def __init__(self, problemSpec):
self.problemSpec = problemSpec
self.taskSpec = []
self.latestObs = {}
self.latestReward = 0
self.latestTermination = False
self.actionPubs = {}
self.proxy = ROSProxy()
def __init__(self, problemSpec):
self.problemSpec = problemSpec
self.taskSpec = []
self.latestObs = {}
self.latestReward = 0
self.latestTermination = False
self.actionPubs = {}
self.proxy = ROSProxy()
if (not passfile or session.authStatus != 'rejected'):
session.transition(Session.ready)
else:
session.transition(Session.closed)
def handleFrameFactory(handleMsgFactory, sub, passfile, ros):
def handleFrame(frame, session):
return handleFrameHelper(frame, session, handleMsgFactory, sub,
passfile, ros)
return handleFrame
if __name__ == "__main__":
ros = ROSProxy()
import rospy
rospy.init_node('rosbridge')
passfile = rospy.get_param('/brown/rosbridge/passfile', '')
if "--passfile" in sys.argv:
idx = sys.argv.index("--passfile") + 1
if idx < len(sys.argv):
passfile = sys.argv[idx]
else:
print "Please provide the path to the passfile."
sys.exit(-1)
if (passfile != ''):
print "Only users from the passfile will be accepted."
filesrc = open(passfile, 'r')
passfile = filesrc.readlines()
class ROSGlue(object):
def __init__(self, problemSpec):
self.problemSpec = problemSpec
self.taskSpec = []
self.latestObs = {}
self.latestReward = 0
self.latestTermination = False
self.actionPubs = {}
self.proxy = ROSProxy()
def env_init(self):
self.generateTaskSpec()
self.envSetup()
#debug
#print self.taskSpec
return self.taskSpec
def envSetup(self):
for name in self.problemSpec['actions']:
info = self.problemSpec['actions'][name][0]
if not info == 'service':
self.actionPubs[name] = rospy.Publisher(
name[1:], self.proxy.msgClassFromTypeString(info))
for name in self.problemSpec['observations']:
def handler(msg):
self.handleMsg(name, msg)
rospy.Subscriber(name,
self.proxy.classFromTopic(name),
handler,
queue_size=1)
if self.problemSpec['reward']['type'] == 'glue':
pass
else:
topic = [
field for field in problemSpec['reward']
if not field == 'type' and not field == 'range'
][0]
field = [field for field in problemSpec['reward'][topic]][0]
low = problemSpec['reward']['range'][0]
high = problemSpec['reward']['range'][1]
def handler(msg):
val = getattr(msg, field)
if (val < low):
val = low
if (val > high):
val = high
self.latestReward = val
rospy.Subscriber(topic,
self.proxy.classFromTopic(topic),
handler,
queue_size=1)
if self.problemSpec['termination']['type'] == 'glue':
pass
else:
topic = [
field for field in problemSpec['termination']
if not field == 'type'
][0]
field = problemSpec['termination'][topic][0]
def handler(msg):
val = getattr(msg, field)
self.latestTermination = val
rospy.Subscriber(topic,
self.proxy.classFromTopic(topic),
handler,
queue_size=1)
def handleMsg(self, topic, msg):
observation = {}
for field in self.problemSpec['observations'][topic]:
val = getattr(msg, field)
#clip to min/max
if val < self.problemSpec['observations'][topic][field][0]:
val = self.problemSpec['observations'][topic][field][0]
if val > self.problemSpec['observations'][topic][field][1]:
val = self.problemSpec['observations'][topic][field][1]
observation[field] = val
self.latestObs[topic] = observation
def generateTaskSpec(self):
self.taskSpec = ['VERSION RL-Glue-3.0']
self.taskSpec.append('PROBLEMTYPE')
self.taskSpec.append(self.problemSpec['problemtype'])
self.taskSpec.append('DISCOUNTFACTOR')
self.taskSpec.append(self.problemSpec['discountfactor'])
ints = ['INTS']
doubles = ['DOUBLES']
for observation in self.problemSpec['observations']:
for field in self.problemSpec['observations'][observation]:
elements = self.problemSpec['observations'][observation][field]
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append('OBSERVATIONS')
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
ints = ['INTS']
doubles = ['DOUBLES']
for action in self.problemSpec['actions']:
for arg in self.problemSpec['actions'][action][1:]:
for field in arg:
elements = arg[field]
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append('ACTIONS')
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
ints = ['INTS']
doubles = ['DOUBLES']
elements = self.problemSpec['reward']['range']
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append('REWARDS')
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
self.taskSpec.append('EXTRA')
self.taskSpec.append(self.problemSpec['extra'])
self.taskSpec = [str(x) for x in self.taskSpec]
self.taskSpec = ' '.join(self.taskSpec)
def env_start(self):
return self.observe()
def env_step(self, thisAction):
self.act(thisAction)
return self.step()
def act(self, thisAction):
intIdx = 0
doubleIdx = 0
for action in self.problemSpec['actions']:
if self.problemSpec['actions'][action][0] == 'service':
args = []
for arg in self.problemSpec['actions'][action][1:]:
for field in arg:
elements = arg[field]
if isinstance(elements[0], int):
args.append(thisAction.intArray[intIdx])
intIdx = intIdx + 1
else:
args.append(thisAction.doubleArray[doubleIdx])
doubleIdx = doubleIdx + 1
self.proxy.callService(action, tuple(args))
else:
typeString = self.problemSpec['actions'][action][0]
obj = proxy.msgClassFromTypeString(typeString)()
for arg in self.problemSpec['actions'][action][1:]:
for field in arg:
elements = arg[field]
if isinstance(elements[0], int):
setattr(obj, field, intArray[intIdx])
intIdx = intIdx + 1
else:
setattr(obj, field, doubleArray[doubleIdx])
doubleIdx = doubleIdx + 1
self.actionPubs[action].publish(obj)
def observe(self):
obs = Observation()
for topic in self.problemSpec['observations']:
for field in self.problemSpec['observations'][topic]:
elements = self.problemSpec['observations'][topic][field]
#wait for observation
while not topic in self.latestObs.keys():
sleep(0.03)
if isinstance(elements[0], int):
obs.intArray.append(self.latestObs[topic][field])
else:
obs.doubleArray.append(self.latestObs[topic][field])
return obs
def step(self):
rot = Reward_observation_terminal()
rot.o = self.observe()
if self.problemSpec['reward']['type'] == 'glue':
rot.r = get_reward(self.latestObs)
else:
rot.r = self.latestReward
if self.problemSpec['termination']['type'] == 'glue':
rot.terminal = check_termination_conditions(self.latestObs)
else:
rot.terminal = self.latestTermination
return rot
def env_cleanup(self):
pass
def env_message(self, inMessage):
pass
class ROSGlue(object):
def __init__(self, problemSpec):
self.problemSpec = problemSpec
self.taskSpec = []
self.latestObs = {}
self.latestReward = 0
self.latestTermination = False
self.actionPubs = {}
self.proxy = ROSProxy()
def env_init(self):
self.generateTaskSpec()
self.envSetup()
# debug
# print self.taskSpec
return self.taskSpec
def envSetup(self):
for name in self.problemSpec["actions"]:
info = self.problemSpec["actions"][name][0]
if not info == "service":
self.actionPubs[name] = rospy.Publisher(name[1:], self.proxy.msgClassFromTypeString(info))
for name in self.problemSpec["observations"]:
def handler(msg):
self.handleMsg(name, msg)
rospy.Subscriber(name, self.proxy.classFromTopic(name), handler, queue_size=1)
if self.problemSpec["reward"]["type"] == "glue":
pass
else:
topic = [field for field in problemSpec["reward"] if not field == "type" and not field == "range"][0]
field = [field for field in problemSpec["reward"][topic]][0]
low = problemSpec["reward"]["range"][0]
high = problemSpec["reward"]["range"][1]
def handler(msg):
val = getattr(msg, field)
if val < low:
val = low
if val > high:
val = high
self.latestReward = val
rospy.Subscriber(topic, self.proxy.classFromTopic(topic), handler, queue_size=1)
if self.problemSpec["termination"]["type"] == "glue":
pass
else:
topic = [field for field in problemSpec["termination"] if not field == "type"][0]
field = problemSpec["termination"][topic][0]
def handler(msg):
val = getattr(msg, field)
self.latestTermination = val
rospy.Subscriber(topic, self.proxy.classFromTopic(topic), handler, queue_size=1)
def handleMsg(self, topic, msg):
observation = {}
for field in self.problemSpec["observations"][topic]:
val = getattr(msg, field)
# clip to min/max
if val < self.problemSpec["observations"][topic][field][0]:
val = self.problemSpec["observations"][topic][field][0]
if val > self.problemSpec["observations"][topic][field][1]:
val = self.problemSpec["observations"][topic][field][1]
observation[field] = val
self.latestObs[topic] = observation
def generateTaskSpec(self):
self.taskSpec = ["VERSION RL-Glue-3.0"]
self.taskSpec.append("PROBLEMTYPE")
self.taskSpec.append(self.problemSpec["problemtype"])
self.taskSpec.append("DISCOUNTFACTOR")
self.taskSpec.append(self.problemSpec["discountfactor"])
ints = ["INTS"]
doubles = ["DOUBLES"]
for observation in self.problemSpec["observations"]:
for field in self.problemSpec["observations"][observation]:
elements = self.problemSpec["observations"][observation][field]
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append("OBSERVATIONS")
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
ints = ["INTS"]
doubles = ["DOUBLES"]
for action in self.problemSpec["actions"]:
for arg in self.problemSpec["actions"][action][1:]:
for field in arg:
elements = arg[field]
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append("ACTIONS")
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
ints = ["INTS"]
doubles = ["DOUBLES"]
elements = self.problemSpec["reward"]["range"]
element = "(%s %s)" % (elements[0], elements[1])
if isinstance(elements[0], int):
ints.append(element)
else:
doubles.append(element)
self.taskSpec.append("REWARDS")
if len(ints) > 1:
self.taskSpec.extend(ints)
if len(doubles) > 1:
self.taskSpec.extend(doubles)
self.taskSpec.append("EXTRA")
self.taskSpec.append(self.problemSpec["extra"])
self.taskSpec = [str(x) for x in self.taskSpec]
self.taskSpec = " ".join(self.taskSpec)
def env_start(self):
return self.observe()
def env_step(self, thisAction):
self.act(thisAction)
return self.step()
def act(self, thisAction):
intIdx = 0
doubleIdx = 0
for action in self.problemSpec["actions"]:
if self.problemSpec["actions"][action][0] == "service":
args = []
for arg in self.problemSpec["actions"][action][1:]:
for field in arg:
elements = arg[field]
if isinstance(elements[0], int):
args.append(thisAction.intArray[intIdx])
intIdx = intIdx + 1
else:
args.append(thisAction.doubleArray[doubleIdx])
doubleIdx = doubleIdx + 1
self.proxy.callService(action, tuple(args))
else:
typeString = self.problemSpec["actions"][action][0]
obj = proxy.msgClassFromTypeString(typeString)()
for arg in self.problemSpec["actions"][action][1:]:
for field in arg:
elements = arg[field]
if isinstance(elements[0], int):
setattr(obj, field, intArray[intIdx])
intIdx = intIdx + 1
else:
setattr(obj, field, doubleArray[doubleIdx])
doubleIdx = doubleIdx + 1
self.actionPubs[action].publish(obj)
def observe(self):
obs = Observation()
for topic in self.problemSpec["observations"]:
for field in self.problemSpec["observations"][topic]:
elements = self.problemSpec["observations"][topic][field]
# wait for observation
while not topic in self.latestObs.keys():
sleep(0.03)
if isinstance(elements[0], int):
obs.intArray.append(self.latestObs[topic][field])
else:
obs.doubleArray.append(self.latestObs[topic][field])
return obs
def step(self):
rot = Reward_observation_terminal()
rot.o = self.observe()
if self.problemSpec["reward"]["type"] == "glue":
rot.r = get_reward(self.latestObs)
else:
rot.r = self.latestReward
if self.problemSpec["termination"]["type"] == "glue":
rot.terminal = check_termination_conditions(self.latestObs)
else:
rot.terminal = self.latestTermination
return rot
def env_cleanup(self):
pass
def env_message(self, inMessage):
pass