Merging RL changes into main

.gitignore

@@ -133,4 +133,21 @@ mojograsp/simcore/simmanager/data/*
 demos/full_rl_demo/data/*
 demos/full_rl_demo/agent_replay*
 demos/full_rl_demo/expert_replay*
-demos/full_rl_demo/*weights*
+demos/full_rl_demo/*weights*
+
+# saved data
+
+demos/rl_demo/data/*
+demos/expert_demo/data/*
+demos/rl_demo/runs/*
+demos/rl_demo/old_runs/*
+*pickapp
+*.pkl
+*.png
+*.prof
+*.zip
+tests/runs/*
+tests/no/*
+mojograsp/simcore/wandb/*
+demos/rl_demo/wandb/*
+distance_and_efficiency.csv

aout.csv

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build_episode.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Jun  1 08:53:49 2023
+
+@author: orochi
+"""
+
+
+
+import os
+import re
+import pickle as pkl
+
+folder = '/home/orochi/mojo/mojo-grasp/demos/real_world/'
+episode_files = [os.path.join(folder, f) for f in os.listdir(folder) if f.lower().endswith('.pkl')]
+filenames_only = [f for f in os.listdir(folder) if f.lower().endswith('.pkl')]
+real_ones = [f for f in filenames_only if f[0].isupper()]
+print(filenames_only)
+print(real_ones)
+for filename in real_ones:
+    direction = re.findall('\w+',filename)
+    print(direction[0])
+    # a = [f for f in filenames_only if f.startswith(direction[0])]
+    with open(folder+direction[0]+'.pkl', 'rb') as file:
+        state = pkl.load(file)
+    # with open(folder+direction[0]+'actor.pkl', 'rb') as file:
+    #     action = pkl.load(file)
+    edict = {'number': 0, 'timestep_list':[]}
+    # for i,j in zip(state,action):
+    #     edict['timestep_list'].append({'state':i,'action':j})
+    for i in state:
+        edict['timestep_list'].append({'state':i})
+
+    with open(folder+direction[0] +'episode.pkl','wb') as file:
+        pkl.dump(edict,file)

config_rewriter.py

@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Apr 27 13:55:03 2023
+
+@author: orochi
+"""
+import json
+import os
+import pathlib
+
+folder_path = './demos/rl_demo/data/J_HPC_rerun/'
+
+
+overall_path = pathlib.Path(__file__).parent.resolve()
+resource_path = overall_path.joinpath('demos/rl_demo/resources')
+run_path = overall_path.joinpath('demos/rl_demo/runs')
+batch_run_folder = overall_path.joinpath(folder_path)
+
+subfolders = os.listdir(batch_run_folder)
+
+if 'experiment_config.json' in subfolders:
+    print('Folder path is a single configuration')
+
+    curr_folder = str(batch_run_folder)
+    with open(curr_folder+'/experiment_config.json', 'r') as file:
+        config = json.load(file)
+    high_level_path = config['save_path'].split('/demos/')[0]
+    print('hlp', high_level_path)
+    print('overall folder', str(overall_path))
+    print('overall path', )
+    for k in config.keys():
+        if k == 'save_path':
+            print('old',k,config[k])
+            config[k] = config[k].replace(config[k], str(batch_run_folder))
+            print('new',k,config[k])
+        elif type(config[k]) == str:
+            print('old',k,config[k])
+            config[k] = config[k].replace(high_level_path, str(overall_path))
+            print('new',k,config[k])
+        elif type(config[k]) == list:
+            for i in range(len(config[k])):
+                if type(config[k][i])==str:
+                    print('old',k,config[k][i])
+                    config[k][i] = config[k][i].replace(high_level_path, str(overall_path))
+                    print('new',k,config[k][i])
+    with open(curr_folder+'/experiment_config.json', 'w') as file:
+        json.dump(config,file)
+else:
+    print('Folder path is a folder with subfolders')
+    for folder in subfolders:
+        curr_folder = str(batch_run_folder.joinpath(folder))
+        with open(curr_folder+'/experiment_config.json', 'r') as file:
+            config = json.load(file)
+        high_level_path = config['save_path'].split('/demos/')[0]
+        print('hlp', high_level_path)
+        print('overall folder', str(overall_path))
+        for k in config.keys():
+            if k == 'save_path':
+                print('old',k,config[k])
+                config[k] = config[k].replace(config[k], curr_folder + '/')
+                print('new',k,config[k])
+            if type(config[k]) == str:
+                print('old',k,config[k])
+                config[k] = config[k].replace(high_level_path, str(overall_path))
+                print('new',k,config[k])
+            elif type(config[k]) == list:
+                for i in range(len(config[k])):
+                    if type(config[k][i])==str:
+                        print('old',k,config[k][i])
+                        config[k][i] = config[k][i].replace(high_level_path, str(overall_path))
+                        print('new',k,config[k][i])
+
+        with open(curr_folder+'/experiment_config.json', 'w') as file:
+            json.dump(config,file)

demos/cheetah/main.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Sep 29 14:44:46 2022
+
+@author: orochi
+"""
+import pybullet as p
+import time
+import pybullet_data
+from multiprocessing import connection
+from operator import truediv
+import pybullet as p
+import pybullet_data
+import pathlib
+import manipulation_phase_rl
+import rl_env
+from rl_state import StateRL, GoalHolder
+import rl_action
+import rl_reward
+import pandas as pd
+from mojograsp.simcore.sim_manager import SimManagerRL
+from mojograsp.simcore.state import StateDefault
+from mojograsp.simcore.reward import RewardDefault
+from mojograsp.simcore.record_data import RecordDataJSON, RecordDataPKL,  RecordDataRLPKL
+from mojograsp.simobjects.two_finger_gripper import TwoFingerGripper
+from mojograsp.simobjects.object_base import ObjectBase
+from mojograsp.simobjects.object_with_velocity import ObjectWithVelocity
+from mojograsp.simobjects.object_for_dataframe import ObjectVelocityDF
+from mojograsp.simcore.replay_buffer import ReplayBufferDefault, ReplayBufferDF
+import numpy as np
+physicsClient = p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setGravity(0,0,-10)
+planeId = p.loadURDF("plane.urdf")
+startPos = [0,0,1]
+startOrientation = p.getQuaternionFromEuler([0,0,0])
+# cheetahId = p.loadURDF("/minic_cheetah/mini_cheetah.urdf", startPos, startOrientation)
+# cheetahId = p.loadURDF("./mini_cheetah/mini_cheetah.urdf", startPos, startOrientation)
+cheetahId = p.loadMJCF('./mjcf/half_cheetah.xml')
+
+state = StateRL(objects=[cheetahId])
+action = rl_action.ExpertAction()
+reward = rl_reward.ExpertReward()
+arg_dict = {'state_dim': 14, 'action_dim': 4, 'max_action': 1.57, 'n': 5, 'discount': 0.995, 'tau': 0.0005,
+            'batch_size': 100, 'expert_sampling_proportion': 0.7}
+
+
+# replay buffer
+replay_buffer = ReplayBufferDefault(buffer_size=400000, state=state, action=action, reward=reward)
+# replay_buffer = ReplayBufferDF(state=state, action=action, reward=reward)
+
+# Run the sim
+done_training = False
+training_length = 100
+while not done_training:
+    for k in range(training_length):
+
+p.disconnect()

demos/cheetah/rl_action.py

@@ -0,0 +1,12 @@
+from mojograsp.simcore.action import Action
+
+
+class ExpertAction(Action):
+    def __init__(self):
+        self.current_action = {}
+
+    def set_action(self, joint_angles: list):
+        self.current_action["target_joint_angles"] = joint_angles
+
+    def get_action(self) -> dict:
+        return self.current_action.copy()