(config_client.server,
config_client.workspace))
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace,
body=registration_info)
print("Registered simulator. {}".format(
registered_session.session_id))
return registered_session, 1
except HttpResponseError as ex:
print(
"HttpResponseError in Registering session: StatusCode: {}, Error: {}, Exception: {}"
.format(ex.status_code, ex.error.message, ex))
raise ex
except Exception as ex:
print(
"UnExpected error: {}, Most likely, it's some network connectivity issue, make sure you are able to reach bonsai platform from your network."
.format(ex))
raise ex
registered_session, sequence_id = CreateSession(
registration_info, config_client)
episode = 0
iteration = 0
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(
sequence_id=sequence_id,
state=sim.get_state(),
halted=sim.halted(),
)
try:
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print("[{}] Last Event: {}".format(
time.strftime("%H:%M:%S"), event.type))
except HttpResponseError as ex:
print(
"HttpResponseError in Advance: StatusCode: {}, Error: {}, Exception: {}"
.format(ex.status_code, ex.error.message, ex))
# This can happen in network connectivity issue, though SDK has retry logic, but even after that request may fail,
# if your network has some issue, or sim session at platform is going away..
# So let's re-register sim-session and get a new session and continue iterating. :-)
registered_session, sequence_id = CreateSession(
registration_info, config_client)
continue
except Exception as err:
print("Unexpected error in Advance: {}".format(err))
# Ideally this shouldn't happen, but for very long-running sims It can happen with various reasons, let's re-register sim & Move on.
# If possible try to notify Bonsai team to see, if this is platform issue and can be fixed.
registered_session, sequence_id = CreateSession(
registration_info, config_client)
continue
# Event loop
if event.type == "Idle":
time.sleep(event.idle.callback_time)
print("Idling...")
elif event.type == "EpisodeStart":
print(event.episode_start.config)
sim.episode_start(event.episode_start.config)
episode += 1
elif event.type == "EpisodeStep":
iteration += 1
sim.episode_step(event.episode_step.action)
elif event.type == "EpisodeFinish":
print("Episode Finishing...")
iteration = 0
elif event.type == "Unregister":
print(
"Simulator Session unregistered by platform because '{}', Registering again!"
.format(event.unregister.details))
registered_session, sequence_id = CreateSession(
registration_info, config_client)
continue
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator because: {}".format(err))
def main(render: bool = False, config_setup: bool = False):
"""Main entrypoint for running simulator connections
Parameters
----------
render : bool, optional
visualize steps in environment, by default True, by default False
"""
# workspace environment variables
if config_setup:
env_setup()
load_dotenv(verbose=True, override=True)
# Grab standardized way to interact with sim API
sim = TemplateSimulatorSession(render=render)
# Configure client to interact with Bonsai service
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# # Load json file as simulator integration config type file
# with open("interface.json") as file:
# interface = json.load(file)
# Create simulator session and init sequence id
registration_info = SimulatorInterface(
name=sim.env_name,
timeout=60,
simulator_context=config_client.simulator_context,
)
registered_session = client.session.create(
workspace_name=config_client.workspace, body=registration_info)
print("Registered simulator.")
sequence_id = 1
try:
while True:
# Advance by the new state depending on the event type
sim_state = SimulatorState(
sequence_id=sequence_id,
state=sim.get_state(),
halted=sim.halted(),
)
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print("[{}] Last Event: {}".format(time.strftime("%H:%M:%S"),
event.type))
# Event loop
if event.type == "Idle":
time.sleep(event.idle.callback_time)
print("Idling...")
elif event.type == "EpisodeStart":
sim.episode_start(event.episode_start.config)
elif event.type == "EpisodeStep":
sim.episode_step(event.episode_step.action)
elif event.type == "EpisodeFinish":
print("Episode Finishing...")
elif event.type == "Unregister":
print(
"Simulator Session unregistered by platform because '{}', Registering again!"
.format(event.unregister.details))
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
)
print("Unregistered simulator because: {}".format(err))
def get_interface(self) -> SimulatorInterface:
face = SimulatorInterface(name="minimal")
return face
def run(self):
""" Connects to the Bonsai service processes the command and passes them to the simulator
"""
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
# Load json file as simulator integration config type file
interface = self.get_interface()
simulator_interface = SimulatorInterface(
name = interface['name'],
timeout = interface['timeout'],
simulator_context = config_client.simulator_context,
)
# Registers a simulator with Bonsai platform
session = client.session.create(
workspace_name = config_client.workspace,
body = simulator_interface
)
log.info("Registered simulator.")
sequence_id = 1
try:
while True:
# Advance by the new state depending on the event type
simulator_state = SimulatorState(
sequence_id =sequence_id,
state = self.get_state(),
halted = self.halted()
)
event = client.session.advance(
workspace_name = config_client.workspace,
session_id = session.session_id,
body = simulator_state
)
sequence_id = event.sequence_id
log.debug("[{}] Last Event: {}".format(time.strftime('%H:%M:%S'), event.type))
# Event loop
if event.type == 'Idle':
time.sleep(event.idle.callback_time)
log.info('Idling...')
elif event.type == 'EpisodeStart':
self.episode_start(event.episode_start.config)
elif event.type == 'EpisodeStep':
self.episode_step(event.episode_step.action)
elif event.type == 'EpisodeFinish':
self.episode_finish("")
elif event.type == 'Unregister':
client.session.delete(
workspace_name = config_client.workspace,
session_id = session.session_id
)
log.info("Unregistered simulator.")
else:
pass
except KeyboardInterrupt:
# Gracefully unregister with keyboard interrupt
client.session.delete(
workspace_name =config_client.workspace,
session_id = session.session_id
)
log.info("Unregistered simulator.")
except Exception as err:
# Gracefully unregister for any other exceptions
client.session.delete(
workspace_name = config_client.workspace,
session_id = session.session_id
)
log.info("Unregistered simulator because: {}".format(err))
def get_interface(self):
return SimulatorInterface(
name=self.simulator_name,
timeout=60,
simulator_context=self.get_simulator_context(),
)
def main():
"""
Creates a Bonsai simulator session and executes Bonsai episodes.
"""
workspace = os.getenv("SIM_WORKSPACE")
accesskey = os.getenv("SIM_ACCESS_KEY")
config_client = BonsaiClientConfig()
client = BonsaiClient(config_client)
registration_info = SimulatorInterface(
name="SAMPLE_NAME-sim",
timeout=60,
simulator_context=config_client.simulator_context,
description=None,
)
print(f"config: {config_client.server}, {config_client.workspace}")
registered_session: SimulatorSessionResponse = client.session.create(
workspace_name=config_client.workspace, body=registration_info)
print(f"Registered simulator. {registered_session.session_id}")
sequence_id = 1
sim_model = SimulatorModel()
sim_model_state = {'sim_halted': False}
try:
while True:
sim_state = SimulatorState(sequence_id=sequence_id,
state=sim_model_state,
halted=sim_model_state.get(
'sim_halted', False))
event = client.session.advance(
workspace_name=config_client.workspace,
session_id=registered_session.session_id,
body=sim_state,
)
sequence_id = event.sequence_id
print(f'[{time.strftime("%H:%M:%S")}] Last Event: {event.type}')
if event.type == "Idle":
time.sleep(event.idle.callback_time)
elif event.type == "EpisodeStart":
print(f"config {event.episode_start.config}")
sim_model_state = sim_model.reset(event.episode_start.config)
print(f"state {sim_model_state}")
elif event.type == "EpisodeStep":
print(f"action {event.episode_step.action}")
sim_model_state = sim_model.step(event.episode_step.action)
print(f"state {sim_model_state}")
elif event.type == "EpisodeFinish":
sim_model_state = {'sim_halted': False}
elif event.type == "Unregister":
print(
f"Simulator Session unregistered by platform because '{event.unregister.details}'"
)
return
except BaseException as err:
client.session.delete(workspace_name=config_client.workspace,
session_id=registered_session.session_id)
print(f"Unregistered simulator because {type(err).__name__}: {err}")