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168e232 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 | """Pick and place in sim with MuJoCo as the world model (oracle). Milestone 0.
# batch: metrics.csv + summary.txt + compute.txt (+ an mp4 per episode with --video: room view with the purple
# plan and the sample spaghetti | gripper camera with the plan projected into it)
uv run python scripts/pick_sim.py --episodes 12
uv run python scripts/pick_sim.py --episodes 3 --video
# live, watch it think (macOS: mjpython for the viewer)
uv run mjpython scripts/pick_sim.py --viewer
Episodes cycle through the (object, container) pairs of configs/tasks/pick_place.yaml.
"""
from __future__ import annotations
import argparse
import sys
import time
from datetime import datetime
from pathlib import Path
import mujoco
import numpy as np
import yaml
ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(ROOT))
from cablepilot.compute import ComputeMeter # noqa: E402
from cablepilot.runner import Sim, run_episode, save_episode, write_summary # noqa: E402
from cablepilot.sim.scene import load_config # noqa: E402
from cablepilot.viz import draw_scene, overlay_camera # noqa: E402
def hud(f) -> list[str]:
tg = f.extra["target"]
lines = [f"t {f.time_s:5.1f}s phase {f.phase.upper()}",
f"target conf {tg.confidence:.2f}{' SEEN' if tg.visible else ''}",
f"plan {f.extra['plan_ms']:.0f} ms ESS {f.info['ess']:.0f}"]
top = sorted(f.info["task_costs"].items(), key=lambda kv: -abs(kv[1]))[:3]
lines.append(" ".join(f"{k} {v:.0f}" for k, v in top))
return lines
class Camera:
"""Projection for an offscreen render of a MuJoCo camera (the gripper camera) at W x H."""
def __init__(self, model, data, cam_id, W, H):
self.d, self.cam, self.W, self.H = data, cam_id, W, H
self.fy = 0.5 * H / np.tan(np.radians(model.cam_fovy[cam_id]) / 2)
def __call__(self, pts):
R = self.d.cam_xmat[self.cam].reshape(3, 3)
rel = (np.atleast_2d(pts) - self.d.cam_xpos[self.cam]) @ R
z = -rel[:, 2]
return (self.W / 2 + self.fy * rel[:, 0] / np.maximum(z, 1e-6),
self.H / 2 - self.fy * rel[:, 1] / np.maximum(z, 1e-6), z)
class VideoSink:
def __init__(self, sim: Sim, path: Path, fps: int, W=640, H=360):
import imageio.v2 as imageio
m, d = sim.plant.model, sim.plant.data
self.sim = sim
self.r_room = mujoco.Renderer(m, H, W)
self.r_grip = mujoco.Renderer(m, H, W)
self.cam = mujoco.MjvCamera()
self.cam.distance, self.cam.azimuth, self.cam.elevation = 2.6, 225.0, -28.0
self.cam.lookat[:] = [0, 0, 0.6]
self.gcam = m.camera("gripper_cam").id
self.proj = Camera(m, d, self.gcam, W, H)
self.opt = mujoco.MjvOption()
self.opt.geomgroup[2] = 0 # hide the walls in the room view
self.gopt = mujoco.MjvOption() # gripper camera: what the real camera would see
for o in (self.opt, self.gopt):
o.sitegroup[:] = 0 # sites (the grasp point marker) are bookkeeping, not objects
o.flags[mujoco.mjtVisFlag.mjVIS_RANGEFINDER] = 0
self.writer = imageio.get_writer(path, fps=fps, codec="libx264", quality=7, macro_block_size=8)
def __call__(self, f):
d = self.sim.plant.data
target = 0.5 * (f.nominal[0] + f.nominal[-1])
self.cam.lookat[:] = 0.9 * self.cam.lookat + 0.1 * target
self.r_room.update_scene(d, camera=self.cam, scene_option=self.opt)
draw_scene(self.r_room.scene, f.nominal, f.samples, f.extra["target"], f.phase, reset=False)
room = self.r_room.render()
self.r_grip.update_scene(d, camera=self.gcam, scene_option=self.gopt)
grip = overlay_camera(self.r_grip.render(), self.proj, f.nominal, f.samples, hud(f))
self.writer.append_data(np.concatenate([room, grip], axis=1))
def close(self):
self.writer.close()
self.r_room.close()
self.r_grip.close()
class ViewerSink:
def __init__(self, sim: Sim, viewer, realtime: bool):
self.sim, self.v, self.realtime = sim, viewer, realtime
self.t_wall0 = self.t_sim0 = None
def __call__(self, f):
v = self.v
if not v.is_running():
raise KeyboardInterrupt
with v.lock():
draw_scene(v.user_scn, f.nominal, f.samples, f.extra["target"], f.phase)
v.set_texts([(mujoco.mjtFontScale.mjFONTSCALE_150, mujoco.mjtGridPos.mjGRID_TOPLEFT, "\n".join(hud(f)), None)])
v.sync()
if self.realtime:
now = time.perf_counter()
if self.t_wall0 is None or f.time_s < self.t_sim0:
self.t_wall0, self.t_sim0 = now, f.time_s
ahead = (f.time_s - self.t_sim0) - (now - self.t_wall0)
if ahead > 0:
time.sleep(ahead)
def main():
ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
ap.add_argument("--episodes", type=int, default=1)
ap.add_argument("--seed", type=int, default=0)
ap.add_argument("--planner", default=str(ROOT / "configs/planner.yaml"))
ap.add_argument("--task", default=str(ROOT / "configs/tasks/pick_place.yaml"))
ap.add_argument("--object", default=None, help="only this object")
ap.add_argument("--container", default=None, help="only this container")
ap.add_argument("--viewer", action="store_true")
ap.add_argument("--fast", action="store_true")
ap.add_argument("--video", action="store_true")
ap.add_argument("--out", default=None)
ap.add_argument("--duration", type=float, default=None)
args = ap.parse_args()
planner = yaml.safe_load(Path(args.planner).read_text())
task_cfg = yaml.safe_load(Path(args.task).read_text())
if args.duration:
task_cfg["episode"]["duration_s"] = args.duration
cfg = load_config()
sim = Sim(cfg, planner, task_cfg)
stamp = datetime.now().strftime("%Y%m%d-%H%M%S")
out = Path(args.out or ROOT / "runs" / f"{stamp}_pick_place_oracle")
out.mkdir(parents=True, exist_ok=True)
(out / "config.yaml").write_text(yaml.safe_dump({"args": vars(args), "planner": planner, "task": task_cfg}))
pairs = [p for p in task_cfg["episode"]["pairs"]
if (args.object in (None, p[0])) and (args.container in (None, p[1]))] or [[args.object, args.container]]
viewer = None
if args.viewer:
import mujoco.viewer
viewer = mujoco.viewer.launch_passive(sim.plant.model, sim.plant.data, show_left_ui=False, show_right_ui=False)
meter = ComputeMeter(budget_s=sim.pcfg.dt, log_path=out / "compute.jsonl")
all_metrics = []
try:
for ep in range(args.episodes):
obj, box = pairs[ep % len(pairs)]
sink = None
if viewer is not None:
sink = ViewerSink(sim, viewer, realtime=not args.fast)
elif args.video:
sink = VideoSink(sim, out / f"episode_{ep:02d}_{obj}_{box}.mp4", fps=round(3 / sim.pcfg.dt))
t0 = time.perf_counter()
log, mt = run_episode(sim, seed=args.seed + 1000 * ep, obj=obj, container=box, on_frame=sink, meter=meter)
if isinstance(sink, VideoSink):
sink.close()
save_episode(log, out / f"episode_{ep:02d}.npz")
all_metrics.append(mt)
events = " | ".join(f"{e['time_s']:.1f}s {e['why']}" for e in log["events"])
print(f"episode {ep:02d} {obj:6s}->{box:3s}: success {mt['success']:.0f} grasp {mt['time_to_grasp_s']:.1f}s "
f"place {mt['time_to_place_s']:.1f}s closes {mt['close_attempts']} plan {mt['plan_ms_mean']:.0f} ms "
f"tilt max {mt['max_tilt_deg']:.1f} T max {mt['max_tension_N']:.0f} N ({time.perf_counter() - t0:.0f} s wall)"
f"\n [{events}]", flush=True)
except KeyboardInterrupt:
print("stopped")
finally:
if viewer is not None:
viewer.close()
if all_metrics:
header = f"task: pick_place model: oracle (MuJoCo) episodes: {len(all_metrics)} seed: {args.seed}"
print(write_summary(out, all_metrics, header))
table = meter.table()
(out / "compute.txt").write_text(table + "\n")
print(table)
print(f"-> {out}")
meter.close()
if __name__ == "__main__":
main()
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