def play(self):
policy_dir = os.path.join(
self.gym_dir_path, action_mapper.ENV_ID_TO_POLICY[self.env_id][0])
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
env = config.env(render=True, **self.args)
network = config.network
checkpoint = os.path.join(
policy_dir, action_mapper.ENV_ID_TO_POLICY[self.env_id][1])
with tf.Session() as sess:
agent = simple_ppo_agent.SimplePPOPolicy(
sess,
env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=checkpoint)
sum_reward = 0
observation = env.reset()
while True:
action = agent.get_action([observation])
observation, reward, done, _ = env.step(action[0])
time.sleep(0.002)
sum_reward += reward
logging.info(f"Reward={sum_reward}")
if done:
break
def main(_):
policy_dir = os.path.join(gym_dir_path, POLICIES[FLAGS.env][0])
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
env = config.env(render=True)
network = config.network
with tf.Session() as sess:
agent = simple_ppo_agent.SimplePPOPolicy(sess,
env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=os.path.join(
policy_dir,
POLICIES[FLAGS.env][1]))
sum_reward = 0
observation = env.reset()
while True:
action = agent.get_action([observation])
observation, reward, done, _ = env.step(action[0])
time.sleep(0.002)
sum_reward += reward
if done:
break
tf.logging.info("reward: %s", sum_reward)
def load_turn_policy(self):
# solve target orientation
angle = math.atan(
(self._target_position[1]) / (self._target_position[0]))
if angle < 0:
angle += 6.28
target_orient = angle
# load turn Policy in a new Graph
turn_graph = tf.Graph()
with turn_graph.as_default():
gym_dir_path = str(site.getsitepackages()[0])
policy_dir = os.path.join(
gym_dir_path, action_mapper.ENV_ID_TO_POLICY['turn'][0])
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
self.turn_env = config.env(render=False,
init_orient=self._init_orient,
target_orient=target_orient)
network = config.network
checkpoint = os.path.join(
policy_dir, action_mapper.ENV_ID_TO_POLICY['turn'][1])
self.turn_agent = simple_ppo_agent.SimplePPOPolicy(
tf.compat.v1.Session(graph=turn_graph),
self.turn_env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=checkpoint)
def load_walk_policy(self):
# load walk Policy in a new Graph
walk_graph = tf.Graph()
with walk_graph.as_default():
gym_dir_path = str(site.getsitepackages()[0])
policy_dir = os.path.join(
gym_dir_path, action_mapper.ENV_ID_TO_POLICY['walk'][0])
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
self.walk_env = config.env(
render=False, target_position=self._target_position[0])
network = config.network
checkpoint = os.path.join(
policy_dir, action_mapper.ENV_ID_TO_POLICY['walk'][1])
self.walk_agent = simple_ppo_agent.SimplePPOPolicy(
tf.compat.v1.Session(graph=walk_graph),
self.walk_env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=checkpoint)
def play(self):
if self.signal_type:
self.args['signal_type'] = self.signal_type
else:
self.signal_type = flag_mapper.DEFAULT_SIGNAL[self.env_id]
policy_id = f"{self.env_id}_{self.signal_type}"
policy_path = flag_mapper.ENV_ID_TO_POLICY[policy_id][0]
# policy_dir = os.path.join(self.gym_dir_path, policy_path)
policy_dir = os.path.join('rex-gym/', policy_path)
print(policy_dir)
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
env = config.env(render=True, **self.args)
network = config.network
checkpoint = os.path.join(policy_dir, flag_mapper.ENV_ID_TO_POLICY[policy_id][1])
with tf.Session() as sess:
agent = simple_ppo_agent.SimplePPOPolicy(sess,
env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=checkpoint)
sum_reward = 0
observation = env.reset()
while True:
action = agent.get_action([observation])
# print('Action', action)
motor = env._transform_action_to_motor_command(action[0])
print(' '.join(map(str, motor)))
observation, reward, done, _ = env.step(action[0])
# print('Reward', reward)
# print('Observation', observation)
time.sleep(0.002)
sum_reward += reward
logging.info(f"Reward={sum_reward}")
if done:
break
def set_gait(self, action_id, args=None, simulation=False):
# @TODO Handle parametric policies
# policy_dir, policy_check = action_mapper.DYNAMIC_ACTIONS_MAP[action_id]
# with tempfile.TemporaryDirectory() as workpath:
# j2_env = Environment(loader=FileSystemLoader(workpath),
# trim_blocks=True)
# lib_dir_path = os.path.join(str(site.getsitepackages()[0]), 'core')
# args['env_name'] = action_mapper.ACTIONS_TO_ENV_NAMES[action_id]
# config = j2_env.get_template(lib_dir_path + '/util/templates/config.j2').render(args)
# agent = self._load_agents(config, policy_dir + "/" + policy_check, False)
# ------------------------------------------------------------------
if action_id in self.STATIC_AGENTS:
# this is a very poor hardcoded path
# @ TODO
gym_dir_path = '/usr/local/lib/python3.6/dist-packages/'
# --------------------------------------------------------------
log_dir, checkpoint = action_mapper.STATIC_ACTIONS_MAP[action_id]
log_dir = os.path.join(gym_dir_path, log_dir)
config = utility.load_config(log_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
env = config.env(render=False)
network = config.network
with tf.Session() as sess:
agent = simple_ppo_agent.SimplePPOPolicy(sess,
env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=os.path.join(log_dir, checkpoint))
logging.info(f'start gait_id={action_id}.')
env.reset()
while True:
obs = self._observer.get_observations(simulation)
action = agent.get_action([obs])
_, _, done, info = env.step(action[0])
self._actuator.set(info['action'], 0.003)
def play(self):
if self.signal_type:
self.args['signal_type'] = self.signal_type
else:
self.signal_type = flag_mapper.DEFAULT_SIGNAL[self.env_id]
policy_id = f"{self.env_id}_{self.signal_type}"
policy_path = flag_mapper.ENV_ID_TO_POLICY[policy_id][0]
policy_dir = os.path.join(self.gym_dir_path, policy_path)
config = utility.load_config(policy_dir)
policy_layers = config.policy_layers
value_layers = config.value_layers
env = config.env(render=False, **self.args)
video_path = self.gym_dir_path + "/videos/"
if not os.path.exists(video_path):
os.mkdir(video_path)
time_str = datetime.now()
recorder = VideoRecorder(
env, self.gym_dir_path + "/videos/{}.mp4".format(time_str))
network = config.network
checkpoint = os.path.join(policy_dir,
flag_mapper.ENV_ID_TO_POLICY[policy_id][1])
with tf.Session() as sess:
agent = simple_ppo_agent.SimplePPOPolicy(
sess,
env,
network,
policy_layers=policy_layers,
value_layers=value_layers,
checkpoint=checkpoint)
sum_reward = 0
observation = env.reset()
cnt = 0
start = time.time()
while True:
action = agent.get_action([observation])
observation, reward, done, _ = env.step(action[0])
# if cnt > 100 and cnt % 1 == 0:
cap_start = time.time()
# recorder.capture_frame()
env.render()
cap_end = time.time()
# print("cap time: {}".format(cap_end - cap_start))
# img = env.render()
# img_path = "images/img_{}.png".format(time_str)
# img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# cv2.imwrite(img_path, img)
# depth_path = "images/depth_{}.png".format(time_str)
# cv2.imwrite(depth_path, depth*125)
# depth = open3d.geometry.Image(depth)
# pcd = open3d.geometry.PointCloud.create_from_depth_image(depth, intrin)
# np.savetxt("images/pcd.xyz", pcd.points)
# exit()
cnt += 1
time.sleep(0.002)
sum_reward += reward
logging.info(f"Reward={sum_reward}")
time_passed = time.time() - start
# print("\r step: {}; reward: {}; rate: {}".format(cnt, sum_reward, sum_reward/cnt))
print("\r step: {}; time: {}; fps: {}".format(
cnt, time_passed, cnt / time_passed))
if done or cnt > 500:
break
recorder.close()