diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000000000000000000000000000000000000..ec1aa779b37954b1a1908b977ded41335663b7b2 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,3 @@ +.venv +checkpoints +data diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..aaf649d14daa5397421ebcbf0dd083afffc8d7da 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,21 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +path/bin/python filter=lfs diff=lfs merge=lfs -text +path/bin/python3 filter=lfs diff=lfs merge=lfs -text +path/bin/python3.11 filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/Aloha[[:space:]]cam[[:space:]]wrist[[:space:]]mount[[:space:]]v13.stl filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/Gravity[[:space:]]compensator[[:space:]]clip,[[:space:]]elbow[[:space:]]mount.stl filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/Gravity[[:space:]]compensator[[:space:]]clip,[[:space:]]wrist[[:space:]]mount.stl filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/RSd405[[:space:]]2020[[:space:]]Overhead[[:space:]]Cam[[:space:]]Mount[[:space:]]v3.stl filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/RSd405[[:space:]]2020[[:space:]]Worms-eye[[:space:]]Cam[[:space:]]Mount[[:space:]]v3.stl filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/aloha_gripper_assembly.pdf filter=lfs diff=lfs merge=lfs -text +third_party/aloha/aloha2/workcell_v2/Aloha[[:space:]]workcell[[:space:]]v2.stl filter=lfs diff=lfs merge=lfs -text +third_party/libero/images/fig1.png filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text +third_party/libero/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000000000000000000000000000000000000..185f437f4ffd6a2ba27dad223eac5a994084e304 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,16 @@ +# The CODEOWNERS file defines individuals or teams that are automatically requested for +# review when someone opens a pull request that modifies certain code. When a draft pull +# request is marked as ready for review, code owners are automatically notified. +# +# See: https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-code-owners +# +# This is a comment. +# Each line is a file pattern followed by one or more owners. + +# Global owners. +* @jimmyt857 @Michael-Equi @uzhilinsky + +src/openpi/models/ @kvablack @uzhilinsky +src/openpi/training/ @kvablack @uzhilinsky + +scripts/ @jimmyt857 @kvablack @uzhilinsky \ No newline at end of file diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml new file mode 100644 index 0000000000000000000000000000000000000000..157755c29c97eb062acc5561c0db257b92caf801 --- /dev/null +++ b/.github/workflows/pre-commit.yml @@ -0,0 +1,17 @@ +name: pre-commit +on: + push: + branches: + - main + pull_request: + branches: + - "*" +jobs: + pre-commit: + runs-on: ubuntu-latest + env: + GIT_LFS_SKIP_SMUDGE: true + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v3 + - uses: pre-commit/action@v3.0.1 diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml new file mode 100644 index 0000000000000000000000000000000000000000..f24cac2756217ae3031e5dc15ebd8df2aec2d419 --- /dev/null +++ b/.github/workflows/test.yml @@ -0,0 +1,31 @@ +name: Test +on: + pull_request: + branches: + - "*" + +jobs: + run_tests: + name: Run Tests + runs-on: openpi-verylarge + env: + GIT_LFS_SKIP_SMUDGE: true + steps: + - uses: actions/checkout@v4 + + - name: Install FFmpeg dependencies + run: | + sudo apt-get update + sudo apt-get install -y ffmpeg libavcodec-dev libavformat-dev libavutil-dev + + - name: Install uv + uses: astral-sh/setup-uv@v5 + + - name: Set up Python + run: uv python install + + - name: Install the project + run: uv sync --all-extras --dev + + - name: Run tests + run: uv run pytest --strict-markers -m "not manual" diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..d7e3933f2bb9d8d92013c07ee0f36543709683dd --- /dev/null +++ b/.gitignore @@ -0,0 +1,168 @@ +# Data directories. +assets/ +checkpoints/ +data/ +wandb/ + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/latest/usage/project/#working-with-version-control +.pdm.toml +.pdm-python +.pdm-build/ + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000000000000000000000000000000000000..4abd60e9771ae91ae0e3ee18d3641526df714991 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,6 @@ +[submodule "third_party/aloha"] + path = third_party/aloha + url = https://github.com/Physical-Intelligence/aloha.git +[submodule "third_party/libero"] + path = third_party/libero + url = https://github.com/Lifelong-Robot-Learning/LIBERO.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f98be5a132f617e321aa5dd3ac42b2b878eff089 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,16 @@ +exclude: third_party/ + +repos: + - repo: https://github.com/astral-sh/uv-pre-commit + # uv version. + rev: 0.5.14 + hooks: + - id: uv-lock + - repo: https://github.com/astral-sh/ruff-pre-commit + # Ruff version. + rev: v0.8.6 + hooks: + # Run the linter. + - id: ruff + args: [--fix] + - id: ruff-format \ No newline at end of file diff --git a/.python-version b/.python-version new file mode 100644 index 0000000000000000000000000000000000000000..902b2c90c86bce733594862f9a5893c7315b6441 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.11 \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000000000000000000000000000000000000..96a3a2dec3c7bb6417d502c7ba750c632ecb9237 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,11 @@ +{ + "[python]": { + "editor.defaultFormatter": "charliermarsh.ruff", + "editor.formatOnSave": true, + }, + "python.testing.pytestArgs": [ + "src" + ], + "python.testing.unittestEnabled": false, + "python.testing.pytestEnabled": true +} \ No newline at end of file diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000000000000000000000000000000000000..a8f3e80bab3c6a5fc45ed251173f3eebd829a959 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,33 @@ +# Contributing to openpi + +We welcome contributions, improvements, and modifications. Everyone is welcome to use openpi in accordance to the [license](LICENSE). Contributors are also welcome to submit bug reports, feature requests, and pull requests. We can't promise to approve every pull request, and we are a small team with limited bandwidth to review all requests, but we'll give it our best effort. Specifics are described below. + +## Issues and feature requests + +You are welcome to use the Github [discussion](https://github.com/Physical-Intelligence/openpi/discussions) feature if you would like to discuss something that is not directly reporting an issue or making a feature request. This is suitable for questions about how to use some aspect of openpi, or other topics. + +If you found a bug or other issue, please first check that the issue was not already reported (use the search bar on Github under Issues). If the issue has not yet been reported, please include this information when filing a Github issue: + +- Your OS type and version and the version of Python you are using +- Code that allows us to reproduce your bug, including all dependencies +- Traceback of any exception +- Any other information that would help us, such as a screenshot + +In order for us to address any issue, we must be able to reproduce it, so if you encountered the issue after making modifications to openpi, please reproduce the issue without any other modifications and provide a code snippet that allows us to quickly reproduce the problem on `main`. + +If you would like to submit a feature request, please check that the feature request does not already exist, and please provide the following information: + +- The motivation for the feature +- A description of the problem you are trying to solve or your use case +- Enough information for us to understand the nature of the request +- Some information for how you intend to use it (this might help us in understanding the motivation!) + +We can't promise to support every feature request, but it is helpful to us to know the use cases that you are interested in! + +## Submitting a pull request + +If you implemented support for a new robot or environment, or some other new feature, we welcome pull requests (PRs) to openpi. We encourage you to create a [feature request](https://github.com/Physical-Intelligence/openpi/issues) or make a post on the [discussion](https://github.com/Physical-Intelligence/openpi/discussions) board before starting to work on your PR, if you would like to get a sense for whether we are likely to approve your PR if it is submitted. Since we are a small team with limited ability to provide maintenance and support, we may not accept all PRs (e.g., if we believe it would make the code harder to maintain, or if reviewing the PR is out of scope for us), so contacting us in advance is a good way to get a sense for whether your PR is likely to get approved for merging into openpi directly. But even if it isn't, you are of course more than welcome to maintain your own fork with whatever modifications you would like. When creating PRs, we recommend every contribution to consider the following: + +- Make sure that your PR has a clear title and description +- Run `pre-commit` (install using `pre-commit install` first), and run `ruff check .` and `ruff format .` +- Make sure your PR passes all tests diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..f49a4e16e68b128803cc2dcea614603632b04eac --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7280d04ea40e668003fae52c64989ccd755678ce --- /dev/null +++ b/README.md @@ -0,0 +1,195 @@ +# openpi + +openpi holds open-source models and packages for robotics, published by the [Physical Intelligence team](https://www.physicalintelligence.company/). + +Currently, this repo contains two types of models: +- the [π₀ model](https://www.physicalintelligence.company/blog/pi0), a flow-based diffusion vision-language-action model (VLA) +- the [π₀-FAST model](https://www.physicalintelligence.company/research/fast), an autoregressive VLA, based on the FAST action tokenizer. + +For both models, we provide _base model_ checkpoints, pre-trained on 10k+ hours of robot data, and examples for using them out of the box or fine-tuning them to your own datasets. + +This is an experiment: $\pi_0$ was developed for our own robots, which differ from the widely used platforms such as [ALOHA](https://tonyzhaozh.github.io/aloha/) and [DROID](https://droid-dataset.github.io/), and though we are optimistic that researchers and practitioners will be able to run creative new experiments adapting $\pi_0$ to their own platforms, we do not expect every such attempt to be successful. All this is to say: $\pi_0$ may or may not work for you, but you are welcome to try it and see! + +## Updates + +- [Jun 2025]: We have added [instructions](examples/droid/README_train.md) for using `openpi` to train VLAs on the full [DROID dataset](https://droid-dataset.github.io/). This is an approximate open-source implementation of the training pipeline used to train pi0-FAST-DROID. + + +## Requirements + +To run the models in this repository, you will need an NVIDIA GPU with at least the following specifications. These estimations assume a single GPU, but you can also use multiple GPUs with model parallelism to reduce per-GPU memory requirements by configuring `fsdp_devices` in the training config. Please also note that the current training script does not yet support multi-node training. + +| Mode | Memory Required | Example GPU | +| ------------------ | --------------- | ------------------ | +| Inference | > 8 GB | RTX 4090 | +| Fine-Tuning (LoRA) | > 22.5 GB | RTX 4090 | +| Fine-Tuning (Full) | > 70 GB | A100 (80GB) / H100 | + +The repo has been tested with Ubuntu 22.04, we do not currently support other operating systems. + +## Installation + +When cloning this repo, make sure to update submodules: + +```bash +git clone --recurse-submodules git@github.com:Physical-Intelligence/openpi.git + +# Or if you already cloned the repo: +git submodule update --init --recursive +``` + +We use [uv](https://docs.astral.sh/uv/) to manage Python dependencies. See the [uv installation instructions](https://docs.astral.sh/uv/getting-started/installation/) to set it up. Once uv is installed, run the following to set up the environment: + +```bash +GIT_LFS_SKIP_SMUDGE=1 uv sync +GIT_LFS_SKIP_SMUDGE=1 uv pip install -e . +``` + +NOTE: `GIT_LFS_SKIP_SMUDGE=1` is needed to pull LeRobot as a dependency. + +**Docker**: As an alternative to uv installation, we provide instructions for installing openpi using Docker. If you encounter issues with your system setup, consider using Docker to simplify installation. See [Docker Setup](docs/docker.md) for more details. + + + + +## Model Checkpoints + +### Base Models +We provide multiple base VLA model checkpoints. These checkpoints have been pre-trained on 10k+ hours of robot data, and can be used for fine-tuning. + +| Model | Use Case | Description | Checkpoint Path | +| ------------ | ----------- | ----------------------------------------------------------------------------------------------------------- | ---------------------------------------------- | +| $\pi_0$ | Fine-Tuning | Base diffusion [π₀ model](https://www.physicalintelligence.company/blog/pi0) for fine-tuning | `gs://openpi-assets/checkpoints/pi0_base` | +| $\pi_0$-FAST | Fine-Tuning | Base autoregressive [π₀-FAST model](https://www.physicalintelligence.company/research/fast) for fine-tuning | `gs://openpi-assets/checkpoints/pi0_fast_base` | + +### Fine-Tuned Models +We also provide "expert" checkpoints for various robot platforms and tasks. These models are fine-tuned from the base models above and intended to run directly on the target robot. These may or may not work on your particular robot. Since these checkpoints were fine-tuned on relatively small datasets collected with more widely available robots, such as ALOHA and the DROID Franka setup, they might not generalize to your particular setup, though we found some of these, especially the DROID checkpoint, to generalize quite broadly in practice. + +| Model | Use Case | Description | Checkpoint Path | +| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------- | +| $\pi_0$-FAST-DROID | Inference | $\pi_0$-FAST model fine-tuned on the [DROID dataset](https://droid-dataset.github.io/), can perform a wide range of simple table-top manipulation tasks 0-shot in new scenes on the DROID robot platform | `gs://openpi-assets/checkpoints/pi0_fast_droid` | +| $\pi_0$-DROID | Fine-Tuning | $\pi_0$ model fine-tuned on the [DROID dataset](https://droid-dataset.github.io/), faster inference than $\pi_0$-FAST-DROID, but may not follow language commands as well | `gs://openpi-assets/checkpoints/pi0_droid` | +| $\pi_0$-ALOHA-towel | Inference | $\pi_0$ model fine-tuned on internal ALOHA data, can fold diverse towels 0-shot on [ALOHA](https://tonyzhaozh.github.io/aloha/) robot platforms | `gs://openpi-assets/checkpoints/pi0_aloha_towel` | +| $\pi_0$-ALOHA-tupperware | Inference | $\pi_0$ model fine-tuned on internal ALOHA data, can unpack food from a tupperware container | `gs://openpi-assets/checkpoints/pi0_aloha_tupperware` | +| $\pi_0$-ALOHA-pen-uncap | Inference | $\pi_0$ model fine-tuned on [public ALOHA data](https://dit-policy.github.io/), can uncap a pen | `gs://openpi-assets/checkpoints/pi0_aloha_pen_uncap` | + + +By default, checkpoints are automatically downloaded from `gs://openpi-assets` and are cached in `~/.cache/openpi` when needed. You can overwrite the download path by setting the `OPENPI_DATA_HOME` environment variable. + + + + +## Running Inference for a Pre-Trained Model + +Our pre-trained model checkpoints can be run with a few lines of code (here our $\pi_0$-FAST-DROID model): +```python +from openpi.training import config +from openpi.policies import policy_config +from openpi.shared import download + +config = config.get_config("pi0_fast_droid") +checkpoint_dir = download.maybe_download("gs://openpi-assets/checkpoints/pi0_fast_droid") + +# Create a trained policy. +policy = policy_config.create_trained_policy(config, checkpoint_dir) + +# Run inference on a dummy example. +example = { + "observation/exterior_image_1_left": ..., + "observation/wrist_image_left": ..., + ... + "prompt": "pick up the fork" +} +action_chunk = policy.infer(example)["actions"] +``` +You can also test this out in the [example notebook](examples/inference.ipynb). + +We provide detailed step-by-step examples for running inference of our pre-trained checkpoints on [DROID](examples/droid/README.md) and [ALOHA](examples/aloha_real/README.md) robots. + +**Remote Inference**: We provide [examples and code](docs/remote_inference.md) for running inference of our models **remotely**: the model can run on a different server and stream actions to the robot via a websocket connection. This makes it easy to use more powerful GPUs off-robot and keep robot and policy environments separate. + +**Test inference without a robot**: We provide a [script](examples/simple_client/README.md) for testing inference without a robot. This script will generate a random observation and run inference with the model. See [here](examples/simple_client/README.md) for more details. + + + + + +## Fine-Tuning Base Models on Your Own Data + +We will fine-tune the $\pi_0$-FAST model on the [Libero dataset](https://libero-project.github.io/datasets) as a running example for how to fine-tune a base model on your own data. We will explain three steps: +1. Convert your data to a LeRobot dataset (which we use for training) +2. Defining training configs and running training +3. Spinning up a policy server and running inference + +### 1. Convert your data to a LeRobot dataset + +We provide a minimal example script for converting Libero data to a LeRobot dataset in [`examples/libero/convert_libero_data_to_lerobot.py`](examples/libero/convert_libero_data_to_lerobot.py). You can easily modify it to convert your own data! You can download the raw Libero dataset from [here](https://huggingface.co/datasets/openvla/modified_libero_rlds), and run the script with: + +```bash +uv run examples/libero/convert_libero_data_to_lerobot.py --data_dir /path/to/your/libero/data +``` + +### 2. Defining training configs and running training + +To fine-tune a base model on your own data, you need to define configs for data processing and training. We provide example configs with detailed comments for Libero below, which you can modify for your own dataset: + +- [`LiberoInputs` and `LiberoOutputs`](src/openpi/policies/libero_policy.py): Defines the data mapping from the Libero environment to the model and vice versa. Will be used for both, training and inference. +- [`LeRobotLiberoDataConfig`](src/openpi/training/config.py): Defines how to process raw Libero data from LeRobot dataset for training. +- [`TrainConfig`](src/openpi/training/config.py): Defines fine-tuning hyperparameters, data config, and weight loader. + +We provide example fine-tuning configs for both, [π₀](src/openpi/training/config.py) and [π₀-FAST](src/openpi/training/config.py) on Libero data. + +Before we can run training, we need to compute the normalization statistics for the training data. Run the script below with the name of your training config: + +```bash +uv run scripts/compute_norm_stats.py --config-name pi0_fast_libero +``` + +Now we can kick off training with the following command (the `--overwrite` flag is used to overwrite existing checkpoints if you rerun fine-tuning with the same config): + +```bash +XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi0_fast_libero --exp-name=my_experiment --overwrite +``` + +The command will log training progress to the console and save checkpoints to the `checkpoints` directory. You can also monitor training progress on the Weights & Biases dashboard. For maximally using the GPU memory, set `XLA_PYTHON_CLIENT_MEM_FRACTION=0.9` before running training -- this enables JAX to use up to 90% of the GPU memory (vs. the default of 75%). + +**Note:** We provide functionality for *reloading* normalization statistics for state / action normalization from pre-training. This can be beneficial if you are fine-tuning to a new task on a robot that was part of our pre-training mixture. For more details on how to reload normalization statistics, see the [norm_stats.md](docs/norm_stats.md) file. + +### 3. Spinning up a policy server and running inference + +Once training is complete, we can run inference by spinning up a policy server and then querying it from a Libero evaluation script. Launching a model server is easy (we use the checkpoint for iteration 20,000 for this example, modify as needed): + +```bash +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_fast_libero --policy.dir=checkpoints/pi0_fast_libero/my_experiment/20000 +``` + +This will spin up a server that listens on port 8000 and waits for observations to be sent to it. We can then run the Libero evaluation script to query the server. For instructions how to install Libero and run the evaluation script, see the [Libero README](examples/libero/README.md). + +If you want to embed a policy server call in your own robot runtime, we have a minimal example of how to do so in the [remote inference docs](docs/remote_inference.md). + + + +### More Examples + +We provide more examples for how to fine-tune and run inference with our models on the ALOHA platform in the following READMEs: +- [ALOHA Simulator](examples/aloha_sim) +- [ALOHA Real](examples/aloha_real) +- [UR5](examples/ur5) + + + +## Troubleshooting + +We will collect common issues and their solutions here. If you encounter an issue, please check here first. If you can't find a solution, please file an issue on the repo (see [here](CONTRIBUTING.md) for guidelines). + +| Issue | Resolution | +| ----------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `uv sync` fails with dependency conflicts | Try removing the virtual environment directory (`rm -rf .venv`) and running `uv sync` again. If issues persist, check that you have the latest version of `uv` installed (`uv self update`). | +| Training runs out of GPU memory | Make sure you set `XLA_PYTHON_CLIENT_MEM_FRACTION=0.9` before running training to allow JAX to use more GPU memory. You can also try reducing the batch size in your training config. | +| Policy server connection errors | Check that the server is running and listening on the expected port. Verify network connectivity and firewall settings between client and server. | +| Missing norm stats error when training | Run `scripts/compute_norm_stats.py` with your config name before starting training. | +| Dataset download fails | Check your internet connection. For HuggingFace datasets, ensure you're logged in (`huggingface-cli login`). | +| CUDA/GPU errors | Verify NVIDIA drivers and CUDA toolkit are installed correctly. For Docker, ensure nvidia-container-toolkit is installed. Check GPU compatibility. | +| Import errors when running examples | Make sure you've installed all dependencies with `uv sync` and activated the virtual environment. Some examples may have additional requirements listed in their READMEs. | +| Action dimensions mismatch | Verify your data processing transforms match the expected input/output dimensions of your robot. Check the action space definitions in your policy classes. | + diff --git a/docs/docker.md b/docs/docker.md new file mode 100644 index 0000000000000000000000000000000000000000..6449278019e8c596e444def91f96771f836453cf --- /dev/null +++ b/docs/docker.md @@ -0,0 +1,25 @@ +### Docker Setup + +All of the examples in this repo provide instructions for being run normally, and also using Docker. Although not required, the Docker option is recommended as this will simplify software installation, produce a more stable environment, and also allow you to avoid installing ROS and cluttering your machine, for examples which depend on ROS. + +- Basic Docker installation instructions are [here](https://docs.docker.com/engine/install/). +- Docker must be installed in [rootless mode](https://docs.docker.com/engine/security/rootless/). +- To use your GPU you must also install the [NVIDIA container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). +- The version of docker installed with `snap` is incompatible with the NVIDIA container toolkit, preventing it from accessing `libnvidia-ml.so` ([issue](https://github.com/NVIDIA/nvidia-container-toolkit/issues/154)). The snap version can be uninstalled with `sudo snap remove docker`. +- Docker Desktop is also incompatible with the NVIDIA runtime ([issue](https://github.com/NVIDIA/nvidia-container-toolkit/issues/229)). Docker Desktop can be uninstalled with `sudo apt remove docker-desktop`. + + +If starting from scratch and your host machine is Ubuntu 22.04, you can use accomplish all of the above with the convenience scripts `scripts/docker/install_docker_ubuntu22.sh` and `scripts/docker/install_nvidia_container_toolkit.sh`. + +Build the Docker image and start the container with the following command: +```bash +docker compose -f scripts/docker/compose.yml up --build +``` + +To build and run the Docker image for a specific example, use the following command: +```bash +docker compose -f examples//compose.yml up --build +``` +where `` is the name of the example you want to run. + +During the first run of any example, Docker will build the images. Go grab a coffee while this happens. Subsequent runs will be faster since the images are cached. \ No newline at end of file diff --git a/docs/norm_stats.md b/docs/norm_stats.md new file mode 100644 index 0000000000000000000000000000000000000000..bc8f72c9de5b7f92a42a0ee6920770eddc606d78 --- /dev/null +++ b/docs/norm_stats.md @@ -0,0 +1,69 @@ +# Normalization statistics + +Following common practice, our models normalize the proprioceptive state inputs and action targets during policy training and inference. The statistics used for normalization are computed over the training data and stored alongside the model checkpoint. + +## Reloading normalization statistics + +When you fine-tune one of our models on a new dataset, you need to decide whether to (A) reuse existing normalization statistics or (B) compute new statistics over your new training data. Which option is better for you depends on the similarity of your robot and task to the robot and task distribution in the pre-training dataset. Below, we list all the available pre-training normalization statistics for each model. + +**If your target robot matches one of these pre-training statistics, consider reloading the same normalization statistics.** By reloading the normalization statistics, the actions in your dataset will be more "familiar" to the model, which can lead to better performance. You can reload the normalization statistics by adding an `AssetsConfig` to your training config that points to the corresponding checkpoint directory and normalization statistics ID, like below for the `Trossen` (aka ALOHA) robot statistics of the `pi0_base` checkpoint: + +```python +TrainConfig( + ... + data=LeRobotAlohaDataConfig( + ... + assets=AssetsConfig( + assets_dir="gs://openpi-assets/checkpoints/pi0_base/assets", + asset_id="trossen", + ), + ), +) +``` + +For an example of a full training config that reloads normalization statistics, see the `pi0_aloha_pen_uncap` config in the [training config file](https://github.com/physical-intelligence/openpi/blob/main/src/openpi/training/config.py). + +**Note:** To successfully reload normalization statistics, it's important that your robot + dataset are following the action space definitions used in pre-training. We provide a detailed description of our action space definitions below. + +**Note #2:** Whether reloading normalization statistics is beneficial depends on the similarity of your robot and task to the robot and task distribution in the pre-training dataset. We recommend to always try both, reloading and training with a fresh set of statistics computed on your new dataset (see [main README](../README.md) for instructions on how to compute new statistics), and pick the one that works better for your task. + + +## Provided Pre-training Normalization Statistics + +Below is a list of all the pre-training normalization statistics we provide. We provide them for both, the `pi0_base` and `pi0_fast_base` models. For `pi0_base`, set the `assets_dir` to `gs://openpi-assets/checkpoints/pi0_base/assets` and for `pi0_fast_base`, set the `assets_dir` to `gs://openpi-assets/checkpoints/pi0_fast_base/assets`. +| Robot | Description | Asset ID | +|-------|-------------|----------| +| ALOHA | 6-DoF dual arm robot with parallel grippers | trossen | +| Mobile ALOHA | Mobile version of ALOHA mounted on a Slate base | trossen_mobile | +| Franka Emika (DROID) | 7-DoF arm with parallel gripper based on the DROID setup | droid | +| Franka Emika (non-DROID) | Franka FR3 arm with Robotiq 2F-85 gripper | franka | +| UR5e | 6-DoF UR5e arm with Robotiq 2F-85 gripper | ur5e | +| UR5e bi-manual | Bi-manual UR5e setup with Robotiq 2F-85 grippers | ur5e_dual | +| ARX | Bi-manual ARX-5 robot arm setup with parallel gripper | arx | +| ARX mobile | Mobile version of bi-manual ARX-5 robot arm setup mounted on a Slate base | arx_mobile | +| Fibocom mobile | Fibocom mobile robot with 2x ARX-5 arms | fibocom_mobile | + + +## Pi0 Model Action Space Definitions + +Out of the box, both the `pi0_base` and `pi0_fast_base` use the following action space definitions (left and right are defined looking from behind the robot towards the workspace): +``` + "dim_0:dim_5": "left arm joint angles", + "dim_6": "left arm gripper position", + "dim_7:dim_12": "right arm joint angles (for bi-manual only)", + "dim_13": "right arm gripper position (for bi-manual only)", + + # For mobile robots: + "dim_14:dim_15": "x-y base velocity (for mobile robots only)", +``` + +The proprioceptive state uses the same definitions as the action space, except for the base x-y position (the last two dimensions) for mobile robots, which we don't include in the proprioceptive state. + +For 7-DoF robots (e.g. Franka), we use the first 7 dimensions of the action space for the joint actions, and the 8th dimension for the gripper action. + +General info for Pi robots: +- Joint angles are expressed in radians, with position zero corresponding to the zero position reported by each robot's interface library, except for ALOHA, where the standard ALOHA code uses a slightly different convention (see the [ALOHA example code](../examples/aloha_real/README.md) for details). +- Gripper positions are in [0.0, 1.0], with 0.0 corresponding to fully open and 1.0 corresponding to fully closed. +- Control frequencies are either 20 Hz for UR5e and Franka, and 50 Hz for ARX and Trossen (ALOHA) arms. + +For DROID, we use the original DROID action configuration, with joint velocity actions in the first 7 dimensions and gripper actions in the 8th dimension + a control frequency of 15 Hz. diff --git a/docs/remote_inference.md b/docs/remote_inference.md new file mode 100644 index 0000000000000000000000000000000000000000..c5e4848402d70b757b7c80f03245124df5f2032f --- /dev/null +++ b/docs/remote_inference.md @@ -0,0 +1,71 @@ + +# Running openpi models remotely + +We provide utilities for running openpi models remotely. This is useful for running inference on more powerful GPUs off-robot, and also helps keep the robot and policy environments separate (and e.g. avoid dependency hell with robot software). + +## Starting a remote policy server + +To start a remote policy server, you can simply run the following command: + +```bash +uv run scripts/serve_policy.py --env=[DROID | ALOHA | LIBERO] +``` + +The `env` argument specifies which $\pi_0$ checkpoint should be loaded. Under the hood, this script will execute a command like the following, which you can use to start a policy server, e.g. for checkpoints you trained yourself (here an example for the DROID environment): + +```bash +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_fast_droid --policy.dir=gs://openpi-assets/checkpoints/pi0_fast_droid +``` + +This will start a policy server that will serve the policy specified by the `config` and `dir` arguments. The policy will be served on the specified port (default: 8000). + +## Querying the remote policy server from your robot code + +We provide a client utility with minimal dependencies that you can easily embed into any robot codebase. + +First, install the `openpi-client` package in your robot environment: + +```bash +cd $OPENPI_ROOT/packages/openpi-client +pip install -e . +``` + +Then, you can use the client to query the remote policy server from your robot code. Here's an example of how to do this: + +```python +from openpi_client import image_tools +from openpi_client import websocket_client_policy + +# Outside of episode loop, initialize the policy client. +# Point to the host and port of the policy server (localhost and 8000 are the defaults). +client = websocket_client_policy.WebsocketClientPolicy(host="localhost", port=8000) + +for step in range(num_steps): + # Inside the episode loop, construct the observation. + # Resize images on the client side to minimize bandwidth / latency. Always return images in uint8 format. + # We provide utilities for resizing images + uint8 conversion so you match the training routines. + # The typical resize_size for pre-trained pi0 models is 224. + # Note that the proprioceptive `state` can be passed unnormalized, normalization will be handled on the server side. + observation = { + "observation/image": image_tools.convert_to_uint8( + image_tools.resize_with_pad(img, 224, 224) + ), + "observation/wrist_image": image_tools.convert_to_uint8( + image_tools.resize_with_pad(wrist_img, 224, 224) + ), + "observation/state": state, + "prompt": task_instruction, + } + + # Call the policy server with the current observation. + # This returns an action chunk of shape (action_horizon, action_dim). + # Note that you typically only need to call the policy every N steps and execute steps + # from the predicted action chunk open-loop in the remaining steps. + action_chunk = client.infer(observation)["actions"] + + # Execute the actions in the environment. + ... + +``` + +Here, the `host` and `port` arguments specify the IP address and port of the remote policy server. You can also specify these as command-line arguments to your robot code, or hard-code them in your robot codebase. The `observation` is a dictionary of observations and the prompt, following the specification of the policy inputs for the policy you are serving. We have concrete examples of how to construct this dictionary for different environments in the [simple client example](examples/simple_client/main.py). diff --git a/examples/aloha_real/Dockerfile b/examples/aloha_real/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..0b6c65b828d89cdc5c9ca8a1bff7c77fd6c8b48b --- /dev/null +++ b/examples/aloha_real/Dockerfile @@ -0,0 +1,70 @@ +# Dockerfile for the Aloha real environment. + +# Build the container: +# docker build . -t aloha_real -f examples/aloha_real/Dockerfile + +# Run the container: +# docker run --rm -it --network=host -v /dev:/dev -v .:/app --privileged aloha_real /bin/bash + +FROM ros:noetic-robot@sha256:7cf0b9f6546abeba308ea42cb7ad3453f3e520e1af57cdf179fe915c939674bc +SHELL ["/bin/bash", "-c"] + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + cmake \ + curl \ + libffi-dev \ + python3-rosdep \ + python3-rosinstall \ + python3-rosinstall-generator \ + whiptail \ + git \ + wget \ + openssh-client \ + ros-noetic-cv-bridge \ + ros-noetic-usb-cam \ + ros-noetic-realsense2-camera \ + keyboard-configuration + +WORKDIR /root +RUN curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh +RUN chmod +x xsarm_amd64_install.sh +RUN export TZ='America/Los_Angeles' && ./xsarm_amd64_install.sh -d noetic -n + +COPY ./third_party/aloha /root/interbotix_ws/src/aloha +RUN cd /root/interbotix_ws && source /opt/ros/noetic/setup.sh && source /root/interbotix_ws/devel/setup.sh && catkin_make + +# Install python 3.10 because this ROS image comes with 3.8 +RUN mkdir /python && \ + cd /python && \ + wget https://www.python.org/ftp/python/3.10.14/Python-3.10.14.tgz && \ + tar -zxvf Python-3.10.14.tgz && \ + cd Python-3.10.14 && \ + ls -lhR && \ + ./configure --enable-optimizations && \ + make install && \ + echo 'alias python3="/usr/local/bin/python3.10"' >> ~/.bashrc && \ + echo 'alias python="/usr/local/bin/python3.10"' >> ~/.bashrc && \ + cd ~ && rm -rf /python && \ + rm -rf /var/lib/apt/lists/* + +COPY --from=ghcr.io/astral-sh/uv:0.5.6 /uv /bin/uv +ENV UV_HTTP_TIMEOUT=120 +ENV UV_LINK_MODE=copy +COPY ./examples/aloha_real/requirements.txt /tmp/requirements.txt +COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml +RUN uv pip sync --python 3.10 --system /tmp/requirements.txt /tmp/openpi-client/pyproject.toml + +ENV PYTHONPATH=/app:/app/src:/app/packages/openpi-client/src:/root/interbotix_ws/src/aloha/aloha_scripts:/root/interbotix_ws/src/aloha +WORKDIR /app + +# Create an entrypoint script to run the setup commands, followed by the command passed in. +RUN cat <<'EOF' > /usr/local/bin/entrypoint.sh +#!/bin/bash +source /opt/ros/noetic/setup.sh && source /root/interbotix_ws/devel/setup.sh && "$@" +EOF +RUN chmod +x /usr/local/bin/entrypoint.sh + +ENTRYPOINT ["/usr/local/bin/entrypoint.sh"] +CMD ["python3", "/app/examples/aloha_real/main.py"] diff --git a/examples/aloha_real/README.md b/examples/aloha_real/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b4da86d5641d34e2fb65ad5982483a82d649922e --- /dev/null +++ b/examples/aloha_real/README.md @@ -0,0 +1,126 @@ +# Run Aloha (Real Robot) + +This example demonstrates how to run with a real robot using an [ALOHA setup](https://github.com/tonyzhaozh/aloha). See [here](../../docs/remote_inference.md) for instructions on how to load checkpoints and run inference. We list the relevant checkpoint paths for each provided fine-tuned model below. + +## Prerequisites + +This repo uses a fork of the ALOHA repo, with very minor modifications to use Realsense cameras. + +1. Follow the [hardware installation instructions](https://github.com/tonyzhaozh/aloha?tab=readme-ov-file#hardware-installation) in the ALOHA repo. +1. Modify the `third_party/aloha/aloha_scripts/realsense_publisher.py` file to use serial numbers for your cameras. + +## With Docker + +```bash +export SERVER_ARGS="--env ALOHA --default_prompt='take the toast out of the toaster'" +docker compose -f examples/aloha_real/compose.yml up --build +``` + +## Without Docker + +Terminal window 1: + +```bash +# Create virtual environment +uv venv --python 3.10 examples/aloha_real/.venv +source examples/aloha_real/.venv/bin/activate +uv pip sync examples/aloha_real/requirements.txt +uv pip install -e packages/openpi-client + +# Run the robot +python -m examples.aloha_real.main +``` + +Terminal window 2: + +```bash +roslaunch aloha ros_nodes.launch +``` + +Terminal window 3: + +```bash +uv run scripts/serve_policy.py --env ALOHA --default_prompt='take the toast out of the toaster' +``` + +## **ALOHA Checkpoint Guide** + + +The `pi0_base` model can be used in zero shot for a simple task on the ALOHA platform, and we additionally provide two example fine-tuned checkpoints, “fold the towel” and “open the tupperware and put the food on the plate,” which can perform more advanced tasks on the ALOHA. + +While we’ve found the policies to work in unseen conditions across multiple ALOHA stations, we provide some pointers here on how best to set up scenes to maximize the chance of policy success. We cover the prompts to use for the policies, objects we’ve seen it work well on, and well-represented initial state distributions. Running these policies in zero shot is still a very experimental feature, and there is no guarantee that they will work on your robot. The recommended way to use `pi0_base` is by finetuning with data from the target robot. + + +--- + +### **Toast Task** + +This task involves the robot taking two pieces of toast out of a toaster and placing them on a plate. + +- **Checkpoint path**: `gs://openpi-assets/checkpoints/pi0_base` +- **Prompt**: "take the toast out of the toaster" +- **Objects needed**: Two pieces of toast, a plate, and a standard toaster. +- **Object Distribution**: + - Works on both real toast and rubber fake toast + - Compatible with standard 2-slice toasters + - Works with plates of varying colors + +### **Scene Setup Guidelines** +Screenshot 2025-01-31 at 10 06 02 PM + +- The toaster should be positioned in the top-left quadrant of the workspace. +- Both pieces of toast should start inside the toaster, with at least 1 cm of bread sticking out from the top. +- The plate should be placed roughly in the lower-center of the workspace. +- Works with both natural and synthetic lighting, but avoid making the scene too dark (e.g., don't place the setup inside an enclosed space or under a curtain). + + +### **Towel Task** + +This task involves folding a small towel (e.g., roughly the size of a hand towel) into eighths. + +- **Checkpoint path**: `gs://openpi-assets/checkpoints/pi0_aloha_towel` +- **Prompt**: "fold the towel" +- **Object Distribution**: + - Works on towels of varying solid colors + - Performance is worse on heavily textured or striped towels + +### **Scene Setup Guidelines** +Screenshot 2025-01-31 at 10 01 15 PM + +- The towel should be flattened and roughly centered on the table. +- Choose a towel that does not blend in with the table surface. + + +### **Tupperware Task** + +This task involves opening a tupperware filled with food and pouring the contents onto a plate. + +- **Checkpoint path**: `gs://openpi-assets/checkpoints/pi0_aloha_tupperware` +- **Prompt**: "open the tupperware and put the food on the plate" +- **Objects needed**: Tupperware, food (or food-like items), and a plate. +- **Object Distribution**: + - Works on various types of fake food (e.g., fake chicken nuggets, fries, and fried chicken). + - Compatible with tupperware of different lid colors and shapes, with best performance on square tupperware with a corner flap (see images below). + - The policy has seen plates of varying solid colors. + +### **Scene Setup Guidelines** +Screenshot 2025-01-31 at 10 02 27 PM + +- Best performance observed when both the tupperware and plate are roughly centered in the workspace. +- Positioning: + - Tupperware should be on the left. + - Plate should be on the right or bottom. + - The tupperware flap should point toward the plate. + +## Training on your own Aloha dataset + +1. Convert the dataset to the LeRobot dataset v2.0 format. + + We provide a script [convert_aloha_data_to_lerobot.py](./convert_aloha_data_to_lerobot.py) that converts the dataset to the LeRobot dataset v2.0 format. As an example we have converted the `aloha_pen_uncap_diverse_raw` dataset from the [BiPlay repo](https://huggingface.co/datasets/oier-mees/BiPlay/tree/main/aloha_pen_uncap_diverse_raw) and uploaded it to the HuggingFace Hub as [physical-intelligence/aloha_pen_uncap_diverse](https://huggingface.co/datasets/physical-intelligence/aloha_pen_uncap_diverse). + + +2. Define a training config that uses the custom dataset. + + We provide the [pi0_aloha_pen_uncap config](../../src/openpi/training/config.py) as an example. You should refer to the root [README](../../README.md) for how to run training with the new config. + +IMPORTANT: Our base checkpoint includes normalization stats from various common robot configurations. When fine-tuning a base checkpoint with a custom dataset from one of these configurations, we recommend using the corresponding normalization stats provided in the base checkpoint. In the example, this is done by specifying the trossen asset_id and a path to the pretrained checkpoint’s asset directory within the AssetsConfig. diff --git a/examples/aloha_real/compose.yml b/examples/aloha_real/compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..4e1e4ba927a2ef5a7f950083b85ae158b287c456 --- /dev/null +++ b/examples/aloha_real/compose.yml @@ -0,0 +1,66 @@ +# Run with: +# docker compose -f examples/aloha_real/compose.yml up --build +services: + runtime: + image: aloha_real + depends_on: + - aloha_ros_nodes + - ros_master + - openpi_server + build: + context: ../.. + dockerfile: examples/aloha_real/Dockerfile + init: true + tty: true + network_mode: host + privileged: true + volumes: + - $PWD:/app + - ../../data:/data + + aloha_ros_nodes: + image: aloha_real + depends_on: + - ros_master + build: + context: ../.. + dockerfile: examples/aloha_real/Dockerfile + init: true + tty: true + network_mode: host + privileged: true + volumes: + - /dev:/dev + command: roslaunch --wait aloha ros_nodes.launch + + ros_master: + image: ros:noetic-robot + network_mode: host + privileged: true + command: + - roscore + + openpi_server: + image: openpi_server + build: + context: ../.. + dockerfile: scripts/docker/serve_policy.Dockerfile + init: true + tty: true + network_mode: host + volumes: + - $PWD:/app + - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets + environment: + - SERVER_ARGS + - OPENPI_DATA_HOME=/openpi_assets + - IS_DOCKER=true + + # Comment out this block if not running on a machine with GPUs. + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] diff --git a/examples/aloha_real/constants.py b/examples/aloha_real/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..a2ea59f56a73464e348792387356ce695648fbf1 --- /dev/null +++ b/examples/aloha_real/constants.py @@ -0,0 +1,71 @@ +# Ignore lint errors because this file is mostly copied from ACT (https://github.com/tonyzhaozh/act). +# ruff: noqa + +### Task parameters + +### ALOHA fixed constants +DT = 0.001 +JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"] +START_ARM_POSE = [0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239, 0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239] + +# Left finger position limits (qpos[7]), right_finger = -1 * left_finger +MASTER_GRIPPER_POSITION_OPEN = 0.02417 +MASTER_GRIPPER_POSITION_CLOSE = 0.01244 +PUPPET_GRIPPER_POSITION_OPEN = 0.05800 +PUPPET_GRIPPER_POSITION_CLOSE = 0.01844 + +# Gripper joint limits (qpos[6]) +MASTER_GRIPPER_JOINT_OPEN = 0.3083 +MASTER_GRIPPER_JOINT_CLOSE = -0.6842 +PUPPET_GRIPPER_JOINT_OPEN = 1.4910 +PUPPET_GRIPPER_JOINT_CLOSE = -0.6213 + +############################ Helper functions ############################ + +MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / ( + MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE +) +PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / ( + PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE +) +MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = ( + lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE +) +PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = ( + lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE +) +MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x)) + +MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / ( + MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE +) +PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / ( + PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE +) +MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = ( + lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE +) +PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = ( + lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE +) +MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x)) + +MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) +PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + +MASTER_POS2JOINT = ( + lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + + MASTER_GRIPPER_JOINT_CLOSE +) +MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN( + (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) +) +PUPPET_POS2JOINT = ( + lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + + PUPPET_GRIPPER_JOINT_CLOSE +) +PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN( + (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) +) + +MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE) / 2 diff --git a/examples/aloha_real/convert_aloha_data_to_lerobot.py b/examples/aloha_real/convert_aloha_data_to_lerobot.py new file mode 100644 index 0000000000000000000000000000000000000000..a3a8ddcb24bbc5340b9cb179a0b43fccc46646f6 --- /dev/null +++ b/examples/aloha_real/convert_aloha_data_to_lerobot.py @@ -0,0 +1,272 @@ +""" +Script to convert Aloha hdf5 data to the LeRobot dataset v2.0 format. + +Example usage: uv run examples/aloha_real/convert_aloha_data_to_lerobot.py --raw-dir /path/to/raw/data --repo-id / +""" + +import dataclasses +from pathlib import Path +import shutil +from typing import Literal + +import h5py +from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME +from lerobot.common.datasets.lerobot_dataset import LeRobotDataset +from lerobot.common.datasets.push_dataset_to_hub._download_raw import download_raw +import numpy as np +import torch +import tqdm +import tyro + + +@dataclasses.dataclass(frozen=True) +class DatasetConfig: + use_videos: bool = True + tolerance_s: float = 0.0001 + image_writer_processes: int = 10 + image_writer_threads: int = 5 + video_backend: str | None = None + + +DEFAULT_DATASET_CONFIG = DatasetConfig() + + +def create_empty_dataset( + repo_id: str, + robot_type: str, + mode: Literal["video", "image"] = "video", + *, + has_velocity: bool = False, + has_effort: bool = False, + dataset_config: DatasetConfig = DEFAULT_DATASET_CONFIG, +) -> LeRobotDataset: + motors = [ + "right_waist", + "right_shoulder", + "right_elbow", + "right_forearm_roll", + "right_wrist_angle", + "right_wrist_rotate", + "right_gripper", + "left_waist", + "left_shoulder", + "left_elbow", + "left_forearm_roll", + "left_wrist_angle", + "left_wrist_rotate", + "left_gripper", + ] + cameras = [ + "cam_high", + "cam_low", + "cam_left_wrist", + "cam_right_wrist", + ] + + features = { + "observation.state": { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + }, + "action": { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + }, + } + + if has_velocity: + features["observation.velocity"] = { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + } + + if has_effort: + features["observation.effort"] = { + "dtype": "float32", + "shape": (len(motors),), + "names": [ + motors, + ], + } + + for cam in cameras: + features[f"observation.images.{cam}"] = { + "dtype": mode, + "shape": (3, 480, 640), + "names": [ + "channels", + "height", + "width", + ], + } + + if Path(LEROBOT_HOME / repo_id).exists(): + shutil.rmtree(LEROBOT_HOME / repo_id) + + return LeRobotDataset.create( + repo_id=repo_id, + fps=50, + robot_type=robot_type, + features=features, + use_videos=dataset_config.use_videos, + tolerance_s=dataset_config.tolerance_s, + image_writer_processes=dataset_config.image_writer_processes, + image_writer_threads=dataset_config.image_writer_threads, + video_backend=dataset_config.video_backend, + ) + + +def get_cameras(hdf5_files: list[Path]) -> list[str]: + with h5py.File(hdf5_files[0], "r") as ep: + # ignore depth channel, not currently handled + return [key for key in ep["/observations/images"].keys() if "depth" not in key] # noqa: SIM118 + + +def has_velocity(hdf5_files: list[Path]) -> bool: + with h5py.File(hdf5_files[0], "r") as ep: + return "/observations/qvel" in ep + + +def has_effort(hdf5_files: list[Path]) -> bool: + with h5py.File(hdf5_files[0], "r") as ep: + return "/observations/effort" in ep + + +def load_raw_images_per_camera(ep: h5py.File, cameras: list[str]) -> dict[str, np.ndarray]: + imgs_per_cam = {} + for camera in cameras: + uncompressed = ep[f"/observations/images/{camera}"].ndim == 4 + + if uncompressed: + # load all images in RAM + imgs_array = ep[f"/observations/images/{camera}"][:] + else: + import cv2 + + # load one compressed image after the other in RAM and uncompress + imgs_array = [] + for data in ep[f"/observations/images/{camera}"]: + imgs_array.append(cv2.cvtColor(cv2.imdecode(data, 1), cv2.COLOR_BGR2RGB)) + imgs_array = np.array(imgs_array) + + imgs_per_cam[camera] = imgs_array + return imgs_per_cam + + +def load_raw_episode_data( + ep_path: Path, +) -> tuple[dict[str, np.ndarray], torch.Tensor, torch.Tensor, torch.Tensor | None, torch.Tensor | None]: + with h5py.File(ep_path, "r") as ep: + state = torch.from_numpy(ep["/observations/qpos"][:]) + action = torch.from_numpy(ep["/action"][:]) + + velocity = None + if "/observations/qvel" in ep: + velocity = torch.from_numpy(ep["/observations/qvel"][:]) + + effort = None + if "/observations/effort" in ep: + effort = torch.from_numpy(ep["/observations/effort"][:]) + + imgs_per_cam = load_raw_images_per_camera( + ep, + [ + "cam_high", + "cam_low", + "cam_left_wrist", + "cam_right_wrist", + ], + ) + + return imgs_per_cam, state, action, velocity, effort + + +def populate_dataset( + dataset: LeRobotDataset, + hdf5_files: list[Path], + task: str, + episodes: list[int] | None = None, +) -> LeRobotDataset: + if episodes is None: + episodes = range(len(hdf5_files)) + + for ep_idx in tqdm.tqdm(episodes): + ep_path = hdf5_files[ep_idx] + + imgs_per_cam, state, action, velocity, effort = load_raw_episode_data(ep_path) + num_frames = state.shape[0] + + for i in range(num_frames): + frame = { + "observation.state": state[i], + "action": action[i], + } + + for camera, img_array in imgs_per_cam.items(): + frame[f"observation.images.{camera}"] = img_array[i] + + if velocity is not None: + frame["observation.velocity"] = velocity[i] + if effort is not None: + frame["observation.effort"] = effort[i] + + dataset.add_frame(frame) + + dataset.save_episode(task=task) + + return dataset + + +def port_aloha( + raw_dir: Path, + repo_id: str, + raw_repo_id: str | None = None, + task: str = "DEBUG", + *, + episodes: list[int] | None = None, + push_to_hub: bool = True, + is_mobile: bool = False, + mode: Literal["video", "image"] = "image", + dataset_config: DatasetConfig = DEFAULT_DATASET_CONFIG, +): + if (LEROBOT_HOME / repo_id).exists(): + shutil.rmtree(LEROBOT_HOME / repo_id) + + if not raw_dir.exists(): + if raw_repo_id is None: + raise ValueError("raw_repo_id must be provided if raw_dir does not exist") + download_raw(raw_dir, repo_id=raw_repo_id) + + hdf5_files = sorted(raw_dir.glob("episode_*.hdf5")) + + dataset = create_empty_dataset( + repo_id, + robot_type="mobile_aloha" if is_mobile else "aloha", + mode=mode, + has_effort=has_effort(hdf5_files), + has_velocity=has_velocity(hdf5_files), + dataset_config=dataset_config, + ) + dataset = populate_dataset( + dataset, + hdf5_files, + task=task, + episodes=episodes, + ) + dataset.consolidate() + + if push_to_hub: + dataset.push_to_hub() + + +if __name__ == "__main__": + tyro.cli(port_aloha) diff --git a/examples/aloha_real/env.py b/examples/aloha_real/env.py new file mode 100644 index 0000000000000000000000000000000000000000..399092f87e630fa85a9f32249cebce975df07007 --- /dev/null +++ b/examples/aloha_real/env.py @@ -0,0 +1,57 @@ +from typing import List, Optional # noqa: UP035 + +import einops +from openpi_client import image_tools +from openpi_client.runtime import environment as _environment +from typing_extensions import override + +from examples.aloha_real import real_env as _real_env + + +class AlohaRealEnvironment(_environment.Environment): + """An environment for an Aloha robot on real hardware.""" + + def __init__( + self, + reset_position: Optional[List[float]] = None, # noqa: UP006,UP007 + render_height: int = 224, + render_width: int = 224, + ) -> None: + self._env = _real_env.make_real_env(init_node=True, reset_position=reset_position) + self._render_height = render_height + self._render_width = render_width + + self._ts = None + + @override + def reset(self) -> None: + self._ts = self._env.reset() + + @override + def is_episode_complete(self) -> bool: + return False + + @override + def get_observation(self) -> dict: + if self._ts is None: + raise RuntimeError("Timestep is not set. Call reset() first.") + + obs = self._ts.observation + for k in list(obs["images"].keys()): + if "_depth" in k: + del obs["images"][k] + + for cam_name in obs["images"]: + img = image_tools.convert_to_uint8( + image_tools.resize_with_pad(obs["images"][cam_name], self._render_height, self._render_width) + ) + obs["images"][cam_name] = einops.rearrange(img, "h w c -> c h w") + + return { + "state": obs["qpos"], + "images": obs["images"], + } + + @override + def apply_action(self, action: dict) -> None: + self._ts = self._env.step(action["actions"]) diff --git a/examples/aloha_real/main.py b/examples/aloha_real/main.py new file mode 100644 index 0000000000000000000000000000000000000000..25a0631d8baba100c1fef4a20a962d82b6f1db53 --- /dev/null +++ b/examples/aloha_real/main.py @@ -0,0 +1,51 @@ +import dataclasses +import logging + +from openpi_client import action_chunk_broker +from openpi_client import websocket_client_policy as _websocket_client_policy +from openpi_client.runtime import runtime as _runtime +from openpi_client.runtime.agents import policy_agent as _policy_agent +import tyro + +from examples.aloha_real import env as _env + + +@dataclasses.dataclass +class Args: + host: str = "0.0.0.0" + port: int = 8000 + + action_horizon: int = 25 + + num_episodes: int = 1 + max_episode_steps: int = 1000 + + +def main(args: Args) -> None: + ws_client_policy = _websocket_client_policy.WebsocketClientPolicy( + host=args.host, + port=args.port, + ) + logging.info(f"Server metadata: {ws_client_policy.get_server_metadata()}") + + metadata = ws_client_policy.get_server_metadata() + runtime = _runtime.Runtime( + environment=_env.AlohaRealEnvironment(reset_position=metadata.get("reset_pose")), + agent=_policy_agent.PolicyAgent( + policy=action_chunk_broker.ActionChunkBroker( + policy=ws_client_policy, + action_horizon=args.action_horizon, + ) + ), + subscribers=[], + max_hz=50, + num_episodes=args.num_episodes, + max_episode_steps=args.max_episode_steps, + ) + + runtime.run() + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO, force=True) + tyro.cli(main) diff --git a/examples/aloha_real/real_env.py b/examples/aloha_real/real_env.py new file mode 100644 index 0000000000000000000000000000000000000000..2073d8395b0555d47a58afeec5033f2f7c8fcc99 --- /dev/null +++ b/examples/aloha_real/real_env.py @@ -0,0 +1,176 @@ +# Ignore lint errors because this file is mostly copied from ACT (https://github.com/tonyzhaozh/act). +# ruff: noqa +import collections +import time +from typing import Optional, List +import dm_env +from interbotix_xs_modules.arm import InterbotixManipulatorXS +from interbotix_xs_msgs.msg import JointSingleCommand +import numpy as np + +from examples.aloha_real import constants +from examples.aloha_real import robot_utils + +# This is the reset position that is used by the standard Aloha runtime. +DEFAULT_RESET_POSITION = [0, -0.96, 1.16, 0, -0.3, 0] + + +class RealEnv: + """ + Environment for real robot bi-manual manipulation + Action space: [left_arm_qpos (6), # absolute joint position + left_gripper_positions (1), # normalized gripper position (0: close, 1: open) + right_arm_qpos (6), # absolute joint position + right_gripper_positions (1),] # normalized gripper position (0: close, 1: open) + + Observation space: {"qpos": Concat[ left_arm_qpos (6), # absolute joint position + left_gripper_position (1), # normalized gripper position (0: close, 1: open) + right_arm_qpos (6), # absolute joint position + right_gripper_qpos (1)] # normalized gripper position (0: close, 1: open) + "qvel": Concat[ left_arm_qvel (6), # absolute joint velocity (rad) + left_gripper_velocity (1), # normalized gripper velocity (pos: opening, neg: closing) + right_arm_qvel (6), # absolute joint velocity (rad) + right_gripper_qvel (1)] # normalized gripper velocity (pos: opening, neg: closing) + "images": {"cam_high": (480x640x3), # h, w, c, dtype='uint8' + "cam_low": (480x640x3), # h, w, c, dtype='uint8' + "cam_left_wrist": (480x640x3), # h, w, c, dtype='uint8' + "cam_right_wrist": (480x640x3)} # h, w, c, dtype='uint8' + """ + + def __init__(self, init_node, *, reset_position: Optional[List[float]] = None, setup_robots: bool = True): + # reset_position = START_ARM_POSE[:6] + self._reset_position = reset_position[:6] if reset_position else DEFAULT_RESET_POSITION + + self.puppet_bot_left = InterbotixManipulatorXS( + robot_model="vx300s", + group_name="arm", + gripper_name="gripper", + robot_name="puppet_left", + init_node=init_node, + ) + self.puppet_bot_right = InterbotixManipulatorXS( + robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name="puppet_right", init_node=False + ) + if setup_robots: + self.setup_robots() + + self.recorder_left = robot_utils.Recorder("left", init_node=False) + self.recorder_right = robot_utils.Recorder("right", init_node=False) + self.image_recorder = robot_utils.ImageRecorder(init_node=False) + self.gripper_command = JointSingleCommand(name="gripper") + + def setup_robots(self): + robot_utils.setup_puppet_bot(self.puppet_bot_left) + robot_utils.setup_puppet_bot(self.puppet_bot_right) + + def get_qpos(self): + left_qpos_raw = self.recorder_left.qpos + right_qpos_raw = self.recorder_right.qpos + left_arm_qpos = left_qpos_raw[:6] + right_arm_qpos = right_qpos_raw[:6] + left_gripper_qpos = [ + constants.PUPPET_GRIPPER_POSITION_NORMALIZE_FN(left_qpos_raw[7]) + ] # this is position not joint + right_gripper_qpos = [ + constants.PUPPET_GRIPPER_POSITION_NORMALIZE_FN(right_qpos_raw[7]) + ] # this is position not joint + return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos]) + + def get_qvel(self): + left_qvel_raw = self.recorder_left.qvel + right_qvel_raw = self.recorder_right.qvel + left_arm_qvel = left_qvel_raw[:6] + right_arm_qvel = right_qvel_raw[:6] + left_gripper_qvel = [constants.PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(left_qvel_raw[7])] + right_gripper_qvel = [constants.PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(right_qvel_raw[7])] + return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel]) + + def get_effort(self): + left_effort_raw = self.recorder_left.effort + right_effort_raw = self.recorder_right.effort + left_robot_effort = left_effort_raw[:7] + right_robot_effort = right_effort_raw[:7] + return np.concatenate([left_robot_effort, right_robot_effort]) + + def get_images(self): + return self.image_recorder.get_images() + + def set_gripper_pose(self, left_gripper_desired_pos_normalized, right_gripper_desired_pos_normalized): + left_gripper_desired_joint = constants.PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(left_gripper_desired_pos_normalized) + self.gripper_command.cmd = left_gripper_desired_joint + self.puppet_bot_left.gripper.core.pub_single.publish(self.gripper_command) + + right_gripper_desired_joint = constants.PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN( + right_gripper_desired_pos_normalized + ) + self.gripper_command.cmd = right_gripper_desired_joint + self.puppet_bot_right.gripper.core.pub_single.publish(self.gripper_command) + + def _reset_joints(self): + robot_utils.move_arms( + [self.puppet_bot_left, self.puppet_bot_right], [self._reset_position, self._reset_position], move_time=1 + ) + + def _reset_gripper(self): + """Set to position mode and do position resets: first close then open. Then change back to PWM mode + + NOTE: This diverges from the original Aloha code which first opens then closes the gripper. Pi internal aloha data + was collected with the gripper starting in the open position. Leaving the grippers fully closed was also found to + increase the frequency of motor faults. + """ + robot_utils.move_grippers( + [self.puppet_bot_left, self.puppet_bot_right], [constants.PUPPET_GRIPPER_JOINT_CLOSE] * 2, move_time=1 + ) + robot_utils.move_grippers( + [self.puppet_bot_left, self.puppet_bot_right], [constants.PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=0.5 + ) + + def get_observation(self): + obs = collections.OrderedDict() + obs["qpos"] = self.get_qpos() + obs["qvel"] = self.get_qvel() + obs["effort"] = self.get_effort() + obs["images"] = self.get_images() + return obs + + def get_reward(self): + return 0 + + def reset(self, *, fake=False): + if not fake: + # Reboot puppet robot gripper motors + self.puppet_bot_left.dxl.robot_reboot_motors("single", "gripper", True) + self.puppet_bot_right.dxl.robot_reboot_motors("single", "gripper", True) + self._reset_joints() + self._reset_gripper() + return dm_env.TimeStep( + step_type=dm_env.StepType.FIRST, reward=self.get_reward(), discount=None, observation=self.get_observation() + ) + + def step(self, action): + state_len = int(len(action) / 2) + left_action = action[:state_len] + right_action = action[state_len:] + self.puppet_bot_left.arm.set_joint_positions(left_action[:6], blocking=False) + self.puppet_bot_right.arm.set_joint_positions(right_action[:6], blocking=False) + self.set_gripper_pose(left_action[-1], right_action[-1]) + time.sleep(constants.DT) + return dm_env.TimeStep( + step_type=dm_env.StepType.MID, reward=self.get_reward(), discount=None, observation=self.get_observation() + ) + + +def get_action(master_bot_left, master_bot_right): + action = np.zeros(14) # 6 joint + 1 gripper, for two arms + # Arm actions + action[:6] = master_bot_left.dxl.joint_states.position[:6] + action[7 : 7 + 6] = master_bot_right.dxl.joint_states.position[:6] + # Gripper actions + action[6] = constants.MASTER_GRIPPER_JOINT_NORMALIZE_FN(master_bot_left.dxl.joint_states.position[6]) + action[7 + 6] = constants.MASTER_GRIPPER_JOINT_NORMALIZE_FN(master_bot_right.dxl.joint_states.position[6]) + + return action + + +def make_real_env(init_node, *, reset_position: Optional[List[float]] = None, setup_robots: bool = True) -> RealEnv: + return RealEnv(init_node, reset_position=reset_position, setup_robots=setup_robots) diff --git a/examples/aloha_real/requirements.in b/examples/aloha_real/requirements.in new file mode 100644 index 0000000000000000000000000000000000000000..4a6182a26f157b96af0122c4c9344c31b5bc133e --- /dev/null +++ b/examples/aloha_real/requirements.in @@ -0,0 +1,18 @@ +Pillow +dm_control +einops +h5py +matplotlib +modern_robotics +msgpack +numpy>=1.22.4,<2.0.0 +opencv-python +packaging +pexpect +pyquaternion +pyrealsense2 +pyyaml +requests +rospkg +tyro +websockets diff --git a/examples/aloha_real/requirements.txt b/examples/aloha_real/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ab297340cb6dad81c78448e3178973576296985 --- /dev/null +++ b/examples/aloha_real/requirements.txt @@ -0,0 +1,156 @@ +# This file was autogenerated by uv via the following command: +# uv pip compile examples/aloha_real/requirements.in -o examples/aloha_real/requirements.txt --python-version 3.10 +absl-py==2.1.0 + # via + # dm-control + # dm-env + # labmaze + # mujoco +catkin-pkg==1.0.0 + # via rospkg +certifi==2024.8.30 + # via requests +charset-normalizer==3.4.0 + # via requests +contourpy==1.1.1 + # via matplotlib +cycler==0.12.1 + # via matplotlib +distro==1.9.0 + # via rospkg +dm-control==1.0.23 + # via -r examples/aloha_real/requirements.in +dm-env==1.6 + # via dm-control +dm-tree==0.1.8 + # via + # dm-control + # dm-env +docstring-parser==0.16 + # via tyro +docutils==0.20.1 + # via catkin-pkg +einops==0.8.0 + # via -r examples/aloha_real/requirements.in +etils==1.3.0 + # via mujoco +fonttools==4.55.2 + # via matplotlib +glfw==2.8.0 + # via + # dm-control + # mujoco +h5py==3.11.0 + # via -r examples/aloha_real/requirements.in +idna==3.10 + # via requests +importlib-resources==6.4.5 + # via etils +kiwisolver==1.4.7 + # via matplotlib +labmaze==1.0.6 + # via dm-control +lxml==5.3.0 + # via dm-control +markdown-it-py==3.0.0 + # via rich +matplotlib==3.7.5 + # via -r examples/aloha_real/requirements.in +mdurl==0.1.2 + # via markdown-it-py +modern-robotics==1.1.1 + # via -r examples/aloha_real/requirements.in +msgpack==1.1.0 + # via -r examples/aloha_real/requirements.in +mujoco==3.2.3 + # via dm-control +numpy==1.24.4 + # via + # -r examples/aloha_real/requirements.in + # contourpy + # dm-control + # dm-env + # h5py + # labmaze + # matplotlib + # modern-robotics + # mujoco + # opencv-python + # pyquaternion + # scipy +opencv-python==4.10.0.84 + # via -r examples/aloha_real/requirements.in +packaging==24.2 + # via + # -r examples/aloha_real/requirements.in + # matplotlib +pexpect==4.9.0 + # via -r examples/aloha_real/requirements.in +pillow==10.4.0 + # via + # -r examples/aloha_real/requirements.in + # matplotlib +protobuf==5.29.1 + # via dm-control +ptyprocess==0.7.0 + # via pexpect +pygments==2.18.0 + # via rich +pyopengl==3.1.7 + # via + # dm-control + # mujoco +pyparsing==3.1.4 + # via + # catkin-pkg + # dm-control + # matplotlib +pyquaternion==0.9.9 + # via -r examples/aloha_real/requirements.in +pyrealsense2==2.55.1.6486 + # via -r examples/aloha_real/requirements.in +python-dateutil==2.9.0.post0 + # via + # catkin-pkg + # matplotlib +pyyaml==6.0.2 + # via + # -r examples/aloha_real/requirements.in + # rospkg +requests==2.32.3 + # via + # -r examples/aloha_real/requirements.in + # dm-control +rich==13.9.4 + # via tyro +rospkg==1.5.1 + # via -r examples/aloha_real/requirements.in +scipy==1.10.1 + # via dm-control +setuptools==75.3.0 + # via + # catkin-pkg + # dm-control + # labmaze +shtab==1.7.1 + # via tyro +six==1.17.0 + # via python-dateutil +tqdm==4.67.1 + # via dm-control +typeguard==4.4.0 + # via tyro +typing-extensions==4.12.2 + # via + # etils + # rich + # typeguard + # tyro +tyro==0.9.2 + # via -r examples/aloha_real/requirements.in +urllib3==2.2.3 + # via requests +websockets==14.1 + # via -r examples/aloha_real/requirements.in +zipp==3.20.2 + # via etils diff --git a/examples/aloha_real/robot_utils.py b/examples/aloha_real/robot_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..965a11eaae29c7cbf4bd7233b20aeb6cc40a84df --- /dev/null +++ b/examples/aloha_real/robot_utils.py @@ -0,0 +1,275 @@ +# Ignore lint errors because this file is mostly copied from ACT (https://github.com/tonyzhaozh/act). +# ruff: noqa +from collections import deque +import datetime +import json +import time + +from aloha.msg import RGBGrayscaleImage +from cv_bridge import CvBridge +from interbotix_xs_msgs.msg import JointGroupCommand +from interbotix_xs_msgs.msg import JointSingleCommand +import numpy as np +import rospy +from sensor_msgs.msg import JointState + +from examples.aloha_real import constants + + +class ImageRecorder: + def __init__(self, init_node=True, is_debug=False): + self.is_debug = is_debug + self.bridge = CvBridge() + self.camera_names = ["cam_high", "cam_low", "cam_left_wrist", "cam_right_wrist"] + + if init_node: + rospy.init_node("image_recorder", anonymous=True) + for cam_name in self.camera_names: + setattr(self, f"{cam_name}_rgb_image", None) + setattr(self, f"{cam_name}_depth_image", None) + setattr(self, f"{cam_name}_timestamp", 0.0) + if cam_name == "cam_high": + callback_func = self.image_cb_cam_high + elif cam_name == "cam_low": + callback_func = self.image_cb_cam_low + elif cam_name == "cam_left_wrist": + callback_func = self.image_cb_cam_left_wrist + elif cam_name == "cam_right_wrist": + callback_func = self.image_cb_cam_right_wrist + else: + raise NotImplementedError + rospy.Subscriber(f"/{cam_name}", RGBGrayscaleImage, callback_func) + if self.is_debug: + setattr(self, f"{cam_name}_timestamps", deque(maxlen=50)) + + self.cam_last_timestamps = {cam_name: 0.0 for cam_name in self.camera_names} + time.sleep(0.5) + + def image_cb(self, cam_name, data): + setattr( + self, + f"{cam_name}_rgb_image", + self.bridge.imgmsg_to_cv2(data.images[0], desired_encoding="bgr8"), + ) + # setattr( + # self, + # f"{cam_name}_depth_image", + # self.bridge.imgmsg_to_cv2(data.images[1], desired_encoding="mono16"), + # ) + setattr( + self, + f"{cam_name}_timestamp", + data.header.stamp.secs + data.header.stamp.nsecs * 1e-9, + ) + # setattr(self, f'{cam_name}_secs', data.images[0].header.stamp.secs) + # setattr(self, f'{cam_name}_nsecs', data.images[0].header.stamp.nsecs) + # cv2.imwrite('/home/lucyshi/Desktop/sample.jpg', cv_image) + if self.is_debug: + getattr(self, f"{cam_name}_timestamps").append( + data.images[0].header.stamp.secs + data.images[0].header.stamp.nsecs * 1e-9 + ) + + def image_cb_cam_high(self, data): + cam_name = "cam_high" + return self.image_cb(cam_name, data) + + def image_cb_cam_low(self, data): + cam_name = "cam_low" + return self.image_cb(cam_name, data) + + def image_cb_cam_left_wrist(self, data): + cam_name = "cam_left_wrist" + return self.image_cb(cam_name, data) + + def image_cb_cam_right_wrist(self, data): + cam_name = "cam_right_wrist" + return self.image_cb(cam_name, data) + + def get_images(self): + image_dict = {} + for cam_name in self.camera_names: + while getattr(self, f"{cam_name}_timestamp") <= self.cam_last_timestamps[cam_name]: + time.sleep(0.00001) + rgb_image = getattr(self, f"{cam_name}_rgb_image") + depth_image = getattr(self, f"{cam_name}_depth_image") + self.cam_last_timestamps[cam_name] = getattr(self, f"{cam_name}_timestamp") + image_dict[cam_name] = rgb_image + image_dict[f"{cam_name}_depth"] = depth_image + return image_dict + + def print_diagnostics(self): + def dt_helper(l): + l = np.array(l) + diff = l[1:] - l[:-1] + return np.mean(diff) + + for cam_name in self.camera_names: + image_freq = 1 / dt_helper(getattr(self, f"{cam_name}_timestamps")) + print(f"{cam_name} {image_freq=:.2f}") + print() + + +class Recorder: + def __init__(self, side, init_node=True, is_debug=False): + self.secs = None + self.nsecs = None + self.qpos = None + self.effort = None + self.arm_command = None + self.gripper_command = None + self.is_debug = is_debug + + if init_node: + rospy.init_node("recorder", anonymous=True) + rospy.Subscriber(f"/puppet_{side}/joint_states", JointState, self.puppet_state_cb) + rospy.Subscriber( + f"/puppet_{side}/commands/joint_group", + JointGroupCommand, + self.puppet_arm_commands_cb, + ) + rospy.Subscriber( + f"/puppet_{side}/commands/joint_single", + JointSingleCommand, + self.puppet_gripper_commands_cb, + ) + if self.is_debug: + self.joint_timestamps = deque(maxlen=50) + self.arm_command_timestamps = deque(maxlen=50) + self.gripper_command_timestamps = deque(maxlen=50) + time.sleep(0.1) + + def puppet_state_cb(self, data): + self.qpos = data.position + self.qvel = data.velocity + self.effort = data.effort + self.data = data + if self.is_debug: + self.joint_timestamps.append(time.time()) + + def puppet_arm_commands_cb(self, data): + self.arm_command = data.cmd + if self.is_debug: + self.arm_command_timestamps.append(time.time()) + + def puppet_gripper_commands_cb(self, data): + self.gripper_command = data.cmd + if self.is_debug: + self.gripper_command_timestamps.append(time.time()) + + def print_diagnostics(self): + def dt_helper(l): + l = np.array(l) + diff = l[1:] - l[:-1] + return np.mean(diff) + + joint_freq = 1 / dt_helper(self.joint_timestamps) + arm_command_freq = 1 / dt_helper(self.arm_command_timestamps) + gripper_command_freq = 1 / dt_helper(self.gripper_command_timestamps) + + print(f"{joint_freq=:.2f}\n{arm_command_freq=:.2f}\n{gripper_command_freq=:.2f}\n") + + +def get_arm_joint_positions(bot): + return bot.arm.core.joint_states.position[:6] + + +def get_arm_gripper_positions(bot): + return bot.gripper.core.joint_states.position[6] + + +def move_arms(bot_list, target_pose_list, move_time=1): + num_steps = int(move_time / constants.DT) + curr_pose_list = [get_arm_joint_positions(bot) for bot in bot_list] + traj_list = [ + np.linspace(curr_pose, target_pose, num_steps) + for curr_pose, target_pose in zip(curr_pose_list, target_pose_list) + ] + for t in range(num_steps): + for bot_id, bot in enumerate(bot_list): + bot.arm.set_joint_positions(traj_list[bot_id][t], blocking=False) + time.sleep(constants.DT) + + +def move_grippers(bot_list, target_pose_list, move_time): + print(f"Moving grippers to {target_pose_list=}") + gripper_command = JointSingleCommand(name="gripper") + num_steps = int(move_time / constants.DT) + curr_pose_list = [get_arm_gripper_positions(bot) for bot in bot_list] + traj_list = [ + np.linspace(curr_pose, target_pose, num_steps) + for curr_pose, target_pose in zip(curr_pose_list, target_pose_list) + ] + + with open(f"/data/gripper_traj_{datetime.datetime.now().strftime('%Y%m%d_%H%M%S')}.jsonl", "a") as f: + for t in range(num_steps): + d = {} + for bot_id, bot in enumerate(bot_list): + gripper_command.cmd = traj_list[bot_id][t] + bot.gripper.core.pub_single.publish(gripper_command) + d[bot_id] = {"obs": get_arm_gripper_positions(bot), "act": traj_list[bot_id][t]} + f.write(json.dumps(d) + "\n") + time.sleep(constants.DT) + + +def setup_puppet_bot(bot): + bot.dxl.robot_reboot_motors("single", "gripper", True) + bot.dxl.robot_set_operating_modes("group", "arm", "position") + bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + torque_on(bot) + + +def setup_master_bot(bot): + bot.dxl.robot_set_operating_modes("group", "arm", "pwm") + bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + torque_off(bot) + + +def set_standard_pid_gains(bot): + bot.dxl.robot_set_motor_registers("group", "arm", "Position_P_Gain", 800) + bot.dxl.robot_set_motor_registers("group", "arm", "Position_I_Gain", 0) + + +def set_low_pid_gains(bot): + bot.dxl.robot_set_motor_registers("group", "arm", "Position_P_Gain", 100) + bot.dxl.robot_set_motor_registers("group", "arm", "Position_I_Gain", 0) + + +def torque_off(bot): + bot.dxl.robot_torque_enable("group", "arm", False) + bot.dxl.robot_torque_enable("single", "gripper", False) + + +def torque_on(bot): + bot.dxl.robot_torque_enable("group", "arm", True) + bot.dxl.robot_torque_enable("single", "gripper", True) + + +# for DAgger +def sync_puppet_to_master(master_bot_left, master_bot_right, puppet_bot_left, puppet_bot_right): + print("\nSyncing!") + + # activate master arms + torque_on(master_bot_left) + torque_on(master_bot_right) + + # get puppet arm positions + puppet_left_qpos = get_arm_joint_positions(puppet_bot_left) + puppet_right_qpos = get_arm_joint_positions(puppet_bot_right) + + # get puppet gripper positions + puppet_left_gripper = get_arm_gripper_positions(puppet_bot_left) + puppet_right_gripper = get_arm_gripper_positions(puppet_bot_right) + + # move master arms to puppet positions + move_arms( + [master_bot_left, master_bot_right], + [puppet_left_qpos, puppet_right_qpos], + move_time=1, + ) + + # move master grippers to puppet positions + move_grippers( + [master_bot_left, master_bot_right], + [puppet_left_gripper, puppet_right_gripper], + move_time=1, + ) diff --git a/examples/aloha_real/video_display.py b/examples/aloha_real/video_display.py new file mode 100644 index 0000000000000000000000000000000000000000..9ad79ddd30965d842e82f2c6cf3b89fdc43bf844 --- /dev/null +++ b/examples/aloha_real/video_display.py @@ -0,0 +1,36 @@ +import matplotlib.pyplot as plt +import numpy as np +from openpi_client.runtime import subscriber as _subscriber +from typing_extensions import override + + +class VideoDisplay(_subscriber.Subscriber): + """Displays video frames.""" + + def __init__(self) -> None: + self._ax: plt.Axes | None = None + self._plt_img: plt.Image | None = None + + @override + def on_episode_start(self) -> None: + plt.ion() + self._ax = plt.subplot() + self._plt_img = None + + @override + def on_step(self, observation: dict, action: dict) -> None: + assert self._ax is not None + + im = observation["image"][0] # [C, H, W] + im = np.transpose(im, (1, 2, 0)) # [H, W, C] + + if self._plt_img is None: + self._plt_img = self._ax.imshow(im) + else: + self._plt_img.set_data(im) + plt.pause(0.001) + + @override + def on_episode_end(self) -> None: + plt.ioff() + plt.close() diff --git a/examples/aloha_sim/Dockerfile b/examples/aloha_sim/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..1f18790a2abf42377d597162daada4fe459c6bb4 --- /dev/null +++ b/examples/aloha_sim/Dockerfile @@ -0,0 +1,41 @@ +# Dockerfile for the Aloha simulation environment. + +# Build the container: +# docker build . -t aloha_sim -f examples/aloha_sim/Dockerfile + +# Run the container: +# docker run --rm -it --network=host -v .:/app aloha_sim /bin/bash + +FROM python:3.11-slim@sha256:370c586a6ffc8c619e6d652f81c094b34b14b8f2fb9251f092de23f16e299b78 +COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/ + +RUN apt-get update && \ + apt-get install -y \ + libosmesa6-dev \ + libgl1-mesa-glx \ + libglew-dev \ + libglfw3-dev \ + libgles2-mesa-dev +ENV MUJOCO_GL=egl + +WORKDIR /app + +# Copy from the cache instead of linking since it's a mounted volume +ENV UV_LINK_MODE=copy + +# Write the virtual environment outside of the project directory so it doesn't +# leak out of the container when we mount the application code. +ENV UV_PROJECT_ENVIRONMENT=/.venv + +# Copy the requirements files so we can install dependencies. +# The rest of the project is mounted as a volume, so we don't need to rebuild on changes. +# This strategy is best for development-style usage. +COPY ./examples/aloha_sim/requirements.txt /tmp/requirements.txt +COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml + +# Install python dependencies. +RUN uv venv --python 3.11.9 $UV_PROJECT_ENVIRONMENT +RUN uv pip sync /tmp/requirements.txt /tmp/openpi-client/pyproject.toml +ENV PYTHONPATH=/app:/app/src:/app/packages/openpi-client/src + +CMD ["/bin/bash", "-c", "source /.venv/bin/activate && python examples/aloha_sim/main.py"] \ No newline at end of file diff --git a/examples/aloha_sim/README.md b/examples/aloha_sim/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0c6d4c5bc80103c0d1fdb5f7387ae2a39836bfc9 --- /dev/null +++ b/examples/aloha_sim/README.md @@ -0,0 +1,36 @@ +# Run Aloha Sim + +## With Docker + +```bash +export SERVER_ARGS="--env ALOHA_SIM" +docker compose -f examples/aloha_sim/compose.yml up --build +``` + +## Without Docker + +Terminal window 1: + +```bash +# Create virtual environment +uv venv --python 3.10 examples/aloha_sim/.venv +source examples/aloha_sim/.venv/bin/activate +uv pip sync examples/aloha_sim/requirements.txt +uv pip install -e packages/openpi-client + +# Run the simulation +MUJOCO_GL=egl python examples/aloha_sim/main.py +``` + +Note: If you are seeing EGL errors, you may need to install the following dependencies: + +```bash +sudo apt-get install -y libegl1-mesa-dev libgles2-mesa-dev +``` + +Terminal window 2: + +```bash +# Run the server +uv run scripts/serve_policy.py --env ALOHA_SIM +``` diff --git a/examples/aloha_sim/compose.yml b/examples/aloha_sim/compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..c56e4dea137e0bbb84d68745047997932080b27d --- /dev/null +++ b/examples/aloha_sim/compose.yml @@ -0,0 +1,42 @@ +# Run with: +# docker compose -f examples/aloha_sim/compose.yml up --build +services: + runtime: + image: aloha_sim + depends_on: + - openpi_server + build: + context: ../.. + dockerfile: examples/aloha_sim/Dockerfile + init: true + tty: true + network_mode: host + privileged: true + volumes: + - $PWD:/app + - ../../data:/data + + openpi_server: + image: openpi_server + build: + context: ../.. + dockerfile: scripts/docker/serve_policy.Dockerfile + init: true + tty: true + network_mode: host + volumes: + - $PWD:/app + - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets + environment: + - SERVER_ARGS + - OPENPI_DATA_HOME=/openpi_assets + - IS_DOCKER=true + + # Comment out this block if not running on a machine with GPUs. + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] diff --git a/examples/aloha_sim/env.py b/examples/aloha_sim/env.py new file mode 100644 index 0000000000000000000000000000000000000000..af2d5b6ac38e4c5c1671dfbc9323dcc541e9cb2d --- /dev/null +++ b/examples/aloha_sim/env.py @@ -0,0 +1,56 @@ +import gym_aloha # noqa: F401 +import gymnasium +import numpy as np +from openpi_client import image_tools +from openpi_client.runtime import environment as _environment +from typing_extensions import override + + +class AlohaSimEnvironment(_environment.Environment): + """An environment for an Aloha robot in simulation.""" + + def __init__(self, task: str, obs_type: str = "pixels_agent_pos", seed: int = 0) -> None: + np.random.seed(seed) + self._rng = np.random.default_rng(seed) + + self._gym = gymnasium.make(task, obs_type=obs_type) + + self._last_obs = None + self._done = True + self._episode_reward = 0.0 + + @override + def reset(self) -> None: + gym_obs, _ = self._gym.reset(seed=int(self._rng.integers(2**32 - 1))) + self._last_obs = self._convert_observation(gym_obs) # type: ignore + self._done = False + self._episode_reward = 0.0 + + @override + def is_episode_complete(self) -> bool: + return self._done + + @override + def get_observation(self) -> dict: + if self._last_obs is None: + raise RuntimeError("Observation is not set. Call reset() first.") + + return self._last_obs # type: ignore + + @override + def apply_action(self, action: dict) -> None: + gym_obs, reward, terminated, truncated, info = self._gym.step(action["actions"]) + self._last_obs = self._convert_observation(gym_obs) # type: ignore + self._done = terminated or truncated + self._episode_reward = max(self._episode_reward, reward) + + def _convert_observation(self, gym_obs: dict) -> dict: + img = gym_obs["pixels"]["top"] + img = image_tools.convert_to_uint8(image_tools.resize_with_pad(img, 224, 224)) + # Convert axis order from [H, W, C] --> [C, H, W] + img = np.transpose(img, (2, 0, 1)) + + return { + "state": gym_obs["agent_pos"], + "images": {"cam_high": img}, + } diff --git a/examples/aloha_sim/main.py b/examples/aloha_sim/main.py new file mode 100644 index 0000000000000000000000000000000000000000..d76122ab35e98ecf8e3e9da7080f14c655435115 --- /dev/null +++ b/examples/aloha_sim/main.py @@ -0,0 +1,55 @@ +import dataclasses +import logging +import pathlib + +import env as _env +from openpi_client import action_chunk_broker +from openpi_client import websocket_client_policy as _websocket_client_policy +from openpi_client.runtime import runtime as _runtime +from openpi_client.runtime.agents import policy_agent as _policy_agent +import saver as _saver +import tyro + + +@dataclasses.dataclass +class Args: + out_dir: pathlib.Path = pathlib.Path("data/aloha_sim/videos") + + task: str = "gym_aloha/AlohaTransferCube-v0" + seed: int = 0 + + action_horizon: int = 10 + + host: str = "0.0.0.0" + port: int = 8000 + + display: bool = False + + +def main(args: Args) -> None: + runtime = _runtime.Runtime( + environment=_env.AlohaSimEnvironment( + task=args.task, + seed=args.seed, + ), + agent=_policy_agent.PolicyAgent( + policy=action_chunk_broker.ActionChunkBroker( + policy=_websocket_client_policy.WebsocketClientPolicy( + host=args.host, + port=args.port, + ), + action_horizon=args.action_horizon, + ) + ), + subscribers=[ + _saver.VideoSaver(args.out_dir), + ], + max_hz=50, + ) + + runtime.run() + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO, force=True) + tyro.cli(main) diff --git a/examples/aloha_sim/requirements.in b/examples/aloha_sim/requirements.in new file mode 100644 index 0000000000000000000000000000000000000000..d84d356eff374ac084b1e1065ee6d66017897ec6 --- /dev/null +++ b/examples/aloha_sim/requirements.in @@ -0,0 +1,8 @@ +gym-aloha +imageio +matplotlib +msgpack +numpy>=1.22.4,<2.0.0 +typing-extensions +tyro +websockets \ No newline at end of file diff --git a/examples/aloha_sim/requirements.txt b/examples/aloha_sim/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1087f1b3b9cd58264eb7f46f0e02eafe3380222 --- /dev/null +++ b/examples/aloha_sim/requirements.txt @@ -0,0 +1,132 @@ +# This file was autogenerated by uv via the following command: +# uv pip compile examples/aloha_sim/requirements.in -o examples/aloha_sim/requirements.txt --python-version 3.10 +absl-py==2.1.0 + # via + # dm-control + # dm-env + # labmaze + # mujoco +certifi==2024.8.30 + # via requests +charset-normalizer==3.4.0 + # via requests +cloudpickle==3.1.0 + # via gymnasium +contourpy==1.3.1 + # via matplotlib +cycler==0.12.1 + # via matplotlib +dm-control==1.0.14 + # via gym-aloha +dm-env==1.6 + # via dm-control +dm-tree==0.1.8 + # via + # dm-control + # dm-env +docstring-parser==0.16 + # via tyro +farama-notifications==0.0.4 + # via gymnasium +fonttools==4.55.2 + # via matplotlib +glfw==2.8.0 + # via + # dm-control + # mujoco +gym-aloha==0.1.1 + # via -r examples/aloha_sim/requirements.in +gymnasium==1.0.0 + # via gym-aloha +idna==3.10 + # via requests +imageio==2.36.1 + # via + # -r examples/aloha_sim/requirements.in + # gym-aloha +imageio-ffmpeg==0.5.1 + # via imageio +kiwisolver==1.4.7 + # via matplotlib +labmaze==1.0.6 + # via dm-control +lxml==5.3.0 + # via dm-control +markdown-it-py==3.0.0 + # via rich +matplotlib==3.9.3 + # via -r examples/aloha_sim/requirements.in +mdurl==0.1.2 + # via markdown-it-py +msgpack==1.1.0 + # via -r examples/aloha_sim/requirements.in +mujoco==2.3.7 + # via + # dm-control + # gym-aloha +numpy==1.26.4 + # via + # -r examples/aloha_sim/requirements.in + # contourpy + # dm-control + # dm-env + # gymnasium + # imageio + # labmaze + # matplotlib + # mujoco + # scipy +packaging==24.2 + # via matplotlib +pillow==11.0.0 + # via + # imageio + # matplotlib +protobuf==5.29.1 + # via dm-control +psutil==6.1.0 + # via imageio +pygments==2.18.0 + # via rich +pyopengl==3.1.7 + # via + # dm-control + # mujoco +pyparsing==3.2.0 + # via + # dm-control + # matplotlib +python-dateutil==2.9.0.post0 + # via matplotlib +requests==2.32.3 + # via dm-control +rich==13.9.4 + # via tyro +scipy==1.14.1 + # via dm-control +setuptools==75.6.0 + # via + # dm-control + # imageio-ffmpeg + # labmaze +shtab==1.7.1 + # via tyro +six==1.17.0 + # via python-dateutil +tqdm==4.67.1 + # via dm-control +typeguard==4.4.1 + # via tyro +typing-extensions==4.12.2 + # via + # -r examples/aloha_sim/requirements.in + # gymnasium + # rich + # typeguard + # tyro +tyro==0.9.2 + # via -r examples/aloha_sim/requirements.in +urllib3==2.2.3 + # via requests +websockets==14.1 + # via -r examples/aloha_sim/requirements.in diff --git a/examples/aloha_sim/saver.py b/examples/aloha_sim/saver.py new file mode 100644 index 0000000000000000000000000000000000000000..bd7f2c5d3365c9bdf32a44ba4cdec9bfe195366f --- /dev/null +++ b/examples/aloha_sim/saver.py @@ -0,0 +1,40 @@ +import logging +import pathlib + +import imageio +import numpy as np +from openpi_client.runtime import subscriber as _subscriber +from typing_extensions import override + + +class VideoSaver(_subscriber.Subscriber): + """Saves episode data.""" + + def __init__(self, out_dir: pathlib.Path, subsample: int = 1) -> None: + out_dir.mkdir(parents=True, exist_ok=True) + self._out_dir = out_dir + self._images: list[np.ndarray] = [] + self._subsample = subsample + + @override + def on_episode_start(self) -> None: + self._images = [] + + @override + def on_step(self, observation: dict, action: dict) -> None: + im = observation["images"]["cam_high"] # [C, H, W] + im = np.transpose(im, (1, 2, 0)) # [H, W, C] + self._images.append(im) + + @override + def on_episode_end(self) -> None: + existing = list(self._out_dir.glob("out_[0-9]*.mp4")) + next_idx = max([int(p.stem.split("_")[1]) for p in existing], default=-1) + 1 + out_path = self._out_dir / f"out_{next_idx}.mp4" + + logging.info(f"Saving video to {out_path}") + imageio.mimwrite( + out_path, + [np.asarray(x) for x in self._images[:: self._subsample]], + fps=50 // max(1, self._subsample), + ) diff --git a/examples/droid/README.md b/examples/droid/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7f3dc9ed059ed981586be38192b4bf4393b31ca8 --- /dev/null +++ b/examples/droid/README.md @@ -0,0 +1,46 @@ +# Run DROID + +This example shows how to run the fine-tuned $\pi_0$-FAST-DROID model on the [DROID robot platform](https://github.com/droid-dataset/droid). We also offer a $\pi_0$-DROID model that is fine-tuned from $\pi_0$ and uses flow action decoding. You can use it by replacing `pi0_fast_droid` with `pi0_droid` in the commands below. In practice, we find that out-of-the-box, the $\pi_0$-FAST-DROID model is better at following language commands, so we recommend it as the default checkpoint for DROID evaluation. If you want to fine-tune on a DROID task that requires a fast-to-inference policy, you may still want to consider using the $\pi_0$-DROID model, since it decodes faster. For more details, please see the [FAST paper](https://pi.website/research/fast). + + +## Step 1: Start a policy server + +Since the DROID control laptop does not have a powerful GPU, we will start a remote policy server on a different machine with a more powerful GPU and then query it from the DROID control laptop during inference. + +1. On a machine with a powerful GPU (~NVIDIA 4090), clone and install the `openpi` repository following the instructions in the [README](https://github.com/Physical-Intelligence/openpi). +2. Start the OpenPI server via the following command: + +```bash +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_fast_droid --policy.dir=gs://openpi-assets/checkpoints/pi0_fast_droid +``` + +You can also run the equivalent command below: + +```bash +uv run scripts/serve_policy.py --env=DROID +``` + +## Step 2: Run the DROID robot + +1. Make sure you have the most recent version of the DROID package installed on both the DROID control laptop and the NUC. +2. On the control laptop, activate your DROID conda environment. +3. Clone the openpi repo and install the openpi client, which we will use to connect to the policy server (this has very few dependencies and should be very fast to install): with the DROID conda environment activated, run `cd $OPENPI_ROOT/packages/openpi-client && pip install -e .`. +4. Install `tyro`, which we will use for command line parsing: `pip install tyro`. +5. Copy the `main.py` file from this directory to the `$DROID_ROOT/scripts` directory. +6. Replace the camera IDs in the `main.py` file with the IDs of your cameras (you can find the camera IDs by running `ZED_Explorer` in the command line, which will open a tool that shows you all connected cameras and their IDs -- you can also use it to make sure that the cameras are well-positioned to see the scene you want the robot to interact with). +7. Run the `main.py` file. Make sure to point the IP and host address to the policy server. (To make sure the server machine is reachable from the DROID laptop, you can run `ping ` from the DROID laptop.) Also make sure to specify the external camera to use for the policy (we only input one external camera), choose from ["left", "right"]. + +```bash +python3 scripts/main.py --remote_host= --remote_port= --external_camera="left" +``` + +The script will ask you to enter a free-form language instruction for the robot to follow. Make sure to point the cameras at the scene you want the robot to interact with. You _do not_ need to carefully control camera angle, object positions, etc. The policy is fairly robust in our experience. Happy prompting! + +# Troubleshooting + +| Issue | Solution | +|-------|----------| +| Cannot reach policy server | Make sure the server is running and the IP and port are correct. You can check that the server machine is reachable by running `ping ` from the DROID laptop. | +| Cannot find cameras | Make sure the camera IDs are correct and that the cameras are connected to the DROID laptop. Sometimes replugging the cameras can help. You can check all connected cameras by running `ZED_Explore` in the command line. | +| Policy inference is slow / inconsistent | Try using a wired internet connection for the DROID laptop to reduce latency (0.5 - 1 sec latency per chunk is normal). | +| Policy does not perform the task well | In our experiments, the policy could perform simple table top manipulation tasks (pick-and-place) across a wide range of environments, camera positions, and lighting conditions. If the policy does not perform the task well, you can try modifying the scene or object placement to make the task easier. Also make sure that the camera view you are passing to the policy can see all relevant objects in the scene (the policy is only conditioned on a single external camera + wrist camera, make sure you are feeding the desired camera to the policy). Use `ZED_Explore` to check that the camera view you are passing to the policy can see all relevant objects in the scene. Finally, the policy is far from perfect and will fail on more complex manipulation tasks, but it usually makes a decent effort. :) | diff --git a/examples/droid/README_train.md b/examples/droid/README_train.md new file mode 100644 index 0000000000000000000000000000000000000000..3f46225b14f1a6763d1c4a07217abb8649c27df1 --- /dev/null +++ b/examples/droid/README_train.md @@ -0,0 +1,53 @@ +# Training on DROID + +Here we describe how to fine-tune the pi0-FAST model on the DROID dataset. This is an approximate open-source reproduction of the pi0-FAST-DROID training pipeline. +(small differences in data loading and the used action space) + +In contrast to the rest of openpi, which uses LeRobot for data loading, we need to use RLDS as the data format for DROID training (since atm LeRobot isn't scalable enough +for larger datasets like DROID -- they are working on improving it though). Below, we provide instructions for updating your openpi environment for RLDS data loading and where to download the DROID dataset. + +## Install + +We need a few additional dependencies for RLDS data loading. Run: +```bash +uv sync --group rlds +``` + +## Download DROID dataset + +You can download a (slightly outdated) version of DROID with the following command (after installing the `gsutil` google cloud CLI): +``` +gsutil -m cp -r gs://gresearch/robotics/droid +``` + +Note that this version of DROID is slightly outdated: it only contains a partial set of language annotations (~30k episodes). +Please email [karl.pertsch@gmail.com](mailto:karl.pertsch@gmail.com) to get access to the most up-to-date version of the DROID RLDS dataset (with language annotations on 75k episodes)! +(sorry, we are working on updating the version on the official bucket). + +You will need 1.8TB of disk storage to download the DROID RLDS dataset. + +## Run + +First, change the `rlds_data_dir` path in your `TrainConfig` to the directory that you downloaded the `droid` dataset into (see [src/openpi/training/config.py](src/openpi/training/config.py)). + +Then, compute normalization statistics (this will take ~10 minutes): +```bash +uv run --group rlds scripts/compute_norm_stats.py --config-name pi0_fast_droid_finetune --max-frames 10_000_000 +``` + +Run training: +```bash +uv run --group rlds scripts/train.py pi0_fast_droid_finetune --exp-name=my_experiment --overwrite +``` + +**Note**: The original pi0-FAST-DROID model was trained with joint velocity actions. +Joint velocity actions are not compatible with simulated evaluation environments (much harder to simulate). +Thus, we do not recommend training with joint velocity actions and instead use joint position actions here. + + +## Compute Requirements + +Our DROID training config requires approximately 2 days on 8x H100 GPUs for convergence (100k iterations, bs256, approx. 1 epoch). +If you start from PaliGemma instead of pi0 initialization, plan with ~5 days on 8x H100s (240k iterations, i.e. 3 epochs). + +We have experimented with LoRA for cheaper finetuning, but haven't found the policies to perform well so far. diff --git a/examples/droid/main.py b/examples/droid/main.py new file mode 100644 index 0000000000000000000000000000000000000000..93b76546cedb58e51487431a8ebe83cc87caee5a --- /dev/null +++ b/examples/droid/main.py @@ -0,0 +1,246 @@ +# ruff: noqa + +import contextlib +import dataclasses +import datetime +import faulthandler +import os +import signal +import time +from moviepy.editor import ImageSequenceClip +import numpy as np +from openpi_client import image_tools +from openpi_client import websocket_client_policy +import pandas as pd +from PIL import Image +from droid.robot_env import RobotEnv +import tqdm +import tyro + +faulthandler.enable() + +# DROID data collection frequency -- we slow down execution to match this frequency +DROID_CONTROL_FREQUENCY = 15 + + +@dataclasses.dataclass +class Args: + # Hardware parameters + left_camera_id: str = "" # e.g., "24259877" + right_camera_id: str = "" # e.g., "24514023" + wrist_camera_id: str = "" # e.g., "13062452" + + # Policy parameters + external_camera: str | None = ( + None # which external camera should be fed to the policy, choose from ["left", "right"] + ) + + # Rollout parameters + max_timesteps: int = 600 + # How many actions to execute from a predicted action chunk before querying policy server again + # 8 is usually a good default (equals 0.5 seconds of action execution). + open_loop_horizon: int = 8 + + # Remote server parameters + remote_host: str = "0.0.0.0" # point this to the IP address of the policy server, e.g., "192.168.1.100" + remote_port: int = ( + 8000 # point this to the port of the policy server, default server port for openpi servers is 8000 + ) + + +# We are using Ctrl+C to optionally terminate rollouts early -- however, if we press Ctrl+C while the policy server is +# waiting for a new action chunk, it will raise an exception and the server connection dies. +# This context manager temporarily prevents Ctrl+C and delays it after the server call is complete. +@contextlib.contextmanager +def prevent_keyboard_interrupt(): + """Temporarily prevent keyboard interrupts by delaying them until after the protected code.""" + interrupted = False + original_handler = signal.getsignal(signal.SIGINT) + + def handler(signum, frame): + nonlocal interrupted + interrupted = True + + signal.signal(signal.SIGINT, handler) + try: + yield + finally: + signal.signal(signal.SIGINT, original_handler) + if interrupted: + raise KeyboardInterrupt + + +def main(args: Args): + # Make sure external camera is specified by user -- we only use one external camera for the policy + assert ( + args.external_camera is not None and args.external_camera in ["left", "right"] + ), f"Please specify an external camera to use for the policy, choose from ['left', 'right'], but got {args.external_camera}" + + # Initialize the Panda environment. Using joint velocity action space and gripper position action space is very important. + env = RobotEnv(action_space="joint_velocity", gripper_action_space="position") + print("Created the droid env!") + + # Connect to the policy server + policy_client = websocket_client_policy.WebsocketClientPolicy(args.remote_host, args.remote_port) + + df = pd.DataFrame(columns=["success", "duration", "video_filename"]) + + while True: + instruction = input("Enter instruction: ") + + # Rollout parameters + actions_from_chunk_completed = 0 + pred_action_chunk = None + + # Prepare to save video of rollout + timestamp = datetime.datetime.now().strftime("%Y_%m_%d_%H:%M:%S") + video = [] + bar = tqdm.tqdm(range(args.max_timesteps)) + print("Running rollout... press Ctrl+C to stop early.") + for t_step in bar: + start_time = time.time() + try: + # Get the current observation + curr_obs = _extract_observation( + args, + env.get_observation(), + # Save the first observation to disk + save_to_disk=t_step == 0, + ) + + video.append(curr_obs[f"{args.external_camera}_image"]) + + # Send websocket request to policy server if it's time to predict a new chunk + if actions_from_chunk_completed == 0 or actions_from_chunk_completed >= args.open_loop_horizon: + actions_from_chunk_completed = 0 + + # We resize images on the robot laptop to minimize the amount of data sent to the policy server + # and improve latency. + request_data = { + "observation/exterior_image_1_left": image_tools.resize_with_pad( + curr_obs[f"{args.external_camera}_image"], 224, 224 + ), + "observation/wrist_image_left": image_tools.resize_with_pad(curr_obs["wrist_image"], 224, 224), + "observation/joint_position": curr_obs["joint_position"], + "observation/gripper_position": curr_obs["gripper_position"], + "prompt": instruction, + } + + # Wrap the server call in a context manager to prevent Ctrl+C from interrupting it + # Ctrl+C will be handled after the server call is complete + with prevent_keyboard_interrupt(): + # this returns action chunk [10, 8] of 10 joint velocity actions (7) + gripper position (1) + pred_action_chunk = policy_client.infer(request_data)["actions"] + assert pred_action_chunk.shape == (10, 8) + + # Select current action to execute from chunk + action = pred_action_chunk[actions_from_chunk_completed] + actions_from_chunk_completed += 1 + + # Binarize gripper action + if action[-1].item() > 0.5: + # action[-1] = 1.0 + action = np.concatenate([action[:-1], np.ones((1,))]) + else: + # action[-1] = 0.0 + action = np.concatenate([action[:-1], np.zeros((1,))]) + + # clip all dimensions of action to [-1, 1] + action = np.clip(action, -1, 1) + + env.step(action) + + # Sleep to match DROID data collection frequency + elapsed_time = time.time() - start_time + if elapsed_time < 1 / DROID_CONTROL_FREQUENCY: + time.sleep(1 / DROID_CONTROL_FREQUENCY - elapsed_time) + except KeyboardInterrupt: + break + + video = np.stack(video) + save_filename = "video_" + timestamp + ImageSequenceClip(list(video), fps=10).write_videofile(save_filename + ".mp4", codec="libx264") + + success: str | float | None = None + while not isinstance(success, float): + success = input( + "Did the rollout succeed? (enter y for 100%, n for 0%), or a numeric value 0-100 based on the evaluation spec" + ) + if success == "y": + success = 1.0 + elif success == "n": + success = 0.0 + + success = float(success) / 100 + if not (0 <= success <= 1): + print(f"Success must be a number in [0, 100] but got: {success * 100}") + + df = df.append( + { + "success": success, + "duration": t_step, + "video_filename": save_filename, + }, + ignore_index=True, + ) + + if input("Do one more eval? (enter y or n) ").lower() != "y": + break + env.reset() + + os.makedirs("results", exist_ok=True) + timestamp = datetime.datetime.now().strftime("%I:%M%p_%B_%d_%Y") + csv_filename = os.path.join("results", f"eval_{timestamp}.csv") + df.to_csv(csv_filename) + print(f"Results saved to {csv_filename}") + + +def _extract_observation(args: Args, obs_dict, *, save_to_disk=False): + image_observations = obs_dict["image"] + left_image, right_image, wrist_image = None, None, None + for key in image_observations: + # Note the "left" below refers to the left camera in the stereo pair. + # The model is only trained on left stereo cams, so we only feed those. + if args.left_camera_id in key and "left" in key: + left_image = image_observations[key] + elif args.right_camera_id in key and "left" in key: + right_image = image_observations[key] + elif args.wrist_camera_id in key and "left" in key: + wrist_image = image_observations[key] + + # Drop the alpha dimension + left_image = left_image[..., :3] + right_image = right_image[..., :3] + wrist_image = wrist_image[..., :3] + + # Convert to RGB + left_image = left_image[..., ::-1] + right_image = right_image[..., ::-1] + wrist_image = wrist_image[..., ::-1] + + # In addition to image observations, also capture the proprioceptive state + robot_state = obs_dict["robot_state"] + cartesian_position = np.array(robot_state["cartesian_position"]) + joint_position = np.array(robot_state["joint_positions"]) + gripper_position = np.array([robot_state["gripper_position"]]) + + # Save the images to disk so that they can be viewed live while the robot is running + # Create one combined image to make live viewing easy + if save_to_disk: + combined_image = np.concatenate([left_image, wrist_image, right_image], axis=1) + combined_image = Image.fromarray(combined_image) + combined_image.save("robot_camera_views.png") + + return { + "left_image": left_image, + "right_image": right_image, + "wrist_image": wrist_image, + "cartesian_position": cartesian_position, + "joint_position": joint_position, + "gripper_position": gripper_position, + } + + +if __name__ == "__main__": + args: Args = tyro.cli(Args) + main(args) diff --git a/examples/inference.ipynb b/examples/inference.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..2f125880f97dd433134142b2892ba324f592caa8 --- /dev/null +++ b/examples/inference.ipynb @@ -0,0 +1,137 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import dataclasses\n", + "\n", + "import jax\n", + "\n", + "from openpi.models import model as _model\n", + "from openpi.policies import droid_policy\n", + "from openpi.policies import policy_config as _policy_config\n", + "from openpi.shared import download\n", + "from openpi.training import config as _config\n", + "from openpi.training import data_loader as _data_loader" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Policy inference\n", + "\n", + "The following example shows how to create a policy from a checkpoint and run inference on a dummy example." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "config = _config.get_config(\"pi0_fast_droid\")\n", + "checkpoint_dir = download.maybe_download(\"gs://openpi-assets/checkpoints/pi0_fast_droid\")\n", + "\n", + "# Create a trained policy.\n", + "policy = _policy_config.create_trained_policy(config, checkpoint_dir)\n", + "\n", + "# Run inference on a dummy example. This example corresponds to observations produced by the DROID runtime.\n", + "example = droid_policy.make_droid_example()\n", + "result = policy.infer(example)\n", + "\n", + "# Delete the policy to free up memory.\n", + "del policy\n", + "\n", + "print(\"Actions shape:\", result[\"actions\"].shape)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Working with a live model\n", + "\n", + "\n", + "The following example shows how to create a live model from a checkpoint and compute training loss. First, we are going to demonstrate how to do it with fake data.\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "config = _config.get_config(\"pi0_aloha_sim\")\n", + "\n", + "checkpoint_dir = download.maybe_download(\"gs://openpi-assets/checkpoints/pi0_aloha_sim\")\n", + "key = jax.random.key(0)\n", + "\n", + "# Create a model from the checkpoint.\n", + "model = config.model.load(_model.restore_params(checkpoint_dir / \"params\"))\n", + "\n", + "# We can create fake observations and actions to test the model.\n", + "obs, act = config.model.fake_obs(), config.model.fake_act()\n", + "\n", + "# Sample actions from the model.\n", + "loss = model.compute_loss(key, obs, act)\n", + "print(\"Loss shape:\", loss.shape)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Now, we are going to create a data loader and use a real batch of training data to compute the loss." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Reduce the batch size to reduce memory usage.\n", + "config = dataclasses.replace(config, batch_size=2)\n", + "\n", + "# Load a single batch of data. This is the same data that will be used during training.\n", + "# NOTE: In order to make this example self-contained, we are skipping the normalization step\n", + "# since it requires the normalization statistics to be generated using `compute_norm_stats`.\n", + "loader = _data_loader.create_data_loader(config, num_batches=1, skip_norm_stats=True)\n", + "obs, act = next(iter(loader))\n", + "\n", + "# Sample actions from the model.\n", + "loss = model.compute_loss(key, obs, act)\n", + "\n", + "# Delete the model to free up memory.\n", + "del model\n", + "\n", + "print(\"Loss shape:\", loss.shape)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/libero/Dockerfile b/examples/libero/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..ab462ee4fa73c0f701d3bb657d3f7cb2e245abe8 --- /dev/null +++ b/examples/libero/Dockerfile @@ -0,0 +1,59 @@ +# Dockerfile for the LIBERO benchmark. + +# Build the container: +# docker build . -t libero -f examples/libero/Dockerfile + +# Run the container: +# docker run --rm -it --network=host -v .:/app -v /tmp/.X11-unix:/tmp/.X11-unix:ro -e DISPLAY=$DISPLAY --gpus all libero /bin/bash + +FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04@sha256:2d913b09e6be8387e1a10976933642c73c840c0b735f0bf3c28d97fc9bc422e0 +COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/ + +RUN apt-get update && \ + apt-get install -y \ + make \ + g++ \ + clang \ + libosmesa6-dev \ + libgl1-mesa-glx \ + libglew-dev \ + libglfw3-dev \ + libgles2-mesa-dev \ + libglib2.0-0 \ + libsm6 \ + libxrender1 \ + libxext6 + +WORKDIR /app + +# Copy from the cache instead of linking since it's a mounted volume +ENV UV_LINK_MODE=copy + +# Write the virtual environment outside of the project directory so it doesn't +# leak out of the container when we mount the application code. +ENV UV_PROJECT_ENVIRONMENT=/.venv + +# Copy the requirements files so we can install dependencies. +# The rest of the project is mounted as a volume, so we don't need to rebuild on changes. +# This strategy is best for development-style usage. +COPY ./examples/libero/requirements.txt /tmp/requirements.txt +COPY ./third_party/libero/requirements.txt /tmp/requirements-libero.txt +COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml + +# Install python dependencies. +RUN uv venv --python 3.8 $UV_PROJECT_ENVIRONMENT +RUN uv pip sync /tmp/requirements.txt /tmp/requirements-libero.txt /tmp/openpi-client/pyproject.toml --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match +ENV PYTHONPATH=/app:/app/packages/openpi-client/src:/app/third_party/libero + +# Create a default config file to avoid an input prompt from LIBERO's init script. +# https://github.com/Lifelong-Robot-Learning/LIBERO/blob/master/libero/libero/__init__.py +ENV LIBERO_CONFIG_PATH=/tmp/libero +RUN mkdir -p /tmp/libero && cat <<'EOF' > /tmp/libero/config.yaml +benchmark_root: /app/third_party/libero/libero/libero +bddl_files: /app/third_party/libero/libero/libero/bddl_files +init_states: /app/third_party/libero/libero/libero/init_files +datasets: /app/third_party/libero/libero/datasets +assets: /app/third_party/libero/libero/libero/assets +EOF + +CMD ["/bin/bash", "-c", "source /.venv/bin/activate && python examples/libero/main.py"] diff --git a/examples/libero/README.md b/examples/libero/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5153e3a705d2839ab207f30800798341c42244a6 --- /dev/null +++ b/examples/libero/README.md @@ -0,0 +1,62 @@ +# LIBERO Benchmark + +This example runs the LIBERO benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO + +Note: When updating requirements.txt in this directory, there is an additional flag `--extra-index-url https://download.pytorch.org/whl/cu113` that must be added to the `uv pip compile` command. + +This example requires git submodules to be initialized. Don't forget to run: + +```bash +git submodule update --init --recursive +``` + +## With Docker + +```bash +# Grant access to the X11 server: +sudo xhost +local:docker + +export SERVER_ARGS="--env LIBERO" +docker compose -f examples/libero/compose.yml up --build + +# To run with glx for Mujoco instead (use this if you have egl errors): +MUJOCO_GL=glx docker compose -f examples/libero/compose.yml up --build +``` + +## Without Docker + +Terminal window 1: + +```bash +# Create virtual environment +uv venv --python 3.8 examples/libero/.venv +source examples/libero/.venv/bin/activate +uv pip sync examples/libero/requirements.txt third_party/libero/requirements.txt --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match +uv pip install -e packages/openpi-client +uv pip install -e third_party/libero +export PYTHONPATH=$PYTHONPATH:$PWD/third_party/libero + +# Run the simulation +python examples/libero/main.py + +# To run with glx for Mujoco instead (use this if you have egl errors): +MUJOCO_GL=glx python examples/libero/main.py +``` + +Terminal window 2: + +```bash +# Run the server +uv run scripts/serve_policy.py --env LIBERO +``` + +## Results + +If you follow the training instructions and hyperparameters in the `pi0_libero` and `pi0_fast_libero` configs, you should get results similar to the following: + +| Model | Libero Spatial | Libero Object | Libero Goal | Libero 10 | Average | +|-------|---------------|---------------|-------------|-----------|---------| +| π0-FAST @ 30k (finetuned) | 96.4 | 96.8 | 88.6 | 60.2 | 85.5 | +| π0 @ 30k (finetuned) | 96.8 | 98.8 | 95.8 | 85.2 | 94.15 | + +Note that the hyperparameters for these runs are not tuned and $\pi_0$-FAST does not use a FAST tokenizer optimized for Libero. Likely, the results could be improved with more tuning, we mainly use these results as an example of how to use openpi to fine-tune $\pi_0$ models on a new dataset. diff --git a/examples/libero/compose.yml b/examples/libero/compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..3819abed24fc4bf8f6723306f84b9b9a08c8d898 --- /dev/null +++ b/examples/libero/compose.yml @@ -0,0 +1,53 @@ +# Run with: +# docker compose -f examples/libero/compose.yml up --build +services: + runtime: + image: libero + depends_on: + - openpi_server + build: + context: ../.. + dockerfile: examples/libero/Dockerfile + init: true + tty: true + network_mode: host + privileged: true + volumes: + - $PWD:/app + - ../../data:/data + - /tmp/.X11-unix:/tmp/.X11-unix:ro + environment: + - DISPLAY=$DISPLAY + - MUJOCO_GL=${MUJOCO_GL:-egl} + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] + + openpi_server: + image: openpi_server + build: + context: ../.. + dockerfile: scripts/docker/serve_policy.Dockerfile + init: true + tty: true + network_mode: host + volumes: + - $PWD:/app + - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets + environment: + - SERVER_ARGS + - OPENPI_DATA_HOME=/openpi_assets + - IS_DOCKER=true + + # Comment out this block if not running on a machine with GPUs. + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] diff --git a/examples/libero/convert_libero_data_to_lerobot.py b/examples/libero/convert_libero_data_to_lerobot.py new file mode 100644 index 0000000000000000000000000000000000000000..59e0ba885a34f1f6ef103e5c619ece2980ea33de --- /dev/null +++ b/examples/libero/convert_libero_data_to_lerobot.py @@ -0,0 +1,108 @@ +""" +Minimal example script for converting a dataset to LeRobot format. + +We use the Libero dataset (stored in RLDS) for this example, but it can be easily +modified for any other data you have saved in a custom format. + +Usage: +uv run examples/libero/convert_libero_data_to_lerobot.py --data_dir /path/to/your/data + +If you want to push your dataset to the Hugging Face Hub, you can use the following command: +uv run examples/libero/convert_libero_data_to_lerobot.py --data_dir /path/to/your/data --push_to_hub + +Note: to run the script, you need to install tensorflow_datasets: +`uv pip install tensorflow tensorflow_datasets` + +You can download the raw Libero datasets from https://huggingface.co/datasets/openvla/modified_libero_rlds +The resulting dataset will get saved to the $LEROBOT_HOME directory. +Running this conversion script will take approximately 30 minutes. +""" + +import shutil + +#from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME +from lerobot.common.constants import HF_LEROBOT_HOME as LEROBOT_HOME +from lerobot.common.datasets.lerobot_dataset import LeRobotDataset +import tensorflow_datasets as tfds +import tyro + +REPO_NAME = "Sichang0621/libero_to_lerobot" # Name of the output dataset, also used for the Hugging Face Hub +RAW_DATASET_NAMES = [ + "libero_10_no_noops", + "libero_goal_no_noops", + "libero_object_no_noops", + "libero_spatial_no_noops", +] # For simplicity we will combine multiple Libero datasets into one training dataset + + +def main(data_dir: str, *, push_to_hub: bool = False): + # Clean up any existing dataset in the output directory + output_path = LEROBOT_HOME / REPO_NAME + if output_path.exists(): + shutil.rmtree(output_path) + + # Create LeRobot dataset, define features to store + # OpenPi assumes that proprio is stored in `state` and actions in `action` + # LeRobot assumes that dtype of image data is `image` + dataset = LeRobotDataset.create( + repo_id=REPO_NAME, + robot_type="panda", + fps=10, + features={ + "image": { + "dtype": "image", + "shape": (256, 256, 3), + "names": ["height", "width", "channel"], + }, + "wrist_image": { + "dtype": "image", + "shape": (256, 256, 3), + "names": ["height", "width", "channel"], + }, + "state": { + "dtype": "float32", + "shape": (8,), + "names": ["state"], + }, + "actions": { + "dtype": "float32", + "shape": (7,), + "names": ["actions"], + }, + }, + image_writer_threads=10, + image_writer_processes=5, + ) + + # Loop over raw Libero datasets and write episodes to the LeRobot dataset + # You can modify this for your own data format + for raw_dataset_name in RAW_DATASET_NAMES: + raw_dataset = tfds.load(raw_dataset_name, data_dir=data_dir, split="train") + for episode in raw_dataset: + for step in episode["steps"].as_numpy_iterator(): + dataset.add_frame( + { + "image": step["observation"]["image"], + "wrist_image": step["observation"]["wrist_image"], + "state": step["observation"]["state"], + "actions": step["action"], + "task": step["language_instruction"].decode(), + } + ) + dataset.save_episode() + + # Consolidate the dataset, skip computing stats since we will do that later + # dataset.consolidate(run_compute_stats=False) + + # Optionally push to the Hugging Face Hub + if push_to_hub: + dataset.push_to_hub( + tags=["libero", "panda", "rlds"], + private=False, + push_videos=True, + license="apache-2.0", + ) + + +if __name__ == "__main__": + tyro.cli(main) diff --git a/examples/libero/main.py b/examples/libero/main.py new file mode 100644 index 0000000000000000000000000000000000000000..477a41b12372773117acf670dbe9854c640924b2 --- /dev/null +++ b/examples/libero/main.py @@ -0,0 +1,219 @@ +import collections +import dataclasses +import logging +import math +import pathlib + +import imageio +from libero.libero import benchmark +from libero.libero import get_libero_path +from libero.libero.envs import OffScreenRenderEnv +import numpy as np +from openpi_client import image_tools +from openpi_client import websocket_client_policy as _websocket_client_policy +import tqdm +import tyro + +LIBERO_DUMMY_ACTION = [0.0] * 6 + [-1.0] +LIBERO_ENV_RESOLUTION = 256 # resolution used to render training data + + +@dataclasses.dataclass +class Args: + ################################################################################################################# + # Model server parameters + ################################################################################################################# + host: str = "0.0.0.0" + port: int = 8000 + resize_size: int = 224 + replan_steps: int = 5 + + ################################################################################################################# + # LIBERO environment-specific parameters + ################################################################################################################# + task_suite_name: str = ( + "libero_goal" # Task suite. Options: libero_spatial, libero_object, libero_goal, libero_10, libero_90 + ) + num_steps_wait: int = 10 # Number of steps to wait for objects to stabilize i n sim + num_trials_per_task: int = 25 # Number of rollouts per task + + ################################################################################################################# + # Utils + ################################################################################################################# + video_out_path: str = "data/libero/videos" # Path to save videos + + seed: int = 7 # Random Seed (for reproducibility) + + +def eval_libero(args: Args) -> None: + # Set random seed + np.random.seed(args.seed) + + # Initialize LIBERO task suite + benchmark_dict = benchmark.get_benchmark_dict() + task_suite = benchmark_dict[args.task_suite_name]() + num_tasks_in_suite = task_suite.n_tasks + logging.info(f"Task suite: {args.task_suite_name}") + + pathlib.Path(args.video_out_path).mkdir(parents=True, exist_ok=True) + + if args.task_suite_name == "libero_spatial": + max_steps = 220 # longest training demo has 193 steps + elif args.task_suite_name == "libero_object": + max_steps = 280 # longest training demo has 254 steps + elif args.task_suite_name == "libero_goal": + max_steps = 300 # longest training demo has 270 steps + elif args.task_suite_name == "libero_10": + max_steps = 520 # longest training demo has 505 steps + elif args.task_suite_name == "libero_90": + max_steps = 400 # longest training demo has 373 steps + else: + raise ValueError(f"Unknown task suite: {args.task_suite_name}") + + client = _websocket_client_policy.WebsocketClientPolicy(args.host, args.port) + + # Start evaluation + total_episodes, total_successes = 0, 0 + for task_id in tqdm.tqdm(range(num_tasks_in_suite)): + # Get task + task = task_suite.get_task(task_id) + + # Get default LIBERO initial states + initial_states = task_suite.get_task_init_states(task_id) + + # Initialize LIBERO environment and task description + env, task_description = _get_libero_env(task, LIBERO_ENV_RESOLUTION, args.seed) + + # Start episodes + task_episodes, task_successes = 0, 0 + for episode_idx in tqdm.tqdm(range(args.num_trials_per_task)): + logging.info(f"\nTask: {task_description}") + + # Reset environment + env.reset() + action_plan = collections.deque() + + # Set initial states + obs = env.set_init_state(initial_states[episode_idx]) + + # Setup + t = 0 + replay_images = [] + + logging.info(f"Starting episode {task_episodes+1}...") + while t < max_steps + args.num_steps_wait: + try: + # IMPORTANT: Do nothing for the first few timesteps because the simulator drops objects + # and we need to wait for them to fall + if t < args.num_steps_wait: + obs, reward, done, info = env.step(LIBERO_DUMMY_ACTION) + t += 1 + continue + + # Get preprocessed image + # IMPORTANT: rotate 180 degrees to match train preprocessing + img = np.ascontiguousarray(obs["agentview_image"][::-1, ::-1]) + wrist_img = np.ascontiguousarray(obs["robot0_eye_in_hand_image"][::-1, ::-1]) + img = image_tools.convert_to_uint8( + image_tools.resize_with_pad(img, args.resize_size, args.resize_size) + ) + wrist_img = image_tools.convert_to_uint8( + image_tools.resize_with_pad(wrist_img, args.resize_size, args.resize_size) + ) + + # Save preprocessed image for replay video + replay_images.append(img) + + if not action_plan: + # Finished executing previous action chunk -- compute new chunk + # Prepare observations dict + element = { + "observation/image": img, + "observation/wrist_image": wrist_img, + "observation/state": np.concatenate( + ( + obs["robot0_eef_pos"], + _quat2axisangle(obs["robot0_eef_quat"]), + obs["robot0_gripper_qpos"], + ) + ), + "prompt": str(task_description), + } + + # Query model to get action + action_chunk = client.infer(element)["actions"] + assert ( + len(action_chunk) >= args.replan_steps + ), f"We want to replan every {args.replan_steps} steps, but policy only predicts {len(action_chunk)} steps." + action_plan.extend(action_chunk[: args.replan_steps]) + + action = action_plan.popleft() + + # Execute action in environment + obs, reward, done, info = env.step(action.tolist()) + if done: + task_successes += 1 + total_successes += 1 + break + t += 1 + + except Exception as e: + logging.error(f"Caught exception: {e}") + break + + task_episodes += 1 + total_episodes += 1 + + # Save a replay video of the episode + suffix = "success" if done else "failure" + task_segment = task_description.replace(" ", "_") + imageio.mimwrite( + pathlib.Path(args.video_out_path) / f"rollout_{task_segment}_{suffix}.mp4", + [np.asarray(x) for x in replay_images], + fps=10, + ) + + # Log current results + logging.info(f"Success: {done}") + logging.info(f"# episodes completed so far: {total_episodes}") + logging.info(f"# successes: {total_successes} ({total_successes / total_episodes * 100:.1f}%)") + + # Log final results + logging.info(f"Current task success rate: {float(task_successes) / float(task_episodes)}") + logging.info(f"Current total success rate: {float(total_successes) / float(total_episodes)}") + + logging.info(f"Total success rate: {float(total_successes) / float(total_episodes)}") + logging.info(f"Total episodes: {total_episodes}") + + +def _get_libero_env(task, resolution, seed): + """Initializes and returns the LIBERO environment, along with the task description.""" + task_description = task.language + task_bddl_file = pathlib.Path(get_libero_path("bddl_files")) / task.problem_folder / task.bddl_file + env_args = {"bddl_file_name": task_bddl_file, "camera_heights": resolution, "camera_widths": resolution} + env = OffScreenRenderEnv(**env_args) + env.seed(seed) # IMPORTANT: seed seems to affect object positions even when using fixed initial state + return env, task_description + + +def _quat2axisangle(quat): + """ + Copied from robosuite: https://github.com/ARISE-Initiative/robosuite/blob/eafb81f54ffc104f905ee48a16bb15f059176ad3/robosuite/utils/transform_utils.py#L490C1-L512C55 + """ + # clip quaternion + if quat[3] > 1.0: + quat[3] = 1.0 + elif quat[3] < -1.0: + quat[3] = -1.0 + + den = np.sqrt(1.0 - quat[3] * quat[3]) + if math.isclose(den, 0.0): + # This is (close to) a zero degree rotation, immediately return + return np.zeros(3) + + return (quat[:3] * 2.0 * math.acos(quat[3])) / den + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO) + tyro.cli(eval_libero) diff --git a/examples/libero/requirements.in b/examples/libero/requirements.in new file mode 100644 index 0000000000000000000000000000000000000000..149006564d32ef12d0e7e48af917b9dbfa584730 --- /dev/null +++ b/examples/libero/requirements.in @@ -0,0 +1,11 @@ +imageio[ffmpeg] +numpy==1.22.4 +tqdm +tyro +PyYaml +opencv-python==4.6.0.66 +torch==1.11.0+cu113 +torchvision==0.12.0+cu113 +torchaudio==0.11.0+cu113 +robosuite==1.4.1 +matplotlib==3.5.3 diff --git a/examples/libero/requirements.txt b/examples/libero/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a52b42887cefefdad0f04da876f48a7c09be3a7 --- /dev/null +++ b/examples/libero/requirements.txt @@ -0,0 +1,136 @@ +# This file was autogenerated by uv via the following command: +# uv pip compile examples/libero/requirements.in -o examples/libero/requirements.txt --python-version 3.8 --index-strategy=unsafe-best-match +absl-py==2.1.0 + # via mujoco +certifi==2024.12.14 + # via requests +charset-normalizer==3.4.0 + # via requests +cycler==0.12.1 + # via matplotlib +docstring-parser==0.16 + # via tyro +etils==1.3.0 + # via mujoco +eval-type-backport==0.2.0 + # via tyro +evdev==1.7.1 + # via pynput +fonttools==4.55.3 + # via matplotlib +glfw==1.12.0 + # via mujoco +idna==3.10 + # via requests +imageio==2.35.1 + # via -r examples/libero/requirements.in +imageio-ffmpeg==0.5.1 + # via imageio +importlib-metadata==8.5.0 + # via typeguard +importlib-resources==6.4.5 + # via etils +kiwisolver==1.4.7 + # via matplotlib +llvmlite==0.36.0 + # via numba +markdown-it-py==3.0.0 + # via rich +matplotlib==3.5.3 + # via -r examples/libero/requirements.in +mdurl==0.1.2 + # via markdown-it-py +mujoco==3.2.3 + # via robosuite +numba==0.53.1 + # via robosuite +numpy==1.22.4 + # via + # -r examples/libero/requirements.in + # imageio + # matplotlib + # mujoco + # numba + # opencv-python + # robosuite + # scipy + # torchvision +opencv-python==4.6.0.66 + # via + # -r examples/libero/requirements.in + # robosuite +packaging==24.2 + # via matplotlib +pillow==10.4.0 + # via + # imageio + # matplotlib + # robosuite + # torchvision +psutil==6.1.0 + # via imageio +pygments==2.18.0 + # via rich +pynput==1.7.7 + # via robosuite +pyopengl==3.1.7 + # via mujoco +pyparsing==3.1.4 + # via matplotlib +python-dateutil==2.9.0.post0 + # via matplotlib +python-xlib==0.33 + # via pynput +pyyaml==6.0.2 + # via -r examples/libero/requirements.in +requests==2.32.3 + # via torchvision +rich==13.9.4 + # via tyro +robosuite==1.4.1 + # via -r examples/libero/requirements.in +scipy==1.10.1 + # via robosuite +setuptools==75.3.0 + # via + # imageio-ffmpeg + # numba +shtab==1.7.1 + # via tyro +six==1.17.0 + # via + # pynput + # python-dateutil + # python-xlib +termcolor==2.4.0 + # via robosuite +torch==1.11.0+cu113 + # via + # -r examples/libero/requirements.in + # torchaudio + # torchvision +torchaudio==0.11.0+cu113 + # via -r examples/libero/requirements.in +torchvision==0.12.0+cu113 + # via -r examples/libero/requirements.in +tqdm==4.67.1 + # via -r examples/libero/requirements.in +typeguard==4.4.0 + # via tyro +typing-extensions==4.12.2 + # via + # etils + # rich + # torch + # torchvision + # typeguard + # tyro +tyro==0.9.2 + # via -r examples/libero/requirements.in +urllib3==2.2.3 + # via requests +zipp==3.20.2 + # via + # etils + # importlib-metadata + # importlib-resources diff --git a/examples/policy_records.ipynb b/examples/policy_records.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..ee6f268cf733b93fc732d2e7e754bf77b3dceb30 --- /dev/null +++ b/examples/policy_records.ipynb @@ -0,0 +1,134 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import pathlib\n", + "\n", + "import numpy as np\n", + "\n", + "record_path = pathlib.Path(\"../policy_records\")\n", + "num_steps = len(list(record_path.glob(\"step_*.npy\")))\n", + "\n", + "records = []\n", + "for i in range(num_steps):\n", + " record = np.load(record_path / f\"step_{i}.npy\", allow_pickle=True).item()\n", + " records.append(record)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "print(\"length of records\", len(records))\n", + "print(\"keys in records\", records[0].keys())\n", + "\n", + "for k in records[0]:\n", + " print(f\"{k} shape: {records[0][k].shape}\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from PIL import Image\n", + "\n", + "\n", + "def get_image(step: int, idx: int = 0):\n", + " img = (255 * records[step][\"inputs/image\"]).astype(np.uint8)\n", + " return img[idx].transpose(1, 2, 0)\n", + "\n", + "\n", + "def show_image(step: int, idx_lst: list[int]):\n", + " imgs = [get_image(step, idx) for idx in idx_lst]\n", + " return Image.fromarray(np.hstack(imgs))\n", + "\n", + "\n", + "for i in range(2):\n", + " display(show_image(i, [0]))" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "\n", + "\n", + "def get_axis(name, axis):\n", + " return np.array([record[name][axis] for record in records])\n", + "\n", + "\n", + "# qpos is [..., 14] of type float:\n", + "# 0-5: left arm joint angles\n", + "# 6: left arm gripper\n", + "# 7-12: right arm joint angles\n", + "# 13: right arm gripper\n", + "names = [(\"left_joint\", 6), (\"left_gripper\", 1), (\"right_joint\", 6), (\"right_gripper\", 1)]\n", + "\n", + "\n", + "def make_data():\n", + " cur_dim = 0\n", + " in_data = {}\n", + " out_data = {}\n", + " for name, dim_size in names:\n", + " for i in range(dim_size):\n", + " in_data[f\"{name}_{i}\"] = get_axis(\"inputs/qpos\", cur_dim)\n", + " out_data[f\"{name}_{i}\"] = get_axis(\"outputs/qpos\", cur_dim)\n", + " cur_dim += 1\n", + " return pd.DataFrame(in_data), pd.DataFrame(out_data)\n", + "\n", + "\n", + "in_data, out_data = make_data()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "for name in in_data.columns:\n", + " data = pd.DataFrame({f\"in_{name}\": in_data[name], f\"out_{name}\": out_data[name]})\n", + " data.plot()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/simple_client/Dockerfile b/examples/simple_client/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..05991634a6fc01f6f7fa8b94a773a68938277767 --- /dev/null +++ b/examples/simple_client/Dockerfile @@ -0,0 +1,32 @@ +# Dockerfile for the simple client. + +# Build the container: +# docker build . -t simple_client -f examples/simple_client/Dockerfile + +# Run the container: +# docker run --rm -it --network=host -v .:/app simple_client /bin/bash + +FROM python:3.7-slim +COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/ + +WORKDIR /app + +# Copy from the cache instead of linking since it's a mounted volume +ENV UV_LINK_MODE=copy + +# Write the virtual environment outside of the project directory so it doesn't +# leak out of the container when we mount the application code. +ENV UV_PROJECT_ENVIRONMENT=/.venv + +# Copy the requirements files so we can install dependencies. +# The rest of the project is mounted as a volume, so we don't need to rebuild on changes. +# This strategy is best for development-style usage. +COPY ./examples/simple_client/requirements.txt /tmp/requirements.txt +COPY ./packages/openpi-client/pyproject.toml /tmp/openpi-client/pyproject.toml + +# Install python dependencies. +RUN uv venv --python 3.11.9 $UV_PROJECT_ENVIRONMENT +RUN uv pip sync /tmp/requirements.txt /tmp/openpi-client/pyproject.toml +ENV PYTHONPATH=/app:/app/src:/app/packages/openpi-client/src + +CMD /bin/bash -c "source /.venv/bin/activate && python examples/simple_client/main.py $SERVER_ARGS" diff --git a/examples/simple_client/README.md b/examples/simple_client/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bc381c1d7a7d2ebcf60d8136a303ec9c0b67496a --- /dev/null +++ b/examples/simple_client/README.md @@ -0,0 +1,30 @@ +# Simple Client + +A minimal client that sends observations to the server and prints the inference rate. + +You can specify which runtime environment to use using the `--env` flag. You can see the available options by running: + +```bash +uv run examples/simple_client/main.py --help +``` + +## With Docker + +```bash +export SERVER_ARGS="--env ALOHA_SIM" +docker compose -f examples/simple_client/compose.yml up --build +``` + +## Without Docker + +Terminal window 1: + +```bash +uv run examples/simple_client/main.py --env DROID +``` + +Terminal window 2: + +```bash +uv run scripts/serve_policy.py --env DROID +``` diff --git a/examples/simple_client/compose.yml b/examples/simple_client/compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..977e361f73276502bbf42254db66b159560fefdd --- /dev/null +++ b/examples/simple_client/compose.yml @@ -0,0 +1,42 @@ +# Run with: +# docker compose -f examples/simple_client/compose.yml up --build +services: + runtime: + image: simple_client + depends_on: + - openpi_server + build: + context: ../.. + dockerfile: examples/simple_client/Dockerfile + init: true + tty: true + network_mode: host + volumes: + - $PWD:/app + environment: + - SERVER_ARGS + + openpi_server: + image: openpi_server + build: + context: ../.. + dockerfile: scripts/docker/serve_policy.Dockerfile + init: true + tty: true + network_mode: host + volumes: + - $PWD:/app + - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets + environment: + - SERVER_ARGS + - OPENPI_DATA_HOME=/openpi_assets + - IS_DOCKER=true + + # Comment out this block if not running on a machine with GPUs. + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] diff --git a/examples/simple_client/main.py b/examples/simple_client/main.py new file mode 100644 index 0000000000000000000000000000000000000000..cd7eda1090d7e5f5a738e63642a0792b571fc87c --- /dev/null +++ b/examples/simple_client/main.py @@ -0,0 +1,187 @@ +import dataclasses +import enum +import logging +import pathlib +import time + +import numpy as np +from openpi_client import websocket_client_policy as _websocket_client_policy +import polars as pl +import rich +import tqdm +import tyro + +logger = logging.getLogger(__name__) + + +class EnvMode(enum.Enum): + """Supported environments.""" + + ALOHA = "aloha" + ALOHA_SIM = "aloha_sim" + DROID = "droid" + LIBERO = "libero" + + +@dataclasses.dataclass +class Args: + """Command line arguments.""" + + # Host and port to connect to the server. + host: str = "0.0.0.0" + # Port to connect to the server. If None, the server will use the default port. + port: int | None = 8000 + # API key to use for the server. + api_key: str | None = None + # Number of steps to run the policy for. + num_steps: int = 20 + # Path to save the timings to a parquet file. (e.g., timing.parquet) + timing_file: pathlib.Path | None = None + # Environment to run the policy in. + env: EnvMode = EnvMode.ALOHA_SIM + + +class TimingRecorder: + """Records timing measurements for different keys.""" + + def __init__(self) -> None: + self._timings: dict[str, list[float]] = {} + + def record(self, key: str, time_ms: float) -> None: + """Record a timing measurement for the given key.""" + if key not in self._timings: + self._timings[key] = [] + self._timings[key].append(time_ms) + + def get_stats(self, key: str) -> dict[str, float]: + """Get statistics for the given key.""" + times = self._timings[key] + return { + "mean": float(np.mean(times)), + "std": float(np.std(times)), + "p25": float(np.quantile(times, 0.25)), + "p50": float(np.quantile(times, 0.50)), + "p75": float(np.quantile(times, 0.75)), + "p90": float(np.quantile(times, 0.90)), + "p95": float(np.quantile(times, 0.95)), + "p99": float(np.quantile(times, 0.99)), + } + + def print_all_stats(self) -> None: + """Print statistics for all keys in a concise format.""" + + table = rich.table.Table( + title="[bold blue]Timing Statistics[/bold blue]", + show_header=True, + header_style="bold white", + border_style="blue", + title_justify="center", + ) + + # Add metric column with custom styling + table.add_column("Metric", style="cyan", justify="left", no_wrap=True) + + # Add statistical columns with consistent styling + stat_columns = [ + ("Mean", "yellow", "mean"), + ("Std", "yellow", "std"), + ("P25", "magenta", "p25"), + ("P50", "magenta", "p50"), + ("P75", "magenta", "p75"), + ("P90", "magenta", "p90"), + ("P95", "magenta", "p95"), + ("P99", "magenta", "p99"), + ] + + for name, style, _ in stat_columns: + table.add_column(name, justify="right", style=style, no_wrap=True) + + # Add rows for each metric with formatted values + for key in sorted(self._timings.keys()): + stats = self.get_stats(key) + values = [f"{stats[key]:.1f}" for _, _, key in stat_columns] + table.add_row(key, *values) + + # Print with custom console settings + console = rich.console.Console(width=None, highlight=True) + console.print(table) + + def write_parquet(self, path: pathlib.Path) -> None: + """Save the timings to a parquet file.""" + logger.info(f"Writing timings to {path}") + frame = pl.DataFrame(self._timings) + path.parent.mkdir(parents=True, exist_ok=True) + frame.write_parquet(path) + + +def main(args: Args) -> None: + obs_fn = { + EnvMode.ALOHA: _random_observation_aloha, + EnvMode.ALOHA_SIM: _random_observation_aloha, + EnvMode.DROID: _random_observation_droid, + EnvMode.LIBERO: _random_observation_libero, + }[args.env] + + policy = _websocket_client_policy.WebsocketClientPolicy( + host=args.host, + port=args.port, + api_key=args.api_key, + ) + logger.info(f"Server metadata: {policy.get_server_metadata()}") + + # Send a few observations to make sure the model is loaded. + for _ in range(2): + policy.infer(obs_fn()) + + timing_recorder = TimingRecorder() + + for _ in tqdm.trange(args.num_steps, desc="Running policy"): + inference_start = time.time() + action = policy.infer(obs_fn()) + timing_recorder.record("client_infer_ms", 1000 * (time.time() - inference_start)) + for key, value in action.get("server_timing", {}).items(): + timing_recorder.record(f"server_{key}", value) + for key, value in action.get("policy_timing", {}).items(): + timing_recorder.record(f"policy_{key}", value) + + timing_recorder.print_all_stats() + + if args.timing_file is not None: + timing_recorder.write_parquet(args.timing_file) + + +def _random_observation_aloha() -> dict: + return { + "state": np.ones((14,)), + "images": { + "cam_high": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_low": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_left_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_right_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + }, + "prompt": "do something", + } + + +def _random_observation_droid() -> dict: + return { + "observation/exterior_image_1_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/wrist_image_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/joint_position": np.random.rand(7), + "observation/gripper_position": np.random.rand(1), + "prompt": "do something", + } + + +def _random_observation_libero() -> dict: + return { + "observation/state": np.random.rand(8), + "observation/image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/wrist_image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "prompt": "do something", + } + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO) + main(tyro.cli(Args)) diff --git a/examples/simple_client/requirements.in b/examples/simple_client/requirements.in new file mode 100644 index 0000000000000000000000000000000000000000..f4c5c0c1b3f3b45ad65067b1b4d61818d74f7c27 --- /dev/null +++ b/examples/simple_client/requirements.in @@ -0,0 +1,5 @@ +numpy>=1.22.4,<2.0.0 +rich +tqdm +tyro +polars \ No newline at end of file diff --git a/examples/simple_client/requirements.txt b/examples/simple_client/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..86143b53fd0dfafe8ffa30044a172a81bbab0122 --- /dev/null +++ b/examples/simple_client/requirements.txt @@ -0,0 +1,30 @@ +# This file was autogenerated by uv via the following command: +# uv pip compile examples/simple_client/requirements.in -o examples/simple_client/requirements.txt --python-version 3.11.9 +docstring-parser==0.16 + # via tyro +markdown-it-py==3.0.0 + # via rich +mdurl==0.1.2 + # via markdown-it-py +numpy==1.26.4 + # via -r examples/simple_client/requirements.in +polars==1.30.0 + # via -r examples/simple_client/requirements.in +pygments==2.19.1 + # via rich +rich==14.0.0 + # via + # -r examples/simple_client/requirements.in + # tyro +shtab==1.7.2 + # via tyro +tqdm==4.67.1 + # via -r examples/simple_client/requirements.in +typeguard==4.4.2 + # via tyro +typing-extensions==4.13.2 + # via + # typeguard + # tyro +tyro==0.9.22 + # via -r examples/simple_client/requirements.in diff --git a/examples/ur5/README.md b/examples/ur5/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e09c0085e19f545b69e13264866b48f410395841 --- /dev/null +++ b/examples/ur5/README.md @@ -0,0 +1,150 @@ +# UR5 Example + +Below we provide an outline of how to implement the key components mentioned in the "Finetune on your data" section of the [README](../README.md) for finetuning on UR5 datasets. + +First, we will define the `UR5Inputs` and `UR5Outputs` classes, which map the UR5 environment to the model and vice versa. Check the corresponding files in `src/openpi/policies/libero_policy.py` for comments explaining each line. + +```python + +@dataclasses.dataclass(frozen=True) +class UR5Inputs(transforms.DataTransformFn): + + action_dim: int + model_type: _model.ModelType = _model.ModelType.PI0 + + def __call__(self, data: dict) -> dict: + mask_padding = self.model_type == _model.ModelType.PI0 + + # First, concatenate the joints and gripper into the state vector. + # Pad to the expected input dimensionality of the model (same as action_dim). + state = np.concatenate([data["joints"], data["gripper"]]) + state = transforms.pad_to_dim(state, self.action_dim) + + # Possibly need to parse images to uint8 (H,W,C) since LeRobot automatically + # stores as float32 (C,H,W), gets skipped for policy inference. + base_image = _parse_image(data["base_rgb"]) + wrist_image = _parse_image(data["wrist_rgb"]) + + # Create inputs dict. + inputs = { + "state": state, + "image": { + "base_0_rgb": base_image, + "left_wrist_0_rgb": wrist_image, + # Since there is no right wrist, replace with zeros + "right_wrist_0_rgb": np.zeros_like(base_image), + }, + "image_mask": { + "base_0_rgb": np.True_, + "left_wrist_0_rgb": np.True_, + # Since the "slot" for the right wrist is not used, this mask is set + # to False + "right_wrist_0_rgb": np.False_ if mask_padding else np.True_, + }, + } + + # Pad actions to the model action dimension. + if "actions" in data: + # The robot produces 7D actions (6 DoF + 1 gripper), and we pad these. + actions = transforms.pad_to_dim(data["actions"], self.action_dim) + inputs["actions"] = actions + + # Pass the prompt (aka language instruction) to the model. + if "prompt" in data: + inputs["prompt"] = data["prompt"] + + return inputs + + +@dataclasses.dataclass(frozen=True) +class UR5Outputs(transforms.DataTransformFn): + + def __call__(self, data: dict) -> dict: + # Since the robot has 7 action dimensions (6 DoF + gripper), return the first 7 dims + return {"actions": np.asarray(data["actions"][:, :7])} + +``` + +Next, we will define the `UR5DataConfig` class, which defines how to process raw UR5 data from LeRobot dataset for training. For a full example, see the `LeRobotLiberoDataConfig` config in the [training config file](https://github.com/physical-intelligence/openpi/blob/main/src/openpi/training/config.py). + +```python + +@dataclasses.dataclass(frozen=True) +class LeRobotUR5DataConfig(DataConfigFactory): + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + # Boilerplate for remapping keys from the LeRobot dataset. We assume no renaming needed here. + repack_transform = _transforms.Group( + inputs=[ + _transforms.RepackTransform( + { + "base_rgb": "image", + "wrist_rgb": "wrist_image", + "joints": "joints", + "gripper": "gripper", + "prompt": "prompt", + } + ) + ] + ) + + # These transforms are the ones we wrote earlier. + data_transforms = _transforms.Group( + inputs=[UR5Inputs(action_dim=model_config.action_dim, model_type=model_config.model_type)], + outputs=[UR5Outputs()], + ) + + # Convert absolute actions to delta actions. + # By convention, we do not convert the gripper action (7th dimension). + delta_action_mask = _transforms.make_bool_mask(6, -1) + data_transforms = data_transforms.push( + inputs=[_transforms.DeltaActions(delta_action_mask)], + outputs=[_transforms.AbsoluteActions(delta_action_mask)], + ) + + # Model transforms include things like tokenizing the prompt and action targets + # You do not need to change anything here for your own dataset. + model_transforms = ModelTransformFactory()(model_config) + + # We return all data transforms for training and inference. No need to change anything here. + return dataclasses.replace( + self.create_base_config(assets_dirs), + repack_transforms=repack_transform, + data_transforms=data_transforms, + model_transforms=model_transforms, + ) + +``` + +Finally, we define the TrainConfig for our UR5 dataset. Here, we define a config for fine-tuning pi0 on our UR5 dataset. See the [training config file](https://github.com/physical-intelligence/openpi/blob/main/src/openpi/training/config.py) for more examples, e.g. for pi0-FAST or for LoRA fine-tuning. + +```python +TrainConfig( + name="pi0_ur5", + model=pi0.Pi0Config(), + data=LeRobotUR5DataConfig( + repo_id="your_username/ur5_dataset", + # This config lets us reload the UR5 normalization stats from the base model checkpoint. + # Reloading normalization stats can help transfer pre-trained models to new environments. + # See the [norm_stats.md](../docs/norm_stats.md) file for more details. + assets=AssetsConfig( + assets_dir="gs://openpi-assets/checkpoints/pi0_base/assets", + asset_id="ur5e", + ), + base_config=DataConfig( + # This flag determines whether we load the prompt (i.e. the task instruction) from the + # ``task`` field in the LeRobot dataset. The recommended setting is True. + prompt_from_task=True, + ), + ), + # Load the pi0 base model checkpoint. + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"), + num_train_steps=30_000, +) +``` + + + + + diff --git a/inference_test.py b/inference_test.py new file mode 100644 index 0000000000000000000000000000000000000000..78c04aa7bc1e211831955adce47a0ad85f375ceb --- /dev/null +++ b/inference_test.py @@ -0,0 +1,25 @@ +import dataclasses + +import jax + +from openpi.models import model as _model +from openpi.policies import droid_policy +from openpi.policies import policy_config as _policy_config +from openpi.shared import download +from openpi.training import config as _config +from openpi.training import data_loader as _data_loader + +config = _config.get_config("pi0_fast_droid") +checkpoint_dir = download.maybe_download("gs://openpi-assets/checkpoints/pi0_fast_droid") + +# Create a trained policy. +policy = _policy_config.create_trained_policy(config, checkpoint_dir) + +# Run inference on a dummy example. This example corresponds to observations produced by the DROID runtime. +example = droid_policy.make_droid_example() +result = policy.infer(example) + +# Delete the policy to free up memory. +del policy + +print("Actions shape:", result["actions"].shape) \ No newline at end of file diff --git a/packages/openpi-client/pyproject.toml b/packages/openpi-client/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..fba7b66f62be7ff209d46717b1eed1d1b232ca2e --- /dev/null +++ b/packages/openpi-client/pyproject.toml @@ -0,0 +1,23 @@ +[project] +name = "openpi-client" +version = "0.1.0" +requires-python = ">=3.7" +dependencies = [ + "dm-tree>=0.1.8", + "msgpack>=1.0.5", + "numpy>=1.22.4,<2.0.0", + "pillow>=9.0.0", + "tree>=0.2.4", + "websockets>=11.0", +] + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.uv] +dev-dependencies = ["pytest>=8.3.4"] + +[tool.ruff] +line-length = 120 +target-version = "py37" diff --git a/packages/openpi-client/src/openpi_client/__init__.py b/packages/openpi-client/src/openpi_client/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..3dc1f76bc69e3f559bee6253b24fc93acee9e1f9 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/__init__.py @@ -0,0 +1 @@ +__version__ = "0.1.0" diff --git a/packages/openpi-client/src/openpi_client/action_chunk_broker.py b/packages/openpi-client/src/openpi_client/action_chunk_broker.py new file mode 100644 index 0000000000000000000000000000000000000000..8fa9d83d023b7c0c60a1d05531343af01e72d09b --- /dev/null +++ b/packages/openpi-client/src/openpi_client/action_chunk_broker.py @@ -0,0 +1,50 @@ +from typing import Dict + +import numpy as np +import tree +from typing_extensions import override + +from openpi_client import base_policy as _base_policy + + +class ActionChunkBroker(_base_policy.BasePolicy): + """Wraps a policy to return action chunks one-at-a-time. + + Assumes that the first dimension of all action fields is the chunk size. + + A new inference call to the inner policy is only made when the current + list of chunks is exhausted. + """ + + def __init__(self, policy: _base_policy.BasePolicy, action_horizon: int): + self._policy = policy + self._action_horizon = action_horizon + self._cur_step: int = 0 + + self._last_results: Dict[str, np.ndarray] | None = None + + @override + def infer(self, obs: Dict) -> Dict: # noqa: UP006 + if self._last_results is None: + self._last_results = self._policy.infer(obs) + self._cur_step = 0 + + def slicer(x): + if isinstance(x, np.ndarray): + return x[self._cur_step, ...] + else: + return x + + results = tree.map_structure(slicer, self._last_results) + self._cur_step += 1 + + if self._cur_step >= self._action_horizon: + self._last_results = None + + return results + + @override + def reset(self) -> None: + self._policy.reset() + self._last_results = None + self._cur_step = 0 diff --git a/packages/openpi-client/src/openpi_client/base_policy.py b/packages/openpi-client/src/openpi_client/base_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..2f4290651b1b7bab3bd9549b47876838f5b51629 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/base_policy.py @@ -0,0 +1,12 @@ +import abc +from typing import Dict + + +class BasePolicy(abc.ABC): + @abc.abstractmethod + def infer(self, obs: Dict) -> Dict: + """Infer actions from observations.""" + + def reset(self) -> None: + """Reset the policy to its initial state.""" + pass diff --git a/packages/openpi-client/src/openpi_client/image_tools.py b/packages/openpi-client/src/openpi_client/image_tools.py new file mode 100644 index 0000000000000000000000000000000000000000..7a971b9d5f6b1495fd6cdea202ffa607d8b34bf0 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/image_tools.py @@ -0,0 +1,58 @@ +import numpy as np +from PIL import Image + + +def convert_to_uint8(img: np.ndarray) -> np.ndarray: + """Converts an image to uint8 if it is a float image. + + This is important for reducing the size of the image when sending it over the network. + """ + if np.issubdtype(img.dtype, np.floating): + img = (255 * img).astype(np.uint8) + return img + + +def resize_with_pad(images: np.ndarray, height: int, width: int, method=Image.BILINEAR) -> np.ndarray: + """Replicates tf.image.resize_with_pad for multiple images using PIL. Resizes a batch of images to a target height. + + Args: + images: A batch of images in [..., height, width, channel] format. + height: The target height of the image. + width: The target width of the image. + method: The interpolation method to use. Default is bilinear. + + Returns: + The resized images in [..., height, width, channel]. + """ + # If the images are already the correct size, return them as is. + if images.shape[-3:-1] == (height, width): + return images + + original_shape = images.shape + + images = images.reshape(-1, *original_shape[-3:]) + resized = np.stack([_resize_with_pad_pil(Image.fromarray(im), height, width, method=method) for im in images]) + return resized.reshape(*original_shape[:-3], *resized.shape[-3:]) + + +def _resize_with_pad_pil(image: Image.Image, height: int, width: int, method: int) -> Image.Image: + """Replicates tf.image.resize_with_pad for one image using PIL. Resizes an image to a target height and + width without distortion by padding with zeros. + + Unlike the jax version, note that PIL uses [width, height, channel] ordering instead of [batch, h, w, c]. + """ + cur_width, cur_height = image.size + if cur_width == width and cur_height == height: + return image # No need to resize if the image is already the correct size. + + ratio = max(cur_width / width, cur_height / height) + resized_height = int(cur_height / ratio) + resized_width = int(cur_width / ratio) + resized_image = image.resize((resized_width, resized_height), resample=method) + + zero_image = Image.new(resized_image.mode, (width, height), 0) + pad_height = max(0, int((height - resized_height) / 2)) + pad_width = max(0, int((width - resized_width) / 2)) + zero_image.paste(resized_image, (pad_width, pad_height)) + assert zero_image.size == (width, height) + return zero_image diff --git a/packages/openpi-client/src/openpi_client/image_tools_test.py b/packages/openpi-client/src/openpi_client/image_tools_test.py new file mode 100644 index 0000000000000000000000000000000000000000..8d4b4b92030ea869712b312581e26243035aafba --- /dev/null +++ b/packages/openpi-client/src/openpi_client/image_tools_test.py @@ -0,0 +1,37 @@ +import numpy as np + +import openpi_client.image_tools as image_tools + + +def test_resize_with_pad_shapes(): + # Test case 1: Resize image with larger dimensions + images = np.zeros((2, 10, 10, 3), dtype=np.uint8) # Input images of shape (batch_size, height, width, channels) + height = 20 + width = 20 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (2, height, width, 3) + assert np.all(resized_images == 0) + + # Test case 2: Resize image with smaller dimensions + images = np.zeros((3, 30, 30, 3), dtype=np.uint8) + height = 15 + width = 15 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (3, height, width, 3) + assert np.all(resized_images == 0) + + # Test case 3: Resize image with the same dimensions + images = np.zeros((1, 50, 50, 3), dtype=np.uint8) + height = 50 + width = 50 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (1, height, width, 3) + assert np.all(resized_images == 0) + + # Test case 3: Resize image with odd-numbered padding + images = np.zeros((1, 256, 320, 3), dtype=np.uint8) + height = 60 + width = 80 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (1, height, width, 3) + assert np.all(resized_images == 0) diff --git a/packages/openpi-client/src/openpi_client/msgpack_numpy.py b/packages/openpi-client/src/openpi_client/msgpack_numpy.py new file mode 100644 index 0000000000000000000000000000000000000000..007f755edf54565579376b077eec7f7f715e1b96 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/msgpack_numpy.py @@ -0,0 +1,57 @@ +"""Adds NumPy array support to msgpack. + +msgpack is good for (de)serializing data over a network for multiple reasons: +- msgpack is secure (as opposed to pickle/dill/etc which allow for arbitrary code execution) +- msgpack is widely used and has good cross-language support +- msgpack does not require a schema (as opposed to protobuf/flatbuffers/etc) which is convenient in dynamically typed + languages like Python and JavaScript +- msgpack is fast and efficient (as opposed to readable formats like JSON/YAML/etc); I found that msgpack was ~4x faster + than pickle for serializing large arrays using the below strategy + +The code below is adapted from https://github.com/lebedov/msgpack-numpy. The reason not to use that library directly is +that it falls back to pickle for object arrays. +""" + +import functools + +import msgpack +import numpy as np + + +def pack_array(obj): + if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ("V", "O", "c"): + raise ValueError(f"Unsupported dtype: {obj.dtype}") + + if isinstance(obj, np.ndarray): + return { + b"__ndarray__": True, + b"data": obj.tobytes(), + b"dtype": obj.dtype.str, + b"shape": obj.shape, + } + + if isinstance(obj, np.generic): + return { + b"__npgeneric__": True, + b"data": obj.item(), + b"dtype": obj.dtype.str, + } + + return obj + + +def unpack_array(obj): + if b"__ndarray__" in obj: + return np.ndarray(buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"]) + + if b"__npgeneric__" in obj: + return np.dtype(obj[b"dtype"]).type(obj[b"data"]) + + return obj + + +Packer = functools.partial(msgpack.Packer, default=pack_array) +packb = functools.partial(msgpack.packb, default=pack_array) + +Unpacker = functools.partial(msgpack.Unpacker, object_hook=unpack_array) +unpackb = functools.partial(msgpack.unpackb, object_hook=unpack_array) diff --git a/packages/openpi-client/src/openpi_client/msgpack_numpy_test.py b/packages/openpi-client/src/openpi_client/msgpack_numpy_test.py new file mode 100644 index 0000000000000000000000000000000000000000..4c774ba468aa6948e154cb2008bac8f6128a4593 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/msgpack_numpy_test.py @@ -0,0 +1,45 @@ +import numpy as np +import pytest +import tree + +from openpi_client import msgpack_numpy + + +def _check(expected, actual): + if isinstance(expected, np.ndarray): + assert expected.shape == actual.shape + assert expected.dtype == actual.dtype + assert np.array_equal(expected, actual, equal_nan=expected.dtype.kind == "f") + else: + assert expected == actual + + +@pytest.mark.parametrize( + "data", + [ + 1, # int + 1.0, # float + "hello", # string + np.bool_(True), # boolean scalar + np.array([1, 2, 3])[0], # int scalar + np.str_("asdf"), # string scalar + [1, 2, 3], # list + {"key": "value"}, # dict + {"key": [1, 2, 3]}, # nested dict + np.array(1.0), # 0D array + np.array([1, 2, 3], dtype=np.int32), # 1D integer array + np.array(["asdf", "qwer"]), # string array + np.array([True, False]), # boolean array + np.array([[1.0, 2.0], [3.0, 4.0]], dtype=np.float32), # 2D float array + np.array([[[1, 2], [3, 4]], [[5, 6], [7, 8]]], dtype=np.int16), # 3D integer array + np.array([np.nan, np.inf, -np.inf]), # special float values + {"arr": np.array([1, 2, 3]), "nested": {"arr": np.array([4, 5, 6])}}, # nested dict with arrays + [np.array([1, 2]), np.array([3, 4])], # list of arrays + np.zeros((3, 4, 5), dtype=np.float32), # 3D zeros + np.ones((2, 3), dtype=np.float64), # 2D ones with double precision + ], +) +def test_pack_unpack(data): + packed = msgpack_numpy.packb(data) + unpacked = msgpack_numpy.unpackb(packed) + tree.map_structure(_check, data, unpacked) diff --git a/packages/openpi-client/src/openpi_client/runtime/agent.py b/packages/openpi-client/src/openpi_client/runtime/agent.py new file mode 100644 index 0000000000000000000000000000000000000000..a2c3ab66ef618ad9ecbff7b81ad9340a4604128c --- /dev/null +++ b/packages/openpi-client/src/openpi_client/runtime/agent.py @@ -0,0 +1,17 @@ +import abc + + +class Agent(abc.ABC): + """An Agent is the thing with agency, i.e. the entity that makes decisions. + + Agents receive observations about the state of the world, and return actions + to take in response. + """ + + @abc.abstractmethod + def get_action(self, observation: dict) -> dict: + """Query the agent for the next action.""" + + @abc.abstractmethod + def reset(self) -> None: + """Reset the agent to its initial state.""" diff --git a/packages/openpi-client/src/openpi_client/runtime/agents/policy_agent.py b/packages/openpi-client/src/openpi_client/runtime/agents/policy_agent.py new file mode 100644 index 0000000000000000000000000000000000000000..65227c44dae667d9b2743b6bc1026e791cec35c4 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/runtime/agents/policy_agent.py @@ -0,0 +1,18 @@ +from typing_extensions import override + +from openpi_client import base_policy as _base_policy +from openpi_client.runtime import agent as _agent + + +class PolicyAgent(_agent.Agent): + """An agent that uses a policy to determine actions.""" + + def __init__(self, policy: _base_policy.BasePolicy) -> None: + self._policy = policy + + @override + def get_action(self, observation: dict) -> dict: + return self._policy.infer(observation) + + def reset(self) -> None: + self._policy.reset() diff --git a/packages/openpi-client/src/openpi_client/runtime/environment.py b/packages/openpi-client/src/openpi_client/runtime/environment.py new file mode 100644 index 0000000000000000000000000000000000000000..664ac4678aaaa3aecf52268a6a09d1d1fc974226 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/runtime/environment.py @@ -0,0 +1,32 @@ +import abc + + +class Environment(abc.ABC): + """An Environment represents the robot and the environment it inhabits. + + The primary contract of environments is that they can be queried for observations + about their state, and have actions applied to them to change that state. + """ + + @abc.abstractmethod + def reset(self) -> None: + """Reset the environment to its initial state. + + This will be called once before starting each episode. + """ + + @abc.abstractmethod + def is_episode_complete(self) -> bool: + """Allow the environment to signal that the episode is complete. + + This will be called after each step. It should return `True` if the episode is + complete (either successfully or unsuccessfully), and `False` otherwise. + """ + + @abc.abstractmethod + def get_observation(self) -> dict: + """Query the environment for the current state.""" + + @abc.abstractmethod + def apply_action(self, action: dict) -> None: + """Take an action in the environment.""" diff --git a/packages/openpi-client/src/openpi_client/runtime/runtime.py b/packages/openpi-client/src/openpi_client/runtime/runtime.py new file mode 100644 index 0000000000000000000000000000000000000000..9552be091a26e163d60cab8071df4716524bf2e8 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/runtime/runtime.py @@ -0,0 +1,92 @@ +import logging +import threading +import time + +from openpi_client.runtime import agent as _agent +from openpi_client.runtime import environment as _environment +from openpi_client.runtime import subscriber as _subscriber + + +class Runtime: + """The core module orchestrating interactions between key components of the system.""" + + def __init__( + self, + environment: _environment.Environment, + agent: _agent.Agent, + subscribers: list[_subscriber.Subscriber], + max_hz: float = 0, + num_episodes: int = 1, + max_episode_steps: int = 0, + ) -> None: + self._environment = environment + self._agent = agent + self._subscribers = subscribers + self._max_hz = max_hz + self._num_episodes = num_episodes + self._max_episode_steps = max_episode_steps + + self._in_episode = False + self._episode_steps = 0 + + def run(self) -> None: + """Runs the runtime loop continuously until stop() is called or the environment is done.""" + for _ in range(self._num_episodes): + self._run_episode() + + # Final reset, this is important for real environments to move the robot to its home position. + self._environment.reset() + + def run_in_new_thread(self) -> threading.Thread: + """Runs the runtime loop in a new thread.""" + thread = threading.Thread(target=self.run) + thread.start() + return thread + + def mark_episode_complete(self) -> None: + """Marks the end of an episode.""" + self._in_episode = False + + def _run_episode(self) -> None: + """Runs a single episode.""" + logging.info("Starting episode...") + self._environment.reset() + self._agent.reset() + for subscriber in self._subscribers: + subscriber.on_episode_start() + + self._in_episode = True + self._episode_steps = 0 + step_time = 1 / self._max_hz if self._max_hz > 0 else 0 + last_step_time = time.time() + + while self._in_episode: + self._step() + self._episode_steps += 1 + + # Sleep to maintain the desired frame rate + now = time.time() + dt = now - last_step_time + if dt < step_time: + time.sleep(step_time - dt) + last_step_time = time.time() + else: + last_step_time = now + + logging.info("Episode completed.") + for subscriber in self._subscribers: + subscriber.on_episode_end() + + def _step(self) -> None: + """A single step of the runtime loop.""" + observation = self._environment.get_observation() + action = self._agent.get_action(observation) + self._environment.apply_action(action) + + for subscriber in self._subscribers: + subscriber.on_step(observation, action) + + if self._environment.is_episode_complete() or ( + self._max_episode_steps > 0 and self._episode_steps >= self._max_episode_steps + ): + self.mark_episode_complete() diff --git a/packages/openpi-client/src/openpi_client/runtime/subscriber.py b/packages/openpi-client/src/openpi_client/runtime/subscriber.py new file mode 100644 index 0000000000000000000000000000000000000000..7c69edaa8e814dfcfe56b78b774578fe37f79428 --- /dev/null +++ b/packages/openpi-client/src/openpi_client/runtime/subscriber.py @@ -0,0 +1,20 @@ +import abc + + +class Subscriber(abc.ABC): + """Subscribes to events in the runtime. + + Subscribers can be used to save data, visualize, etc. + """ + + @abc.abstractmethod + def on_episode_start(self) -> None: + """Called when an episode starts.""" + + @abc.abstractmethod + def on_step(self, observation: dict, action: dict) -> None: + """Append a step to the episode.""" + + @abc.abstractmethod + def on_episode_end(self) -> None: + """Called when an episode ends.""" diff --git a/packages/openpi-client/src/openpi_client/websocket_client_policy.py b/packages/openpi-client/src/openpi_client/websocket_client_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..d6244f0f780ceb50c123500456e69340566f060a --- /dev/null +++ b/packages/openpi-client/src/openpi_client/websocket_client_policy.py @@ -0,0 +1,55 @@ +import logging +import time +from typing import Dict, Optional, Tuple + +from typing_extensions import override +import websockets.sync.client + +from openpi_client import base_policy as _base_policy +from openpi_client import msgpack_numpy + + +class WebsocketClientPolicy(_base_policy.BasePolicy): + """Implements the Policy interface by communicating with a server over websocket. + + See WebsocketPolicyServer for a corresponding server implementation. + """ + + def __init__(self, host: str = "0.0.0.0", port: Optional[int] = None, api_key: Optional[str] = None) -> None: + self._uri = f"ws://{host}" + if port is not None: + self._uri += f":{port}" + self._packer = msgpack_numpy.Packer() + self._api_key = api_key + self._ws, self._server_metadata = self._wait_for_server() + + def get_server_metadata(self) -> Dict: + return self._server_metadata + + def _wait_for_server(self) -> Tuple[websockets.sync.client.ClientConnection, Dict]: + logging.info(f"Waiting for server at {self._uri}...") + while True: + try: + headers = {"Authorization": f"Api-Key {self._api_key}"} if self._api_key else None + conn = websockets.sync.client.connect( + self._uri, compression=None, max_size=None, additional_headers=headers + ) + metadata = msgpack_numpy.unpackb(conn.recv()) + return conn, metadata + except ConnectionRefusedError: + logging.info("Still waiting for server...") + time.sleep(5) + + @override + def infer(self, obs: Dict) -> Dict: # noqa: UP006 + data = self._packer.pack(obs) + self._ws.send(data) + response = self._ws.recv() + if isinstance(response, str): + # we're expecting bytes; if the server sends a string, it's an error. + raise RuntimeError(f"Error in inference server:\n{response}") + return msgpack_numpy.unpackb(response) + + @override + def reset(self) -> None: + pass diff --git a/path/.gitignore b/path/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..f59ec20aabf5842d237244ece8c81ab184faeac1 --- /dev/null +++ b/path/.gitignore @@ -0,0 +1 @@ +* \ No newline at end of file diff --git a/path/CACHEDIR.TAG b/path/CACHEDIR.TAG new file mode 100644 index 0000000000000000000000000000000000000000..bc1ecb967a482524e7736038de0df6e08f9ee452 --- /dev/null +++ b/path/CACHEDIR.TAG @@ -0,0 +1 @@ +Signature: 8a477f597d28d172789f06886806bc55 \ No newline at end of file diff --git a/path/bin/activate b/path/bin/activate new file mode 100644 index 0000000000000000000000000000000000000000..d4d4404637de94987908c03d39380c5a7f36eebe --- /dev/null +++ b/path/bin/activate @@ -0,0 +1,130 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +# This file must be used with "source bin/activate" *from bash* +# you cannot run it directly + +if ! [ -z "${SCRIPT_PATH+_}" ] ; then + _OLD_SCRIPT_PATH="$SCRIPT_PATH" +fi + +# Get script path (only used if environment is relocatable). +if [ -n "${BASH_VERSION:+x}" ] ; then + SCRIPT_PATH="${BASH_SOURCE[0]}" + if [ "$SCRIPT_PATH" = "$0" ]; then + # Only bash has a reasonably robust check for source'dness. + echo "You must source this script: \$ source $0" >&2 + exit 33 + fi +elif [ -n "${ZSH_VERSION:+x}" ] ; then + SCRIPT_PATH="${(%):-%x}" +elif [ -n "${KSH_VERSION:+x}" ] ; then + SCRIPT_PATH="${.sh.file}" +fi + +deactivate () { + unset -f pydoc >/dev/null 2>&1 || true + + # reset old environment variables + # ! [ -z ${VAR+_} ] returns true if VAR is declared at all + if ! [ -z "${_OLD_VIRTUAL_PATH:+_}" ] ; then + PATH="$_OLD_VIRTUAL_PATH" + export PATH + unset _OLD_VIRTUAL_PATH + fi + if ! [ -z "${_OLD_VIRTUAL_PYTHONHOME+_}" ] ; then + PYTHONHOME="$_OLD_VIRTUAL_PYTHONHOME" + export PYTHONHOME + unset _OLD_VIRTUAL_PYTHONHOME + fi + + # The hash command must be called to get it to forget past + # commands. Without forgetting past commands the $PATH changes + # we made may not be respected + hash -r 2>/dev/null + + if ! [ -z "${_OLD_VIRTUAL_PS1+_}" ] ; then + PS1="$_OLD_VIRTUAL_PS1" + export PS1 + unset _OLD_VIRTUAL_PS1 + fi + + unset VIRTUAL_ENV + unset VIRTUAL_ENV_PROMPT + if [ ! "${1-}" = "nondestructive" ] ; then + # Self destruct! + unset -f deactivate + fi +} + +# unset irrelevant variables +deactivate nondestructive + +VIRTUAL_ENV='/home/susc/.ssh/sichang/openpi/path' +if ([ "$OSTYPE" = "cygwin" ] || [ "$OSTYPE" = "msys" ]) && $(command -v cygpath &> /dev/null) ; then + VIRTUAL_ENV=$(cygpath -u "$VIRTUAL_ENV") +fi +export VIRTUAL_ENV + +# Unset the `SCRIPT_PATH` variable, now that the `VIRTUAL_ENV` variable +# has been set. This is important for relocatable environments. +if ! [ -z "${_OLD_SCRIPT_PATH+_}" ] ; then + SCRIPT_PATH="$_OLD_SCRIPT_PATH" + export SCRIPT_PATH + unset _OLD_SCRIPT_PATH +else + unset SCRIPT_PATH +fi + +_OLD_VIRTUAL_PATH="$PATH" +PATH="$VIRTUAL_ENV/bin:$PATH" +export PATH + +if [ "x" != x ] ; then + VIRTUAL_ENV_PROMPT="" +else + VIRTUAL_ENV_PROMPT=$(basename "$VIRTUAL_ENV") +fi +export VIRTUAL_ENV_PROMPT + +# unset PYTHONHOME if set +if ! [ -z "${PYTHONHOME+_}" ] ; then + _OLD_VIRTUAL_PYTHONHOME="$PYTHONHOME" + unset PYTHONHOME +fi + +if [ -z "${VIRTUAL_ENV_DISABLE_PROMPT-}" ] ; then + _OLD_VIRTUAL_PS1="${PS1-}" + PS1="(${VIRTUAL_ENV_PROMPT}) ${PS1-}" + export PS1 +fi + +# Make sure to unalias pydoc if it's already there +alias pydoc 2>/dev/null >/dev/null && unalias pydoc || true + +pydoc () { + python -m pydoc "$@" +} + +# The hash command must be called to get it to forget past +# commands. Without forgetting past commands the $PATH changes +# we made may not be respected +hash -r 2>/dev/null diff --git a/path/bin/activate.bat b/path/bin/activate.bat new file mode 100644 index 0000000000000000000000000000000000000000..dcd35bc8c79f1016f8ff3f7e0ccc0c297a64417b --- /dev/null +++ b/path/bin/activate.bat @@ -0,0 +1,71 @@ +@REM Copyright (c) 2020-202x The virtualenv developers +@REM +@REM Permission is hereby granted, free of charge, to any person obtaining +@REM a copy of this software and associated documentation files (the +@REM "Software"), to deal in the Software without restriction, including +@REM without limitation the rights to use, copy, modify, merge, publish, +@REM distribute, sublicense, and/or sell copies of the Software, and to +@REM permit persons to whom the Software is furnished to do so, subject to +@REM the following conditions: +@REM +@REM The above copyright notice and this permission notice shall be +@REM included in all copies or substantial portions of the Software. +@REM +@REM THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +@REM EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +@REM MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +@REM NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +@REM LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +@REM OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +@REM WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +@REM This file is UTF-8 encoded, so we need to update the current code page while executing it +@for /f "tokens=2 delims=:." %%a in ('"%SystemRoot%\System32\chcp.com"') do @set _OLD_CODEPAGE=%%a +@if defined _OLD_CODEPAGE ( + @"%SystemRoot%\System32\chcp.com" 65001 > nul +) + +@for %%i in ("/home/susc/.ssh/sichang/openpi/path") do @set "VIRTUAL_ENV=%%~fi" + +@set "VIRTUAL_ENV_PROMPT=" +@if NOT DEFINED VIRTUAL_ENV_PROMPT ( + @for %%d in ("%VIRTUAL_ENV%") do @set "VIRTUAL_ENV_PROMPT=%%~nxd" +) + +@if defined _OLD_VIRTUAL_PROMPT ( + @set "PROMPT=%_OLD_VIRTUAL_PROMPT%" +) else ( + @if not defined PROMPT ( + @set "PROMPT=$P$G" + ) + @if not defined VIRTUAL_ENV_DISABLE_PROMPT ( + @set "_OLD_VIRTUAL_PROMPT=%PROMPT%" + ) +) +@if not defined VIRTUAL_ENV_DISABLE_PROMPT ( + @set "PROMPT=(%VIRTUAL_ENV_PROMPT%) %PROMPT%" +) + +@REM Don't use () to avoid problems with them in %PATH% +@if defined _OLD_VIRTUAL_PYTHONHOME @goto ENDIFVHOME + @set "_OLD_VIRTUAL_PYTHONHOME=%PYTHONHOME%" +:ENDIFVHOME + +@set PYTHONHOME= + +@REM if defined _OLD_VIRTUAL_PATH ( +@if not defined _OLD_VIRTUAL_PATH @goto ENDIFVPATH1 + @set "PATH=%_OLD_VIRTUAL_PATH%" +:ENDIFVPATH1 +@REM ) else ( +@if defined _OLD_VIRTUAL_PATH @goto ENDIFVPATH2 + @set "_OLD_VIRTUAL_PATH=%PATH%" +:ENDIFVPATH2 + +@set "PATH=%VIRTUAL_ENV%\bin;%PATH%" + +:END +@if defined _OLD_CODEPAGE ( + @"%SystemRoot%\System32\chcp.com" %_OLD_CODEPAGE% > nul + @set _OLD_CODEPAGE= +) diff --git a/path/bin/activate.csh b/path/bin/activate.csh new file mode 100644 index 0000000000000000000000000000000000000000..98fe9143850095afce5715070a1471a66b15fd1c --- /dev/null +++ b/path/bin/activate.csh @@ -0,0 +1,76 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +# This file must be used with "source bin/activate.csh" *from csh*. +# You cannot run it directly. +# Created by Davide Di Blasi . + +set newline='\ +' + +alias deactivate 'test $?_OLD_VIRTUAL_PATH != 0 && setenv PATH "$_OLD_VIRTUAL_PATH:q" && unset _OLD_VIRTUAL_PATH; rehash; test $?_OLD_VIRTUAL_PROMPT != 0 && set prompt="$_OLD_VIRTUAL_PROMPT:q" && unset _OLD_VIRTUAL_PROMPT; unsetenv VIRTUAL_ENV; unsetenv VIRTUAL_ENV_PROMPT; test "\!:*" != "nondestructive" && unalias deactivate && unalias pydoc' + +# Unset irrelevant variables. +deactivate nondestructive + +setenv VIRTUAL_ENV '/home/susc/.ssh/sichang/openpi/path' + +set _OLD_VIRTUAL_PATH="$PATH:q" +setenv PATH "$VIRTUAL_ENV:q/bin:$PATH:q" + + + +if ('' != "") then + setenv VIRTUAL_ENV_PROMPT '' +else + setenv VIRTUAL_ENV_PROMPT "$VIRTUAL_ENV:t:q" +endif + +if ( $?VIRTUAL_ENV_DISABLE_PROMPT ) then + if ( $VIRTUAL_ENV_DISABLE_PROMPT == "" ) then + set do_prompt = "1" + else + set do_prompt = "0" + endif +else + set do_prompt = "1" +endif + +if ( $do_prompt == "1" ) then + # Could be in a non-interactive environment, + # in which case, $prompt is undefined and we wouldn't + # care about the prompt anyway. + if ( $?prompt ) then + set _OLD_VIRTUAL_PROMPT="$prompt:q" + if ( "$prompt:q" =~ *"$newline:q"* ) then + : + else + set prompt = '('"$VIRTUAL_ENV_PROMPT:q"') '"$prompt:q" + endif + endif +endif + +unset env_name +unset do_prompt + +alias pydoc python -m pydoc + +rehash diff --git a/path/bin/activate.fish b/path/bin/activate.fish new file mode 100644 index 0000000000000000000000000000000000000000..e34a13829e2f3ca31aaac55a6315f17fc4185e34 --- /dev/null +++ b/path/bin/activate.fish @@ -0,0 +1,124 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +# This file must be used using `source bin/activate.fish` *within a running fish ( http://fishshell.com ) session*. +# Do not run it directly. + +function _bashify_path -d "Converts a fish path to something bash can recognize" + set fishy_path $argv + set bashy_path $fishy_path[1] + for path_part in $fishy_path[2..-1] + set bashy_path "$bashy_path:$path_part" + end + echo $bashy_path +end + +function _fishify_path -d "Converts a bash path to something fish can recognize" + echo $argv | tr ':' '\n' +end + +function deactivate -d 'Exit virtualenv mode and return to the normal environment.' + # reset old environment variables + if test -n "$_OLD_VIRTUAL_PATH" + # https://github.com/fish-shell/fish-shell/issues/436 altered PATH handling + if test (echo $FISH_VERSION | head -c 1) -lt 3 + set -gx PATH (_fishify_path "$_OLD_VIRTUAL_PATH") + else + set -gx PATH $_OLD_VIRTUAL_PATH + end + set -e _OLD_VIRTUAL_PATH + end + + if test -n "$_OLD_VIRTUAL_PYTHONHOME" + set -gx PYTHONHOME "$_OLD_VIRTUAL_PYTHONHOME" + set -e _OLD_VIRTUAL_PYTHONHOME + end + + if test -n "$_OLD_FISH_PROMPT_OVERRIDE" + and functions -q _old_fish_prompt + # Set an empty local `$fish_function_path` to allow the removal of `fish_prompt` using `functions -e`. + set -l fish_function_path + + # Erase virtualenv's `fish_prompt` and restore the original. + functions -e fish_prompt + functions -c _old_fish_prompt fish_prompt + functions -e _old_fish_prompt + set -e _OLD_FISH_PROMPT_OVERRIDE + end + + set -e VIRTUAL_ENV + set -e VIRTUAL_ENV_PROMPT + + if test "$argv[1]" != 'nondestructive' + # Self-destruct! + functions -e pydoc + functions -e deactivate + functions -e _bashify_path + functions -e _fishify_path + end +end + +# Unset irrelevant variables. +deactivate nondestructive + +set -gx VIRTUAL_ENV '/home/susc/.ssh/sichang/openpi/path' + +# https://github.com/fish-shell/fish-shell/issues/436 altered PATH handling +if test (echo $FISH_VERSION | head -c 1) -lt 3 + set -gx _OLD_VIRTUAL_PATH (_bashify_path $PATH) +else + set -gx _OLD_VIRTUAL_PATH $PATH +end +set -gx PATH "$VIRTUAL_ENV"'/bin' $PATH + +# Prompt override provided? +# If not, just use the environment name. +if test -n '' + set -gx VIRTUAL_ENV_PROMPT '' +else + set -gx VIRTUAL_ENV_PROMPT (basename "$VIRTUAL_ENV") +end + +# Unset `$PYTHONHOME` if set. +if set -q PYTHONHOME + set -gx _OLD_VIRTUAL_PYTHONHOME $PYTHONHOME + set -e PYTHONHOME +end + +function pydoc + python -m pydoc $argv +end + +if test -z "$VIRTUAL_ENV_DISABLE_PROMPT" + # Copy the current `fish_prompt` function as `_old_fish_prompt`. + functions -c fish_prompt _old_fish_prompt + + function fish_prompt + # Run the user's prompt first; it might depend on (pipe)status. + set -l prompt (_old_fish_prompt) + + printf '(%s) ' $VIRTUAL_ENV_PROMPT + + string join -- \n $prompt # handle multi-line prompts + end + + set -gx _OLD_FISH_PROMPT_OVERRIDE "$VIRTUAL_ENV" +end diff --git a/path/bin/activate.nu b/path/bin/activate.nu new file mode 100644 index 0000000000000000000000000000000000000000..ba618abd47ddee2c75dd948c65ab1684b13c3294 --- /dev/null +++ b/path/bin/activate.nu @@ -0,0 +1,117 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +# virtualenv activation module +# Activate with `overlay use activate.nu` +# Deactivate with `deactivate`, as usual +# +# To customize the overlay name, you can call `overlay use activate.nu as foo`, +# but then simply `deactivate` won't work because it is just an alias to hide +# the "activate" overlay. You'd need to call `overlay hide foo` manually. + +export-env { + def is-string [x] { + ($x | describe) == 'string' + } + + def has-env [...names] { + $names | each {|n| + $n in $env + } | all {|i| $i == true} + } + + # Emulates a `test -z`, but better as it handles e.g 'false' + def is-env-true [name: string] { + if (has-env $name) { + # Try to parse 'true', '0', '1', and fail if not convertible + let parsed = (do -i { $env | get $name | into bool }) + if ($parsed | describe) == 'bool' { + $parsed + } else { + not ($env | get -i $name | is-empty) + } + } else { + false + } + } + + let virtual_env = '/home/susc/.ssh/sichang/openpi/path' + let bin = 'bin' + + let is_windows = ($nu.os-info.family) == 'windows' + let path_name = (if (has-env 'Path') { + 'Path' + } else { + 'PATH' + } + ) + + let venv_path = ([$virtual_env $bin] | path join) + let new_path = ($env | get $path_name | prepend $venv_path) + + # If there is no default prompt, then use the env name instead + let virtual_env_prompt = (if ('' | is-empty) { + ($virtual_env | path basename) + } else { + '' + }) + + let new_env = { + $path_name : $new_path + VIRTUAL_ENV : $virtual_env + VIRTUAL_ENV_PROMPT : $virtual_env_prompt + } + + let new_env = (if (is-env-true 'VIRTUAL_ENV_DISABLE_PROMPT') { + $new_env + } else { + # Creating the new prompt for the session + let virtual_prefix = $'(char lparen)($virtual_env_prompt)(char rparen) ' + + # Back up the old prompt builder + let old_prompt_command = (if (has-env 'PROMPT_COMMAND') { + $env.PROMPT_COMMAND + } else { + '' + }) + + let new_prompt = (if (has-env 'PROMPT_COMMAND') { + if 'closure' in ($old_prompt_command | describe) { + {|| $'($virtual_prefix)(do $old_prompt_command)' } + } else { + {|| $'($virtual_prefix)($old_prompt_command)' } + } + } else { + {|| $'($virtual_prefix)' } + }) + + $new_env | merge { + PROMPT_COMMAND : $new_prompt + VIRTUAL_PREFIX : $virtual_prefix + } + }) + + # Environment variables that will be loaded as the virtual env + load-env $new_env +} + +export alias pydoc = python -m pydoc +export alias deactivate = overlay hide activate diff --git a/path/bin/activate.ps1 b/path/bin/activate.ps1 new file mode 100644 index 0000000000000000000000000000000000000000..2d2bc9ab7b80c9dd7f9a6278fee99a389174bbf9 --- /dev/null +++ b/path/bin/activate.ps1 @@ -0,0 +1,82 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +$script:THIS_PATH = $myinvocation.mycommand.path +$script:BASE_DIR = Split-Path (Resolve-Path "$THIS_PATH/..") -Parent + +function global:deactivate([switch] $NonDestructive) { + if (Test-Path variable:_OLD_VIRTUAL_PATH) { + $env:PATH = $variable:_OLD_VIRTUAL_PATH + Remove-Variable "_OLD_VIRTUAL_PATH" -Scope global + } + + if (Test-Path function:_old_virtual_prompt) { + $function:prompt = $function:_old_virtual_prompt + Remove-Item function:\_old_virtual_prompt + } + + if ($env:VIRTUAL_ENV) { + Remove-Item env:VIRTUAL_ENV -ErrorAction SilentlyContinue + } + + if ($env:VIRTUAL_ENV_PROMPT) { + Remove-Item env:VIRTUAL_ENV_PROMPT -ErrorAction SilentlyContinue + } + + if (!$NonDestructive) { + # Self destruct! + Remove-Item function:deactivate + Remove-Item function:pydoc + } +} + +function global:pydoc { + python -m pydoc $args +} + +# unset irrelevant variables +deactivate -nondestructive + +$VIRTUAL_ENV = $BASE_DIR +$env:VIRTUAL_ENV = $VIRTUAL_ENV + +if ("" -ne "") { + $env:VIRTUAL_ENV_PROMPT = "" +} +else { + $env:VIRTUAL_ENV_PROMPT = $( Split-Path $env:VIRTUAL_ENV -Leaf ) +} + +New-Variable -Scope global -Name _OLD_VIRTUAL_PATH -Value $env:PATH + +$env:PATH = "$env:VIRTUAL_ENV/bin:" + $env:PATH +if (!$env:VIRTUAL_ENV_DISABLE_PROMPT) { + function global:_old_virtual_prompt { + "" + } + $function:_old_virtual_prompt = $function:prompt + + function global:prompt { + # Add the custom prefix to the existing prompt + $previous_prompt_value = & $function:_old_virtual_prompt + ("(" + $env:VIRTUAL_ENV_PROMPT + ") " + $previous_prompt_value) + } +} diff --git a/path/bin/activate_this.py b/path/bin/activate_this.py new file mode 100644 index 0000000000000000000000000000000000000000..3e7ed8163f2e146615cbd4898592309202d0f69f --- /dev/null +++ b/path/bin/activate_this.py @@ -0,0 +1,59 @@ +# Copyright (c) 2020-202x The virtualenv developers +# +# Permission is hereby granted, free of charge, to any person obtaining +# a copy of this software and associated documentation files (the +# "Software"), to deal in the Software without restriction, including +# without limitation the rights to use, copy, modify, merge, publish, +# distribute, sublicense, and/or sell copies of the Software, and to +# permit persons to whom the Software is furnished to do so, subject to +# the following conditions: +# +# The above copyright notice and this permission notice shall be +# included in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +""" +Activate virtualenv for current interpreter: + +import runpy +runpy.run_path(this_file) + +This can be used when you must use an existing Python interpreter, not the virtualenv bin/python. +""" # noqa: D415 + +from __future__ import annotations + +import os +import site +import sys + +try: + abs_file = os.path.abspath(__file__) +except NameError as exc: + msg = "You must use import runpy; runpy.run_path(this_file)" + raise AssertionError(msg) from exc + +bin_dir = os.path.dirname(abs_file) +base = bin_dir[: -len("bin") - 1] # strip away the bin part from the __file__, plus the path separator + +# prepend bin to PATH (this file is inside the bin directory) +os.environ["PATH"] = os.pathsep.join([bin_dir, *os.environ.get("PATH", "").split(os.pathsep)]) +os.environ["VIRTUAL_ENV"] = base # virtual env is right above bin directory +os.environ["VIRTUAL_ENV_PROMPT"] = "" or os.path.basename(base) # noqa: SIM222 + +# add the virtual environments libraries to the host python import mechanism +prev_length = len(sys.path) +for lib in "../lib/python3.11/site-packages".split(os.pathsep): + path = os.path.realpath(os.path.join(bin_dir, lib)) + site.addsitedir(path) +sys.path[:] = sys.path[prev_length:] + sys.path[0:prev_length] + +sys.real_prefix = sys.prefix +sys.prefix = base diff --git a/path/bin/deactivate.bat b/path/bin/deactivate.bat new file mode 100644 index 0000000000000000000000000000000000000000..07041bc45129994cbb4b338f6fb61aaf502571fb --- /dev/null +++ b/path/bin/deactivate.bat @@ -0,0 +1,39 @@ +@REM Copyright (c) 2020-202x The virtualenv developers +@REM +@REM Permission is hereby granted, free of charge, to any person obtaining +@REM a copy of this software and associated documentation files (the +@REM "Software"), to deal in the Software without restriction, including +@REM without limitation the rights to use, copy, modify, merge, publish, +@REM distribute, sublicense, and/or sell copies of the Software, and to +@REM permit persons to whom the Software is furnished to do so, subject to +@REM the following conditions: +@REM +@REM The above copyright notice and this permission notice shall be +@REM included in all copies or substantial portions of the Software. +@REM +@REM THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +@REM EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +@REM MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +@REM NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +@REM LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +@REM OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +@REM WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +@set VIRTUAL_ENV= +@set VIRTUAL_ENV_PROMPT= + +@REM Don't use () to avoid problems with them in %PATH% +@if not defined _OLD_VIRTUAL_PROMPT @goto ENDIFVPROMPT + @set "PROMPT=%_OLD_VIRTUAL_PROMPT%" + @set _OLD_VIRTUAL_PROMPT= +:ENDIFVPROMPT + +@if not defined _OLD_VIRTUAL_PYTHONHOME @goto ENDIFVHOME + @set "PYTHONHOME=%_OLD_VIRTUAL_PYTHONHOME%" + @set _OLD_VIRTUAL_PYTHONHOME= +:ENDIFVHOME + +@if not defined _OLD_VIRTUAL_PATH @goto ENDIFVPATH + @set "PATH=%_OLD_VIRTUAL_PATH%" + @set _OLD_VIRTUAL_PATH= +:ENDIFVPATH \ No newline at end of file diff --git a/path/bin/pydoc.bat b/path/bin/pydoc.bat new file mode 100644 index 0000000000000000000000000000000000000000..daa20590b181e9f5a1f4f642f6c4eaf471cff00f --- /dev/null +++ b/path/bin/pydoc.bat @@ -0,0 +1,22 @@ +@REM Copyright (c) 2020-202x The virtualenv developers +@REM +@REM Permission is hereby granted, free of charge, to any person obtaining +@REM a copy of this software and associated documentation files (the +@REM "Software"), to deal in the Software without restriction, including +@REM without limitation the rights to use, copy, modify, merge, publish, +@REM distribute, sublicense, and/or sell copies of the Software, and to +@REM permit persons to whom the Software is furnished to do so, subject to +@REM the following conditions: +@REM +@REM The above copyright notice and this permission notice shall be +@REM included in all copies or substantial portions of the Software. +@REM +@REM THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +@REM EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +@REM MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +@REM NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +@REM LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +@REM OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +@REM WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +python.exe -m pydoc %* \ No newline at end of file diff --git a/path/bin/python b/path/bin/python new file mode 100644 index 0000000000000000000000000000000000000000..60cb198b3f6b92c25bf3683c29f1b6a8b75ba20e --- /dev/null +++ b/path/bin/python @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97bccb4f1be63a5c1bb4160c93122da2866b52c812325401890b058f40164ad8 +size 26084952 diff --git a/path/bin/python3 b/path/bin/python3 new file mode 100644 index 0000000000000000000000000000000000000000..60cb198b3f6b92c25bf3683c29f1b6a8b75ba20e --- /dev/null +++ b/path/bin/python3 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97bccb4f1be63a5c1bb4160c93122da2866b52c812325401890b058f40164ad8 +size 26084952 diff --git a/path/bin/python3.11 b/path/bin/python3.11 new file mode 100644 index 0000000000000000000000000000000000000000..60cb198b3f6b92c25bf3683c29f1b6a8b75ba20e --- /dev/null +++ b/path/bin/python3.11 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97bccb4f1be63a5c1bb4160c93122da2866b52c812325401890b058f40164ad8 +size 26084952 diff --git a/path/pyvenv.cfg b/path/pyvenv.cfg new file mode 100644 index 0000000000000000000000000000000000000000..74236eff0af36fb77d97a5d5c9572eb8720ef0b5 --- /dev/null +++ b/path/pyvenv.cfg @@ -0,0 +1,5 @@ +home = /home/susc/.local/share/uv/python/cpython-3.11.13-linux-x86_64-gnu/bin +implementation = CPython +uv = 0.7.20 +version_info = 3.11.13 +include-system-site-packages = false diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..548e60bf91530ac12f5ef854351c822b8144aad3 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,138 @@ +[project] +name = "openpi" +version = "0.1.0" +description = "Physical Intelligence open source repo" +readme = "README.md" +requires-python = ">=3.11" +license = { file = "LICENSE" } +dependencies = [ + "augmax>=0.3.4", + "dm-tree>=0.1.8", + "einops>=0.8.0", + "equinox>=0.11.8", + "flatbuffers>=24.3.25", + "flax==0.10.2", + "fsspec[gcs]>=2024.6.0", + "gym-aloha>=0.1.1", + "imageio>=2.36.1", + "jax[cuda12]==0.5.3", + "jaxtyping==0.2.36", + "lerobot", + "ml_collections==1.0.0", + "numpy>=1.22.4,<2.0.0", + "numpydantic>=1.6.6", + "opencv-python>=4.10.0.84", + "openpi-client", + "orbax-checkpoint==0.11.13", + "pillow>=11.0.0", + "sentencepiece>=0.2.0", + "torch>=2.7.0", + "tqdm-loggable>=0.2", + "typing-extensions>=4.12.2", + "tyro>=0.9.5", + "wandb>=0.19.1", + "filelock>=3.16.1", + "beartype==0.19.0", + "treescope>=0.1.7", + "transformers==4.48.1", + "rich>=14.0.0", + "polars>=1.30.0", +] + + +[project.urls] +Repository = "https://github.com/Physical-Intelligence/openpi" + +[dependency-groups] +dev = [ + "pytest>=8.3.4", + "ruff>=0.8.6", + "pre-commit>=4.0.1", + "ipykernel>=6.29.5", + "ipywidgets>=8.1.5", + "matplotlib>=3.10.0", + "pynvml>=12.0.0", +] +rlds = [ + "dlimp", + "tensorflow-cpu==2.15.0", + "tensorflow-datasets==4.9.9", +] + +[tool.uv] +override-dependencies = ["ml-dtypes==0.4.1", "tensorstore==0.1.74"] + +[tool.uv.sources] +openpi-client = { workspace = true } +lerobot = { git = "https://github.com/huggingface/lerobot", rev = "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5" } +dlimp = { git = "https://github.com/kvablack/dlimp", rev = "ad72ce3a9b414db2185bc0b38461d4101a65477a" } + +[tool.uv.workspace] +members = ["packages/*"] + +[tool.ruff] +line-length = 120 +target-version = "py311" +extend-exclude = ["docker", "third_party"] + +[tool.ruff.lint] +# https://docs.astral.sh/ruff/rules/ +select = [ + "B", + "C4", + "DTZ", + "E4", + "E7", + "E9", + "F", + "FBT", + "FURB", + "I", + "ICN", + "ISC", + "LOG", + "N", + "PD", + "PERF", + "PIE", + "PLC", + "PLE", + "PLR1", + "PLR5", + "PLW", + "PT", + "PTH", + "Q", + "RET", + "RUF", + "SIM", + "SLF", + "T10", + "T20", + "UP", + "W", +] +ignore = [ + "F722", # Conflicts with array typing. + "T201", # We use print statements. + "PD008", # Lots of false positives. + "ISC001", # Disabling to support ruff format. + "LOG015", # Use logger.info. +] +unfixable = [ + "B905", # Fix defaults to strict=False, which is not what we want. +] + +[tool.ruff.lint.isort] +force-single-line = true +force-sort-within-sections = true +single-line-exclusions = ["collections.abc", "typing", "typing_extensions"] +known-third-party = ["wandb"] + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.pytest.ini_options] +markers = ["manual: should be run manually."] +testpaths = ["src", "scripts", "packages"] diff --git a/run.sh b/run.sh new file mode 100644 index 0000000000000000000000000000000000000000..783969ea94d1813ccd4c7def736fcc2b4e2a1a46 --- /dev/null +++ b/run.sh @@ -0,0 +1,60 @@ +export http_proxy=http://192.168.16.76:18000 https_proxy=http://192.168.16.76:18000 + +source /home/susc/.ssh/sichang/openpi/.venv/bin/activate +GIT_LFS_SKIP_SMUDGE=1 uv sync +GIT_LFS_SKIP_SMUDGE=1 uv pip install -e . + +uv pip install tensorflow tensorflow_datasets +uv run examples/libero/convert_libero_data_to_lerobot.py --data_dir /home/susc/.ssh/sichang/openpi/modified_libero_rlds --push_to_hub + +# pi0_fast_libero_low_mem_finetune +# base model: pi0_fast_base +uv run scripts/compute_norm_stats.py --config-name pi0_fast_libero_low_mem_finetune +XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi0_fast_libero_low_mem_finetune --exp-name=pi0_fast_LoRA_finetune --overwrite +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_fast_libero_low_mem_finetune --policy.dir=checkpoints/pi0_fast_libero_low_mem_finetune/pi0_fast_LoRA_finetune/10000 + +# pi0_fast_libero +# base model: pi0_fast_base +uv run scripts/compute_norm_stats.py --config-name pi0_fast_libero +XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi0_fast_libero --exp-name=pi0_fast_full_finetune --overwrite +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_fast_libero --policy.dir=checkpoints/pi0_fast_libero/pi0_fast_full_finetune/50000 + + +# pi0_libero_low_mem_finetune +# base model: pi0_base +uv run scripts/compute_norm_stats.py --config-name pi0_libero_low_mem_finetune +XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi0_libero_low_mem_finetune --exp-name=pi0_LoRA_finetune --overwrite +uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_libero_low_mem_finetune --policy.dir=checkpoints/pi0_libero_low_mem_finetune/pi0_LoRA_finetune/20000 + + +# pi0_fast_libero_low_mem_finetune_oft +uv run scripts/compute_norm_stats.py --config-name pi0_fast_libero_low_mem_finetune +XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train_oft.py pi0_fast_libero_low_mem_finetune --exp-name=pi0_fast_oft_finetune --overwrite + + + +rm -rf /home/susc/.cache/openpi/openpi-assets/checkpoints/pi0_fast_libero +rm -rf /home/susc/.cache/openpi/openpi-assets/checkpoints/pi0_base +rm -rf /home/susc/.cache/openpi/openpi-assets/checkpoints/pi0_base/params/ + + +#Evaluate +#terminal 1 + +# Run the simulation +python examples/libero/main.py + +# To run with glx for Mujoco instead (use this if you have egl errors): +MUJOCO_GL=glx python examples/libero/main.py + +#terminal 2 (run this one terminal first) +# Run the server +source /home/susc/.ssh/sichang/openpi/.venv/bin/activate +uv run scripts/serve_policy.py --env LIBERO + +# 看创建文件时间 +stat /home/susc/.ssh/sichang/openpi/data/libero/videos/rollout_turn_on_the_stove_and_put_the_moka_pot_on_it_success.mp4 + +# 看硬盘使用情况 +df -h +du -sh * | sort -h \ No newline at end of file diff --git a/scripts/__init__.py b/scripts/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scripts/compute_norm_stats.py b/scripts/compute_norm_stats.py new file mode 100644 index 0000000000000000000000000000000000000000..93a59625a809ad39ff29745cfa20c225eff2750d --- /dev/null +++ b/scripts/compute_norm_stats.py @@ -0,0 +1,116 @@ +"""Compute normalization statistics for a config. + +This script is used to compute the normalization statistics for a given config. It +will compute the mean and standard deviation of the data in the dataset and save it +to the config assets directory. +""" + +import numpy as np +import tqdm +import tyro + +import openpi.models.model as _model +import openpi.shared.normalize as normalize +import openpi.training.config as _config +import openpi.training.data_loader as _data_loader +import openpi.transforms as transforms + + +class RemoveStrings(transforms.DataTransformFn): + def __call__(self, x: dict) -> dict: + return {k: v for k, v in x.items() if not np.issubdtype(np.asarray(v).dtype, np.str_)} + + +def create_torch_dataloader( + data_config: _config.DataConfig, + action_horizon: int, + batch_size: int, + model_config: _model.BaseModelConfig, + max_frames: int | None = None, +) -> tuple[_data_loader.Dataset, int]: + if data_config.repo_id is None: + raise ValueError("Data config must have a repo_id") + dataset = _data_loader.create_torch_dataset(data_config, action_horizon, model_config) + dataset = _data_loader.TransformedDataset( + dataset, + [ + *data_config.repack_transforms.inputs, + *data_config.data_transforms.inputs, + # Remove strings since they are not supported by JAX and are not needed to compute norm stats. + RemoveStrings(), + ], + ) + if max_frames is not None and max_frames < len(dataset): + num_batches = max_frames // batch_size + shuffle = True + else: + num_batches = len(dataset) // batch_size + shuffle = False + data_loader = _data_loader.TorchDataLoader( + dataset, + local_batch_size=batch_size, + num_workers=8, + shuffle=shuffle, + num_batches=num_batches, + ) + return data_loader, num_batches + + +def create_rlds_dataloader( + data_config: _config.DataConfig, + action_horizon: int, + batch_size: int, + max_frames: int | None = None, +) -> tuple[_data_loader.Dataset, int]: + dataset = _data_loader.create_rlds_dataset(data_config, action_horizon, batch_size, shuffle=False) + dataset = _data_loader.IterableTransformedDataset( + dataset, + [ + *data_config.repack_transforms.inputs, + *data_config.data_transforms.inputs, + # Remove strings since they are not supported by JAX and are not needed to compute norm stats. + RemoveStrings(), + ], + is_batched=True, + ) + if max_frames is not None and max_frames < len(dataset): + num_batches = max_frames // batch_size + else: + num_batches = len(dataset) // batch_size + data_loader = _data_loader.RLDSDataLoader( + dataset, + num_batches=num_batches, + ) + return data_loader, num_batches + + +def main(config_name: str, max_frames: int | None = None): + config = _config.get_config(config_name) + data_config = config.data.create(config.assets_dirs, config.model) + + if data_config.rlds_data_dir is not None: + data_loader, num_batches = create_rlds_dataloader( + data_config, config.model.action_horizon, config.batch_size, max_frames + ) + else: + data_loader, num_batches = create_torch_dataloader( + data_config, config.model.action_horizon, config.batch_size, config.model, max_frames + ) + + keys = ["state", "actions"] + stats = {key: normalize.RunningStats() for key in keys} + + for batch in tqdm.tqdm(data_loader, total=num_batches, desc="Computing stats"): + for key in keys: + values = np.asarray(batch[key][0]) + stats[key].update(values.reshape(-1, values.shape[-1])) + + norm_stats = {key: stats.get_statistics() for key, stats in stats.items()} + + output_path = config.assets_dirs / data_config.repo_id + print(f"Writing stats to: {output_path}") + normalize.save(output_path, norm_stats) + + +if __name__ == "__main__": + tyro.cli(main) diff --git a/scripts/docker/compose.yml b/scripts/docker/compose.yml new file mode 100644 index 0000000000000000000000000000000000000000..564d276e26bdcfd6397e666f2c73b9b5b353a6ac --- /dev/null +++ b/scripts/docker/compose.yml @@ -0,0 +1,29 @@ +# Run with: +# docker compose -f scripts/docker/compose.yml up --build +services: + openpi_server: + image: openpi_server + build: + context: ../.. + dockerfile: scripts/docker/serve_policy.Dockerfile + init: true + tty: true + network_mode: host + # Populate configured openpi data home to /openpi_assets inside the container. + # Populate aws credential inside the container. + volumes: + - $PWD:/app + - ${OPENPI_DATA_HOME:-~/.cache/openpi}:/openpi_assets + environment: + - SERVER_ARGS + - OPENPI_DATA_HOME=/openpi_assets + - IS_DOCKER=true + + # Comment out this block if not running on a machine with GPUs. + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] diff --git a/scripts/docker/install_docker_ubuntu22.sh b/scripts/docker/install_docker_ubuntu22.sh new file mode 100644 index 0000000000000000000000000000000000000000..38873b3e379ee40e6f80fe86a88be7dae494e05b --- /dev/null +++ b/scripts/docker/install_docker_ubuntu22.sh @@ -0,0 +1,37 @@ +#!/bin/bash + +# Add Docker's official GPG key: +sudo apt-get update +sudo apt-get install -y ca-certificates curl +sudo install -m 0755 -d /etc/apt/keyrings +sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc +sudo chmod a+r /etc/apt/keyrings/docker.asc + +# Add the repository to Apt sources: +echo \ + "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \ + $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | + sudo tee /etc/apt/sources.list.d/docker.list >/dev/null +sudo apt-get update + +sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin + +# Add current user to the 'docker' group, which allows them to use docker commands (docker build, docker run, etc). +# See https://docs.docker.com/engine/install/linux-postinstall/ +username=$(whoami) +sudo usermod -aG docker $username + +# Configure docker to start automatically on system boot. +sudo systemctl enable docker.service +sudo systemctl enable containerd.service + +# https://forums.docker.com/t/docker-credential-desktop-exe-executable-file-not-found-in-path-using-wsl2/100225/5 +if [ ~/.docker/config.json ]; then + sed -i 's/credsStore/credStore/g' ~/.docker/config.json +fi + +echo "" +echo "********************************************************************" +echo "**** Restart to allow Docker permission changes to take effect. ****" +echo "********************************************************************" +echo "" diff --git a/scripts/docker/install_nvidia_container_toolkit.sh b/scripts/docker/install_nvidia_container_toolkit.sh new file mode 100644 index 0000000000000000000000000000000000000000..a4c67f1d5bcc6655f7ae2084a8866037b819b4f0 --- /dev/null +++ b/scripts/docker/install_nvidia_container_toolkit.sh @@ -0,0 +1,17 @@ +#!/bin/bash + +# Installs the NVIDIA Container Toolkit, which allows Docker containers to access NVIDIA GPUs. +# NVIDIA's official documentation: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html + +curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg && + curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | + sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list + +# NVIDIA's documenation omits 'sudo' in the following command, but it is required. +sudo sed -i -e '/experimental/ s/^#//g' /etc/apt/sources.list.d/nvidia-container-toolkit.list +sudo apt-get update +sudo apt-get install -y nvidia-container-toolkit + +sudo nvidia-ctk runtime configure --runtime=docker +sudo systemctl restart docker diff --git a/scripts/docker/serve_policy.Dockerfile b/scripts/docker/serve_policy.Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..1c4cd687f734399cc7fde58097dd903e02bcf6cd --- /dev/null +++ b/scripts/docker/serve_policy.Dockerfile @@ -0,0 +1,34 @@ +# Dockerfile for serving a PI policy. +# Based on UV's instructions: https://docs.astral.sh/uv/guides/integration/docker/#developing-in-a-container + +# Build the container: +# docker build . -t openpi_server -f scripts/docker/serve_policy.Dockerfile + +# Run the container: +# docker run --rm -it --network=host -v .:/app --gpus=all openpi_server /bin/bash + +FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04@sha256:2d913b09e6be8387e1a10976933642c73c840c0b735f0bf3c28d97fc9bc422e0 +COPY --from=ghcr.io/astral-sh/uv:0.5.1 /uv /uvx /bin/ + +WORKDIR /app + +# Needed because LeRobot uses git-lfs. +RUN apt-get update && apt-get install -y git git-lfs linux-headers-generic build-essential clang + +# Copy from the cache instead of linking since it's a mounted volume +ENV UV_LINK_MODE=copy + +# Write the virtual environment outside of the project directory so it doesn't +# leak out of the container when we mount the application code. +ENV UV_PROJECT_ENVIRONMENT=/.venv + +# Install the project's dependencies using the lockfile and settings +RUN uv venv --python 3.11.9 $UV_PROJECT_ENVIRONMENT +RUN --mount=type=cache,target=/root/.cache/uv \ + --mount=type=bind,source=uv.lock,target=uv.lock \ + --mount=type=bind,source=pyproject.toml,target=pyproject.toml \ + --mount=type=bind,source=packages/openpi-client/pyproject.toml,target=packages/openpi-client/pyproject.toml \ + --mount=type=bind,source=packages/openpi-client/src,target=packages/openpi-client/src \ + GIT_LFS_SKIP_SMUDGE=1 uv sync --frozen --no-install-project --no-dev + +CMD /bin/bash -c "uv run scripts/serve_policy.py $SERVER_ARGS" diff --git a/scripts/serve_policy.py b/scripts/serve_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..91e8d7ba389b74cd65873f209f35f99afe59bb6a --- /dev/null +++ b/scripts/serve_policy.py @@ -0,0 +1,122 @@ +import dataclasses +import enum +import logging +import socket + +import tyro + +from openpi.policies import policy as _policy +from openpi.policies import policy_config as _policy_config +from openpi.serving import websocket_policy_server +from openpi.training import config as _config + + +class EnvMode(enum.Enum): + """Supported environments.""" + + ALOHA = "aloha" + ALOHA_SIM = "aloha_sim" + DROID = "droid" + LIBERO = "libero" + + +@dataclasses.dataclass +class Checkpoint: + """Load a policy from a trained checkpoint.""" + + # Training config name (e.g., "pi0_aloha_sim"). + config: str + # Checkpoint directory (e.g., "checkpoints/pi0_aloha_sim/exp/10000"). + dir: str + + +@dataclasses.dataclass +class Default: + """Use the default policy for the given environment.""" + + +@dataclasses.dataclass +class Args: + """Arguments for the serve_policy script.""" + + # Environment to serve the policy for. This is only used when serving default policies. + env: EnvMode = EnvMode.ALOHA_SIM + + # If provided, will be used in case the "prompt" key is not present in the data, or if the model doesn't have a default + # prompt. + default_prompt: str | None = None + + # Port to serve the policy on. + port: int = 8000 + # Record the policy's behavior for debugging. + record: bool = False + + # Specifies how to load the policy. If not provided, the default policy for the environment will be used. + policy: Checkpoint | Default = dataclasses.field(default_factory=Default) + + +# Default checkpoints that should be used for each environment. +DEFAULT_CHECKPOINT: dict[EnvMode, Checkpoint] = { + EnvMode.ALOHA: Checkpoint( + config="pi0_aloha", + dir="gs://openpi-assets/checkpoints/pi0_base", + ), + EnvMode.ALOHA_SIM: Checkpoint( + config="pi0_aloha_sim", + dir="gs://openpi-assets/checkpoints/pi0_aloha_sim", + ), + EnvMode.DROID: Checkpoint( + config="pi0_fast_droid", + dir="gs://openpi-assets/checkpoints/pi0_fast_droid", + ), + EnvMode.LIBERO: Checkpoint( + config="pi0_fast_libero", + dir="gs://openpi-assets/checkpoints/pi0_fast_libero", + ), +} + + +def create_default_policy(env: EnvMode, *, default_prompt: str | None = None) -> _policy.Policy: + """Create a default policy for the given environment.""" + if checkpoint := DEFAULT_CHECKPOINT.get(env): + return _policy_config.create_trained_policy( + _config.get_config(checkpoint.config), checkpoint.dir, default_prompt=default_prompt + ) + raise ValueError(f"Unsupported environment mode: {env}") + + +def create_policy(args: Args) -> _policy.Policy: + """Create a policy from the given arguments.""" + match args.policy: + case Checkpoint(): + return _policy_config.create_trained_policy( + _config.get_config(args.policy.config), args.policy.dir, default_prompt=args.default_prompt + ) + case Default(): + return create_default_policy(args.env, default_prompt=args.default_prompt) + + +def main(args: Args) -> None: + policy = create_policy(args) + policy_metadata = policy.metadata + + # Record the policy's behavior. + if args.record: + policy = _policy.PolicyRecorder(policy, "policy_records") + + hostname = socket.gethostname() + local_ip = socket.gethostbyname(hostname) + logging.info("Creating server (host: %s, ip: %s)", hostname, local_ip) + + server = websocket_policy_server.WebsocketPolicyServer( + policy=policy, + host="0.0.0.0", + port=args.port, + metadata=policy_metadata, + ) + server.serve_forever() + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO, force=True) + main(tyro.cli(Args)) diff --git a/scripts/train.py b/scripts/train.py new file mode 100644 index 0000000000000000000000000000000000000000..5d289413abcac2232622a400ba54ac8cd65d4854 --- /dev/null +++ b/scripts/train.py @@ -0,0 +1,280 @@ +import dataclasses +import functools +import logging +import platform +from typing import Any + +import etils.epath as epath +import flax.nnx as nnx +from flax.training import common_utils +import flax.traverse_util as traverse_util +import jax +import jax.experimental +import jax.numpy as jnp +import numpy as np +import optax +import tqdm_loggable.auto as tqdm +import wandb + +import openpi.models.model as _model +import openpi.shared.array_typing as at +import openpi.shared.nnx_utils as nnx_utils +import openpi.training.checkpoints as _checkpoints +import openpi.training.config as _config +import openpi.training.data_loader as _data_loader +import openpi.training.optimizer as _optimizer +import openpi.training.sharding as sharding +import openpi.training.utils as training_utils +import openpi.training.weight_loaders as _weight_loaders + + +def init_logging(): + """Custom logging format for better readability.""" + level_mapping = {"DEBUG": "D", "INFO": "I", "WARNING": "W", "ERROR": "E", "CRITICAL": "C"} + + class CustomFormatter(logging.Formatter): + def format(self, record): + record.levelname = level_mapping.get(record.levelname, record.levelname) + return super().format(record) + + formatter = CustomFormatter( + fmt="%(asctime)s.%(msecs)03d [%(levelname)s] %(message)-80s (%(process)d:%(filename)s:%(lineno)s)", + datefmt="%H:%M:%S", + ) + + logger = logging.getLogger() + logger.setLevel(logging.INFO) + logger.handlers[0].setFormatter(formatter) + + +def init_wandb(config: _config.TrainConfig, *, resuming: bool, log_code: bool = False, enabled: bool = True): + if not enabled: + wandb.init(mode="disabled") + return + + ckpt_dir = config.checkpoint_dir + if not ckpt_dir.exists(): + raise FileNotFoundError(f"Checkpoint directory {ckpt_dir} does not exist.") + if resuming: + run_id = (ckpt_dir / "wandb_id.txt").read_text().strip() + wandb.init(id=run_id, resume="must", project=config.project_name) + else: + wandb.init( + name=config.exp_name, + config=dataclasses.asdict(config), + project=config.project_name, + ) + (ckpt_dir / "wandb_id.txt").write_text(wandb.run.id) + + if log_code: + wandb.run.log_code(epath.Path(__file__).parent.parent) + + +def _load_weights_and_validate(loader: _weight_loaders.WeightLoader, params_shape: at.Params) -> at.Params: + """Loads and validates the weights. Returns a loaded subset of the weights.""" + loaded_params = loader.load(params_shape) + at.check_pytree_equality(expected=params_shape, got=loaded_params, check_shapes=True, check_dtypes=True) + + # Remove jax.ShapeDtypeStruct from the loaded params. This makes sure that only the loaded params are returned. + return traverse_util.unflatten_dict( + {k: v for k, v in traverse_util.flatten_dict(loaded_params).items() if not isinstance(v, jax.ShapeDtypeStruct)} + ) + + +@at.typecheck +def init_train_state( + config: _config.TrainConfig, init_rng: at.KeyArrayLike, mesh: jax.sharding.Mesh, *, resume: bool +) -> tuple[training_utils.TrainState, Any]: + tx = _optimizer.create_optimizer(config.optimizer, config.lr_schedule, weight_decay_mask=None) + + def init(rng: at.KeyArrayLike, partial_params: at.Params | None = None) -> training_utils.TrainState: + rng, model_rng = jax.random.split(rng) + # initialize the model (and its parameters). + model = config.model.create(model_rng) + + # Merge the partial params into the model. + if partial_params is not None: + graphdef, state = nnx.split(model) + # This will produce an error if the partial params are not a subset of the state. + state.replace_by_pure_dict(partial_params) + model = nnx.merge(graphdef, state) + + params = nnx.state(model) + # Convert frozen params to bfloat16. + params = nnx_utils.state_map(params, config.freeze_filter, lambda p: p.replace(p.value.astype(jnp.bfloat16))) + + return training_utils.TrainState( + step=0, + params=params, + model_def=nnx.graphdef(model), + tx=tx, + opt_state=tx.init(params.filter(config.trainable_filter)), + ema_decay=config.ema_decay, + ema_params=None if config.ema_decay is None else params, + ) + + train_state_shape = jax.eval_shape(init, init_rng) + state_sharding = sharding.fsdp_sharding(train_state_shape, mesh, log=True) + + if resume: + return train_state_shape, state_sharding + + partial_params = _load_weights_and_validate(config.weight_loader, train_state_shape.params.to_pure_dict()) + replicated_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + # Initialize the train state and mix in the partial params. + train_state = jax.jit( + init, + donate_argnums=(1,), # donate the partial params buffer. + in_shardings=replicated_sharding, + out_shardings=state_sharding, + )(init_rng, partial_params) + + return train_state, state_sharding + + +@at.typecheck +def train_step( + config: _config.TrainConfig, + rng: at.KeyArrayLike, + state: training_utils.TrainState, + batch: tuple[_model.Observation, _model.Actions], +) -> tuple[training_utils.TrainState, dict[str, at.Array]]: + model = nnx.merge(state.model_def, state.params) + model.train() + + @at.typecheck + def loss_fn( + model: _model.BaseModel, rng: at.KeyArrayLike, observation: _model.Observation, actions: _model.Actions + ): + chunked_loss = model.compute_loss(rng, observation, actions, train=True) + return jnp.mean(chunked_loss) + + train_rng = jax.random.fold_in(rng, state.step) + observation, actions = batch + + # Filter out frozen params. + diff_state = nnx.DiffState(0, config.trainable_filter) + loss, grads = nnx.value_and_grad(loss_fn, argnums=diff_state)(model, train_rng, observation, actions) + + params = state.params.filter(config.trainable_filter) + updates, new_opt_state = state.tx.update(grads, state.opt_state, params) + new_params = optax.apply_updates(params, updates) + + # Update the model in place and return the new full state. + nnx.update(model, new_params) + new_params = nnx.state(model) + + new_state = dataclasses.replace(state, step=state.step + 1, params=new_params, opt_state=new_opt_state) + if state.ema_decay is not None: + new_state = dataclasses.replace( + new_state, + ema_params=jax.tree.map( + lambda old, new: state.ema_decay * old + (1 - state.ema_decay) * new, state.ema_params, new_params + ), + ) + + # Filter out params that aren't kernels. + kernel_params = nnx.state( + model, + nnx.All( + nnx.Param, + nnx.Not(nnx_utils.PathRegex(".*/(bias|scale|pos_embedding|input_embedding)")), + lambda _, x: x.value.ndim > 1, + ), + ) + info = { + "loss": loss, + "grad_norm": optax.global_norm(grads), + "param_norm": optax.global_norm(kernel_params), + } + return new_state, info + + +def main(config: _config.TrainConfig): + init_logging() + logging.info(f"Running on: {platform.node()}") + + if config.batch_size % jax.device_count() != 0: + raise ValueError( + f"Batch size {config.batch_size} must be divisible by the number of devices {jax.device_count()}." + ) + + jax.config.update("jax_compilation_cache_dir", str(epath.Path("~/.cache/jax").expanduser())) + + rng = jax.random.key(config.seed) + train_rng, init_rng = jax.random.split(rng) + + mesh = sharding.make_mesh(config.fsdp_devices) + data_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec(sharding.DATA_AXIS)) + replicated_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + checkpoint_manager, resuming = _checkpoints.initialize_checkpoint_dir( + config.checkpoint_dir, + keep_period=config.keep_period, + overwrite=config.overwrite, + resume=config.resume, + ) + init_wandb(config, resuming=resuming, enabled=config.wandb_enabled) + + data_loader = _data_loader.create_data_loader( + config, + sharding=data_sharding, + shuffle=True, + ) + data_iter = iter(data_loader) + batch = next(data_iter) + logging.info(f"Initialized data loader:\n{training_utils.array_tree_to_info(batch)}") + + # Log images from first batch to sanity check. + images_to_log = [ + wandb.Image(np.concatenate([np.array(img[i]) for img in batch[0].images.values()], axis=1)) + for i in range(min(5, len(next(iter(batch[0].images.values()))))) + ] + wandb.log({"camera_views": images_to_log}, step=0) + + train_state, train_state_sharding = init_train_state(config, init_rng, mesh, resume=resuming) + jax.block_until_ready(train_state) + logging.info(f"Initialized train state:\n{training_utils.array_tree_to_info(train_state.params)}") + + if resuming: + train_state = _checkpoints.restore_state(checkpoint_manager, train_state, data_loader) + + ptrain_step = jax.jit( + functools.partial(train_step, config), + in_shardings=(replicated_sharding, train_state_sharding, data_sharding), + out_shardings=(train_state_sharding, replicated_sharding), + donate_argnums=(1,), + ) + + start_step = int(train_state.step) + pbar = tqdm.tqdm( + range(start_step, config.num_train_steps), + initial=start_step, + total=config.num_train_steps, + dynamic_ncols=True, + ) + + infos = [] + for step in pbar: + with sharding.set_mesh(mesh): + train_state, info = ptrain_step(train_rng, train_state, batch) + infos.append(info) + if step % config.log_interval == 0: + stacked_infos = common_utils.stack_forest(infos) + reduced_info = jax.device_get(jax.tree.map(jnp.mean, stacked_infos)) + info_str = ", ".join(f"{k}={v:.4f}" for k, v in reduced_info.items()) + pbar.write(f"Step {step}: {info_str}") + wandb.log(reduced_info, step=step) + infos = [] + batch = next(data_iter) + + if (step % config.save_interval == 0 and step > start_step) or step == config.num_train_steps - 1: + _checkpoints.save_state(checkpoint_manager, train_state, data_loader, step) + + logging.info("Waiting for checkpoint manager to finish") + checkpoint_manager.wait_until_finished() + + +if __name__ == "__main__": + main(_config.cli()) diff --git a/scripts/train_oft.py b/scripts/train_oft.py new file mode 100644 index 0000000000000000000000000000000000000000..74d0ea9347cf3a7936a162950d74b75cf6c5c646 --- /dev/null +++ b/scripts/train_oft.py @@ -0,0 +1,742 @@ +import dataclasses +import functools +import logging +import platform +from typing import Any, Optional, Dict, Tuple + +import etils.epath as epath +import flax.nnx as nnx +from flax.training import common_utils +import flax.traverse_util as traverse_util +import jax +import jax.experimental +import jax.numpy as jnp +import numpy as np +import optax +import tqdm_loggable.auto as tqdm +import wandb +import numpy as np + +import openpi.models.model as _model +import openpi.shared.array_typing as at +import openpi.shared.nnx_utils as nnx_utils +import openpi.training.checkpoints as _checkpoints +import openpi.training.config as _config +import openpi.training.data_loader as _data_loader +import openpi.training.optimizer as _optimizer +import openpi.training.sharding as sharding +import openpi.training.utils as training_utils +import openpi.training.weight_loaders as _weight_loaders +from flax.nnx import rnglib +from openpi.models.pi0_fast import Pi0FAST, make_attn_mask + + +@dataclasses.dataclass +class OftTrainingConfig: + """openvla-oft""" + + use_l1_regression: bool = False + use_diffusion: bool = True + use_discrete_tokens: bool = False + + num_diffusion_steps_train: int = 25 + diffusion_beta_start: float = 0.0001 + diffusion_beta_end: float = 0.00005 + + grad_accumulation_steps: int = 1 + + use_val_set: bool = False + val_freq: int = 10_000 + + +class DiffusionScheduler: + + def __init__(self, num_train_timesteps: int, beta_start: float = 0.0001, beta_end: float = 0.02): + self.num_train_timesteps = num_train_timesteps + self.beta_start = beta_start + self.beta_end = beta_end + + self.betas = jnp.linspace(beta_start, beta_end, num_train_timesteps) + self.alphas = 1.0 - self.betas + self.alphas_cumprod = jnp.cumprod(self.alphas) + self.alphas_cumprod_prev = jnp.concatenate([jnp.array([1.0]), self.alphas_cumprod[:-1]]) + + self.variance = (1 - self.alphas_cumprod_prev) / (1 - self.alphas_cumprod) + self.variance = jnp.concatenate([jnp.array([0.0]), self.variance[1:]]) + + self.timesteps = jnp.arange(0, num_train_timesteps) + + def set_timesteps(self, num_inference_steps: int): + self.num_inference_steps = num_inference_steps + step_ratio = self.num_train_timesteps // num_inference_steps + self.timesteps = jnp.arange(0, self.num_train_timesteps, step_ratio) + + def step(self, model_output: jnp.ndarray, timestep: int, sample: jnp.ndarray) -> Dict[str, jnp.ndarray]: + # DDIM step + alpha_cumprod = self.alphas_cumprod[timestep] + alpha_cumprod_prev = self.alphas_cumprod_prev[timestep] + + # predict x_0 + pred_original_sample = (sample - jnp.sqrt(1 - alpha_cumprod) * model_output) / jnp.sqrt(alpha_cumprod) + + # predict x_{t-1} + pred_sample_direction = jnp.sqrt(1 - alpha_cumprod_prev) * model_output + prev_sample = jnp.sqrt(alpha_cumprod_prev) * pred_original_sample + pred_sample_direction + + return {"prev_sample": prev_sample} + + +class TimeEncoder(nnx.Module): + + def __init__(self, llm_dim: int, rngs: at.KeyArrayLike | None = None): + super().__init__() + self.llm_dim = llm_dim + if rngs is None: + rngs = jax.random.key(0) + rngs_obj = rnglib.Rngs(params=rngs) + self.time_embedding = nnx.Linear(1, llm_dim, rngs=rngs_obj) + self.time_mlp = nnx.Sequential( + nnx.Linear(llm_dim, llm_dim, rngs=rngs_obj), + nnx.relu, + nnx.Linear(llm_dim, llm_dim, rngs=rngs_obj), + ) + + def __call__(self, timesteps: jnp.ndarray) -> jnp.ndarray: + # timesteps: (batch_size,) + timesteps = timesteps.astype(jnp.float32) + time_emb = self.time_embedding(timesteps[:, None]) # (batch_size, llm_dim) + time_emb = self.time_mlp(time_emb) + return time_emb + + +class DiffusionActionHead(nnx.Module): + + def __init__(self, input_dim: int, hidden_dim: int, action_dim: int, num_diffusion_steps: int, rngs: at.KeyArrayLike | None = None): + super().__init__() + self.input_dim = input_dim + self.hidden_dim = hidden_dim + self.action_dim = action_dim + self.num_diffusion_steps_train = num_diffusion_steps + + if rngs is None: + rngs = jax.random.key(0) + rngs_obj = rnglib.Rngs(params=rngs) + + # noise predictor + self.noise_predictor = nnx.Sequential( + nnx.Linear(input_dim, hidden_dim, rngs=rngs_obj), + nnx.relu, + nnx.Linear(hidden_dim, hidden_dim, rngs=rngs_obj), + nnx.relu, + nnx.Linear(hidden_dim, action_dim, rngs=rngs_obj), + ) + + # time encoder + self.time_encoder = TimeEncoder(hidden_dim, rngs=rngs) + + # diffusion scheduler + self.noise_scheduler = DiffusionScheduler(num_diffusion_steps) + + def sample_noisy_actions(self, actions: jnp.ndarray, rng: at.KeyArrayLike) -> Dict[str, jnp.ndarray]: + batch_size = actions.shape[0] + + # sample timesteps + timesteps = jax.random.randint(rng, (batch_size,), 0, self.num_diffusion_steps_train) + + # generate noise + noise = jax.random.normal(rng, actions.shape) + + # add noise to actions + alpha_cumprod = self.noise_scheduler.alphas_cumprod[timesteps] + alpha_cumprod = alpha_cumprod.reshape(-1, 1, 1) # (batch_size, 1, 1) + + noisy_actions = jnp.sqrt(alpha_cumprod) * actions + jnp.sqrt(1 - alpha_cumprod) * noise + + # time step encoding + diffusion_timestep_embeddings = self.time_encoder(timesteps) + + return { + "noise": noise, + "noisy_actions": noisy_actions, + "diffusion_timestep_embeddings": diffusion_timestep_embeddings, + "timesteps": timesteps, + } + + def predict_noise(self, hidden_states: jnp.ndarray) -> jnp.ndarray: + return self.noise_predictor(hidden_states) + + +class NoisyActionProjector(nnx.Module): + + def __init__(self, input_dim: int, llm_dim: int, rngs: at.KeyArrayLike | None = None): + super().__init__() + self.llm_dim = llm_dim + if rngs is None: + rngs = jax.random.key(0) + rngs_obj = rnglib.Rngs(params=rngs) + self.projection = nnx.Linear(input_dim, llm_dim, rngs=rngs_obj) + + def __call__(self, noisy_actions: jnp.ndarray) -> jnp.ndarray: + return self.projection(noisy_actions) + + +def init_logging(): + """Custom logging format for better readability.""" + level_mapping = {"DEBUG": "D", "INFO": "I", "WARNING": "W", "ERROR": "E", "CRITICAL": "C"} + + class CustomFormatter(logging.Formatter): + def format(self, record): + record.levelname = level_mapping.get(record.levelname, record.levelname) + return super().format(record) + + formatter = CustomFormatter( + fmt="%(asctime)s.%(msecs)03d [%(levelname)s] %(message)-80s (%(process)d:%(filename)s:%(lineno)s)", + datefmt="%H:%M:%S", + ) + + logger = logging.getLogger() + logger.setLevel(logging.INFO) + logger.handlers[0].setFormatter(formatter) + + +def init_wandb(config: _config.TrainConfig, oft_config: OftTrainingConfig, *, resuming: bool, log_code: bool = False, enabled: bool = True): + if not enabled: + wandb.init(mode="disabled") + return + + ckpt_dir = config.checkpoint_dir + if not ckpt_dir.exists(): + raise FileNotFoundError(f"Checkpoint directory {ckpt_dir} does not exist.") + + if resuming: + run_id = (ckpt_dir / "wandb_id.txt").read_text().strip() + wandb.init(id=run_id, resume="must", project=config.project_name) + else: + # openvla-oft run_id + run_id = f"{config.exp_name}+oft" + + # LoRA + try: + if hasattr(config.model, 'paligemma_variant') and 'lora' in str(config.model.paligemma_variant): + run_id += "+lora" + except: + pass + if config.ema_decay is None: + run_id += "+no_ema" + + # training mode + if oft_config.use_l1_regression: + run_id += "+l1_regression" + if oft_config.use_diffusion: + run_id += "+diffusion" + if oft_config.use_discrete_tokens: + run_id += "+discrete" + + wandb.init( + name=run_id, + config={ + **dataclasses.asdict(config), + **dataclasses.asdict(oft_config) + }, + project=config.project_name, + ) + if wandb.run is not None: + (ckpt_dir / "wandb_id.txt").write_text(wandb.run.id) + + if log_code and wandb.run is not None: + wandb.run.log_code(str(epath.Path(__file__).parent.parent)) + + +def _load_weights_and_validate(loader: _weight_loaders.WeightLoader, params_shape: at.Params) -> at.Params: + """Loads and validates the weights. Returns a loaded subset of the weights.""" + loaded_params = loader.load(params_shape) + at.check_pytree_equality(expected=params_shape, got=loaded_params, check_shapes=True, check_dtypes=True) + + # Remove jax.ShapeDtypeStruct from the loaded params. This makes sure that only the loaded params are returned. + return traverse_util.unflatten_dict( + {k: v for k, v in traverse_util.flatten_dict(loaded_params).items() if not isinstance(v, jax.ShapeDtypeStruct)} + ) + + +def apply_lora_to_model(model, config: _config.TrainConfig): + # LoRA + try: + if hasattr(config.model, 'paligemma_variant') and 'lora' in str(config.model.paligemma_variant): + logging.info(f"Detected LoRA configuration: {config.model.paligemma_variant}") + return model + except: + pass + + return model + + +def create_diffusion_components(config: _config.TrainConfig, oft_config: OftTrainingConfig, rng: at.KeyArrayLike): + if not oft_config.use_diffusion: + return None, None + + llm_dim = 2048 # get from model config + action_dim = config.model.action_dim + action_horizon = config.model.action_horizon + + # create diffusion action head + diffusion_action_head = DiffusionActionHead( + input_dim=llm_dim, + hidden_dim=llm_dim, + action_dim=action_dim, + num_diffusion_steps=oft_config.num_diffusion_steps_train, + rngs=rng + ) + + # create noisy action projector + noisy_action_projector = NoisyActionProjector( + input_dim=action_dim, # only use action_dim + llm_dim=llm_dim, + rngs=rng + ) + + return diffusion_action_head, noisy_action_projector + + +def lora_mask(tree): + def is_lora(path, v): + return any('lora' in str(p) for p in path) + return jax.tree_util.tree_map_with_path(lambda path, v: is_lora(path, v), tree) + + +@at.typecheck +def init_train_state( + config: _config.TrainConfig, + oft_config: OftTrainingConfig, + init_rng: at.KeyArrayLike, + mesh: jax.sharding.Mesh, + tx, + *, + resume: bool +) -> tuple[training_utils.TrainState, Any]: + def init(rng: at.KeyArrayLike, partial_params: at.Params | None = None) -> training_utils.TrainState: + rng, model_rng = jax.random.split(rng) + model = config.model.create(model_rng) + model = apply_lora_to_model(model, config) + diffusion_action_head, noisy_action_projector = create_diffusion_components(config, oft_config, model_rng) + if partial_params is not None: + graphdef, state = nnx.split(model) + state.replace_by_pure_dict(partial_params) + model = nnx.merge(graphdef, state) + params = nnx.state(model) + params = nnx_utils.state_map(params, config.freeze_filter, lambda p: p.replace(p.value.astype(jnp.bfloat16))) + # use main tx + return training_utils.TrainState( + step=0, + params=params, + model_def=nnx.graphdef(model), + tx=tx, + opt_state=tx.init(params), + ema_decay=config.ema_decay, + ema_params=None if config.ema_decay is None else params, + ) + train_state_shape = jax.eval_shape(init, init_rng) + state_sharding = sharding.fsdp_sharding(train_state_shape, mesh, log=True) + if resume: + return train_state_shape, state_sharding + partial_params = _load_weights_and_validate(config.weight_loader, train_state_shape.params.to_pure_dict()) + replicated_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + train_state = jax.jit( + init, + donate_argnums=(1,), + in_shardings=replicated_sharding, + out_shardings=state_sharding, + )(init_rng, partial_params) + return train_state, state_sharding + +# TODO: modify L1 loss in the future +def compute_l1_loss(predicted_actions: jnp.ndarray, ground_truth_actions: jnp.ndarray) -> jnp.ndarray: + return jnp.mean(jnp.abs(predicted_actions - ground_truth_actions)) + + +def compute_diffusion_loss(predicted_noise: jnp.ndarray, target_noise: jnp.ndarray) -> jnp.ndarray: + return jnp.mean((predicted_noise - target_noise) ** 2) + + +def run_diffusion_sampling( + model: _model.BaseModel, + diffusion_action_head: DiffusionActionHead, + noisy_action_projector: NoisyActionProjector, + observation: _model.Observation, + actions: _model.Actions, + rng: at.KeyArrayLike, + oft_config: OftTrainingConfig, +) -> jnp.ndarray: + """diffusion sampling, main model and NoisyActionProjector are involved, adapt to Pi0FAST""" + batch_size = actions.shape[0] + action_dim = actions.shape[-1] + action_horizon = actions.shape[1] + + # generate random noise as starting point + noise = jax.random.normal(rng, (batch_size, action_horizon, action_dim)) + + # set diffusion scheduler + diffusion_action_head.noise_scheduler.set_timesteps(oft_config.num_diffusion_steps_train) + + curr_noisy_actions = noise + + def diffusion_step(carry, timestep): + curr_noisy_actions = carry + timesteps = jnp.full((batch_size,), timestep) + # time step embedding + diffusion_timestep_embeddings = diffusion_action_head.time_encoder(timesteps) # (batch, llm_dim) + diffusion_timestep_embeddings = jnp.expand_dims(diffusion_timestep_embeddings, 1) # (batch, 1, llm_dim) + diffusion_timestep_embeddings = jnp.tile(diffusion_timestep_embeddings, (1, action_horizon, 1)) # (batch, action_horizon, llm_dim) + + # Pi0FAST + if not isinstance(model, Pi0FAST): + raise ValueError("run_diffusion_sampling only supports Pi0FAST main model!") + obs_token_emb, input_mask, ar_mask = model.embed_inputs(observation) # (batch, obs_seq_len, llm_dim) + # embedding + noisy_action_emb = noisy_action_projector(curr_noisy_actions) # (batch, action_horizon, llm_dim) + + full_emb = jnp.concatenate([obs_token_emb, noisy_action_emb, diffusion_timestep_embeddings], axis=1) # (batch, obs_seq_len+2*action_horizon, llm_dim) + + # mask + full_input_mask = jnp.concatenate([input_mask, jnp.ones((batch_size, 2*action_horizon), dtype=input_mask.dtype)], axis=1) + full_ar_mask = jnp.concatenate([ar_mask, jnp.zeros((batch_size, 2*action_horizon), dtype=ar_mask.dtype)], axis=1) + attn_mask = make_attn_mask(full_input_mask, full_ar_mask) + attn_mask = attn_mask[:, None, :, :] # (batch, 1, seq_len, seq_len) + + # hidden_states + hidden_states, _, _ = model.PaliGemma.llm( + embedded_prefix=full_emb, + mask=attn_mask, + return_prelogits=True, + ) + obs_seq_len = obs_token_emb.shape[1] + + actions_hidden_states = hidden_states[:, obs_seq_len:obs_seq_len+action_horizon, :] # (batch, action_horizon, llm_dim) + noise_pred = diffusion_action_head.predict_noise(actions_hidden_states) # (batch, action_horizon, action_dim) + + prev_sample = diffusion_action_head.noise_scheduler.step(noise_pred, timestep, curr_noisy_actions)["prev_sample"] + return prev_sample, None + + final_sample, _ = jax.lax.scan(diffusion_step, curr_noisy_actions, diffusion_action_head.noise_scheduler.timesteps) + + return final_sample + + +def compute_loss_with_oft_modes( + model: _model.BaseModel, + rng: at.KeyArrayLike, + observation: _model.Observation, + actions: _model.Actions, + config: _config.TrainConfig, + oft_config: OftTrainingConfig, + diffusion_action_head: Optional[DiffusionActionHead] = None, + noisy_action_projector: Optional[NoisyActionProjector] = None, + train: bool = True +) -> Tuple[jnp.ndarray, Dict[str, jnp.ndarray]]: + """openvla-oft""" + + chunked_loss = model.compute_loss(rng, observation, actions, train=train) + base_loss = jnp.mean(chunked_loss) + + metrics = {"loss": base_loss} + + # calculate different losses based on training mode + if oft_config.use_discrete_tokens: + # discrete token prediction mode (default) + metrics["discrete_loss"] = base_loss + + elif oft_config.use_l1_regression: + l1_loss = base_loss # TODO: calculate L1 loss + metrics["l1_loss"] = l1_loss + metrics["regression_loss"] = l1_loss + + elif oft_config.use_diffusion and diffusion_action_head is not None: + # diffusion + batch_size = actions.shape[0] + action_horizon = actions.shape[1] + action_dim = actions.shape[2] + # sample noise + noisy_dict = diffusion_action_head.sample_noisy_actions(actions, rng) + noise = noisy_dict["noise"] # (batch, action_horizon, action_dim) + noisy_actions = noisy_dict["noisy_actions"] # (batch, action_horizon, action_dim) + diffusion_timestep_embeddings = noisy_dict["diffusion_timestep_embeddings"] # (batch, llm_dim) + timesteps = noisy_dict["timesteps"] + # hidden_states + if not isinstance(model, Pi0FAST): + raise ValueError("diffusion loss only supports Pi0FAST main model!") + if noisy_action_projector is None: + raise ValueError("diffusion loss needs noisy_action_projector, should not be None") + # noisy_action_projector + noisy_action_emb = noisy_action_projector(noisy_actions) # (batch, action_horizon, llm_dim) + # diffusion_timestep_embeddings -> (batch, action_horizon, llm_dim) + diffusion_timestep_embeddings = jnp.expand_dims(diffusion_timestep_embeddings, 1) # (batch, 1, llm_dim) + diffusion_timestep_embeddings = jnp.tile(diffusion_timestep_embeddings, (1, action_horizon, 1)) # (batch, action_horizon, llm_dim) + obs_token_emb, input_mask, ar_mask = model.embed_inputs(observation) # (batch, obs_seq_len, llm_dim) + + full_emb = jnp.concatenate([obs_token_emb, noisy_action_emb, diffusion_timestep_embeddings], axis=1) # (batch, obs_seq_len+2*action_horizon, llm_dim) + full_input_mask = jnp.concatenate([input_mask, jnp.ones((batch_size, 2*action_horizon), dtype=input_mask.dtype)], axis=1) + full_ar_mask = jnp.concatenate([ar_mask, jnp.zeros((batch_size, 2*action_horizon), dtype=ar_mask.dtype)], axis=1) + attn_mask = make_attn_mask(full_input_mask, full_ar_mask) + attn_mask = attn_mask[:, None, :, :] # (batch, 1, seq_len, seq_len) + hidden_states, _, _ = model.PaliGemma.llm( + embedded_prefix=full_emb, + mask=attn_mask, + return_prelogits=True, + ) + obs_seq_len = obs_token_emb.shape[1] + # actions_hidden_state + actions_hidden_states = hidden_states[:, obs_seq_len:obs_seq_len+action_horizon, :] # (batch, action_horizon, llm_dim) + predicted_noise = diffusion_action_head.predict_noise(actions_hidden_states) # (batch, action_horizon, action_dim) + # loss + diffusion_loss = jnp.mean((predicted_noise - noise) ** 2) + metrics["diffusion_loss"] = diffusion_loss + metrics["noise_prediction_loss"] = diffusion_loss + base_loss = diffusion_loss + + # LoRA + try: + if hasattr(config.model, 'paligemma_variant') and 'lora' in str(config.model.paligemma_variant): + metrics["lora_loss"] = base_loss + metrics["finetune_mode"] = jnp.array(1.0) # mark as finetune mode + except: + pass + + return base_loss, metrics + + +@at.typecheck +def train_step( + config: _config.TrainConfig, + oft_config: OftTrainingConfig, + rng: at.KeyArrayLike, + state: training_utils.TrainState, + batch: tuple[_model.Observation, _model.Actions], +) -> tuple[training_utils.TrainState, dict[str, at.Array]]: + model = nnx.merge(state.model_def, state.params) + model.train() + + train_rng = jax.random.fold_in(rng, state.step) + observation, actions = batch + + diffusion_action_head, noisy_action_projector = create_diffusion_components(config, oft_config, train_rng) + + # openvla-oft loss + loss, metrics = compute_loss_with_oft_modes( + model, train_rng, observation, actions, config, oft_config, + diffusion_action_head, noisy_action_projector, train=True + ) + + # Filter out frozen params. + diff_state = nnx.DiffState(0, config.trainable_filter) + grads = nnx.grad(lambda m, r, obs, acts: compute_loss_with_oft_modes( + m, r, obs, acts, config, oft_config, diffusion_action_head, noisy_action_projector, train=True + )[0])(model, train_rng, observation, actions) + + params = state.params + #print(params) + updates, new_opt_state = state.tx.update(grads, state.opt_state, params) + new_params = optax.apply_updates(params, updates) + + # Update the model in place and return the new full state. + new_state = dataclasses.replace(state, step=state.step + 1, params=new_params, opt_state=new_opt_state) + if state.ema_decay is not None and state.ema_params is not None: + ema_decay = state.ema_decay + new_state = dataclasses.replace( + new_state, + ema_params=jax.tree.map( + lambda old, new: ema_decay * old + (1 - ema_decay) * new, state.ema_params, new_params + ), + ) + + # Filter out params that aren't kernels. + kernel_params = nnx.state( + model, + nnx.All( + nnx.Param, + nnx.Not(nnx_utils.PathRegex(".*/(bias|scale|pos_embedding|input_embedding)")), + lambda _, x: x.value.ndim > 1, + ), + ) + + info = { + **metrics, + "grad_norm": optax.global_norm(grads), + "param_norm": optax.global_norm(kernel_params), + } + + # sample actions for visualization/debug + if diffusion_action_head is not None and noisy_action_projector is not None: + sampled_actions = run_diffusion_sampling( + model, diffusion_action_head, noisy_action_projector, observation, actions, rng, oft_config + ) + # only take the first batch element, avoid info too large + info["sampled_actions"] = sampled_actions[:1] + + return new_state, info + + +def run_validation( + config: _config.TrainConfig, + oft_config: OftTrainingConfig, + state: training_utils.TrainState, + val_data_loader, + mesh: jax.sharding.Mesh, + step: int, +) -> Dict[str, float]: + """validation""" + if not oft_config.use_val_set: + return {} + + model = nnx.merge(state.model_def, state.params) + model.eval() + + val_metrics = [] + val_batches = 0 + + for batch in val_data_loader: + if val_batches >= 10: # limit validation batches + break + + observation, actions = batch + + # create diffusion components + diffusion_action_head, noisy_action_projector = create_diffusion_components(config, oft_config, jax.random.key(0)) + + loss, metrics = compute_loss_with_oft_modes( + model, jax.random.key(0), observation, actions, config, oft_config, + diffusion_action_head, noisy_action_projector, train=False + ) + + val_metrics.append(metrics) + val_batches += 1 + + # calculate average metrics + avg_metrics = {} + if val_metrics: + for key in val_metrics[0].keys(): + avg_metrics[f"val_{key}"] = jnp.mean(jnp.array([m[key] for m in val_metrics])) + + return avg_metrics + + +def main(config: _config.TrainConfig): + init_logging() + logging.info(f"Running on: {platform.node()}") + logging.info(f"Using openvla-oft enhanced training script") + logging.info(f"Config: {config.name}") + + # openvla-oft config + oft_config = OftTrainingConfig() + + if config.batch_size % jax.device_count() != 0: + raise ValueError( + f"Batch size {config.batch_size} must be divisible by the number of devices {jax.device_count()}." + ) + + jax.config.update("jax_compilation_cache_dir", str(epath.Path("~/.cache/jax").expanduser())) + + rng = jax.random.key(config.seed) + train_rng, init_rng = jax.random.split(rng) + + mesh = sharding.make_mesh(config.fsdp_devices) + data_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec(sharding.DATA_AXIS)) + replicated_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + checkpoint_manager, resuming = _checkpoints.initialize_checkpoint_dir( + str(config.checkpoint_dir), + keep_period=config.keep_period, + overwrite=config.overwrite, + resume=config.resume, + ) + init_wandb(config, oft_config, resuming=resuming, enabled=config.wandb_enabled) + + data_loader = _data_loader.create_data_loader( + config, + sharding=data_sharding, + shuffle=True, + ) + data_iter = iter(data_loader) + batch = next(data_iter) + logging.info(f"Initialized data loader:\n{training_utils.array_tree_to_info(batch)}") + + # Log images from first batch to sanity check. + images_to_log = [ + wandb.Image(np.concatenate([np.array(img[i]) for img in batch[0].images.values()], axis=1)) + for i in range(min(5, len(next(iter(batch[0].images.values()))))) + ] + wandb.log({"camera_views": images_to_log}, step=0) + + # initialize model, get all params (only for generating mask) + model = config.model.create(init_rng) + model = apply_lora_to_model(model, config) + params = nnx.state(model) + mask = lora_mask(params) + # add gradient clipping, clip_norm=1.0 + tx = optax.chain( + optax.clip_by_global_norm(1.0), + optax.masked( + _optimizer.create_optimizer(config.optimizer, config.lr_schedule, weight_decay_mask=None), + mask + ) + ) + + train_state, train_state_sharding = init_train_state( + config, oft_config, init_rng, mesh, tx=tx, resume=resuming + ) + jax.block_until_ready(train_state) + logging.info(f"Initialized train state:\n{training_utils.array_tree_to_info(train_state.params)}") + + if resuming: + train_state = _checkpoints.restore_state(checkpoint_manager, train_state, data_loader) + + ptrain_step = jax.jit( + functools.partial(train_step, config, oft_config), + in_shardings=(replicated_sharding, train_state_sharding, data_sharding), + out_shardings=(train_state_sharding, replicated_sharding), + donate_argnums=(1,), + ) + + start_step = int(jax.device_get(train_state.step)) + pbar = tqdm.tqdm( + range(start_step, config.num_train_steps), + initial=start_step, + total=config.num_train_steps, + dynamic_ncols=True, + ) + + infos = [] + gradient_step = 0 + + for step in pbar: + with sharding.set_mesh(mesh): + train_state, info = ptrain_step(train_rng, train_state, batch) + infos.append(info) + + if (step + 1) % oft_config.grad_accumulation_steps == 0: + gradient_step += 1 + + if gradient_step % config.log_interval == 0: + stacked_infos = common_utils.stack_forest(infos) + reduced_info = jax.device_get(jax.tree.map(jnp.mean, stacked_infos)) + info_str = ", ".join(f"{k}={v:.4f}" for k, v in reduced_info.items()) + pbar.write(f"Step {step}: {info_str}") + wandb.log(reduced_info, step=step) + infos = [] + + # validation + if oft_config.use_val_set and gradient_step % oft_config.val_freq == 0: + val_metrics = run_validation(config, oft_config, train_state, data_loader, mesh, step) + if val_metrics: + wandb.log(val_metrics, step=step) + pbar.write(f"Validation at step {step}: {val_metrics}") + + batch = next(data_iter) + + if (step % config.save_interval == 0 and step > start_step) or step == config.num_train_steps - 1: + _checkpoints.save_state(checkpoint_manager, train_state, data_loader, step) + + logging.info("Waiting for checkpoint manager to finish") + checkpoint_manager.wait_until_finished() + + +if __name__ == "__main__": + main(_config.cli()) diff --git a/scripts/train_test.py b/scripts/train_test.py new file mode 100644 index 0000000000000000000000000000000000000000..9e0bb7bcfdab3ca5855794fc604dac597d96d8c8 --- /dev/null +++ b/scripts/train_test.py @@ -0,0 +1,30 @@ +import dataclasses +import os +import pathlib + +import pytest + +os.environ["JAX_PLATFORMS"] = "cpu" + +from openpi.training import config as _config + +from . import train + + +@pytest.mark.parametrize("config_name", ["debug"]) +def test_train(tmp_path: pathlib.Path, config_name: str): + config = dataclasses.replace( + _config._CONFIGS_DICT[config_name], # noqa: SLF001 + batch_size=2, + checkpoint_base_dir=str(tmp_path / "checkpoint"), + exp_name="test", + overwrite=False, + resume=False, + num_train_steps=2, + log_interval=1, + ) + train.main(config) + + # test resuming + config = dataclasses.replace(config, resume=True, num_train_steps=4) + train.main(config) diff --git a/src/openpi/__init__.py b/src/openpi/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/src/openpi/conftest.py b/src/openpi/conftest.py new file mode 100644 index 0000000000000000000000000000000000000000..5002b629de77953e03f24157f6ba4c88fc448468 --- /dev/null +++ b/src/openpi/conftest.py @@ -0,0 +1,17 @@ +import os + +import pynvml +import pytest + + +def set_jax_cpu_backend_if_no_gpu() -> None: + try: + pynvml.nvmlInit() + pynvml.nvmlShutdown() + except pynvml.NVMLError: + # No GPU found. + os.environ["JAX_PLATFORMS"] = "cpu" + + +def pytest_configure(config: pytest.Config) -> None: + set_jax_cpu_backend_if_no_gpu() diff --git a/src/openpi/models/__init__.py b/src/openpi/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/src/openpi/models/gemma.py b/src/openpi/models/gemma.py new file mode 100644 index 0000000000000000000000000000000000000000..25a7815a6b83611ff5180897dd107b48c1ed3f77 --- /dev/null +++ b/src/openpi/models/gemma.py @@ -0,0 +1,426 @@ +# Copyright 2024 Big Vision Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Gemma adaptation for Pi, taken from big_vision. + +We follow this einsum axis naming convention: + B: batch + T: query length + S: k/v length + N: num query heads + K: num k/v heads + G: num query heads per k/v head + H: head dim + D: d_model ("features") +""" + +from collections.abc import Sequence +import dataclasses +from typing import Literal, TypeAlias + +import einops +import flax.linen as nn +import jax +import jax.numpy as jnp + +import openpi.models.lora as lora +import openpi.shared.array_typing as at +import openpi.training.sharding as sharding + +PALIGEMMA_VOCAB_SIZE = 257_152 + + +@dataclasses.dataclass +class Config: + width: int + depth: int + mlp_dim: int + num_heads: int + num_kv_heads: int + head_dim: int + lora_configs: dict[str, lora.LoRAConfig] = dataclasses.field(default_factory=dict) + + +Variant = Literal["dummy", "gemma_300m", "gemma_2b", "gemma_2b_lora"] + + +def get_config(variant: Variant) -> Config: + """Returns config for specified gemma variant.""" + if variant == "dummy": + return Config( + width=64, + depth=4, + mlp_dim=128, + num_heads=8, + num_kv_heads=1, + head_dim=16, + ) + if variant == "gemma_300m": + # 311M params + return Config( + width=1024, + depth=18, + mlp_dim=4096, + num_heads=8, + num_kv_heads=1, + head_dim=256, + ) + if variant == "gemma_2b": + return Config( + width=2048, + depth=18, + mlp_dim=16_384, + num_heads=8, + num_kv_heads=1, + head_dim=256, + ) + if variant == "gemma_2b_lora": + return Config( + width=2048, + depth=18, + mlp_dim=16_384, + num_heads=8, + num_kv_heads=1, + head_dim=256, + lora_configs={"attn": lora.LoRAConfig(rank=16, alpha=16.0), "ffn": lora.LoRAConfig(rank=16, alpha=16.0)}, + ) + if variant == "gemma_300m_lora": + # 311M params + return Config( + width=1024, + depth=18, + mlp_dim=4096, + num_heads=8, + num_kv_heads=1, + head_dim=256, + lora_configs={"attn": lora.LoRAConfig(rank=32, alpha=32.0), "ffn": lora.LoRAConfig(rank=32, alpha=32.0)}, + ) + raise ValueError(f"Unknown variant: {variant}") + + +@at.typecheck +class RMSNorm(nn.Module): + @nn.compact + def __call__(self, x): + dtype = x.dtype # original dtype, could be half-precision + scale = self.param("scale", nn.initializers.zeros_init(), (x.shape[-1])) + var = jnp.mean(jnp.square(x.astype(jnp.float32)), axis=-1, keepdims=True) # compute variance in float32 + normed_inputs = jnp.asarray(x * jnp.reciprocal(jnp.sqrt(var + 1e-06))) # compute normalization in float32 + normed_inputs = normed_inputs * ( + 1 + scale + ) # scale by learned parameter in float32 (matches Flax implementation) + return normed_inputs.astype(dtype) # return in original dtype + + +@at.typecheck +class Embedder(nn.Module): + """Embedder module.""" + + vocab_size: int + embed_dim: int + + def setup(self): + self.input_embedding_table = self.param( + "input_embedding", + nn.initializers.normal(), + (self.vocab_size, self.embed_dim), + ) + + def encode(self, x): + x = self.input_embedding_table[(x,)] + x *= jnp.sqrt(self.embed_dim).astype(x.dtype) + return x + + def decode(self, x): + return jnp.dot(x, self.input_embedding_table.T) + + +@at.typecheck +class Attention(nn.Module): + """Attention module.""" + + configs: Sequence[Config] + + @nn.compact + def __call__(self, xs, positions, attn_mask, kv_cache): + # all experts must share the same head dim, num heads, and num kv heads for self-attention to work + assert all(config.head_dim == self.configs[0].head_dim for config in self.configs) + assert all(config.num_heads == self.configs[0].num_heads for config in self.configs) + assert all(config.num_kv_heads == self.configs[0].num_kv_heads for config in self.configs) + + dtype = next(x.dtype for x in xs if x is not None) # original dtype, could be half-precision + + qkvs = [] + for i, (x, config) in enumerate(zip(xs, self.configs, strict=True)): + if x is None: + continue + if config.num_kv_heads == config.num_heads: + qkv_einsum = lora.Einsum( + shape=(3, config.num_heads, config.width, config.head_dim), + name=_name("qkv_einsum", i), + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0, 1)), + lora_config=config.lora_configs.get("attn"), + ) + qkvs.append(qkv_einsum("BSD,3KDH->3BSKH", x)) + else: + q_einsum = lora.Einsum( + shape=(config.num_heads, config.width, config.head_dim), + name=_name("q_einsum", i), + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0,)), + lora_config=config.lora_configs.get("attn"), + ) + q = q_einsum("BTD,NDH->BTNH", x) + kv_einsum = lora.Einsum( + shape=(2, config.num_kv_heads, config.width, config.head_dim), + name=_name("kv_einsum", i), + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0, 1)), + lora_config=config.lora_configs.get("attn"), + ) + k, v = kv_einsum("BSD,2KDH->2BSKH", x) + qkvs.append((q, k, v)) + + q, k, v = (jnp.concatenate(y, axis=1) for y in zip(*qkvs, strict=True)) + + q = _apply_rope(q, positions=positions) + q *= self.configs[0].head_dim ** -0.5 + + k = _apply_rope(k, positions=positions) + + # should still be half-precision here (if input was half-precision) + assert q.dtype == k.dtype == v.dtype == dtype + + if kv_cache is not None: + cache_k, cache_v = kv_cache + k = jnp.concatenate([cache_k, k], axis=1) + v = jnp.concatenate([cache_v, v], axis=1) + + q = einops.rearrange(q, "B T (K G) H -> B T K G H", K=self.configs[0].num_kv_heads) + logits = jnp.einsum("BTKGH,BSKH->BKGTS", q, k, preferred_element_type=jnp.float32) + + if attn_mask.shape != (q.shape[0], 1, q.shape[1], k.shape[1]): + raise ValueError( + f"Attention mask with shape {attn_mask.shape} but shapes for q and k are: {q.shape} and {k.shape}" + ) + + # big_neg = jnp.finfo(logits.dtype).min + big_neg = -2.3819763e38 # See gemma/modules.py + masked_logits = jnp.where(attn_mask[:, :, None, :, :], logits, big_neg) + + probs = jax.nn.softmax(masked_logits, axis=-1).astype(dtype) + + encoded = jnp.einsum("BKGTS,BSKH->BTKGH", probs, v) + encoded = einops.rearrange(encoded, "B T K G H -> B T (K G) H") + + out = [] + start = 0 + for i, (x, config) in enumerate(zip(xs, self.configs, strict=True)): + if x is not None: + end = start + x.shape[1] + out_einsum = lora.Einsum( + shape=(config.num_heads, config.head_dim, config.width), + name=_name("attn_vec_einsum", i), + init_fn=nn.initializers.lecun_normal(in_axis=(-3, -2), out_axis=-1), + lora_config=config.lora_configs.get("attn"), + ) + out.append(out_einsum("BTNH,NHD->BTD", encoded[:, start:end])) + start = end + else: + out.append(None) + + return out, (k, v) + + +@at.typecheck +class FeedForward(nn.Module): + """Feed forward module.""" + + features: int + hidden_dim: int + + @nn.compact + def __call__(self, x): + dtype = x.dtype # original dtype, could be half-precision + w_gating = self.param( + "gating_einsum", + nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0,)), + (2, self.features, self.hidden_dim), + ).astype(dtype) + ff_gate = jnp.dot(x, w_gating[0]) + gate_value = nn.gelu(ff_gate) + + ff1 = jnp.dot(x, w_gating[1]) + activations = gate_value * ff1 + + w_linear = self.param( + "linear", + nn.initializers.lecun_normal(in_axis=-2, out_axis=-1), + (self.hidden_dim, self.features), + ).astype(dtype) + outputs = jnp.dot(activations, w_linear) + assert outputs.dtype == dtype + return outputs + + +@at.typecheck +class Block(nn.Module): + """Transformer block.""" + + configs: Sequence[Config] + + dropout: float = 0.0 + dropout_bdims: tuple[int, ...] = () + + @nn.compact + def __call__(self, xs, kv_cache, positions, attn_mask, decode, deterministic=True): # noqa: FBT002 + xs = sharding.activation_sharding_constraint(xs) + drop = nn.Dropout(self.dropout, self.dropout_bdims) if self.dropout else lambda x, _: x + + attn = Attention(configs=self.configs, name="attn") + + pre_attn = [] + for i, x in enumerate(xs): + if x is not None: + x = RMSNorm(name=_name("pre_attention_norm", i))(x) # noqa: PLW2901 + pre_attn.append(x) + + pre_attn = sharding.activation_sharding_constraint(pre_attn) + post_attn, kv_cache = attn(pre_attn, positions, attn_mask, kv_cache) + post_attn = jax.tree.map(lambda x: drop(x, deterministic), post_attn) + post_attn = sharding.activation_sharding_constraint(post_attn) + xs = jax.tree.map(lambda x, y: x + y, xs, post_attn) + xs = sharding.activation_sharding_constraint(xs) + + out = [] + for i, (x, config) in enumerate(zip(xs, self.configs, strict=True)): + if x is not None: + x = RMSNorm(name=_name("pre_ffw_norm", i))(x) # noqa: PLW2901 + x = lora.FeedForward( # noqa: PLW2901 + features=config.width, + hidden_dim=config.mlp_dim, + name=_name("mlp", i), + lora_config=config.lora_configs.get("ffn"), + )(x) + out.append(x) + + out = sharding.activation_sharding_constraint(out) + + out = jax.tree.map(lambda x: drop(x, deterministic), out) + xs = jax.tree.map(lambda x, y: x + y, xs, out) + xs = sharding.activation_sharding_constraint(xs) + + return xs, kv_cache + + +KVCache: TypeAlias = tuple[at.Float[at.Array, "l b _t _k _h"], at.Float[at.Array, "l b _t _v _h"]] + + +@at.typecheck +class Module(nn.Module): + """Transformer model, supporting a mixture of different weights for different tokens.""" + + configs: Sequence[Config] # list of configs, one for each expert + embed_dtype: str + + dropout: float = 0.0 + dropout_bdims: tuple[int, ...] = () # Every float is dropped independently. + + def setup(self): + # all experts must have the same depth + assert all(config.depth == self.configs[0].depth for config in self.configs) + + self.embedder = Embedder( + vocab_size=PALIGEMMA_VOCAB_SIZE, + embed_dim=self.configs[0].width, # embedder for first expert only + name="embedder", + ) + block_cls = nn.remat( + Block, + prevent_cse=False, + static_argnums=(5,), # 0=self, 5=deterministic + policy=jax.checkpoint_policies.nothing_saveable, + ) + self.layers = nn.scan( + block_cls, + variable_axes={"params": 0}, + split_rngs={"params": True, "dropout": True}, + in_axes=(0, nn.broadcast, nn.broadcast, nn.broadcast), # 0=kv_cache, 1=positions, 2=mask, 3=decode + length=self.configs[0].depth, + )( + configs=self.configs, + dropout=self.dropout, + dropout_bdims=self.dropout_bdims, + ) + self.final_norms = [RMSNorm(name=_name("final_norm", i)) for i in range(len(self.configs))] + + @at.typecheck + def embed(self, tokens: at.Int[at.Array, "b t"]) -> at.Float[at.Array, "b t d"]: + return self.embedder.encode(tokens).astype(self.embed_dtype) + + @at.typecheck + def __call__( + self, + # list of token arrays, one for each expert, or None if that expert should not be run + embedded: Sequence[at.Float[at.Array, "b _t _d"] | None], + positions: at.Int[at.Array, "b t"], + mask: at.Bool[at.Array, "b t s"], + *, + kv_cache: KVCache | None = None, + deterministic: bool = True, + ) -> tuple[Sequence[at.Float[at.Array, "b _t _d"] | None], KVCache]: + embedded = jax.tree.map(lambda e: e.astype(self.embed_dtype), embedded) + mask = jnp.asarray(mask)[:, None, :, :] + + embedded, kv_cache = self.layers(embedded, kv_cache, positions, mask, deterministic) + + assert all(e.dtype == jnp.dtype(self.embed_dtype) for e in embedded if e is not None) + + return [f(e) if e is not None else e for f, e in zip(self.final_norms, embedded, strict=True)], kv_cache + + def init(self): + """Convenience method for initializing all parameters, necessary due to the quirks of linen.""" + self.embed(jnp.zeros((1, 1), dtype=jnp.int32)) + self( + [jnp.zeros((1, 1, c.width)) for c in self.configs], + jnp.zeros((1, len(self.configs)), dtype=jnp.int32), + jnp.zeros((1, len(self.configs), len(self.configs)), dtype=bool), + ) + + +def _apply_rope(x, *, positions, max_wavelength=10_000): + """Applies RoPE positions [B, L] to x [B, L, H, D].""" + freq_exponents = (2.0 / x.shape[-1]) * jnp.arange(x.shape[-1] // 2, dtype=jnp.float32) + timescale = max_wavelength**freq_exponents + radians = positions[..., None] / timescale[None, None, :] + radians = radians[..., None, :] + assert radians.dtype == jnp.float32 + # radians.shape = [...,L,1,d=D/2] + sin, cos = jnp.sin(radians), jnp.cos(radians) + x1, x2 = jnp.split(x, 2, axis=-1) + res = jnp.concatenate([x1 * cos - x2 * sin, x2 * cos + x1 * sin], axis=-1) + assert res.dtype == jnp.float32 + # The original bigvision impl allows RoPE to upcast to float32. It is then immediately downcast again to the cache + # dtype when in inference mode (but not in training mode). I don't think any of this was intentional. Based on the + # original DeepMind impl, as well as the widely-used transformers impl, it is ok to always downcast back to bfloat16 + # here. + return res.astype(x.dtype) + + +def _name(name, i): + # we name layers like this because we want the first expert's weights to have no suffix (e.g., "attn"), so that they + # can be loaded seamlessly from the existing PaliGemma checkpoint. subsequent experts will have a suffix (e.g., + # "attn_1") and their weights will be initialized from scratch. in practice, we only use two experts -- PaliGemma, + # and the action expert. + if i == 0: + return name + return f"{name}_{i}" diff --git a/src/openpi/models/gemma_fast.py b/src/openpi/models/gemma_fast.py new file mode 100644 index 0000000000000000000000000000000000000000..eee39b4317dd3f42aa4d73e11dceee37e394c39d --- /dev/null +++ b/src/openpi/models/gemma_fast.py @@ -0,0 +1,437 @@ +# Copyright 2024 Big Vision Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +""" +Gemma model implementation from big_vision/models/ppp/gemma.py (with small modifications for NNX compatibility) +Used for FAST autoregressive policies. +""" + +import dataclasses +from typing import Literal, TypeAlias + +import einops +import flax.linen as nn +import jax +import jax.numpy as jnp +import ml_collections + +import openpi.models.lora as lora +import openpi.shared.array_typing as at + +Variant = Literal["gemma_2b", "gemma_2b_lora"] + + +def get_config(variant): + """Returns config for specified gemma variant.""" + if variant == "gemma_2b": + return ml_collections.ConfigDict( + { + "variant": variant, + "width": 2048, + "depth": 18, + "mlp_dim": 16_384, + "num_heads": 8, + "num_kv_heads": 1, + "head_dim": 256, + "norm_eps": 1e-6, + "vocab_size": 257_152, + "scan": True, + "remat_policy": "nothing_saveable", + } + ) + if variant == "gemma_2b_lora": + return ml_collections.ConfigDict( + { + "variant": variant, + "width": 2048, + "depth": 18, + "mlp_dim": 16_384, + "num_heads": 8, + "num_kv_heads": 1, + "head_dim": 256, + "norm_eps": 1e-6, + "vocab_size": 257_152, + "scan": True, + "remat_policy": "nothing_saveable", + "lora_configs": { + "attn": lora.LoRAConfig(rank=16, alpha=16.0), + "ffn": lora.LoRAConfig(rank=16, alpha=16.0), + }, + } + ) + raise ValueError(f"Unknown variant: {variant}") + + +@at.typecheck +class Einsum(nn.Module): + shape: tuple[int, ...] + + @nn.compact + def __call__(self, eqn, x): + dtype = x.dtype # original dtype, could be half-precision + w = self.param("w", nn.initializers.zeros_init(), self.shape).astype(dtype) + return jnp.einsum(eqn, x, w) + + +@at.typecheck +class RMSNorm(nn.Module): + @nn.compact + def __call__(self, x): + dtype = x.dtype # original dtype, could be half-precision + scale = self.param("scale", nn.initializers.zeros_init(), (x.shape[-1])) + var = jnp.mean(jnp.square(x.astype(jnp.float32)), axis=-1, keepdims=True) # compute variance in float32 + normed_inputs = jnp.asarray(x * jnp.reciprocal(jnp.sqrt(var + 1e-06))) # compute normalization in float32 + normed_inputs = normed_inputs * ( + 1 + scale + ) # scale by learned parameter in float32 (matches Flax implementation) + return normed_inputs.astype(dtype) # return in original dtype + + +@at.typecheck +class Embedder(nn.Module): + """Embedder module.""" + + vocab_size: int + embed_dim: int + + def setup(self): + self.input_embedding_table = self.param( + "input_embedding", + nn.initializers.zeros_init(), + (self.vocab_size, self.embed_dim), + ) + + def encode(self, x): + x = self.input_embedding_table[(x,)] + x *= jnp.sqrt(self.embed_dim).astype(x.dtype) + return x + + def decode(self, x): + return jnp.dot(x, self.input_embedding_table.T) + + +@at.typecheck +class Attention(nn.Module): + """Attention module.""" + + num_heads: int + num_kv_heads: int + features: int + head_dim: int + + cache_dtype: str | None = None + + lora_config: lora.LoRAConfig | None = None + + def setup(self): + if self.num_kv_heads == self.num_heads: + self.qkv_einsum = lora.Einsum( + shape=(3, self.num_heads, self.features, self.head_dim), + name="qkv_einsum", + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0, 1)), + lora_config=self.lora_config, + ) + else: + self.q_einsum = lora.Einsum( + shape=(self.num_heads, self.features, self.head_dim), + name="q_einsum", + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0,)), + lora_config=self.lora_config, + ) + self.kv_einsum = lora.Einsum( + shape=(2, self.num_kv_heads, self.features, self.head_dim), + name="kv_einsum", + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0, 1)), + lora_config=self.lora_config, + ) + self.attn_vec_einsum = lora.Einsum( + shape=(self.num_heads, self.head_dim, self.features), + name="attn_vec_einsum", + init_fn=nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0,)), + lora_config=self.lora_config, + ) + + def _init_cache(self, k, v, cache_size): + """Initialize KV cache""" + prefill_len = k.shape[1] + pad_width = ((0, 0), (0, cache_size - prefill_len), (0, 0), (0, 0)) + cache_dtype = self.cache_dtype or k.dtype + k_cache = jnp.pad(k.astype(cache_dtype), pad_width) + v_cache = jnp.pad(v.astype(cache_dtype), pad_width) + idx = jnp.zeros((k.shape[0],), dtype=jnp.int32) + prefill_len + return idx, k_cache, v_cache + + def _update_cache(self, k, v, idx, k_cache, v_cache): + """Update KV cache with new values""" + assert k.shape[1] == 1, "Only support kv-cache updates of length 1" + indices = (0, idx[0], 0, 0) + cache_dtype = self.cache_dtype or k.dtype + k_new = jax.lax.dynamic_update_slice(k_cache, k.astype(cache_dtype), indices) + v_new = jax.lax.dynamic_update_slice(v_cache, v.astype(cache_dtype), indices) + idx_new = idx + 1 + return idx_new, k_new, v_new + + @nn.compact + def __call__(self, x, positions, attn_mask, kv_cache, decode, deterministic=True): # noqa: FBT002 + dtype = x.dtype # original dtype, could be half-precision + if self.num_kv_heads == self.num_heads: + q, k, v = self.qkv_einsum("BSD,3KDH->3BSKH", x) + else: + q = self.q_einsum("BTD,NDH->BTNH", x) + k, v = self.kv_einsum("BSD,2KDH->2BSKH", x) + + q = _apply_rope(q, positions=positions) # promotes to float32 + q *= self.head_dim**-0.5 + + k = _apply_rope(k, positions=positions) # promotes to float32 + + if kv_cache is None: + idx, k_cache, v_cache = self._init_cache(k, v, attn_mask.shape[-1]) + else: + idx, k_cache, v_cache = kv_cache + idx, k_cache, v_cache = self._update_cache(k, v, idx, k_cache, v_cache) + + k, v = k_cache, v_cache + kv_cache = (idx, k_cache, v_cache) + + q = einops.rearrange(q, "B T (K G) H -> B T K G H", K=self.num_kv_heads) + logits = jnp.einsum("BTKGH,BSKH->BKGTS", q, k, preferred_element_type=jnp.float32) + + if attn_mask.shape != (q.shape[0], 1, q.shape[1], k.shape[1]): + raise ValueError( + f"Attention mask with shape {attn_mask.shape} but shapes for q and k are: {q.shape} and {k.shape}" + ) + + # big_neg = jnp.finfo(logits.dtype).min + big_neg = -2.3819763e38 # See gemma/modules.py + masked_logits = jnp.where(attn_mask[:, :, None, :, :], logits, big_neg) + + probs = jax.nn.softmax(masked_logits, axis=-1).astype(dtype) + + encoded = jnp.einsum("BKGTS,BSKH->BTKGH", probs, v) + encoded = einops.rearrange(encoded, "B T K G H -> B T (K G) H") + return self.attn_vec_einsum("BTNH,NHD->BTD", encoded), kv_cache + + +@at.typecheck +class Block(nn.Module): + """Transformer block.""" + + num_heads: int + num_kv_heads: int + embed_dim: int + head_dim: int + hidden_dim: int + + dropout: float = 0.0 + dropout_bdims: tuple[int, ...] = () + cache_dtype: str | None = None + lora_configs: ml_collections.ConfigDict = dataclasses.field(default_factory=ml_collections.ConfigDict) + + def setup(self): + self.pre_attention_norm = RMSNorm() + self.attn = Attention( + num_heads=self.num_heads, + num_kv_heads=self.num_kv_heads, + features=self.embed_dim, + head_dim=self.head_dim, + cache_dtype=self.cache_dtype, + lora_config=self.lora_configs.get("attn"), + ) + self.pre_ffw_norm = RMSNorm() + self.mlp = lora.FeedForward( + features=self.embed_dim, hidden_dim=self.hidden_dim, name="mlp", lora_config=self.lora_configs.get("ffn") + ) + if self.dropout: + self.drop = nn.Dropout(self.dropout, self.dropout_bdims) + else: + self.drop = lambda x, _: x + + def __call__(self, x, kv_cache, positions, attn_mask, decode, deterministic=True): # noqa: FBT002 + x = nn.with_logical_constraint(x, ("act_batch", "act_len", "act_emb")) + inputs_normalized = self.pre_attention_norm(x) + attn_output, kv_cache = self.attn(inputs_normalized, positions, attn_mask, kv_cache, decode, deterministic) + attn_output = self.drop(attn_output, deterministic) + attn_output += x + residual = attn_output + attn_output = self.pre_ffw_norm(attn_output) + outputs = self.mlp(attn_output) + outputs = self.drop(outputs, deterministic) + outputs = residual + outputs + return outputs, kv_cache + + +KVCache: TypeAlias = tuple[at.Int[at.Array, " b"], at.Float[at.Array, "b _t _k _h"], at.Float[at.Array, "b _t _v _h"]] + + +@at.typecheck +class Module(nn.Module): + """gemma model.""" + + variant: str + + width: int + depth: int + mlp_dim: int + num_heads: int + num_kv_heads: int + head_dim: int + norm_eps: float + vocab_size: int + embed_dtype: str + + dropout: float = 0.0 + dropout_bdims: tuple[int, ...] = () # Every float is dropped independently. + cache_dtype: str | None = None + + scan: bool = False + remat_policy: str = "none" + lora_configs: ml_collections.ConfigDict = dataclasses.field(default_factory=ml_collections.ConfigDict) + + @nn.compact + def __call__( + self, + tokens=None, + embedded_prefix=None, + embed_only=False, # noqa: FBT002 + pre_logits=None, + positions=None, + mask=None, + decode=False, # noqa: FBT002 + kv_cache=None, + deterministic=True, # noqa: FBT002 + return_prelogits=False, # noqa: FBT002 + ): + """Embed only, or complete forward pass. + + Args: + tokens: Embedded, then and appended to `embedded_prefix`. Can be None. + embedded_prefix: Optional prefix that is already embedded. + embed_only: Whether to compute embeddings only. + pre_logits: If present computes logits from pre_logits and returns. + positions: Optional `[B, T]` allows to specify the absolute position of + the tokens. + mask: Optional attention mask `[B, T, S]`. + decode: Whether to use kv-cache. Caller must pass masks and positions. + deterministic: Forwarded to all dropout layers. + return_prelogits: Whether to return the pre-logits. + + Returns: + If `embed_only=False`, then `(logits, out)` will be returned. + If `embed_only=True`, then the embeddings will be returned. + If `return_prelogits=True`, then the pre-logits will be returned. + """ + out = {} + + embedder = Embedder(vocab_size=self.vocab_size, embed_dim=self.width, name="embedder") + + if pre_logits is not None: + x = out["pre_logits"] = pre_logits + logits = out["logits"] = embedder.decode(x) + return logits, out + + x = [] + if embedded_prefix is not None: + x.append(embedded_prefix) + if tokens is not None: + x.append(embedder.encode(tokens)) + + x = jnp.concatenate(x, axis=-2) + x = x.astype(self.embed_dtype) + batch_size, seq_len, width = x.shape + + if embed_only: + return x + + if decode: + assert positions is not None and mask is not None, ( # noqa: PT018 + "Must explicitly pass positions and mask for decoding." + ) + + if positions is None: + positions = jnp.arange(seq_len).astype(jnp.int32)[None, :] + assert positions.shape[1] == x.shape[1], (positions.shape, x.shape) + + if mask is None: + mask = nn.attention.make_causal_mask(jnp.ones([batch_size, seq_len])) + if mask.ndim == 3: + mask = mask[:, None, :, :] + cache_size = max(seq_len, mask.shape[-1]) + assert mask.shape == (batch_size, 1, seq_len, cache_size), mask.shape + + if self.remat_policy == "none": + block_cls = Block + else: + block_cls = nn.remat( + Block, + prevent_cse=not self.scan, + static_argnums=(5, 6), # 0=self, 5=decode, 6=deterministic + policy=getattr(jax.checkpoint_policies, self.remat_policy), + ) + + block_kw = { + "num_heads": self.num_heads, + "head_dim": self.head_dim, + "num_kv_heads": self.num_kv_heads, + "embed_dim": width, + "hidden_dim": self.mlp_dim, + "dropout": self.dropout, + "dropout_bdims": self.dropout_bdims, + "cache_dtype": self.cache_dtype, + "lora_configs": self.lora_configs, + } + layers = self.scope.push("layers") + blocks = [ + nn.scan( + block_cls, + variable_axes={"params": 0}, + split_rngs={"params": True, "dropout": True}, + in_axes=(0, nn.broadcast, nn.broadcast, nn.broadcast, nn.broadcast), # 0=kv_cache, 1=positions, 2=mask + length=self.depth, + )(parent=layers, **block_kw) + ] + for block in blocks: + x, kv_cache = block(x, kv_cache, positions, mask, decode, deterministic) + + assert x.dtype == jnp.dtype(self.embed_dtype) # Sanity check. + out["encoded"] = x + + x = RMSNorm(name="final_norm")(x) + out["pre_logits"] = x + if return_prelogits: + return x, kv_cache, out + + x = embedder.decode(x) + out["logits"] = x + + return x, kv_cache, out + + def init(self): + """Convenience method for initializing all parameters, necessary due to the quirks of linen.""" + self(jnp.zeros((1, 1), dtype=jnp.int32)) + + +def _apply_rope(x, *, positions, max_wavelength=10_000): + """Applies RoPE positions [B, L] to x [B, L, H, D].""" + freq_exponents = (2.0 / x.shape[-1]) * jnp.arange(x.shape[-1] // 2, dtype=jnp.float32) + timescale = max_wavelength**freq_exponents + radians = positions[..., None] / timescale[None, None, :] + radians = radians[..., None, :] + assert radians.dtype == jnp.float32 + # radians.shape = [...,L,1,d=D/2] + sin, cos = jnp.sin(radians), jnp.cos(radians) + x1, x2 = jnp.split(x, 2, axis=-1) + res = jnp.concatenate([x1 * cos - x2 * sin, x2 * cos + x1 * sin], axis=-1) + assert res.dtype == jnp.float32 + return res diff --git a/src/openpi/models/lora.py b/src/openpi/models/lora.py new file mode 100644 index 0000000000000000000000000000000000000000..3dfff5b4f22ff42f73298037a77df900c6b11d75 --- /dev/null +++ b/src/openpi/models/lora.py @@ -0,0 +1,148 @@ +import math +import re + +import flax.linen as nn +import flax.struct as struct +import jax.numpy as jnp + +import openpi.shared.array_typing as at + + +@struct.dataclass +class LoRAConfig: + """Configuration for LoRA.""" + + # LoRA rank. + rank: int + # LoRA scaling factor. + alpha: float = 1.0 + # Initialization function for LoRA parameters. + init_fn: nn.initializers.Initializer = nn.initializers.normal(stddev=0.01) + # Enable rank-stabilized LoRA: https://arxiv.org/pdf/2312.03732 + rslora: bool = False + # Axes in the weight to apply LoRA to. Should typically be the last two axes. + axes: tuple[int, int] = (-2, -1) + # Axis label which is used by LoRA in einsum equations. Must not be present in the original equation. + label: str = "L" + + @property + def scaling_value(self) -> float: + return self.alpha / math.sqrt(self.rank) if self.rslora else self.alpha / self.rank + + +class Einsum(nn.Module): + """Einsum with LoRA support. Can be used as a drop-in replacement for the Gemma Einsum.""" + + # Shape of the weight. + shape: tuple[int, ...] + # Initialization function for the weight. + init_fn: nn.initializers.Initializer = nn.initializers.zeros + # If not None, apply LoRA to the weight. + lora_config: LoRAConfig | None = None + + def setup(self): + self.w = self.param("w", self.init_fn, self.shape) + + if config := self.lora_config: + # Setup LoRA parameters. + shape_a, shape_b = list(self.shape), list(self.shape) + shape_a[config.axes[1]] = config.rank + shape_b[config.axes[0]] = config.rank + self.w_a = self.param("lora_a", config.init_fn, shape_a) + self.w_b = self.param("lora_b", config.init_fn, shape_b) + + @nn.compact + def __call__(self, eqn: str, x): + dtype = x.dtype # original dtype, could be half-precision + result = jnp.einsum(eqn, x, self.w.astype(dtype)) + + if config := self.lora_config: + eqn_a, eqn_b = self._make_lora_eqns(eqn) + lora = jnp.einsum(eqn_a, x, self.w_a.astype(dtype)) + lora = jnp.einsum(eqn_b, lora, self.w_b.astype(dtype)) + result = result + lora * config.scaling_value + + return result + + def _make_lora_eqns(self, eqn: str) -> tuple[str, str]: + if "L" in eqn: + raise ValueError(f"L already in eqn: {eqn}") + if not (m := re.match("(.*),(.*)->(.*)", eqn)): + raise ValueError(f"Unsupported einsum eqn: {eqn}") + lhs, rhs, out = m.groups() + + assert self.lora_config is not None + a_label, b_label = (rhs[x] for x in self.lora_config.axes) + label = self.lora_config.label + + a_rhs = rhs.replace(b_label, label) + a_out = out.replace(b_label, label) + eqn_a = f"{lhs},{a_rhs}->{a_out}" + + b_rhs = rhs.replace(a_label, label) + eqn_b = f"{a_out},{b_rhs}->{out}" + + return eqn_a, eqn_b + + +class FeedForward(nn.Module): + """Feed forward module.""" + + features: int + hidden_dim: int + # If not None, apply LoRA to the weight. + lora_config: LoRAConfig | None = None + + def setup(self): + self.w_gating = self.param( + "gating_einsum", + nn.initializers.lecun_normal(in_axis=-2, out_axis=-1, batch_axis=(0,)), + (2, self.features, self.hidden_dim), + ) + self.w_linear = self.param( + "linear", + nn.initializers.lecun_normal(in_axis=-2, out_axis=-1), + (self.hidden_dim, self.features), + ) + self.w_gating_lora = None + self.w_linear_lora = None + if self.lora_config: + # Setup LoRA parameters. + # TODO: follow up with a simplified init_fn api. + self.w_gating_lora = ( + self.param("gating_einsum_lora_a", self.lora_config.init_fn, (2, self.features, self.lora_config.rank)), + self.param( + "gating_einsum_lora_b", self.lora_config.init_fn, (2, self.lora_config.rank, self.hidden_dim) + ), + ) + self.w_linear_lora = ( + self.param("linear_lora_a", self.lora_config.init_fn, (self.hidden_dim, self.lora_config.rank)), + self.param("linear_lora_b", self.lora_config.init_fn, (self.lora_config.rank, self.features)), + ) + + @nn.compact + def __call__(self, x): + dtype = x.dtype # original dtype, could be half-precision + ff_gate = self._dot( + x, + self.w_gating[0], + None if self.w_gating_lora is None else (self.w_gating_lora[0][0], self.w_gating_lora[1][0]), + ) + gate_value = nn.gelu(ff_gate) + + ff1 = self._dot( + x, + self.w_gating[1], + None if self.w_gating_lora is None else (self.w_gating_lora[0][1], self.w_gating_lora[1][1]), + ) + activations = gate_value * ff1 + + outputs = self._dot(activations, self.w_linear, self.w_linear_lora) + assert outputs.dtype == dtype + return outputs + + def _dot(self, x: at.Array, w: at.Array, lora_weights: tuple[at.Array, at.Array] | None) -> at.Array: + base = jnp.dot(x, w.astype(x.dtype)) + if lora_weights is None: + return base + return base + jnp.dot(jnp.dot(x, lora_weights[0].astype(x.dtype)), lora_weights[1].astype(x.dtype)) diff --git a/src/openpi/models/lora_test.py b/src/openpi/models/lora_test.py new file mode 100644 index 0000000000000000000000000000000000000000..48b65b6ae282c6bb0e6a410ee71204a4837ffc48 --- /dev/null +++ b/src/openpi/models/lora_test.py @@ -0,0 +1,94 @@ +import flax.linen as nn +import jax +import jax.numpy as jnp + +import openpi.models.lora as lora + + +def test_lora_einsum_params_shape(): + shape = (3, 8, 32, 4) # (3KDH) + einsum = lora.Einsum(shape) + lora0 = lora.Einsum(shape, lora_config=lora.LoRAConfig(rank=2)) + lora1 = lora.Einsum(shape, lora_config=lora.LoRAConfig(rank=2, axes=(1, 2))) + + key = jax.random.key(0) + x = jax.random.normal(key, (8, 64, 32)) # (BSD) + eqn = "BSD,3KDH->3BSKH" + + # Ensure that lora parameters are not initialized when LoRA is not used. + params = einsum.init(key, eqn, x) + assert "lora_a" not in params["params"] + assert "lora_b" not in params["params"] + + # Check that default axes work. + params_lora0 = lora0.init(key, eqn, x) + assert params_lora0["params"]["lora_a"].shape == (3, 8, 32, 2) + assert params_lora0["params"]["lora_b"].shape == (3, 8, 2, 4) + + # Check that user provided axes work. + params_lora1 = lora1.init(key, eqn, x) + assert params_lora1["params"]["lora_a"].shape == (3, 8, 2, 4) + assert params_lora1["params"]["lora_b"].shape == (3, 2, 32, 4) + + +def test_lora_einsum_same_output(): + shape = (3, 8, 32, 4) # (3KDH) + einsum = lora.Einsum(shape) + einsum_lora = lora.Einsum(shape, lora_config=lora.LoRAConfig(rank=2, init_fn=nn.initializers.zeros)) + + key = jax.random.key(0) + x = jax.random.normal(key, (8, 64, 32)) # (BSD) + eqn = "BSD,3KDH->3BSKH" + + params = einsum.init(key, eqn, x) + output = einsum.apply(params, eqn, x) + + params_lora = einsum_lora.init(key, eqn, x) + output_lora = einsum_lora.apply(params_lora, eqn, x) + + # Results are the same since the LoRA parameters are initialized to zeros. + assert jnp.allclose(output, output_lora) + + +def test_lora_ffn_params_shape(): + ffn = lora.FeedForward(features=8, hidden_dim=32) + ffn_lora = lora.FeedForward( + features=8, + hidden_dim=32, + lora_config=lora.LoRAConfig(rank=2), + ) + + key = jax.random.key(0) + x = jax.random.normal(key, (2, 8)) + + params = ffn.init(key, x) + assert params["params"]["gating_einsum"].shape == (2, 8, 32) + assert params["params"]["linear"].shape == (32, 8) + + params_lora = ffn_lora.init(key, x) + assert params_lora["params"]["gating_einsum"].shape == (2, 8, 32) + assert params_lora["params"]["linear"].shape == (32, 8) + assert params_lora["params"]["gating_einsum_lora_a"].shape == (2, 8, 2) + assert params_lora["params"]["gating_einsum_lora_b"].shape == (2, 2, 32) + assert params_lora["params"]["linear_lora_a"].shape == (32, 2) + assert params_lora["params"]["linear_lora_b"].shape == (2, 8) + + +def test_lora_ffn_same_output(): + ffn = lora.FeedForward(features=8, hidden_dim=32) + ffn_lora = lora.FeedForward( + features=8, + hidden_dim=32, + lora_config=lora.LoRAConfig(rank=2, init_fn=nn.initializers.zeros), + ) + + key = jax.random.key(0) + x = jax.random.normal(key, (2, 8)) + + params = ffn.init(key, x) + output = ffn.apply(params, x) + + params_lora = ffn_lora.init(key, x) + output_lora = ffn_lora.apply(params_lora, x) + + assert jnp.allclose(output, output_lora) diff --git a/src/openpi/models/model.py b/src/openpi/models/model.py new file mode 100644 index 0000000000000000000000000000000000000000..8f2f44b9358c3ab7de258d420507d9f599cdf73a --- /dev/null +++ b/src/openpi/models/model.py @@ -0,0 +1,321 @@ +import abc +from collections.abc import Sequence +import dataclasses +import enum +import logging +import pathlib +from typing import Generic, TypeVar + +import augmax +from flax import nnx +from flax import struct +from flax import traverse_util +import jax +import jax.numpy as jnp +import numpy as np +import orbax.checkpoint as ocp + +from openpi.shared import image_tools +import openpi.shared.array_typing as at + +logger = logging.getLogger("openpi") + +ArrayT = TypeVar("ArrayT", at.Array, jax.ShapeDtypeStruct) + + +class ModelType(enum.Enum): + """Supported model types.""" + + PI0 = "pi0" + PI0_FAST = "pi0_fast" + + +# The model always expects these images +IMAGE_KEYS = ( + "base_0_rgb", + "left_wrist_0_rgb", + "right_wrist_0_rgb", +) + + +# This may need change if we release a small model. +IMAGE_RESOLUTION = (224, 224) + + +# Data format +# +# Data transforms produce the model input as a nested dictionary which is later converted +# into `Obesrvation` and `Actions` objects. See below. +# +# In the dictory form, this data should look like: +# { +# # Observation data. +# "image": { +# "base_0_rgb": (float32|uint8)[*b, h, w, 3], # RGB image in [-1, 1] or [0, 255] +# ... # Additional camera views +# }, +# "image_mask": { +# "base_0_rgb": bool[*b], # True if image is valid +# ... # Masks for additional views +# }, +# "state": float32[*b, s], # Low-dimensional robot state +# "tokenized_prompt": int32[*b, l], # Optional, tokenized language prompt +# "tokenized_prompt_mask": bool[*b, l], # Optional, mask for tokenized prompt +# "token_ar_mask": int32[*b, l], # Optional, autoregressive mask for FAST model +# "token_loss_mask": bool[*b, l], # Optional, loss mask for FAST model +# +# # Actions data. +# "actions": float32[*b ah ad] +# } +# where: +# *b = batch dimensions +# h,w = image height/width +# s = state dimension +# l = sequence length +# +@at.typecheck +@struct.dataclass +class Observation(Generic[ArrayT]): + """Holds observations, i.e., inputs to the model. + + See `Observation.from_dict` to see the expected dictionary form. This is the format + that should be produced by the data transforms. + """ + + # Images, in [-1, 1] float32. + images: dict[str, at.Float[ArrayT, "*b h w c"]] + # Image masks, with same keys as images. + image_masks: dict[str, at.Bool[ArrayT, "*b"]] + # Low-dimensional robot state. + state: at.Float[ArrayT, "*b s"] + + # Tokenized prompt. + tokenized_prompt: at.Int[ArrayT, "*b l"] | None = None + # Tokenized prompt mask. + tokenized_prompt_mask: at.Bool[ArrayT, "*b l"] | None = None + + # pi0-fast model specific fields. + + # Token auto-regressive mask (for FAST autoregressive model). + token_ar_mask: at.Int[ArrayT, "*b l"] | None = None + # Token loss mask (for FAST autoregressive model). + token_loss_mask: at.Bool[ArrayT, "*b l"] | None = None + + @classmethod + def from_dict(cls, data: at.PyTree[ArrayT]) -> "Observation[ArrayT]": + """This method defines the mapping between unstructured data (i.e., nested dict) to the structured Observation format.""" + # Ensure that tokenized_prompt and tokenized_prompt_mask are provided together. + if ("tokenized_prompt" in data) != ("tokenized_prompt_mask" in data): + raise ValueError("tokenized_prompt and tokenized_prompt_mask must be provided together.") + # If images are uint8, convert them to [-1, 1] float32. + for key in data["image"]: + if data["image"][key].dtype == np.uint8: + data["image"][key] = data["image"][key].astype(np.float32) / 255.0 * 2.0 - 1.0 + return cls( + images=data["image"], + image_masks=data["image_mask"], + state=data["state"], + tokenized_prompt=data.get("tokenized_prompt"), + tokenized_prompt_mask=data.get("tokenized_prompt_mask"), + token_ar_mask=data.get("token_ar_mask"), + token_loss_mask=data.get("token_loss_mask"), + ) + + def to_dict(self) -> at.PyTree[ArrayT]: + """Convert the Observation to a nested dict.""" + result = dataclasses.asdict(self) + result["image"] = result.pop("images") + result["image_mask"] = result.pop("image_masks") + return result + + +# Defines the format of the actions. This field is included as "actions" inside the dictionary +# produced by the data transforms. +Actions = at.Float[ArrayT, "*b ah ad"] + + +def preprocess_observation( + rng: at.KeyArrayLike | None, + observation: Observation, + *, + train: bool = False, + image_keys: Sequence[str] = IMAGE_KEYS, + image_resolution: tuple[int, int] = IMAGE_RESOLUTION, +) -> Observation: + """Preprocess the observations by performing image augmentations (if train=True), resizing (if necessary), and + filling in a default image mask (if necessary). + """ + + if not set(image_keys).issubset(observation.images): + raise ValueError(f"images dict missing keys: expected {image_keys}, got {list(observation.images)}") + + batch_shape = observation.state.shape[:-1] + + out_images = {} + for key in image_keys: + image = observation.images[key] + if image.shape[1:3] != image_resolution: + logger.info(f"Resizing image {key} from {image.shape[1:3]} to {image_resolution}") + image = image_tools.resize_with_pad(image, *image_resolution) + + if train: + # Convert from [-1, 1] to [0, 1] for augmax. + image = image / 2.0 + 0.5 + + transforms = [] + if "wrist" not in key: + height, width = image.shape[1:3] + transforms += [ + augmax.RandomCrop(int(width * 0.95), int(height * 0.95)), + augmax.Resize(width, height), + augmax.Rotate((-5, 5)), + ] + transforms += [ + augmax.ColorJitter(brightness=0.3, contrast=0.4, saturation=0.5), + ] + sub_rngs = jax.random.split(rng, image.shape[0]) + image = jax.vmap(augmax.Chain(*transforms))(sub_rngs, image) + + # Back to [-1, 1]. + image = image * 2.0 - 1.0 + + out_images[key] = image + + # obtain mask + out_masks = {} + for key in out_images: + if key not in observation.image_masks: + # do not mask by default + out_masks[key] = jnp.ones(batch_shape, dtype=jnp.bool) + else: + out_masks[key] = jnp.asarray(observation.image_masks[key]) + + return Observation( + images=out_images, + image_masks=out_masks, + state=observation.state, + tokenized_prompt=observation.tokenized_prompt, + tokenized_prompt_mask=observation.tokenized_prompt_mask, + token_ar_mask=observation.token_ar_mask, + token_loss_mask=observation.token_loss_mask, + ) + + +@dataclasses.dataclass(frozen=True) +class BaseModelConfig(abc.ABC): + """Configuration shared by all models. Specific models should inherit from this class, and implement the `create` + method to create the corresponding model. + """ + + # Action space dimension. + action_dim: int + # Action sequence length. + action_horizon: int + # Tokenized prompt maximum length. + max_token_len: int + + @property + @abc.abstractmethod + def model_type(self) -> ModelType: + """The model type.""" + + @abc.abstractmethod + def create(self, rng: at.KeyArrayLike) -> "BaseModel": + """Create a new model, initializing parameters.""" + + def load(self, params: at.Params, *, remove_extra_params: bool = True) -> "BaseModel": + """Create a model with the given parameters.""" + model = nnx.eval_shape(self.create, jax.random.key(0)) + graphdef, state = nnx.split(model) + if remove_extra_params: + params = ocp.transform_utils.intersect_trees(state.to_pure_dict(), params) + at.check_pytree_equality(expected=state.to_pure_dict(), got=params, check_shapes=True, check_dtypes=False) + state.replace_by_pure_dict(params) + return nnx.merge(graphdef, state) + + @abc.abstractmethod + def inputs_spec(self, *, batch_size: int = 1) -> tuple[Observation, Actions]: + """Returns the input specification for the model. Values are jax.ShapeDtypeStruct.""" + + def fake_obs(self, batch_size: int = 1) -> Observation: + observation_spec, _ = self.inputs_spec(batch_size=batch_size) + return jax.tree.map(lambda x: jnp.ones(x.shape, x.dtype), observation_spec) + + def fake_act(self, batch_size: int = 1) -> Actions: + _, action_spec = self.inputs_spec(batch_size=batch_size) + return jax.tree.map(lambda x: jnp.ones(x.shape, x.dtype), action_spec) + + +@dataclasses.dataclass +class BaseModel(nnx.Module, abc.ABC): + """Base class for all model implementations. Specific models should inherit from this class. They should call + super().__init__() to initialize the shared attributes (action_dim, action_horizon, and max_token_len). + """ + + action_dim: int + action_horizon: int + max_token_len: int + + @abc.abstractmethod + def compute_loss( + self, + rng: at.KeyArrayLike, + observation: Observation, + actions: Actions, + *, + train: bool = False, + ) -> at.Float[at.Array, "*b ah"]: ... + + @abc.abstractmethod + def sample_actions(self, rng: at.KeyArrayLike, observation: Observation) -> Actions: ... + + +def restore_params( + params_path: pathlib.Path | str, + *, + restore_type: type[np.ndarray] | type[jax.Array] = jax.Array, + dtype: jnp.dtype | None = None, + sharding: jax.sharding.Sharding | None = None, +) -> at.Params: + """Restores unstructured params PyTree from a checkpoint. + + This works with checkpoints saved with `save_state` during openpi training (see `training/checkpoints.py`) as + well as pre-trained checkpoints released for openpi. + + Args: + params_path: The local path to the checkpoint directory. + restore_type: The type to restore the params as. Can be set to `np.ndarray` to load the params as a numpy array. + dtype: The dtype to restore all params as. If not provided, will use the original dtype from the checkpoint. + sharding: The sharding to use for the params. If not provided, the params will be replicated across all devices. + + Returns: + The restored params. + """ + params_path = pathlib.Path(params_path).resolve() + if not params_path.exists(): + raise FileNotFoundError(f"Model params not found at: {params_path}") + + if restore_type is jax.Array and sharding is None: + mesh = jax.sharding.Mesh(jax.devices(), ("x",)) + sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + with ocp.PyTreeCheckpointer() as ckptr: + metadata = ckptr.metadata(params_path) + item = {"params": metadata["params"]} + + params = ckptr.restore( + params_path, + ocp.args.PyTreeRestore( + item=item, + restore_args=jax.tree.map( + lambda _: ocp.ArrayRestoreArgs(sharding=sharding, restore_type=restore_type, dtype=dtype), item + ), + ), + )["params"] + + # If the params were saved with `save_state` during openpi training, every key path will end with "value", which is + # added by `nnx.State`. We remove the "value" suffix here and always return what NNX calls a "pure dict". + flat_params = traverse_util.flatten_dict(params) + if all(kp[-1] == "value" for kp in flat_params): + flat_params = {kp[:-1]: v for kp, v in flat_params.items()} + return traverse_util.unflatten_dict(flat_params) diff --git a/src/openpi/models/model_test.py b/src/openpi/models/model_test.py new file mode 100644 index 0000000000000000000000000000000000000000..2bce7fca5b4c1073c48496caa082aaf431a6695d --- /dev/null +++ b/src/openpi/models/model_test.py @@ -0,0 +1,94 @@ +from flax import nnx +import jax +import pytest + +from openpi.models import model as _model +from openpi.models import pi0 +from openpi.models import pi0_fast +from openpi.shared import download +from openpi.shared import nnx_utils + + +def test_pi0_model(): + key = jax.random.key(0) + config = pi0.Pi0Config() + model = config.create(key) + + batch_size = 2 + obs, act = config.fake_obs(batch_size), config.fake_act(batch_size) + + loss = nnx_utils.module_jit(model.compute_loss)(key, obs, act) + assert loss.shape == (batch_size, config.action_horizon) + + actions = nnx_utils.module_jit(model.sample_actions)(key, obs, num_steps=10) + assert actions.shape == (batch_size, model.action_horizon, model.action_dim) + + +def test_pi0_lora_model(): + key = jax.random.key(0) + config = pi0.Pi0Config(paligemma_variant="gemma_2b_lora") + model = config.create(key) + + batch_size = 2 + obs, act = config.fake_obs(batch_size), config.fake_act(batch_size) + + loss = nnx_utils.module_jit(model.compute_loss)(key, obs, act) + assert loss.shape == (batch_size, config.action_horizon) + + actions = nnx_utils.module_jit(model.sample_actions)(key, obs, num_steps=10) + assert actions.shape == (batch_size, model.action_horizon, model.action_dim) + + +def test_pi0_fast_model(): + key = jax.random.key(0) + config = pi0_fast.Pi0FASTConfig() + model = config.create(key) + + batch_size = 2 + obs, act = config.fake_obs(batch_size), config.fake_act(batch_size) + + loss = nnx_utils.module_jit(model.compute_loss)(key, obs, act) + assert loss.shape == (batch_size,) + + actions = nnx_utils.module_jit(model.sample_actions)(key, obs) + assert actions.shape == (batch_size, 256) + + +def test_pi0_fast_lora_model(): + key = jax.random.key(0) + config = pi0_fast.Pi0FASTConfig(paligemma_variant="gemma_2b_lora") + model = config.create(key) + + batch_size = 2 + obs, act = config.fake_obs(batch_size), config.fake_act(batch_size) + + loss = nnx_utils.module_jit(model.compute_loss)(key, obs, act) + assert loss.shape == (batch_size,) + + actions = nnx_utils.module_jit(model.sample_actions)(key, obs) + assert actions.shape == (batch_size, 256) + + lora_filter = nnx_utils.PathRegex(".*lora.*") + model_state = nnx.state(model) + + lora_state_elems = list(model_state.filter(lora_filter)) + assert len(lora_state_elems) > 0 + + +@pytest.mark.manual +def test_model_restore(): + key = jax.random.key(0) + config = pi0.Pi0Config() + + batch_size = 2 + obs, act = config.fake_obs(batch_size), config.fake_act(batch_size) + + model = config.load( + _model.restore_params(download.maybe_download("gs://openpi-assets/checkpoints/pi0_base/params")) + ) + + loss = model.compute_loss(key, obs, act) + assert loss.shape == (batch_size, config.action_horizon) + + actions = model.sample_actions(key, obs, num_steps=10) + assert actions.shape == (batch_size, model.action_horizon, model.action_dim) diff --git a/src/openpi/models/pi0.py b/src/openpi/models/pi0.py new file mode 100644 index 0000000000000000000000000000000000000000..1531108e68189cd93e5c38be9a2df4973b45f6ea --- /dev/null +++ b/src/openpi/models/pi0.py @@ -0,0 +1,325 @@ +import dataclasses +import logging + +import einops +import flax.nnx as nnx +import flax.nnx.bridge as nnx_bridge +import jax +import jax.numpy as jnp +from typing_extensions import override + +from openpi.models import model as _model +import openpi.models.gemma as _gemma +import openpi.models.siglip as _siglip +from openpi.shared import array_typing as at +import openpi.shared.nnx_utils as nnx_utils + +logger = logging.getLogger("openpi") + + +def make_attn_mask(input_mask, mask_ar): + """Adapted from big_vision. + + Tokens can attend to valid inputs tokens which have a cumulative mask_ar + smaller or equal to theirs. This way `mask_ar` bool[?B, N] can be used to + setup several types of attention, for example: + + [[1 1 1 1 1 1]]: pure causal attention. + + [[0 0 0 1 1 1]]: prefix-lm attention. The first 3 tokens can attend between + themselves and the last 3 tokens have a causal attention. The first + entry could also be a 1 without changing behaviour. + + [[1 0 1 0 1 0 0 1 0 0]]: causal attention between 4 blocks. Tokens of a + block can attend all previous blocks and all tokens on the same block. + + Args: + input_mask: bool[B, N] true if its part of the input, false if padding. + mask_ar: bool[?B, N] mask that's true where previous tokens cannot depend on + it and false where it shares the same attention mask as the previous token. + """ + mask_ar = jnp.broadcast_to(mask_ar, input_mask.shape) + cumsum = jnp.cumsum(mask_ar, axis=1) + attn_mask = cumsum[:, None, :] <= cumsum[:, :, None] + valid_mask = input_mask[:, None, :] * input_mask[:, :, None] + return jnp.logical_and(attn_mask, valid_mask) + + +@at.typecheck +def posemb_sincos( + pos: at.Real[at.Array, " b"], embedding_dim: int, min_period: float, max_period: float +) -> at.Float[at.Array, "b {embedding_dim}"]: + """Computes sine-cosine positional embedding vectors for scalar positions.""" + if embedding_dim % 2 != 0: + raise ValueError(f"embedding_dim ({embedding_dim}) must be divisible by 2") + + fraction = jnp.linspace(0.0, 1.0, embedding_dim // 2) + period = min_period * (max_period / min_period) ** fraction + sinusoid_input = jnp.einsum( + "i,j->ij", + pos, + 1.0 / period * 2 * jnp.pi, + precision=jax.lax.Precision.HIGHEST, + ) + return jnp.concatenate([jnp.sin(sinusoid_input), jnp.cos(sinusoid_input)], axis=-1) + + +@dataclasses.dataclass(frozen=True) +class Pi0Config(_model.BaseModelConfig): + dtype: str = "bfloat16" + paligemma_variant: _gemma.Variant = "gemma_2b" + action_expert_variant: _gemma.Variant = "gemma_300m" + + # Set the model specific defaults. + action_dim: int = 32 + action_horizon: int = 50 + max_token_len: int = 48 + + @property + @override + def model_type(self) -> _model.ModelType: + return _model.ModelType.PI0 + + @override + def create(self, rng: at.KeyArrayLike) -> "Pi0": + return Pi0(self, rngs=nnx.Rngs(rng)) + + @override + def inputs_spec(self, *, batch_size: int = 1) -> tuple[_model.Observation, _model.Actions]: + image_spec = jax.ShapeDtypeStruct([batch_size, *_model.IMAGE_RESOLUTION, 3], jnp.float32) + image_mask_spec = jax.ShapeDtypeStruct([batch_size], jnp.bool_) + + with at.disable_typechecking(): + observation_spec = _model.Observation( + images={ + "base_0_rgb": image_spec, + "left_wrist_0_rgb": image_spec, + "right_wrist_0_rgb": image_spec, + }, + image_masks={ + "base_0_rgb": image_mask_spec, + "left_wrist_0_rgb": image_mask_spec, + "right_wrist_0_rgb": image_mask_spec, + }, + state=jax.ShapeDtypeStruct([batch_size, self.action_dim], jnp.float32), + tokenized_prompt=jax.ShapeDtypeStruct([batch_size, self.max_token_len], jnp.int32), + tokenized_prompt_mask=jax.ShapeDtypeStruct([batch_size, self.max_token_len], bool), + ) + action_spec = jax.ShapeDtypeStruct([batch_size, self.action_horizon, self.action_dim], jnp.float32) + + return observation_spec, action_spec + + def get_freeze_filter(self) -> nnx.filterlib.Filter: + """Returns the freeze filter based on the model config.""" + filters = [] + has_lora = False + gemma_params_filter = nnx_utils.PathRegex(".*llm.*") + action_expert_params_filter = nnx_utils.PathRegex(".*llm.*_1.*") + if "lora" in self.paligemma_variant: + filters.append( + gemma_params_filter, + ) + if "lora" not in self.action_expert_variant: + # If only freeze gemma params, exclude action expert params. + filters.append( + nnx.Not(action_expert_params_filter), + ) + has_lora = True + elif "lora" in self.action_expert_variant: + filters.append( + action_expert_params_filter, + ) + has_lora = True + + if has_lora: + # If any lora is used, exclude all lora params. + filters.append( + nnx.Not(nnx_utils.PathRegex(".*lora.*")), + ) + if not filters: + return nnx.Nothing + return nnx.All(*filters) + + +class Pi0(_model.BaseModel): + def __init__(self, config: Pi0Config, rngs: nnx.Rngs): + super().__init__(config.action_dim, config.action_horizon, config.max_token_len) + paligemma_config = _gemma.get_config(config.paligemma_variant) + action_expert_config = _gemma.get_config(config.action_expert_variant) + # TODO: rewrite gemma in NNX. For now, use bridge. + llm = nnx_bridge.ToNNX( + _gemma.Module( + configs=[paligemma_config, action_expert_config], + embed_dtype=config.dtype, + ) + ) + llm.lazy_init(rngs=rngs, method="init") + img = nnx_bridge.ToNNX( + _siglip.Module( + num_classes=paligemma_config.width, + variant="So400m/14", + pool_type="none", + scan=True, + dtype_mm=config.dtype, + ) + ) + img.lazy_init(next(iter(config.fake_obs().images.values())), train=False, rngs=rngs) + self.PaliGemma = nnx.Dict(llm=llm, img=img) + self.state_proj = nnx.Linear(config.action_dim, action_expert_config.width, rngs=rngs) + self.action_in_proj = nnx.Linear(config.action_dim, action_expert_config.width, rngs=rngs) + self.action_time_mlp_in = nnx.Linear(2 * action_expert_config.width, action_expert_config.width, rngs=rngs) + self.action_time_mlp_out = nnx.Linear(action_expert_config.width, action_expert_config.width, rngs=rngs) + self.action_out_proj = nnx.Linear(action_expert_config.width, config.action_dim, rngs=rngs) + + @at.typecheck + def embed_prefix( + self, obs: _model.Observation + ) -> tuple[at.Float[at.Array, "b s emb"], at.Bool[at.Array, "b s"], at.Bool[at.Array, " s"]]: + input_mask = [] + ar_mask = [] + tokens = [] + # embed images + for name in obs.images: + image_tokens, _ = self.PaliGemma.img(obs.images[name], train=False) + + tokens.append(image_tokens) + input_mask.append( + einops.repeat( + obs.image_masks[name], + "b -> b s", + s=image_tokens.shape[1], + ) + ) + # image tokens attend to each other + ar_mask += [False] * image_tokens.shape[1] + + # add language (aka tokenized inputs) + if obs.tokenized_prompt is not None: + tokenized_inputs = self.PaliGemma.llm(obs.tokenized_prompt, method="embed") + tokens.append(tokenized_inputs) + input_mask.append(obs.tokenized_prompt_mask) + # full attention between image and language inputs + ar_mask += [False] * tokenized_inputs.shape[1] + tokens = jnp.concatenate(tokens, axis=1) + input_mask = jnp.concatenate(input_mask, axis=1) + ar_mask = jnp.array(ar_mask) + return tokens, input_mask, ar_mask + + @at.typecheck + def embed_suffix( + self, obs: _model.Observation, noisy_actions: _model.Actions, timestep: at.Float[at.Array, " b"] + ) -> tuple[at.Float[at.Array, "b s emb"], at.Bool[at.Array, "b s"], at.Bool[at.Array, " s"]]: + input_mask = [] + ar_mask = [] + tokens = [] + # add a single state token + state_token = self.state_proj(obs.state)[:, None, :] + tokens.append(state_token) + input_mask.append(jnp.ones((obs.state.shape[0], 1), dtype=jnp.bool_)) + # image/language inputs do not attend to state or actions + ar_mask += [True] + + # embed timestep using sine-cosine positional encoding with sensitivity in the range [0, 1] + time_emb = posemb_sincos(timestep, self.action_in_proj.out_features, min_period=4e-3, max_period=4.0) + # mix timestep + action information using an MLP + action_tokens = self.action_in_proj(noisy_actions) + time_tokens = einops.repeat(time_emb, "b emb -> b s emb", s=self.action_horizon) + action_time_tokens = jnp.concatenate([action_tokens, time_tokens], axis=-1) + action_time_tokens = self.action_time_mlp_in(action_time_tokens) + action_time_tokens = nnx.swish(action_time_tokens) + action_time_tokens = self.action_time_mlp_out(action_time_tokens) + tokens.append(action_time_tokens) + input_mask.append(jnp.ones(action_time_tokens.shape[:2], dtype=jnp.bool_)) + # image/language/state inputs do not attend to action tokens + ar_mask += [True] + ([False] * (self.action_horizon - 1)) + tokens = jnp.concatenate(tokens, axis=1) + input_mask = jnp.concatenate(input_mask, axis=1) + ar_mask = jnp.array(ar_mask) + return tokens, input_mask, ar_mask + + @override + def compute_loss( + self, rng: at.KeyArrayLike, observation: _model.Observation, actions: _model.Actions, *, train: bool = False + ) -> at.Float[at.Array, "*b ah"]: + preprocess_rng, noise_rng, time_rng = jax.random.split(rng, 3) + observation = _model.preprocess_observation(preprocess_rng, observation, train=train) + + batch_shape = actions.shape[:-2] + noise = jax.random.normal(noise_rng, actions.shape) + time = jax.random.beta(time_rng, 1.5, 1, batch_shape) * 0.999 + 0.001 + time_expanded = time[..., None, None] + x_t = time_expanded * noise + (1 - time_expanded) * actions + u_t = noise - actions + + # one big forward pass of prefix + suffix at once + prefix_tokens, prefix_mask, prefix_ar_mask = self.embed_prefix(observation) + suffix_tokens, suffix_mask, suffix_ar_mask = self.embed_suffix(observation, x_t, time) + input_mask = jnp.concatenate([prefix_mask, suffix_mask], axis=1) + ar_mask = jnp.concatenate([prefix_ar_mask, suffix_ar_mask], axis=0) + attn_mask = make_attn_mask(input_mask, ar_mask) + positions = jnp.cumsum(input_mask, axis=1) - 1 + (prefix_out, suffix_out), _ = self.PaliGemma.llm( + [prefix_tokens, suffix_tokens], mask=attn_mask, positions=positions + ) + v_t = self.action_out_proj(suffix_out[:, -self.action_horizon :]) + + return jnp.mean(jnp.square(v_t - u_t), axis=-1) + + @override + def sample_actions( + self, + rng: at.KeyArrayLike, + observation: _model.Observation, + *, + num_steps: int | at.Int[at.Array, ""] = 10, + ) -> _model.Actions: + observation = _model.preprocess_observation(None, observation, train=False) + # note that we use the convention more common in diffusion literature, where t=1 is noise and t=0 is the target + # distribution. yes, this is the opposite of the pi0 paper, and I'm sorry. + dt = -1.0 / num_steps + batch_size = observation.state.shape[0] + noise = jax.random.normal(rng, (batch_size, self.action_horizon, self.action_dim)) + + # first fill KV cache with a forward pass of the prefix + prefix_tokens, prefix_mask, prefix_ar_mask = self.embed_prefix(observation) + prefix_attn_mask = make_attn_mask(prefix_mask, prefix_ar_mask) + positions = jnp.cumsum(prefix_mask, axis=1) - 1 + _, kv_cache = self.PaliGemma.llm([prefix_tokens, None], mask=prefix_attn_mask, positions=positions) + + def step(carry): + x_t, time = carry + suffix_tokens, suffix_mask, suffix_ar_mask = self.embed_suffix( + observation, x_t, jnp.broadcast_to(time, batch_size) + ) + # `suffix_attn_mask` is shape (b, suffix_len, suffix_len) indicating how the suffix tokens can attend to each + # other + suffix_attn_mask = make_attn_mask(suffix_mask, suffix_ar_mask) + # `prefix_attn_mask` is shape (b, suffix_len, prefix_len) indicating how the suffix tokens can attend to the + # prefix tokens + prefix_attn_mask = einops.repeat(prefix_mask, "b p -> b s p", s=suffix_tokens.shape[1]) + # `combined_mask` is shape (b, suffix_len, prefix_len + suffix_len) indicating how the suffix tokens (which + # generate the queries) can attend to the full prefix + suffix sequence (which generates the keys and values) + full_attn_mask = jnp.concatenate([prefix_attn_mask, suffix_attn_mask], axis=-1) + assert full_attn_mask.shape == ( + batch_size, + suffix_tokens.shape[1], + prefix_tokens.shape[1] + suffix_tokens.shape[1], + ) + # `positions` is shape (b, suffix_len) indicating the positions of the suffix tokens + positions = jnp.sum(prefix_mask, axis=-1)[:, None] + jnp.cumsum(suffix_mask, axis=-1) - 1 + + (prefix_out, suffix_out), _ = self.PaliGemma.llm( + [None, suffix_tokens], mask=full_attn_mask, positions=positions, kv_cache=kv_cache + ) + assert prefix_out is None + v_t = self.action_out_proj(suffix_out[:, -self.action_horizon :]) + + return x_t + dt * v_t, time + dt + + def cond(carry): + x_t, time = carry + # robust to floating-point error + return time >= -dt / 2 + + x_0, _ = jax.lax.while_loop(cond, step, (noise, 1.0)) + return x_0 diff --git a/src/openpi/models/pi0_fast.py b/src/openpi/models/pi0_fast.py new file mode 100644 index 0000000000000000000000000000000000000000..fc74cf6442b8236b2a1bcf077b258a5daf8cfe9f --- /dev/null +++ b/src/openpi/models/pi0_fast.py @@ -0,0 +1,302 @@ +import dataclasses +import logging + +import einops +import flax.nnx as nnx +import flax.nnx.bridge as nnx_bridge +import jax +import jax.numpy as jnp +from typing_extensions import override + +from openpi.models import model as _model +import openpi.models.gemma_fast as _gemma +import openpi.models.siglip as _siglip +from openpi.shared import array_typing as at +import openpi.shared.nnx_utils as nnx_utils + +logger = logging.getLogger("openpi") + +PALIGEMMA_EOS_TOKEN = 1 + + +def make_attn_mask(input_mask, mask_ar): + """Adapted from big_vision. + + Tokens can attend to valid inputs tokens which have a cumulative mask_ar + smaller or equal to theirs. This way `mask_ar` bool[?B, N] can be used to + setup several types of attention, for example: + + [[1 1 1 1 1 1]]: pure causal attention. + + [[0 0 0 1 1 1]]: prefix-lm attention. The first 3 tokens can attend between + themselves and the last 3 tokens have a causal attention. The first + entry could also be a 1 without changing behaviour. + + [[1 0 1 0 1 0 0 1 0 0]]: causal attention between 4 blocks. Tokens of a + block can attend all previous blocks and all tokens on the same block. + + Args: + input_mask: bool[B, N] true if its part of the input, false if padding. + mask_ar: bool[?B, N] mask that's true where previous tokens cannot depend on + it and false where it shares the same attention mask as the previous token. + """ + mask_ar = jnp.broadcast_to(mask_ar, input_mask.shape) + cumsum = jnp.cumsum(mask_ar, axis=1) + attn_mask = cumsum[:, None, :] <= cumsum[:, :, None] + valid_mask = input_mask[:, None, :] * input_mask[:, :, None] + return jnp.logical_and(attn_mask, valid_mask) + + +@jax.vmap +def left_to_right_align(x, input_mask, attn_mask): + """Converts input from left-align to right-aligned.""" + # Due to vmap, this is operating in a single example (not batch level). + assert x.ndim == 2 + assert input_mask.ndim == 1 + assert attn_mask.ndim == 2 + assert x.shape[0] == input_mask.shape[0] + assert attn_mask.shape[0] == attn_mask.shape[1], attn_mask.shape + seqlen = jnp.max(input_mask * jnp.arange(input_mask.shape[0])) + 1 + x = jnp.roll(x, -seqlen, axis=0) + input_mask = jnp.roll(input_mask, -seqlen, axis=0) + attn_mask = jnp.roll(attn_mask, -seqlen, axis=(0, 1)) + return x, input_mask, attn_mask + + +def put_along_last_axis(arr, indices, values): + """Like np.put_along_axis(..., axis=-1), since jax is missing it.""" + assert arr.ndim == indices.ndim == values.ndim, (arr.ndim, indices.ndim, values.ndim) + onehot = jax.nn.one_hot(indices, arr.shape[-1], dtype=values.dtype) + put_mask = jnp.einsum("...i,...in->...n", jnp.ones(values.shape, jnp.int32), onehot) + put_values = jnp.einsum("...i,...in->...n", values, onehot) + return jnp.where(put_mask, put_values, arr) + + +@dataclasses.dataclass(frozen=True) +class Pi0FASTConfig(_model.BaseModelConfig): + dtype: str = "bfloat16" + paligemma_variant: _gemma.Variant = "gemma_2b" + + # Set the model specific defaults. + action_dim: int = 32 + action_horizon: int = 32 + max_token_len: int = 250 + + @property + @override + def model_type(self) -> _model.ModelType: + return _model.ModelType.PI0_FAST + + @override + def create(self, rng: at.KeyArrayLike) -> "Pi0FAST": + return Pi0FAST(self, rngs=nnx.Rngs(rng)) + + @override + def inputs_spec(self, *, batch_size: int = 1) -> tuple[_model.Observation, _model.Actions]: + image_spec = jax.ShapeDtypeStruct([batch_size, *_model.IMAGE_RESOLUTION, 3], jnp.float32) + image_mask_spec = jax.ShapeDtypeStruct([batch_size], jnp.bool_) + + with at.disable_typechecking(): + observation_spec = _model.Observation( + images={ + "base_0_rgb": image_spec, + "base_1_rgb": image_spec, + "wrist_0_rgb": image_spec, + }, + image_masks={ + "base_0_rgb": image_mask_spec, + "base_1_rgb": image_mask_spec, + "wrist_0_rgb": image_mask_spec, + }, + state=jax.ShapeDtypeStruct([batch_size, self.action_dim], jnp.float32), + tokenized_prompt=jax.ShapeDtypeStruct([batch_size, self.max_token_len], jnp.int32), + tokenized_prompt_mask=jax.ShapeDtypeStruct([batch_size, self.max_token_len], bool), + token_ar_mask=jax.ShapeDtypeStruct([batch_size, self.max_token_len], jnp.int32), + token_loss_mask=jax.ShapeDtypeStruct([batch_size, self.max_token_len], jnp.bool_), + ) + action_spec = jax.ShapeDtypeStruct([batch_size, self.action_horizon, self.action_dim], jnp.float32) + + return observation_spec, action_spec + + def get_freeze_filter(self) -> nnx.filterlib.Filter: + """Returns the freeze filter based on the model config.""" + if "lora" in self.paligemma_variant: + return nnx.All(nnx_utils.PathRegex(".*llm.*"), nnx.Not(nnx_utils.PathRegex(".*lora.*"))) + return nnx.Nothing + + +class Pi0FAST(_model.BaseModel): + def __init__(self, config: Pi0FASTConfig, rngs: nnx.Rngs): + super().__init__(config.action_dim, config.action_horizon, config.max_token_len) + paligemma_config = _gemma.get_config(config.paligemma_variant) + # TODO: rewrite gemma in NNX. For now, use bridge. + llm = nnx_bridge.ToNNX( + _gemma.Module( + **paligemma_config, + embed_dtype=config.dtype, + cache_dtype=config.dtype, + ) + ) + llm.lazy_init(rngs=rngs, method="init") + img = nnx_bridge.ToNNX( + _siglip.Module( + num_classes=paligemma_config.width, + variant="So400m/14", + pool_type="none", + scan=True, + dtype_mm=config.dtype, + ) + ) + img.lazy_init(next(iter(config.fake_obs().images.values())), train=False, rngs=rngs) + self.PaliGemma = nnx.Dict(llm=llm, img=img) + + @at.typecheck + def embed_inputs( + self, obs: _model.Observation + ) -> tuple[at.Float[at.Array, "b s emb"], at.Bool[at.Array, "b s"], at.Int[at.Array, "b s"]]: + input_mask = [] + ar_mask = [] + token_embeddings = [] + # embed images + for name in obs.images: + image_token_embeddings, _ = self.PaliGemma.img(obs.images[name], train=False) + + token_embeddings.append(image_token_embeddings) + input_mask.append( + einops.repeat( + obs.image_masks[name], + "b -> b s", + s=image_token_embeddings.shape[1], + ) + ) + # image tokens attend to each other --> AR mask = 0 + ar_mask.append(0 * input_mask[-1]) + + # add tokenized inputs + assert obs.tokenized_prompt is not None, "Tokenized prompt is required" + assert obs.tokenized_prompt_mask is not None, "Tokenized prompt mask is required" + assert obs.token_ar_mask is not None, "Token auto-regressive mask is required" + tokenized_inputs_embeddings = self.PaliGemma.llm(obs.tokenized_prompt, embed_only=True) + token_embeddings.append(tokenized_inputs_embeddings) + input_mask.append(obs.tokenized_prompt_mask) + ar_mask.append(obs.token_ar_mask) + + # return embeddings, input mask, and ar mask + return ( + jnp.concatenate(token_embeddings, axis=1), + jnp.concatenate(input_mask, axis=1), + jnp.concatenate(ar_mask, axis=1), + ) + + @override + def compute_loss( + self, rng: at.KeyArrayLike, observation: _model.Observation, actions: _model.Actions, *, train: bool = False + ) -> at.Float[at.Array, "*b ah"]: + observation = _model.preprocess_observation( + rng, observation, train=train, image_keys=list(observation.images.keys()) + ) + + # Compute inputs: one big forward pass of prefix + suffix at once + input_token_embeddings, input_mask, ar_mask = self.embed_inputs(observation) + attn_mask = make_attn_mask(input_mask, ar_mask) + + # Compute one-hot targets: we predict *next* token, so shift the input tokens by one. + targets = jax.nn.one_hot( + observation.tokenized_prompt[:, 1:], + self.PaliGemma.llm.module.vocab_size, + ) + + # Each input predicts *next* token, so we don't input the last token. + pre_logits, _, _ = self.PaliGemma.llm( + embedded_prefix=input_token_embeddings[:, :-1], + mask=attn_mask[:, :-1, :-1], + return_prelogits=True, + ) + + # Only decode logits for the target tokens to save memory + # (decoding matmul is large because it is a seq_len x vocab_size dense layer). + logits, _ = self.PaliGemma.llm( + pre_logits=pre_logits[:, -targets.shape[1] :], + ) + logp = jax.nn.log_softmax(logits, axis=-1) + + # Compute CE loss on token targets + assert observation.token_loss_mask is not None, "Token loss mask is required" + loss_mask = observation.token_loss_mask[:, 1:] + token_pplx = jnp.sum(targets * logp, axis=-1) + return -jnp.sum(token_pplx * loss_mask, axis=-1) / jnp.clip(jnp.sum(loss_mask, -1), 1) + + @override + def sample_actions( + self, + rng: at.KeyArrayLike, + observation: _model.Observation, + *, + max_decoding_steps: int | at.Int[at.Array, ""] = 256, + temperature: float = 0.0, + ) -> _model.Actions: + # TODO: this is a hack to get the image keys. + observation = _model.preprocess_observation( + None, observation, train=False, image_keys=list(observation.images.keys()) + ) + + # embed inputs + prefix_token_embeddings, prefix_mask, prefix_ar_mask = self.embed_inputs(observation) + prefix_attn_mask = make_attn_mask(prefix_mask, prefix_ar_mask) + + # left to right align all input token sequences + prefix_token_embeddings, prefix_mask, prefix_attn_mask = left_to_right_align( + prefix_token_embeddings, prefix_mask, prefix_attn_mask + ) + prefill_size = prefix_token_embeddings.shape[1] + prefill_len = jnp.sum(prefix_mask, axis=-1) + prefix_start = prefill_size - prefill_len + + # first fill KV cache with a forward pass of the prefix + # pad attention mask to set the size of the KV cache (prefill_size + max_decoding_steps) + prefix_attn_mask = jnp.pad(prefix_attn_mask, ((0, 0), (0, 0), (0, max_decoding_steps))) + prefix_positions = jnp.cumsum(prefix_mask, axis=-1) - 1 + prefix_logits, kv_cache, _ = self.PaliGemma.llm( + embedded_prefix=prefix_token_embeddings, mask=prefix_attn_mask, positions=prefix_positions, decode=True + ) + + # prepare decoding -- final logit decodes the first token + last_logit = prefix_logits[:, -1:] + output_tokens = jnp.zeros((last_logit.shape[0], max_decoding_steps)) + + def step(carry): + last_logit, output_tokens, cache, _, step = carry + + # Sample token from last logit + if temperature > 0.0: + last_logit = last_logit / temperature + token = jax.random.categorical(rng, last_logit, axis=-1) + else: + token = jnp.argmax(last_logit, axis=-1) + output_tokens = put_along_last_axis(output_tokens, jnp.broadcast_to(step, (token.shape[0], 1)), token) + + # Check for early stopping --> stop if all batch elements have EOS token + has_eos = jnp.any(token == PALIGEMMA_EOS_TOKEN, axis=-1) + all_eos = jnp.all(has_eos) + + # Decode one step + token_embedding = self.PaliGemma.llm(token, embed_only=True) + positions = prefill_len[:, None] + step + 1 + mask = jnp.logical_and( + jnp.arange(prefill_size + max_decoding_steps)[None, None, :] >= prefix_start[:, None, None], + jnp.arange(prefill_size + max_decoding_steps)[None, None, :] + < (jnp.broadcast_to(prefill_size + step + 1, (prefix_start.shape[0], 1, 1))), + ) + last_logit, kv_cache, _ = self.PaliGemma.llm( + embedded_prefix=token_embedding, mask=mask, positions=positions, decode=True, kv_cache=cache + ) + + return last_logit, output_tokens, kv_cache, all_eos, step + 1 + + def cond(carry): + _, _, _, all_eos, step = carry + return (~all_eos) & (step < max_decoding_steps) + + # Use lax.while_loop so we can jit the full decoding loop. + _, output_tokens, _, _, _ = jax.lax.while_loop(cond, step, (last_logit, output_tokens, kv_cache, False, 0)) + return output_tokens diff --git a/src/openpi/models/pi0_test.py b/src/openpi/models/pi0_test.py new file mode 100644 index 0000000000000000000000000000000000000000..31350ec3a342bee447edf5b4eb56863221379d12 --- /dev/null +++ b/src/openpi/models/pi0_test.py @@ -0,0 +1,46 @@ +import flax.nnx as nnx +import jax + +import openpi.models.pi0 as _pi0 + + +def _get_frozen_state(config: _pi0.Pi0Config) -> nnx.State: + abstract_model = nnx.eval_shape(config.create, jax.random.key(0)) + + freeze_filter = config.get_freeze_filter() + return nnx.state(abstract_model, nnx.All(nnx.Param, freeze_filter)).flat_state() + + +def test_pi0_full_finetune(): + config = _pi0.Pi0Config() + state = _get_frozen_state(config) + assert len(state) == 0 + + +def test_pi0_gemma_lora(): + config = _pi0.Pi0Config(paligemma_variant="gemma_2b_lora") + state = _get_frozen_state(config) + assert len(state) == 9 + assert all("lora" not in p for p in state) + assert all("llm" in p for p in state) + assert all("_1" not in p for p in state) + + +def test_pi0_action_expert_lora(): + config = _pi0.Pi0Config(action_expert_variant="gemma_300m_lora") + state = _get_frozen_state(config) + # excluding embedder, rest of the params should be same as gemma_lora. + assert len(state) == 8 + assert all("lora" not in p for p in state) + assert all("llm" in p for p in state) + # all frozen params should have _1 in their path since it's the action expert. + assert all(any("_1" in p for p in path) for path in state) + + +def test_pi0_all_lora(): + config = _pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora") + state = _get_frozen_state(config) + # sum of gemma_lora and action_expert_lora's frozen params. + assert len(state) == 17 + assert all("lora" not in p for p in state) + assert all("llm" in p for p in state) diff --git a/src/openpi/models/siglip.py b/src/openpi/models/siglip.py new file mode 100644 index 0000000000000000000000000000000000000000..c74c99e75fa45308fcadff115a7fd4ed12c9e96c --- /dev/null +++ b/src/openpi/models/siglip.py @@ -0,0 +1,373 @@ +# Copyright 2024 Big Vision Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""A refactored and simplified ViT adoptation for Pi, taken from big_vision.""" + +from collections.abc import Sequence + +import flax.linen as nn +import jax +import jax.numpy as jnp +import numpy as np + +import openpi.training.sharding as sharding + + +def posemb_sincos_2d(h, w, width, temperature=10_000.0, dtype=jnp.float32): + """Follows the MoCo v3 logic.""" + y, x = jnp.mgrid[:h, :w] + + assert width % 4 == 0, "Width must be mult of 4 for sincos posemb" + omega = jnp.arange(width // 4) / (width // 4 - 1) + omega = 1.0 / (temperature**omega) + y = jnp.einsum("m,d->md", y.flatten(), omega) + x = jnp.einsum("m,d->md", x.flatten(), omega) + pe = jnp.concatenate([jnp.sin(x), jnp.cos(x), jnp.sin(y), jnp.cos(y)], axis=1) + return jnp.asarray(pe, dtype)[None, :, :] + + +def get_posemb(self, typ, seqshape, width, name, dtype=jnp.float32): + if typ == "learn": + return self.param( + name, + nn.initializers.normal(stddev=1 / np.sqrt(width)), + (1, np.prod(seqshape), width), + dtype, + ) + if typ == "sincos2d": + return posemb_sincos_2d(*seqshape, width, dtype=dtype) + raise ValueError(f"Unknown posemb type: {typ}") + + +class MlpBlock(nn.Module): + """Transformer MLP / feed-forward block.""" + + mlp_dim: int | None = None # Defaults to 4x input dim + dropout: float = 0.0 + dtype_mm: str = "float32" + + @nn.compact + def __call__(self, x, deterministic=True): # noqa: FBT002 + """Applies Transformer MlpBlock module.""" + inits = { + "kernel_init": nn.initializers.xavier_uniform(), + "bias_init": nn.initializers.normal(stddev=1e-6), + } + + _, _, d = x.shape # n,l,d + x = nn.Dense(self.mlp_dim or 4 * d, dtype=self.dtype_mm, **inits)(x) + x = nn.gelu(x) + x = nn.Dropout(rate=self.dropout)(x, deterministic) + return nn.Dense(d, dtype=self.dtype_mm, **inits)(x) + + +class Encoder1DBlock(nn.Module): + """Single transformer encoder block (MHSA + MLP).""" + + mlp_dim: int | None = None # Defaults to 4x input dim + num_heads: int = 12 + dropout: float = 0.0 + dtype_mm: str = "float32" + + @nn.compact + def __call__(self, x, deterministic=True): # noqa: FBT002 + out = {} + x = sharding.activation_sharding_constraint(x) + y = nn.LayerNorm(dtype=self.dtype_mm)(x) + y = out["sa"] = nn.MultiHeadDotProductAttention( + num_heads=self.num_heads, + kernel_init=nn.initializers.xavier_uniform(), + deterministic=deterministic, + dtype=self.dtype_mm, + )(y, y) + y = sharding.activation_sharding_constraint(y) + y = nn.Dropout(rate=self.dropout)(y, deterministic) + x = out["+sa"] = x + y + + y = nn.LayerNorm(dtype=self.dtype_mm)(x) + y = out["mlp"] = MlpBlock( + mlp_dim=self.mlp_dim, + dropout=self.dropout, + dtype_mm=self.dtype_mm, + )(y, deterministic) + y = sharding.activation_sharding_constraint(y) + y = nn.Dropout(rate=self.dropout)(y, deterministic) + x = out["+mlp"] = x + y + x = sharding.activation_sharding_constraint(x) + return x, out + + +class Encoder(nn.Module): + """Transformer Model Encoder for sequence to sequence translation.""" + + depth: int + mlp_dim: int | None = None # Defaults to 4x input dim + num_heads: int = 12 + dropout: float = 0.0 + scan: bool = False + remat_policy: str = "nothing_saveable" + dtype_mm: str = "float32" + + @nn.compact + def __call__(self, x, deterministic=True): # noqa: FBT002 + out = {} + + if self.scan: + block = nn.remat( + Encoder1DBlock, + prevent_cse=False, + static_argnums=(2,), # 0=self, 2=deterministic + policy=getattr(jax.checkpoint_policies, self.remat_policy, None), + ) + x, scan_out = nn.scan( + block, + variable_axes={"params": 0}, + split_rngs={"params": True, "dropout": True}, + in_axes=nn.broadcast, + length=self.depth, + )( + name="encoderblock", + dtype_mm=self.dtype_mm, + mlp_dim=self.mlp_dim, + num_heads=self.num_heads, + dropout=self.dropout, + )(x, deterministic) + for lyr in range(self.depth): + out[f"block{lyr:02d}"] = jax.tree.map(lambda o, lyr=lyr: o[lyr], scan_out) + else: + # Input Encoder + for lyr in range(self.depth): + block_cur = Encoder1DBlock( + name=f"encoderblock_{lyr}", + dtype_mm=self.dtype_mm, + mlp_dim=self.mlp_dim, + num_heads=self.num_heads, + dropout=self.dropout, + ) + x, out[f"block{lyr:02d}"] = block_cur(x, deterministic) + out["pre_ln"] = x # Alias for last block, but without the number in it. + + return nn.LayerNorm(name="encoder_norm", dtype=self.dtype_mm)(x), out + + +class MAPHead(nn.Module): + """Multihead Attention Pooling.""" + + mlp_dim: int | None = None # Defaults to 4x input dim + num_heads: int = 12 + dtype_mm: str = "float32" + + @nn.compact + def __call__(self, x): + n, _, d = x.shape # n,l,d + probe = self.param("probe", nn.initializers.xavier_uniform(), (1, 1, d), x.dtype) + probe = jnp.tile(probe, [n, 1, 1]) + + x = nn.MultiHeadDotProductAttention( + num_heads=self.num_heads, + dtype=self.dtype_mm, + kernel_init=nn.initializers.xavier_uniform(), + )(probe, x) + + y = nn.LayerNorm(dtype=self.dtype_mm)(x) + x = x + MlpBlock(mlp_dim=self.mlp_dim, dtype=self.dtype_mm)(y) + return x[:, 0] + + +class _Module(nn.Module): + """ViT model.""" + + num_classes: int | None = None + patch_size: Sequence[int] = (16, 16) + width: int = 768 + depth: int = 12 + mlp_dim: int | None = None # Defaults to 4x input dim + num_heads: int = 12 + posemb: str = "learn" # Can also be "sincos2d" + rep_size: int | bool = False + dropout: float = 0.0 + pool_type: str = "gap" # Can also be "map" or "tok" + head_zeroinit: bool = True + scan: bool = False + # or "dots_with_no_batch_dims_saveable" for more speed (memory costly) + remat_policy: str = "nothing_saveable" + dtype_mm: str = "float32" + + @nn.compact + def __call__(self, image, *, train=False): + out = {} + + # Kevin edit: do patch extraction and posemb in float32, + # because I feel like it's a bit safer. + image = jnp.asarray(image, jnp.float32) + + # Patch extraction + x = out["stem"] = nn.Conv( + self.width, + self.patch_size, + strides=self.patch_size, + padding="VALID", + name="embedding", + dtype=jnp.float32, + )(image) + + n, h, w, c = x.shape + x = jnp.reshape(x, [n, h * w, c]) + + # Add posemb before adding extra token. + x = out["with_posemb"] = x + get_posemb(self, self.posemb, (h, w), c, "pos_embedding", jnp.float32) + + if self.pool_type == "tok": + cls = self.param("cls", nn.initializers.zeros, (1, 1, c), x.dtype) + x = jnp.concatenate([jnp.tile(cls, [n, 1, 1]), x], axis=1) + + n, _, c = x.shape # n,l,d + x = nn.Dropout(rate=self.dropout)(x, not train) + + # Kevin edit: now cast back to dtype_mm (potentially half precision) + x = x.astype(self.dtype_mm) + + x, out["encoder"] = Encoder( + depth=self.depth, + mlp_dim=self.mlp_dim, + num_heads=self.num_heads, + dropout=self.dropout, + scan=self.scan, + remat_policy=self.remat_policy, + dtype_mm=self.dtype_mm, + name="Transformer", + )(x, deterministic=not train) + encoded = out["encoded"] = x + + if self.pool_type == "map": + x = out["head_input"] = MAPHead( + num_heads=self.num_heads, + mlp_dim=self.mlp_dim, + dtype=self.dtype_mm, + )(x) + elif self.pool_type == "gap": + x = out["head_input"] = jnp.mean(x, axis=1) + elif self.pool_type == "0": + x = out["head_input"] = x[:, 0] + elif self.pool_type == "tok": + x = out["head_input"] = x[:, 0] + encoded = encoded[:, 1:] + elif self.pool_type == "none": + pass + else: + raise ValueError(f"Unknown pool type: '{self.pool_type}'") + + x_2d = jnp.reshape(encoded, [n, h, w, -1]) + + if self.rep_size: + rep_size = self.width if self.rep_size is True else self.rep_size + hid = nn.Dense(rep_size, dtype=self.dtype_mm, name="pre_logits") + # NOTE: In the past we did not include tanh in pre_logits. + # For few-shot, it should not matter much, as it whitens anyways. + x_2d = nn.tanh(hid(x_2d)) + x = nn.tanh(hid(x)) + + out["pre_logits_2d"] = x_2d + out["pre_logits"] = x + + if self.num_classes: + kw = {"kernel_init": nn.initializers.zeros} if self.head_zeroinit else {} + head = nn.Dense(self.num_classes, dtype=self.dtype_mm, name="head", **kw) + x_2d = out["logits_2d"] = head(x_2d) + x = out["logits"] = head(x) + + return x, out + + +def Module(num_classes=None, *, variant=None, **kw): # pylint: disable=invalid-name # noqa: N802 + """Factory function, because linen really don't like what I'm doing!""" + return _Module(num_classes, **{**decode_variant(variant), **kw}) + + +def decode_variant(variant): + """Converts a string like "B" or "B/32" into a params dict.""" + if variant is None: + return {} + + v, patch = variant, {} + if "/" in variant: + v, patch = variant.split("/") + patch = {"patch_size": (int(patch), int(patch))} + + return { + # pylint:disable=line-too-long + # Reference: Table 2 of https://arxiv.org/abs/2106.04560. + "width": { + "mu": 32, + "Ti": 192, + "S": 384, + "M": 512, + "B": 768, + "L": 1024, + "So400m": 1152, + "H": 1280, + "g": 1408, + "g-opt": 1536, + "G": 1664, + "G-opt": 1536, + "e": 1792, + }[v], + "depth": { + "mu": 1, + "Ti": 12, + "S": 12, + "M": 12, + "B": 12, + "L": 24, + "So400m": 27, + "H": 32, + "g": 40, + "g-opt": 40, + "G": 48, + "G-opt": 48, + "e": 56, + }[v], + "mlp_dim": { + "mu": 128, + "Ti": 768, + "S": 1536, + "M": 2048, + "B": 3072, + "L": 4096, + "So400m": 4304, + "H": 5120, + "g": 6144, + "g-opt": 6144, + "G": 8192, + "G-opt": 8192, + "e": 15360, + }[v], + "num_heads": { + "mu": 2, + "Ti": 3, + "S": 6, + "M": 8, + "B": 12, + "L": 16, + "So400m": 16, + "H": 16, + "g": 16, + "g-opt": 16, + "G": 16, + "G-opt": 16, + "e": 16, + }[v], + # pylint:enable=line-too-long + **patch, + } diff --git a/src/openpi/models/tokenizer.py b/src/openpi/models/tokenizer.py new file mode 100644 index 0000000000000000000000000000000000000000..51eda6358e1afb3d912be5dee600e42f122b8be7 --- /dev/null +++ b/src/openpi/models/tokenizer.py @@ -0,0 +1,127 @@ +import logging + +import numpy as np +import sentencepiece +from transformers import AutoProcessor + +import openpi.shared.download as download + + +class PaligemmaTokenizer: + def __init__(self, max_len: int = 48): + self._max_len = max_len + + path = download.maybe_download("gs://big_vision/paligemma_tokenizer.model", gs={"token": "anon"}) + with path.open("rb") as f: + self._tokenizer = sentencepiece.SentencePieceProcessor(model_proto=f.read()) + + def tokenize(self, prompt: str) -> tuple[np.ndarray, np.ndarray]: + cleaned_text = prompt.strip().replace("_", " ").replace("\n", " ") + # tokenize "\n" separately as the "start of answer" token + tokens = self._tokenizer.encode(cleaned_text, add_bos=True) + self._tokenizer.encode("\n") + tokens_len = len(tokens) + if tokens_len < self._max_len: + padding = [False] * (self._max_len - tokens_len) + mask = [True] * tokens_len + padding + tokens = tokens + padding + else: + if len(tokens) > self._max_len: + logging.warning( + f"Token length ({len(tokens)}) exceeds max length ({self._max_len}), truncating. " + "Consider increasing the `max_token_len` in your model config if this happens frequently." + ) + tokens = tokens[: self._max_len] + mask = [True] * self._max_len + + return np.asarray(tokens), np.asarray(mask) + + +class FASTTokenizer: + def __init__(self, max_len: int = 256, fast_tokenizer_path: str = "physical-intelligence/fast"): + self._max_len = max_len + + # Download base PaliGemma tokenizer + path = download.maybe_download("gs://big_vision/paligemma_tokenizer.model", gs={"token": "anon"}) + with path.open("rb") as f: + self._paligemma_tokenizer = sentencepiece.SentencePieceProcessor(model_proto=f.read()) + + # Instantiate FAST tokenizer + self._fast_tokenizer = AutoProcessor.from_pretrained(fast_tokenizer_path, trust_remote_code=True) + self._fast_skip_tokens = 128 # Skip last 128 tokens in PaliGemma vocab since they are special tokens + + def tokenize( + self, prompt: str, state: np.ndarray, actions: np.ndarray | None + ) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + cleaned_text = prompt.lower().strip().replace("_", " ") + + # Convention: state gets discretized into 256 discrete bins (assumed range after normalization: [-1, 1]) + discretized_state = np.digitize(state, bins=np.linspace(-1, 1, 256 + 1)[:-1]) - 1 + + # Convention: prefix includes prompt and string-representation of state, followed by ';' + state_str = " ".join(map(str, discretized_state)) + prefix = f"Task: {cleaned_text}, State: {state_str};\n" + prefix_tokens = self._paligemma_tokenizer.encode(prefix, add_bos=True) + + if actions is not None: + # Tokenize actions with FAST tokenizer --> map to last tokens in PaliGemma vocab + action_tokens = self._fast_tokenizer(actions[None])[0] + action_tokens_in_pg = self._act_tokens_to_paligemma_tokens(action_tokens) + + # Convention: postfix contains 'Action:' followed by FAST tokens, followed by '|' + postfix_tokens = ( + self._paligemma_tokenizer.encode("Action: ") + + action_tokens_in_pg.tolist() + + self._paligemma_tokenizer.encode("|", add_eos=True) + ) + else: + postfix_tokens = [] + + # Create output token sequence & masks + # AR mask is 0 on prefix (bidirectional attention) and 1 on postfix (causal attention to all previous tokens) + tokens = prefix_tokens + postfix_tokens + token_mask = [True] * len(tokens) + ar_mask = [0] * len(prefix_tokens) + [1] * len(postfix_tokens) + loss_mask = [False] * len(prefix_tokens) + [True] * len(postfix_tokens) # Loss on postfix only + + # Pad tokens to max length + tokens_len = len(tokens) + if tokens_len < self._max_len: + padding = [False] * (self._max_len - tokens_len) + tokens = tokens + padding + token_mask = token_mask + padding + ar_mask = ar_mask + padding + loss_mask = loss_mask + padding + else: + if len(tokens) > self._max_len: + logging.warning( + f"Token length ({len(tokens)}) exceeds max length ({self._max_len}), truncating. " + "Consider increasing the `max_token_len` in your model config if this happens frequently." + ) + tokens = tokens[: self._max_len] + token_mask = token_mask[: self._max_len] + ar_mask = ar_mask[: self._max_len] + loss_mask = loss_mask[: self._max_len] + + return np.asarray(tokens), np.asarray(token_mask), np.asarray(ar_mask), np.asarray(loss_mask) + + def extract_actions(self, tokens: np.ndarray, action_horizon: int, action_dim: int) -> np.ndarray: + # Decode predicted output tokens + decoded_tokens = self._paligemma_tokenizer.decode(tokens.tolist()) + + # Extract actions from FAST model outputs + if "Action: " not in decoded_tokens: + return np.zeros((action_horizon, action_dim), dtype=np.float32) + + # Extract actions from decoded tokens + raw_action_tokens = np.array( + self._paligemma_tokenizer.encode(decoded_tokens.split("Action: ")[1].split("|")[0].strip()) + ) + action_tokens = self._act_tokens_to_paligemma_tokens(raw_action_tokens) + return self._fast_tokenizer.decode( + [action_tokens.tolist()], time_horizon=action_horizon, action_dim=action_dim + )[0] + + def _act_tokens_to_paligemma_tokens(self, tokens: np.ndarray | list[int]) -> np.ndarray: + if isinstance(tokens, list): + tokens = np.array(tokens) + return self._paligemma_tokenizer.vocab_size() - 1 - self._fast_skip_tokens - tokens diff --git a/src/openpi/models/tokenizer_test.py b/src/openpi/models/tokenizer_test.py new file mode 100644 index 0000000000000000000000000000000000000000..092c4ae3b2330db9f89344dc4bae150457fa4310 --- /dev/null +++ b/src/openpi/models/tokenizer_test.py @@ -0,0 +1,27 @@ +import numpy as np + +from openpi.models import tokenizer as _tokenizer + + +def test_tokenize(): + tokenizer = _tokenizer.PaligemmaTokenizer(max_len=10) + tokens, masks = tokenizer.tokenize("Hello, world!") + + assert tokens.shape == (10,) + assert masks.shape == (10,) + + +def test_fast_tokenizer(): + prompt = "Hello, world!" + state = np.random.rand(5).astype(np.float32) + action = np.random.rand(3, 2).astype(np.float32) + tokenizer = _tokenizer.FASTTokenizer(max_len=256) + tokens, token_masks, ar_masks, loss_masks = tokenizer.tokenize(prompt, state, action) + + assert tokens.shape == (256,) + assert token_masks.shape == (256,) + assert ar_masks.shape == (256,) + assert loss_masks.shape == (256,) + + act = tokenizer.extract_actions(tokens, 3, 2) + assert act.shape == (3, 2) diff --git a/src/openpi/models/vit.py b/src/openpi/models/vit.py new file mode 100644 index 0000000000000000000000000000000000000000..b7901d097b86d36e3564d2b664ed50af8a194080 --- /dev/null +++ b/src/openpi/models/vit.py @@ -0,0 +1,307 @@ +# Copyright 2024 Google LLC. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +"""ViT implementation adapted from https://github.com/google-research/vision_transformer/blob/main/vit_jax/models_vit.py.""" + +from collections.abc import Callable +from typing import Any + +import flax.linen as nn +import jax +import jax.numpy as jnp + +from openpi.models import resnet as models_resnet + +Array = Any +PRNGKey = Any +Shape = tuple[int] +Dtype = Any + + +class IdentityLayer(nn.Module): + """Identity layer, convenient for giving a name to an array.""" + + @nn.compact + def __call__(self, x): + return x + + +class AddPositionEmbs(nn.Module): + """Adds learned positional embeddings to the inputs. + + Attributes: + posemb_init: positional embedding initializer. + """ + + posemb_init: Callable[[PRNGKey, Shape, Dtype], Array] + param_dtype: Dtype = jnp.float32 + + @nn.compact + def __call__(self, inputs): + """Applies the AddPositionEmbs module. + + Args: + inputs: Inputs to the layer. + + Returns: + Output tensor with shape `(bs, timesteps, in_dim)`. + """ + # inputs.shape is (batch_size, seq_len, emb_dim). + assert inputs.ndim == 3, f"Number of dimensions should be 3, but it is: {inputs.ndim}" + pos_emb_shape = (1, inputs.shape[1], inputs.shape[2]) + pe = self.param("pos_embedding", self.posemb_init, pos_emb_shape, self.param_dtype) + return inputs + pe + + +class MlpBlock(nn.Module): + """Transformer MLP / feed-forward block.""" + + mlp_dim: int + dtype: Dtype = jnp.float32 + param_dtype: Dtype = jnp.float32 + out_dim: int | None = None + dropout_rate: float = 0.1 + kernel_init: Callable[[PRNGKey, Shape, Dtype], Array] = nn.initializers.xavier_uniform() + bias_init: Callable[[PRNGKey, Shape, Dtype], Array] = nn.initializers.normal(stddev=1e-6) + + @nn.compact + def __call__(self, inputs, *, deterministic): + """Applies Transformer MlpBlock module.""" + actual_out_dim = inputs.shape[-1] if self.out_dim is None else self.out_dim + x = nn.Dense( + features=self.mlp_dim, + dtype=self.dtype, + param_dtype=self.param_dtype, + kernel_init=self.kernel_init, + bias_init=self.bias_init, + )( # pytype: disable=wrong-arg-types + inputs + ) + x = nn.gelu(x) + x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=deterministic) + output = nn.Dense( + features=actual_out_dim, + dtype=self.dtype, + param_dtype=self.param_dtype, + kernel_init=self.kernel_init, + bias_init=self.bias_init, + )( # pytype: disable=wrong-arg-types + x + ) + return nn.Dropout(rate=self.dropout_rate)(output, deterministic=deterministic) + + +class Encoder1DBlock(nn.Module): + """Transformer encoder layer. + + Attributes: + inputs: input data. + mlp_dim: dimension of the mlp on top of attention block. + dtype: the dtype of the computation (default: float32). + dropout_rate: dropout rate. + attention_dropout_rate: dropout for attention heads. + deterministic: bool, deterministic or not (to apply dropout). + num_heads: Number of heads in nn.MultiHeadDotProductAttention + """ + + mlp_dim: int + num_heads: int + dtype: Dtype = jnp.float32 + dropout_rate: float = 0.1 + attention_dropout_rate: float = 0.1 + + @nn.compact + def __call__(self, inputs, deterministic): + """Applies Encoder1DBlock module. + + Args: + inputs: Inputs to the layer. + deterministic: Dropout will not be applied when set to true. + + Returns: + output after transformer encoder block. + """ + + # Attention block. + assert inputs.ndim == 3, f"Expected (batch, seq, hidden) got {inputs.shape}" + x = nn.LayerNorm(dtype=self.dtype)(inputs) + x = nn.MultiHeadDotProductAttention( + dtype=self.dtype, + kernel_init=nn.initializers.xavier_uniform(), + broadcast_dropout=False, + deterministic=deterministic, + dropout_rate=self.attention_dropout_rate, + num_heads=self.num_heads, + # why isn't this true by default??? + force_fp32_for_softmax=True, + )(x, x) + x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=deterministic) + x = x + inputs + + # MLP block. + y = nn.LayerNorm(dtype=self.dtype)(x) + y = MlpBlock(mlp_dim=self.mlp_dim, dtype=self.dtype, dropout_rate=self.dropout_rate)( + y, deterministic=deterministic + ) + + return x + y, None + + +class Encoder(nn.Module): + """Transformer Model Encoder for sequence to sequence translation. + + Attributes: + num_layers: number of layers + mlp_dim: dimension of the mlp on top of attention block + num_heads: Number of heads in nn.MultiHeadDotProductAttention + dropout_rate: dropout rate. + attention_dropout_rate: dropout rate in self attention. + """ + + dtype: jax.typing.DTypeLike + num_layers: int + mlp_dim: int + num_heads: int + dropout_rate: float = 0.1 + attention_dropout_rate: float = 0.1 + add_position_embedding: bool = True + + @nn.compact + def __call__(self, x, *, train): + """Applies Transformer model on the inputs. + + Args: + x: Inputs to the layer. + train: Set to `True` when training. + + Returns: + output of a transformer encoder. + """ + assert x.ndim == 3 # (batch, len, emb) + + if self.add_position_embedding: + x = AddPositionEmbs( + posemb_init=nn.initializers.normal(stddev=0.02), # from BERT. + name="posembed_input", + )(x) + x = nn.Dropout(rate=self.dropout_rate)(x, deterministic=not train) + + x = x.astype(self.dtype) + # Input Encoder + block = nn.remat(Encoder1DBlock, prevent_cse=False, static_argnums=(2,)) + x, _ = nn.scan( + block, + variable_axes={"params": 0}, + split_rngs={"params": True, "dropout": True}, + in_axes=nn.broadcast, + length=self.num_layers, + )( + name="encoderblock", + mlp_dim=self.mlp_dim, + dropout_rate=self.dropout_rate, + attention_dropout_rate=self.attention_dropout_rate, + dtype=self.dtype, + num_heads=self.num_heads, + )(x, not train) + return nn.LayerNorm(name="encoder_norm", dtype=self.dtype)(x) + + +class VisionTransformer(nn.Module): + """VisionTransformer.""" + + dtype: jax.typing.DTypeLike + num_classes: int + patches: Any + transformer: Any + hidden_size: int + resnet: Any | None = None + representation_size: int | None = None + classifier: str = "token" + head_bias_init: float = 0.0 + encoder: type[nn.Module] = Encoder + model_name: str | None = None + + @nn.compact + def __call__(self, inputs, *, train): + x = inputs + # (Possibly partial) ResNet root. + if self.resnet is not None: + width = int(64 * self.resnet.width_factor) + + # Root block. + x = models_resnet.StdConv( + features=width, kernel_size=(7, 7), strides=(2, 2), use_bias=False, name="conv_root" + )(x) + x = nn.GroupNorm(name="gn_root")(x) + x = nn.relu(x) + x = nn.max_pool(x, window_shape=(3, 3), strides=(2, 2), padding="SAME") + + # ResNet stages. + if self.resnet.num_layers: + x = models_resnet.ResNetStage( + block_size=self.resnet.num_layers[0], nout=width, first_stride=(1, 1), name="block1" + )(x) + for i, block_size in enumerate(self.resnet.num_layers[1:], 1): + x = models_resnet.ResNetStage( + block_size=block_size, nout=width * 2**i, first_stride=(2, 2), name=f"block{i + 1}" + )(x) + + n, h, w, c = x.shape + + # We can merge s2d+emb into a single conv; it's the same. + x = nn.Conv( + features=self.hidden_size, + kernel_size=self.patches.size, + strides=self.patches.size, + padding="VALID", + name="embedding", + )(x) + + # Here, x is a grid of embeddings. + + # (Possibly partial) Transformer. + if self.transformer is not None: + n, h, w, c = x.shape + x = jnp.reshape(x, [n, h * w, c]) + + # If we want to add a class token, add it here. + if self.classifier in ["token", "token_unpooled"]: + cls = self.param("cls", nn.initializers.zeros, (1, 1, c)) + cls = jnp.tile(cls, [n, 1, 1]) + x = jnp.concatenate([cls, x], axis=1) + + x = self.encoder(name="Transformer", **self.transformer, dtype=self.dtype)(x, train=train) + + if self.classifier == "token": + x = x[:, 0] + elif self.classifier == "gap": + x = jnp.mean(x, axis=list(range(1, x.ndim - 1))) # (1,) or (1,2) + elif self.classifier in ["unpooled", "token_unpooled"]: + pass + else: + raise ValueError(f"Invalid classifier={self.classifier}") + + if self.representation_size is not None: + x = nn.Dense(features=self.representation_size, name="pre_logits")(x) + x = nn.tanh(x) + else: + x = IdentityLayer(name="pre_logits")(x) + + if self.num_classes: + x = nn.Dense( + features=self.num_classes, + name="head", + kernel_init=nn.initializers.zeros, + bias_init=nn.initializers.constant(self.head_bias_init), + )(x) + return x diff --git a/src/openpi/policies/aloha_policy.py b/src/openpi/policies/aloha_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..fe3d6fb951ba5982fcce5159895e5dddf865ff58 --- /dev/null +++ b/src/openpi/policies/aloha_policy.py @@ -0,0 +1,208 @@ +import dataclasses +from typing import ClassVar + +import einops +import numpy as np + +from openpi import transforms + + +def make_aloha_example() -> dict: + """Creates a random input example for the Aloha policy.""" + return { + "state": np.ones((14,)), + "images": { + "cam_high": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_low": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_left_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + "cam_right_wrist": np.random.randint(256, size=(3, 224, 224), dtype=np.uint8), + }, + "prompt": "do something", + } + + +@dataclasses.dataclass(frozen=True) +class AlohaInputs(transforms.DataTransformFn): + """Inputs for the Aloha policy. + + Expected inputs: + - images: dict[name, img] where img is [channel, height, width]. name must be in EXPECTED_CAMERAS. + - state: [14] + - actions: [action_horizon, 14] + """ + + # The action dimension of the model. Will be used to pad state and actions. + action_dim: int + + # If true, this will convert the joint and gripper values from the standard Aloha space to + # the space used by the pi internal runtime which was used to train the base model. + adapt_to_pi: bool = True + + # The expected cameras names. All input cameras must be in this set. Missing cameras will be + # replaced with black images and the corresponding `image_mask` will be set to False. + EXPECTED_CAMERAS: ClassVar[tuple[str, ...]] = ("cam_high", "cam_low", "cam_left_wrist", "cam_right_wrist") + + def __call__(self, data: dict) -> dict: + data = _decode_aloha(data, adapt_to_pi=self.adapt_to_pi) + + # Get the state. We are padding from 14 to the model action dim. + state = transforms.pad_to_dim(data["state"], self.action_dim) + + in_images = data["images"] + if set(in_images) - set(self.EXPECTED_CAMERAS): + raise ValueError(f"Expected images to contain {self.EXPECTED_CAMERAS}, got {tuple(in_images)}") + + # Assume that base image always exists. + base_image = in_images["cam_high"] + + images = { + "base_0_rgb": base_image, + } + image_masks = { + "base_0_rgb": np.True_, + } + + # Add the extra images. + extra_image_names = { + "left_wrist_0_rgb": "cam_left_wrist", + "right_wrist_0_rgb": "cam_right_wrist", + } + for dest, source in extra_image_names.items(): + if source in in_images: + images[dest] = in_images[source] + image_masks[dest] = np.True_ + else: + images[dest] = np.zeros_like(base_image) + image_masks[dest] = np.False_ + + inputs = { + "image": images, + "image_mask": image_masks, + "state": state, + } + + # Actions are only available during training. + if "actions" in data: + actions = np.asarray(data["actions"]) + actions = _encode_actions_inv(actions, adapt_to_pi=self.adapt_to_pi) + inputs["actions"] = transforms.pad_to_dim(actions, self.action_dim) + + if "prompt" in data: + inputs["prompt"] = data["prompt"] + + return inputs + + +@dataclasses.dataclass(frozen=True) +class AlohaOutputs(transforms.DataTransformFn): + """Outputs for the Aloha policy.""" + + # If true, this will convert the joint and gripper values from the standard Aloha space to + # the space used by the pi internal runtime which was used to train the base model. + adapt_to_pi: bool = True + + def __call__(self, data: dict) -> dict: + # Only return the first 14 dims. + actions = np.asarray(data["actions"][:, :14]) + return {"actions": _encode_actions(actions, adapt_to_pi=self.adapt_to_pi)} + + +def _joint_flip_mask() -> np.ndarray: + """Used to convert between aloha and pi joint angles.""" + return np.array([1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, 1, 1]) + + +def _normalize(x, min_val, max_val): + return (x - min_val) / (max_val - min_val) + + +def _unnormalize(x, min_val, max_val): + return x * (max_val - min_val) + min_val + + +def _gripper_to_angular(value): + # Aloha transforms the gripper positions into a linear space. The following code + # reverses this transformation to be consistent with pi0 which is pretrained in + # angular space. + # + # These values are coming from the Aloha code: + # PUPPET_GRIPPER_POSITION_OPEN, PUPPET_GRIPPER_POSITION_CLOSED + value = _unnormalize(value, min_val=0.01844, max_val=0.05800) + + # This is the inverse of the angular to linear transformation inside the Interbotix code. + def linear_to_radian(linear_position, arm_length, horn_radius): + value = (horn_radius**2 + linear_position**2 - arm_length**2) / (2 * horn_radius * linear_position) + return np.arcsin(np.clip(value, -1.0, 1.0)) + + # The constants are taken from the Interbotix code. + value = linear_to_radian(value, arm_length=0.036, horn_radius=0.022) + + # pi0 gripper data is normalized (0, 1) between encoder counts (2405, 3110). + # There are 4096 total encoder counts and aloha uses a zero of 2048. + # Converting this to radians means that the normalized inputs are between (0.5476, 1.6296) + return _normalize(value, min_val=0.5476, max_val=1.6296) + + +def _gripper_from_angular(value): + # Convert from the gripper position used by pi0 to the gripper position that is used by Aloha. + # Note that the units are still angular but the range is different. + + # We do not scale the output since the trossen model predictions are already in radians. + # See the comment in _gripper_to_angular for a derivation of the constant + value = value + 0.5476 + + # These values are coming from the Aloha code: + # PUPPET_GRIPPER_JOINT_OPEN, PUPPET_GRIPPER_JOINT_CLOSE + return _normalize(value, min_val=-0.6213, max_val=1.4910) + + +def _gripper_from_angular_inv(value): + # Directly inverts the gripper_from_angular function. + value = _unnormalize(value, min_val=-0.6213, max_val=1.4910) + return value - 0.5476 + + +def _decode_aloha(data: dict, *, adapt_to_pi: bool = False) -> dict: + # state is [left_arm_joint_angles, right_arm_joint_angles, left_arm_gripper, right_arm_gripper] + # dim sizes: [6, 1, 6, 1] + state = np.asarray(data["state"]) + state = _decode_state(state, adapt_to_pi=adapt_to_pi) + + def convert_image(img): + img = np.asarray(img) + # Convert to uint8 if using float images. + if np.issubdtype(img.dtype, np.floating): + img = (255 * img).astype(np.uint8) + # Convert from [channel, height, width] to [height, width, channel]. + return einops.rearrange(img, "c h w -> h w c") + + images = data["images"] + images_dict = {name: convert_image(img) for name, img in images.items()} + + data["images"] = images_dict + data["state"] = state + return data + + +def _decode_state(state: np.ndarray, *, adapt_to_pi: bool = False) -> np.ndarray: + if adapt_to_pi: + # Flip the joints. + state = _joint_flip_mask() * state + # Reverse the gripper transformation that is being applied by the Aloha runtime. + state[[6, 13]] = _gripper_to_angular(state[[6, 13]]) + return state + + +def _encode_actions(actions: np.ndarray, *, adapt_to_pi: bool = False) -> np.ndarray: + if adapt_to_pi: + # Flip the joints. + actions = _joint_flip_mask() * actions + actions[:, [6, 13]] = _gripper_from_angular(actions[:, [6, 13]]) + return actions + + +def _encode_actions_inv(actions: np.ndarray, *, adapt_to_pi: bool = False) -> np.ndarray: + if adapt_to_pi: + actions = _joint_flip_mask() * actions + actions[:, [6, 13]] = _gripper_from_angular_inv(actions[:, [6, 13]]) + return actions diff --git a/src/openpi/policies/droid_policy.py b/src/openpi/policies/droid_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..fa70a708b44156f699a67804a303cf417afea4ba --- /dev/null +++ b/src/openpi/policies/droid_policy.py @@ -0,0 +1,81 @@ +import dataclasses + +import einops +import numpy as np + +from openpi import transforms +from openpi.models import model as _model + + +def make_droid_example() -> dict: + """Creates a random input example for the Droid policy.""" + return { + "observation/exterior_image_1_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/wrist_image_left": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/joint_position": np.random.rand(7), + "observation/gripper_position": np.random.rand(1), + "prompt": "do something", + } + + +def _parse_image(image) -> np.ndarray: + image = np.asarray(image) + if np.issubdtype(image.dtype, np.floating): + image = (255 * image).astype(np.uint8) + if image.shape[0] == 3: + image = einops.rearrange(image, "c h w -> h w c") + return image + + +@dataclasses.dataclass(frozen=True) +class DroidInputs(transforms.DataTransformFn): + # The action dimension of the model. Will be used to pad state and actions. + action_dim: int + + # Determines which model will be used. + model_type: _model.ModelType = _model.ModelType.PI0 + + def __call__(self, data: dict) -> dict: + state = np.concatenate([data["observation/joint_position"], data["observation/gripper_position"]]) + state = transforms.pad_to_dim(state, self.action_dim) + + # Possibly need to parse images to uint8 (H,W,C) since LeRobot automatically + # stores as float32 (C,H,W), gets skipped for policy inference + base_image = _parse_image(data["observation/exterior_image_1_left"]) + wrist_image = _parse_image(data["observation/wrist_image_left"]) + + match self.model_type: + case _model.ModelType.PI0: + names = ("base_0_rgb", "left_wrist_0_rgb", "right_wrist_0_rgb") + images = (base_image, wrist_image, np.zeros_like(base_image)) + image_masks = (np.True_, np.True_, np.False_) + case _model.ModelType.PI0_FAST: + names = ("base_0_rgb", "base_1_rgb", "wrist_0_rgb") + # We don't mask out padding images for FAST models. + images = (base_image, np.zeros_like(base_image), wrist_image) + image_masks = (np.True_, np.True_, np.True_) + case _: + raise ValueError(f"Unsupported model type: {self.model_type}") + + inputs = { + "state": state, + "image": dict(zip(names, images, strict=True)), + "image_mask": dict(zip(names, image_masks, strict=True)), + } + + if "actions" in data: + inputs["actions"] = np.array(data["actions"]) + + if "prompt" in data: + if isinstance(data["prompt"], bytes): + data["prompt"] = data["prompt"].decode("utf-8") + inputs["prompt"] = data["prompt"] + + return inputs + + +@dataclasses.dataclass(frozen=True) +class DroidOutputs(transforms.DataTransformFn): + def __call__(self, data: dict) -> dict: + # Only return the first 8 dims. + return {"actions": np.asarray(data["actions"][:, :8])} diff --git a/src/openpi/policies/libero_policy.py b/src/openpi/policies/libero_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..5b69983680fa509fa1a63981c7f7a4e338cdf1a1 --- /dev/null +++ b/src/openpi/policies/libero_policy.py @@ -0,0 +1,117 @@ +import dataclasses + +import einops +import numpy as np + +from openpi import transforms +from openpi.models import model as _model + + +def make_libero_example() -> dict: + """Creates a random input example for the Libero policy.""" + return { + "observation/state": np.random.rand(8), + "observation/image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "observation/wrist_image": np.random.randint(256, size=(224, 224, 3), dtype=np.uint8), + "prompt": "do something", + } + + +def _parse_image(image) -> np.ndarray: + image = np.asarray(image) + if np.issubdtype(image.dtype, np.floating): + image = (255 * image).astype(np.uint8) + if image.shape[0] == 3: + image = einops.rearrange(image, "c h w -> h w c") + return image + + +@dataclasses.dataclass(frozen=True) +class LiberoInputs(transforms.DataTransformFn): + """ + This class is used to convert inputs to the model to the expected format. It is used for both training and inference. + + For your own dataset, you can copy this class and modify the keys based on the comments below to pipe + the correct elements of your dataset into the model. + """ + + # The action dimension of the model. Will be used to pad state and actions for pi0 model (not pi0-FAST). + # Do not change this for your own dataset. + action_dim: int + + # Determines which model will be used. + # Do not change this for your own dataset. + model_type: _model.ModelType = _model.ModelType.PI0 + + def __call__(self, data: dict) -> dict: + # We only mask padding for pi0 model, not pi0-FAST. Do not change this for your own dataset. + mask_padding = self.model_type == _model.ModelType.PI0 + + # We pad the proprioceptive input to the action dimension of the model. + # For pi0-FAST, we don't pad the state. For Libero, we don't need to differentiate + # since the pi0-FAST action_dim = 7, which is < state_dim = 8, so pad is skipped. + # Keep this for your own dataset, but if your dataset stores the proprioceptive input + # in a different key than "observation/state", you should change it below. + state = transforms.pad_to_dim(data["observation/state"], self.action_dim) + + # Possibly need to parse images to uint8 (H,W,C) since LeRobot automatically + # stores as float32 (C,H,W), gets skipped for policy inference. + # Keep this for your own dataset, but if your dataset stores the images + # in a different key than "observation/image" or "observation/wrist_image", + # you should change it below. + # Pi0 models support three image inputs at the moment: one third-person view, + # and two wrist views (left and right). If your dataset does not have a particular type + # of image, e.g. wrist images, you can comment it out here and replace it with zeros like we do for the + # right wrist image below. + base_image = _parse_image(data["observation/image"]) + wrist_image = _parse_image(data["observation/wrist_image"]) + + # Create inputs dict. Do not change the keys in the dict below. + inputs = { + "state": state, + "image": { + "base_0_rgb": base_image, + "left_wrist_0_rgb": wrist_image, + # Pad any non-existent images with zero-arrays of the appropriate shape. + "right_wrist_0_rgb": np.zeros_like(base_image), + }, + "image_mask": { + "base_0_rgb": np.True_, + "left_wrist_0_rgb": np.True_, + # Mask any non-existent images with False (if ``mask_padding`` is True). + "right_wrist_0_rgb": np.False_ if mask_padding else np.True_, + }, + } + + # Pad actions to the model action dimension. Keep this for your own dataset. + # Actions are only available during training. + if "actions" in data: + # We are padding to the model action dim. + # For pi0-FAST, this is a no-op (since action_dim = 7). + actions = transforms.pad_to_dim(data["actions"], self.action_dim) + inputs["actions"] = actions + + # Pass the prompt (aka language instruction) to the model. + # Keep this for your own dataset (but modify the key if the instruction is not + # stored in "prompt"; the output dict always needs to have the key "prompt"). + if "prompt" in data: + inputs["prompt"] = data["prompt"] + + return inputs + + +@dataclasses.dataclass(frozen=True) +class LiberoOutputs(transforms.DataTransformFn): + """ + This class is used to convert outputs from the model back the the dataset specific format. It is + used for inference only. + + For your own dataset, you can copy this class and modify the action dimension based on the comments below. + """ + + def __call__(self, data: dict) -> dict: + # Only return the first N actions -- since we padded actions above to fit the model action + # dimension, we need to now parse out the correct number of actions in the return dict. + # For Libero, we only return the first 7 actions (since the rest is padding). + # For your own dataset, replace `7` with the action dimension of your dataset. + return {"actions": np.asarray(data["actions"][:, :7])} diff --git a/src/openpi/policies/policy.py b/src/openpi/policies/policy.py new file mode 100644 index 0000000000000000000000000000000000000000..af668c3e49a1ed356ae993a9026cf7057fda649e --- /dev/null +++ b/src/openpi/policies/policy.py @@ -0,0 +1,92 @@ +from collections.abc import Sequence +import logging +import pathlib +import time +from typing import Any, TypeAlias + +import flax +import flax.traverse_util +import jax +import jax.numpy as jnp +import numpy as np +from openpi_client import base_policy as _base_policy +from typing_extensions import override + +from openpi import transforms as _transforms +from openpi.models import model as _model +from openpi.shared import array_typing as at +from openpi.shared import nnx_utils + +BasePolicy: TypeAlias = _base_policy.BasePolicy + + +class Policy(BasePolicy): + def __init__( + self, + model: _model.BaseModel, + *, + rng: at.KeyArrayLike | None = None, + transforms: Sequence[_transforms.DataTransformFn] = (), + output_transforms: Sequence[_transforms.DataTransformFn] = (), + sample_kwargs: dict[str, Any] | None = None, + metadata: dict[str, Any] | None = None, + ): + self._sample_actions = nnx_utils.module_jit(model.sample_actions) + self._input_transform = _transforms.compose(transforms) + self._output_transform = _transforms.compose(output_transforms) + self._rng = rng or jax.random.key(0) + self._sample_kwargs = sample_kwargs or {} + self._metadata = metadata or {} + + @override + def infer(self, obs: dict) -> dict: # type: ignore[misc] + # Make a copy since transformations may modify the inputs in place. + inputs = jax.tree.map(lambda x: x, obs) + inputs = self._input_transform(inputs) + # Make a batch and convert to jax.Array. + inputs = jax.tree.map(lambda x: jnp.asarray(x)[np.newaxis, ...], inputs) + + start_time = time.monotonic() + self._rng, sample_rng = jax.random.split(self._rng) + outputs = { + "state": inputs["state"], + "actions": self._sample_actions(sample_rng, _model.Observation.from_dict(inputs), **self._sample_kwargs), + } + # Unbatch and convert to np.ndarray. # Unbatch and convert to np.ndarray. + outputs = jax.tree.map(lambda x: np.asarray(x[0, ...]), outputs) + model_time = time.monotonic() - start_time + + outputs = self._output_transform(outputs) + outputs["policy_timing"] = { + "infer_ms": model_time * 1000, + } + return outputs + + @property + def metadata(self) -> dict[str, Any]: + return self._metadata + + +class PolicyRecorder(_base_policy.BasePolicy): + """Records the policy's behavior to disk.""" + + def __init__(self, policy: _base_policy.BasePolicy, record_dir: str): + self._policy = policy + + logging.info(f"Dumping policy records to: {record_dir}") + self._record_dir = pathlib.Path(record_dir) + self._record_dir.mkdir(parents=True, exist_ok=True) + self._record_step = 0 + + @override + def infer(self, obs: dict) -> dict: # type: ignore[misc] + results = self._policy.infer(obs) + + data = {"inputs": obs, "outputs": results} + data = flax.traverse_util.flatten_dict(data, sep="/") + + output_path = self._record_dir / f"step_{self._record_step}" + self._record_step += 1 + + np.save(output_path, np.asarray(data)) + return results diff --git a/src/openpi/policies/policy_config.py b/src/openpi/policies/policy_config.py new file mode 100644 index 0000000000000000000000000000000000000000..8da9e2ba01c76842a2ff8ca83a1f925078b1d0de --- /dev/null +++ b/src/openpi/policies/policy_config.py @@ -0,0 +1,83 @@ +from collections.abc import Sequence +import dataclasses +import logging +import pathlib +from typing import Any + +import jax.numpy as jnp + +import openpi.models.model as _model +import openpi.policies.policy as _policy +import openpi.shared.download as download +from openpi.training import checkpoints as _checkpoints +from openpi.training import config as _config +import openpi.transforms as transforms + + +@dataclasses.dataclass +class PolicyConfig: + model: _model.BaseModel + norm_stats: dict[str, transforms.NormStats] + + input_layers: Sequence[transforms.DataTransformFn] + output_layers: Sequence[transforms.DataTransformFn] + + model_type: _model.ModelType = _model.ModelType.PI0 + default_prompt: str | None = None + sample_kwargs: dict[str, Any] | None = None + + +def create_trained_policy( + train_config: _config.TrainConfig, + checkpoint_dir: pathlib.Path | str, + *, + repack_transforms: transforms.Group | None = None, + sample_kwargs: dict[str, Any] | None = None, + default_prompt: str | None = None, + norm_stats: dict[str, transforms.NormStats] | None = None, +) -> _policy.Policy: + """Create a policy from a trained checkpoint. + + Args: + train_config: The training config to use to create the model. + checkpoint_dir: The directory to load the model from. + repack_transforms: Optional transforms that will be applied before any other transforms. + sample_kwargs: The kwargs to pass to the `sample_actions` method. If not provided, the default + kwargs will be used. + default_prompt: The default prompt to use for the policy. Will inject the prompt into the input + data if it doesn't already exist. + norm_stats: The norm stats to use for the policy. If not provided, the norm stats will be loaded + from the checkpoint directory. + """ + repack_transforms = repack_transforms or transforms.Group() + checkpoint_dir = download.maybe_download(str(checkpoint_dir)) + + logging.info("Loading model...") + model = train_config.model.load(_model.restore_params(checkpoint_dir / "params", dtype=jnp.bfloat16)) + + data_config = train_config.data.create(train_config.assets_dirs, train_config.model) + if norm_stats is None: + # We are loading the norm stats from the checkpoint instead of the config assets dir to make sure + # that the policy is using the same normalization stats as the original training process. + if data_config.asset_id is None: + raise ValueError("Asset id is required to load norm stats.") + norm_stats = _checkpoints.load_norm_stats(checkpoint_dir / "assets", data_config.asset_id) + + return _policy.Policy( + model, + transforms=[ + *repack_transforms.inputs, + transforms.InjectDefaultPrompt(default_prompt), + *data_config.data_transforms.inputs, + transforms.Normalize(norm_stats, use_quantiles=data_config.use_quantile_norm), + *data_config.model_transforms.inputs, + ], + output_transforms=[ + *data_config.model_transforms.outputs, + transforms.Unnormalize(norm_stats, use_quantiles=data_config.use_quantile_norm), + *data_config.data_transforms.outputs, + *repack_transforms.outputs, + ], + sample_kwargs=sample_kwargs, + metadata=train_config.policy_metadata, + ) diff --git a/src/openpi/policies/policy_test.py b/src/openpi/policies/policy_test.py new file mode 100644 index 0000000000000000000000000000000000000000..5808e5274a9d19384d4277ccbde113926da65a50 --- /dev/null +++ b/src/openpi/policies/policy_test.py @@ -0,0 +1,34 @@ +from openpi_client import action_chunk_broker +import pytest + +from openpi.policies import aloha_policy +from openpi.policies import policy_config as _policy_config +from openpi.training import config as _config + + +@pytest.mark.manual +def test_infer(): + config = _config.get_config("pi0_aloha_sim") + policy = _policy_config.create_trained_policy(config, "gs://openpi-assets/checkpoints/pi0_aloha_sim") + + example = aloha_policy.make_aloha_example() + result = policy.infer(example) + + assert result["actions"].shape == (config.model.action_horizon, 14) + + +@pytest.mark.manual +def test_broker(): + config = _config.get_config("pi0_aloha_sim") + policy = _policy_config.create_trained_policy(config, "gs://openpi-assets/checkpoints/pi0_aloha_sim") + + broker = action_chunk_broker.ActionChunkBroker( + policy, + # Only execute the first half of the chunk. + action_horizon=config.model.action_horizon // 2, + ) + + example = aloha_policy.make_aloha_example() + for _ in range(config.model.action_horizon): + outputs = broker.infer(example) + assert outputs["actions"].shape == (14,) diff --git a/src/openpi/py.typed b/src/openpi/py.typed new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/src/openpi/serving/websocket_policy_server.py b/src/openpi/serving/websocket_policy_server.py new file mode 100644 index 0000000000000000000000000000000000000000..bdefa98b879323aca449550bf1985ae877eddd83 --- /dev/null +++ b/src/openpi/serving/websocket_policy_server.py @@ -0,0 +1,90 @@ +import asyncio +import http +import logging +import time +import traceback + +from openpi_client import base_policy as _base_policy +from openpi_client import msgpack_numpy +import websockets.asyncio.server as _server +import websockets.frames + +logger = logging.getLogger(__name__) + + +class WebsocketPolicyServer: + """Serves a policy using the websocket protocol. See websocket_client_policy.py for a client implementation. + + Currently only implements the `load` and `infer` methods. + """ + + def __init__( + self, + policy: _base_policy.BasePolicy, + host: str = "0.0.0.0", + port: int | None = None, + metadata: dict | None = None, + ) -> None: + self._policy = policy + self._host = host + self._port = port + self._metadata = metadata or {} + logging.getLogger("websockets.server").setLevel(logging.INFO) + + def serve_forever(self) -> None: + asyncio.run(self.run()) + + async def run(self): + async with _server.serve( + self._handler, + self._host, + self._port, + compression=None, + max_size=None, + process_request=_health_check, + ) as server: + await server.serve_forever() + + async def _handler(self, websocket: _server.ServerConnection): + logger.info(f"Connection from {websocket.remote_address} opened") + packer = msgpack_numpy.Packer() + + await websocket.send(packer.pack(self._metadata)) + + prev_total_time = None + while True: + try: + start_time = time.monotonic() + obs = msgpack_numpy.unpackb(await websocket.recv()) + + infer_time = time.monotonic() + action = self._policy.infer(obs) + infer_time = time.monotonic() - infer_time + + action["server_timing"] = { + "infer_ms": infer_time * 1000, + } + if prev_total_time is not None: + # We can only record the last total time since we also want to include the send time. + action["server_timing"]["prev_total_ms"] = prev_total_time * 1000 + + await websocket.send(packer.pack(action)) + prev_total_time = time.monotonic() - start_time + + except websockets.ConnectionClosed: + logger.info(f"Connection from {websocket.remote_address} closed") + break + except Exception: + await websocket.send(traceback.format_exc()) + await websocket.close( + code=websockets.frames.CloseCode.INTERNAL_ERROR, + reason="Internal server error. Traceback included in previous frame.", + ) + raise + + +def _health_check(connection: _server.ServerConnection, request: _server.Request) -> _server.Response | None: + if request.path == "/healthz": + return connection.respond(http.HTTPStatus.OK, "OK\n") + # Continue with the normal request handling. + return None diff --git a/src/openpi/shared/__init__.py b/src/openpi/shared/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/src/openpi/shared/array_typing.py b/src/openpi/shared/array_typing.py new file mode 100644 index 0000000000000000000000000000000000000000..3c95930725bfb67074a76267b089f7ef02ef7abe --- /dev/null +++ b/src/openpi/shared/array_typing.py @@ -0,0 +1,87 @@ +import contextlib +import functools as ft +import inspect +from typing import TypeAlias, TypeVar, cast + +import beartype +import jax +import jax._src.tree_util as private_tree_util +import jax.core +from jaxtyping import Array # noqa: F401 +from jaxtyping import ArrayLike +from jaxtyping import Bool # noqa: F401 +from jaxtyping import DTypeLike # noqa: F401 +from jaxtyping import Float +from jaxtyping import Int # noqa: F401 +from jaxtyping import Key # noqa: F401 +from jaxtyping import Num # noqa: F401 +from jaxtyping import PyTree +from jaxtyping import Real # noqa: F401 +from jaxtyping import UInt8 # noqa: F401 +from jaxtyping import config +from jaxtyping import jaxtyped +import jaxtyping._decorator + +# patch jaxtyping to handle https://github.com/patrick-kidger/jaxtyping/issues/277. +# the problem is that custom PyTree nodes are sometimes initialized with arbitrary types (e.g., `jax.ShapeDtypeStruct`, +# `jax.Sharding`, or even ) due to JAX tracing operations. this patch skips typechecking when the stack trace +# contains `jax._src.tree_util`, which should only be the case during tree unflattening. +_original_check_dataclass_annotations = jaxtyping._decorator._check_dataclass_annotations # noqa: SLF001 + + +def _check_dataclass_annotations(self, typechecker): + if not any( + frame.frame.f_globals["__name__"] in {"jax._src.tree_util", "flax.nnx.transforms.compilation"} + for frame in inspect.stack() + ): + return _original_check_dataclass_annotations(self, typechecker) + return None + + +jaxtyping._decorator._check_dataclass_annotations = _check_dataclass_annotations # noqa: SLF001 + +KeyArrayLike: TypeAlias = jax.typing.ArrayLike +Params: TypeAlias = PyTree[Float[ArrayLike, "..."]] + +T = TypeVar("T") + + +# runtime type-checking decorator +def typecheck(t: T) -> T: + return cast(T, ft.partial(jaxtyped, typechecker=beartype.beartype)(t)) + + +@contextlib.contextmanager +def disable_typechecking(): + initial = config.jaxtyping_disable + config.update("jaxtyping_disable", True) # noqa: FBT003 + yield + config.update("jaxtyping_disable", initial) + + +def check_pytree_equality(*, expected: PyTree, got: PyTree, check_shapes: bool = False, check_dtypes: bool = False): + """Checks that two PyTrees have the same structure and optionally checks shapes and dtypes. Creates a much nicer + error message than if `jax.tree.map` is naively used on PyTrees with different structures. + """ + + if errors := list(private_tree_util.equality_errors(expected, got)): + raise ValueError( + "PyTrees have different structure:\n" + + ( + "\n".join( + f" - at keypath '{jax.tree_util.keystr(path)}': expected {thing1}, got {thing2}, so {explanation}.\n" + for path, thing1, thing2, explanation in errors + ) + ) + ) + + if check_shapes or check_dtypes: + + def check(kp, x, y): + if check_shapes and x.shape != y.shape: + raise ValueError(f"Shape mismatch at {jax.tree_util.keystr(kp)}: expected {x.shape}, got {y.shape}") + + if check_dtypes and x.dtype != y.dtype: + raise ValueError(f"Dtype mismatch at {jax.tree_util.keystr(kp)}: expected {x.dtype}, got {y.dtype}") + + jax.tree_util.tree_map_with_path(check, expected, got) diff --git a/src/openpi/shared/download.py b/src/openpi/shared/download.py new file mode 100644 index 0000000000000000000000000000000000000000..45145808bb6acabe6b65a3bfcfa02a7423169673 --- /dev/null +++ b/src/openpi/shared/download.py @@ -0,0 +1,198 @@ +import concurrent.futures +import datetime +import getpass +import logging +import os +import pathlib +import re +import shutil +import stat +import time +import urllib.parse + +import filelock +import fsspec +import fsspec.generic +import tqdm_loggable.auto as tqdm + +# Environment variable to control cache directory path, ~/.cache/openpi will be used by default. +_OPENPI_DATA_HOME = "OPENPI_DATA_HOME" + +logger = logging.getLogger(__name__) + + +def get_cache_dir() -> pathlib.Path: + default_dir = "~/.cache/openpi" + if os.path.exists("/mnt/weka"): # noqa: PTH110 + default_dir = f"/mnt/weka/{getpass.getuser()}/.cache/openpi" + + cache_dir = pathlib.Path(os.getenv(_OPENPI_DATA_HOME, default_dir)).expanduser().resolve() + cache_dir.mkdir(parents=True, exist_ok=True) + _set_folder_permission(cache_dir) + return cache_dir + + +def maybe_download(url: str, *, force_download: bool = False, **kwargs) -> pathlib.Path: + """Download a file or directory from a remote filesystem to the local cache, and return the local path. + + If the local file already exists, it will be returned directly. + + It is safe to call this function concurrently from multiple processes. + See `get_cache_dir` for more details on the cache directory. + + Args: + url: URL to the file to download. + force_download: If True, the file will be downloaded even if it already exists in the cache. + **kwargs: Additional arguments to pass to fsspec. + + Returns: + Local path to the downloaded file or directory. That path is guaranteed to exist and is absolute. + """ + # Don't use fsspec to parse the url to avoid unnecessary connection to the remote filesystem. + parsed = urllib.parse.urlparse(url) + + # Short circuit if this is a local path. + if parsed.scheme == "": + path = pathlib.Path(url) + if not path.exists(): + raise FileNotFoundError(f"File not found at {url}") + return path.resolve() + + cache_dir = get_cache_dir() + + local_path = cache_dir / parsed.netloc / parsed.path.strip("/") + local_path = local_path.resolve() + + # Check if the cache should be invalidated. + invalidate_cache = False + if local_path.exists(): + if force_download or _should_invalidate_cache(cache_dir, local_path): + invalidate_cache = True + else: + return local_path + + try: + lock_path = local_path.with_suffix(".lock") + with filelock.FileLock(lock_path): + # Ensure consistent permissions for the lock file. + _ensure_permissions(lock_path) + # First, remove the existing cache if it is expired. + if invalidate_cache: + logger.info(f"Removing expired cached entry: {local_path}") + if local_path.is_dir(): + shutil.rmtree(local_path) + else: + local_path.unlink() + + # Download the data to a local cache. + logger.info(f"Downloading {url} to {local_path}") + scratch_path = local_path.with_suffix(".partial") + _download_fsspec(url, scratch_path, **kwargs) + + shutil.move(scratch_path, local_path) + _ensure_permissions(local_path) + + except PermissionError as e: + msg = ( + f"Local file permission error was encountered while downloading {url}. " + f"Please try again after removing the cached data using: `rm -rf {local_path}*`" + ) + raise PermissionError(msg) from e + + return local_path + + +def _download_fsspec(url: str, local_path: pathlib.Path, **kwargs) -> None: + """Download a file from a remote filesystem to the local cache, and return the local path.""" + fs, _ = fsspec.core.url_to_fs(url, **kwargs) + info = fs.info(url) + # Folders are represented by 0-byte objects with a trailing forward slash. + if is_dir := (info["type"] == "directory" or (info["size"] == 0 and info["name"].endswith("/"))): + total_size = fs.du(url) + else: + total_size = info["size"] + with tqdm.tqdm(total=total_size, unit="iB", unit_scale=True, unit_divisor=1024) as pbar: + executor = concurrent.futures.ThreadPoolExecutor(max_workers=1) + future = executor.submit(fs.get, url, local_path, recursive=is_dir) + while not future.done(): + current_size = sum(f.stat().st_size for f in [*local_path.rglob("*"), local_path] if f.is_file()) + pbar.update(current_size - pbar.n) + time.sleep(1) + pbar.update(total_size - pbar.n) + + +def _set_permission(path: pathlib.Path, target_permission: int): + """chmod requires executable permission to be set, so we skip if the permission is already match with the target.""" + if path.stat().st_mode & target_permission == target_permission: + logger.debug(f"Skipping {path} because it already has correct permissions") + return + path.chmod(target_permission) + logger.debug(f"Set {path} to {target_permission}") + + +def _set_folder_permission(folder_path: pathlib.Path) -> None: + """Set folder permission to be read, write and searchable.""" + _set_permission(folder_path, stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO) + + +def _ensure_permissions(path: pathlib.Path) -> None: + """Since we are sharing cache directory with containerized runtime as well as training script, we need to + ensure that the cache directory has the correct permissions. + """ + + def _setup_folder_permission_between_cache_dir_and_path(path: pathlib.Path) -> None: + cache_dir = get_cache_dir() + relative_path = path.relative_to(cache_dir) + moving_path = cache_dir + for part in relative_path.parts: + _set_folder_permission(moving_path / part) + moving_path = moving_path / part + + def _set_file_permission(file_path: pathlib.Path) -> None: + """Set all files to be read & writable, if it is a script, keep it as a script.""" + file_rw = stat.S_IRUSR | stat.S_IWUSR | stat.S_IRGRP | stat.S_IWGRP | stat.S_IROTH | stat.S_IWOTH + if file_path.stat().st_mode & 0o100: + _set_permission(file_path, file_rw | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH) + else: + _set_permission(file_path, file_rw) + + _setup_folder_permission_between_cache_dir_and_path(path) + for root, dirs, files in os.walk(str(path)): + root_path = pathlib.Path(root) + for file in files: + file_path = root_path / file + _set_file_permission(file_path) + + for dir in dirs: + dir_path = root_path / dir + _set_folder_permission(dir_path) + + +def _get_mtime(year: int, month: int, day: int) -> float: + """Get the mtime of a given date at midnight UTC.""" + date = datetime.datetime(year, month, day, tzinfo=datetime.UTC) + return time.mktime(date.timetuple()) + + +# Map of relative paths, defined as regular expressions, to expiration timestamps (mtime format). +# Partial matching will be used from top to bottom and the first match will be chosen. +# Cached entries will be retained only if they are newer than the expiration timestamp. +_INVALIDATE_CACHE_DIRS: dict[re.Pattern, float] = { + re.compile("openpi-assets/checkpoints/pi0_aloha_pen_uncap"): _get_mtime(2025, 2, 17), + re.compile("openpi-assets/checkpoints/pi0_libero"): _get_mtime(2025, 2, 6), + re.compile("openpi-assets/checkpoints/"): _get_mtime(2025, 2, 3), +} + + +def _should_invalidate_cache(cache_dir: pathlib.Path, local_path: pathlib.Path) -> bool: + """Invalidate the cache if it is expired. Return True if the cache was invalidated.""" + + assert local_path.exists(), f"File not found at {local_path}" + + relative_path = str(local_path.relative_to(cache_dir)) + for pattern, expire_time in _INVALIDATE_CACHE_DIRS.items(): + if pattern.match(relative_path): + # Remove if not newer than the expiration timestamp. + return local_path.stat().st_mtime <= expire_time + + return False diff --git a/src/openpi/shared/download_test.py b/src/openpi/shared/download_test.py new file mode 100644 index 0000000000000000000000000000000000000000..ecb92bbe4d8e5a909bc9dc3ac86c7eb38868b7ba --- /dev/null +++ b/src/openpi/shared/download_test.py @@ -0,0 +1,54 @@ +import pathlib + +import pytest + +import openpi.shared.download as download + + +@pytest.fixture(scope="session", autouse=True) +def set_openpi_data_home(tmp_path_factory): + temp_dir = tmp_path_factory.mktemp("openpi_data") + with pytest.MonkeyPatch().context() as mp: + mp.setenv("OPENPI_DATA_HOME", str(temp_dir)) + yield + + +def test_download_local(tmp_path: pathlib.Path): + local_path = tmp_path / "local" + local_path.touch() + + result = download.maybe_download(str(local_path)) + assert result == local_path + + with pytest.raises(FileNotFoundError): + download.maybe_download("bogus") + + +def test_download_gs_dir(): + remote_path = "gs://openpi-assets/testdata/random" + + local_path = download.maybe_download(remote_path) + assert local_path.exists() + + new_local_path = download.maybe_download(remote_path) + assert new_local_path == local_path + + +def test_download_gs(): + remote_path = "gs://openpi-assets/testdata/random/random_512kb.bin" + + local_path = download.maybe_download(remote_path) + assert local_path.exists() + + new_local_path = download.maybe_download(remote_path) + assert new_local_path == local_path + + +def test_download_fsspec(): + remote_path = "gs://big_vision/paligemma_tokenizer.model" + + local_path = download.maybe_download(remote_path, gs={"token": "anon"}) + assert local_path.exists() + + new_local_path = download.maybe_download(remote_path, gs={"token": "anon"}) + assert new_local_path == local_path diff --git a/src/openpi/shared/image_tools.py b/src/openpi/shared/image_tools.py new file mode 100644 index 0000000000000000000000000000000000000000..4d63e1c710cfeb64bf994b2c6323cd26888a80a4 --- /dev/null +++ b/src/openpi/shared/image_tools.py @@ -0,0 +1,50 @@ +import functools + +import jax +import jax.numpy as jnp + +import openpi.shared.array_typing as at + + +@functools.partial(jax.jit, static_argnums=(1, 2, 3)) +@at.typecheck +def resize_with_pad( + images: at.UInt8[at.Array, "*b h w c"] | at.Float[at.Array, "*b h w c"], + height: int, + width: int, + method: jax.image.ResizeMethod = jax.image.ResizeMethod.LINEAR, +) -> at.UInt8[at.Array, "*b {height} {width} c"] | at.Float[at.Array, "*b {height} {width} c"]: + """Replicates tf.image.resize_with_pad. Resizes an image to a target height and width without distortion + by padding with black. If the image is float32, it must be in the range [-1, 1]. + """ + has_batch_dim = images.ndim == 4 + if not has_batch_dim: + images = images[None] # type: ignore + cur_height, cur_width = images.shape[1:3] + ratio = max(cur_width / width, cur_height / height) + resized_height = int(cur_height / ratio) + resized_width = int(cur_width / ratio) + resized_images = jax.image.resize( + images, (images.shape[0], resized_height, resized_width, images.shape[3]), method=method + ) + if images.dtype == jnp.uint8: + # round from float back to uint8 + resized_images = jnp.round(resized_images).clip(0, 255).astype(jnp.uint8) + elif images.dtype == jnp.float32: + resized_images = resized_images.clip(-1.0, 1.0) + else: + raise ValueError(f"Unsupported image dtype: {images.dtype}") + + pad_h0, remainder_h = divmod(height - resized_height, 2) + pad_h1 = pad_h0 + remainder_h + pad_w0, remainder_w = divmod(width - resized_width, 2) + pad_w1 = pad_w0 + remainder_w + padded_images = jnp.pad( + resized_images, + ((0, 0), (pad_h0, pad_h1), (pad_w0, pad_w1), (0, 0)), + constant_values=0 if images.dtype == jnp.uint8 else -1.0, + ) + + if not has_batch_dim: + padded_images = padded_images[0] + return padded_images diff --git a/src/openpi/shared/image_tools_test.py b/src/openpi/shared/image_tools_test.py new file mode 100644 index 0000000000000000000000000000000000000000..c19bee2ed1ca8aacb1f29cb8c7154037c7ce8d0c --- /dev/null +++ b/src/openpi/shared/image_tools_test.py @@ -0,0 +1,37 @@ +import jax.numpy as jnp + +from openpi.shared import image_tools + + +def test_resize_with_pad_shapes(): + # Test case 1: Resize image with larger dimensions + images = jnp.zeros((2, 10, 10, 3), dtype=jnp.uint8) # Input images of shape (batch_size, height, width, channels) + height = 20 + width = 20 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (2, height, width, 3) + assert jnp.all(resized_images == 0) + + # Test case 2: Resize image with smaller dimensions + images = jnp.zeros((3, 30, 30, 3), dtype=jnp.uint8) + height = 15 + width = 15 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (3, height, width, 3) + assert jnp.all(resized_images == 0) + + # Test case 3: Resize image with the same dimensions + images = jnp.zeros((1, 50, 50, 3), dtype=jnp.uint8) + height = 50 + width = 50 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (1, height, width, 3) + assert jnp.all(resized_images == 0) + + # Test case 3: Resize image with odd-numbered padding + images = jnp.zeros((1, 256, 320, 3), dtype=jnp.uint8) + height = 60 + width = 80 + resized_images = image_tools.resize_with_pad(images, height, width) + assert resized_images.shape == (1, height, width, 3) + assert jnp.all(resized_images == 0) diff --git a/src/openpi/shared/nnx_utils.py b/src/openpi/shared/nnx_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..29df222bcbc0e815d0b6bec046a2893e3b2b18a5 --- /dev/null +++ b/src/openpi/shared/nnx_utils.py @@ -0,0 +1,69 @@ +from collections.abc import Callable +import dataclasses +import functools +import inspect +import re +from typing import Any, ParamSpec, TypeVar + +import flax.nnx as nnx +import jax + +P = ParamSpec("P") +R = TypeVar("R") + + +def module_jit(meth: Callable[P, R], *jit_args, **jit_kwargs) -> Callable[P, R]: + """A higher-order function to JIT-compile `nnx.Module` methods, freezing the module's state in the process. + + Why not `nnx.jit`? For some reason, naively applying `nnx.jit` to `nnx.Module` methods, bound or unbound, uses much + more memory than necessary. I'm guessing it has something to do with the fact that it must keep track of module + mutations. Also, `nnx.jit` has some inherent overhead compared to a standard `jax.jit`, since every call must + traverse the NNX module graph. See https://github.com/google/flax/discussions/4224 for details. + + `module_jit` is an alternative that avoids these issues by freezing the module's state. The function returned by + `module_jit` acts exactly like the original method, except that the state of the module is frozen to whatever it was + when `module_jit` was called. Mutations to the module within `meth` are still allowed, but they will be discarded + after the method call completes. + """ + if not (inspect.ismethod(meth) and isinstance(meth.__self__, nnx.Module)): + raise ValueError("module_jit must only be used on bound methods of nnx.Modules.") + + graphdef, state = nnx.split(meth.__self__) + + def fun(state: nnx.State, *args: P.args, **kwargs: P.kwargs) -> R: + module = nnx.merge(graphdef, state) + return meth.__func__(module, *args, **kwargs) + + jitted_fn = jax.jit(fun, *jit_args, **jit_kwargs) + + @functools.wraps(meth) + def wrapper(*args: P.args, **kwargs: P.kwargs) -> R: + return jitted_fn(state, *args, **kwargs) + + return wrapper + + +@dataclasses.dataclass(frozen=True) +class PathRegex: + """NNX Filter that matches paths using a regex. + + By default, paths are joined with a `/` separator. This can be overridden by setting the `sep` argument. + """ + + pattern: str | re.Pattern + sep: str = "/" + + def __post_init__(self): + if not isinstance(self.pattern, re.Pattern): + object.__setattr__(self, "pattern", re.compile(self.pattern)) + + def __call__(self, path: nnx.filterlib.PathParts, x: Any) -> bool: + joined_path = self.sep.join(str(x) for x in path) + assert isinstance(self.pattern, re.Pattern) + return self.pattern.fullmatch(joined_path) is not None + + +def state_map(state: nnx.State, filter: nnx.filterlib.Filter, fn: Callable[[Any], Any]) -> nnx.State: + """Apply a function to the leaves of the state that match the filter.""" + filtered_keys = set(state.filter(filter).flat_state()) + return state.map(lambda k, v: fn(v) if k in filtered_keys else v) diff --git a/src/openpi/shared/normalize.py b/src/openpi/shared/normalize.py new file mode 100644 index 0000000000000000000000000000000000000000..5c6049a3ed63ac9643ae2ce42ae4628b6f3cb18c --- /dev/null +++ b/src/openpi/shared/normalize.py @@ -0,0 +1,147 @@ +import json +import pathlib + +import numpy as np +import numpydantic +import pydantic + + +@pydantic.dataclasses.dataclass +class NormStats: + mean: numpydantic.NDArray + std: numpydantic.NDArray + q01: numpydantic.NDArray | None = None # 1st quantile + q99: numpydantic.NDArray | None = None # 99th quantile + + +class RunningStats: + """Compute running statistics of a batch of vectors.""" + + def __init__(self): + self._count = 0 + self._mean = None + self._mean_of_squares = None + self._min = None + self._max = None + self._histograms = None + self._bin_edges = None + self._num_quantile_bins = 5000 # for computing quantiles on the fly + + def update(self, batch: np.ndarray) -> None: + """ + Update the running statistics with a batch of vectors. + + Args: + vectors (np.ndarray): A 2D array where each row is a new vector. + """ + if batch.ndim == 1: + batch = batch.reshape(-1, 1) + num_elements, vector_length = batch.shape + if self._count == 0: + self._mean = np.mean(batch, axis=0) + self._mean_of_squares = np.mean(batch**2, axis=0) + self._min = np.min(batch, axis=0) + self._max = np.max(batch, axis=0) + self._histograms = [np.zeros(self._num_quantile_bins) for _ in range(vector_length)] + self._bin_edges = [ + np.linspace(self._min[i] - 1e-10, self._max[i] + 1e-10, self._num_quantile_bins + 1) + for i in range(vector_length) + ] + else: + if vector_length != self._mean.size: + raise ValueError("The length of new vectors does not match the initialized vector length.") + new_max = np.max(batch, axis=0) + new_min = np.min(batch, axis=0) + max_changed = np.any(new_max > self._max) + min_changed = np.any(new_min < self._min) + self._max = np.maximum(self._max, new_max) + self._min = np.minimum(self._min, new_min) + + if max_changed or min_changed: + self._adjust_histograms() + + self._count += num_elements + + batch_mean = np.mean(batch, axis=0) + batch_mean_of_squares = np.mean(batch**2, axis=0) + + # Update running mean and mean of squares. + self._mean += (batch_mean - self._mean) * (num_elements / self._count) + self._mean_of_squares += (batch_mean_of_squares - self._mean_of_squares) * (num_elements / self._count) + + self._update_histograms(batch) + + def get_statistics(self) -> NormStats: + """ + Compute and return the statistics of the vectors processed so far. + + Returns: + dict: A dictionary containing the computed statistics. + """ + if self._count < 2: + raise ValueError("Cannot compute statistics for less than 2 vectors.") + + variance = self._mean_of_squares - self._mean**2 + stddev = np.sqrt(np.maximum(0, variance)) + q01, q99 = self._compute_quantiles([0.01, 0.99]) + return NormStats(mean=self._mean, std=stddev, q01=q01, q99=q99) + + def _adjust_histograms(self): + """Adjust histograms when min or max changes.""" + for i in range(len(self._histograms)): + old_edges = self._bin_edges[i] + new_edges = np.linspace(self._min[i], self._max[i], self._num_quantile_bins + 1) + + # Redistribute the existing histogram counts to the new bins + new_hist, _ = np.histogram(old_edges[:-1], bins=new_edges, weights=self._histograms[i]) + + self._histograms[i] = new_hist + self._bin_edges[i] = new_edges + + def _update_histograms(self, batch: np.ndarray) -> None: + """Update histograms with new vectors.""" + for i in range(batch.shape[1]): + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + self._histograms[i] += hist + + def _compute_quantiles(self, quantiles): + """Compute quantiles based on histograms.""" + results = [] + for q in quantiles: + target_count = q * self._count + q_values = [] + for hist, edges in zip(self._histograms, self._bin_edges, strict=True): + cumsum = np.cumsum(hist) + idx = np.searchsorted(cumsum, target_count) + q_values.append(edges[idx]) + results.append(np.array(q_values)) + return results + + +class _NormStatsDict(pydantic.BaseModel): + norm_stats: dict[str, NormStats] + + +def serialize_json(norm_stats: dict[str, NormStats]) -> str: + """Serialize the running statistics to a JSON string.""" + return _NormStatsDict(norm_stats=norm_stats).model_dump_json(indent=2) + + +def deserialize_json(data: str) -> dict[str, NormStats]: + """Deserialize the running statistics from a JSON string.""" + return _NormStatsDict(**json.loads(data)).norm_stats + + +def save(directory: pathlib.Path | str, norm_stats: dict[str, NormStats]) -> None: + """Save the normalization stats to a directory.""" + path = pathlib.Path(directory) / "norm_stats.json" + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(serialize_json(norm_stats)) + + +def load(directory: pathlib.Path | str) -> dict[str, NormStats]: + """Load the normalization stats from a directory.""" + path = pathlib.Path(directory) / "norm_stats.json" + if not path.exists(): + raise FileNotFoundError(f"Norm stats file not found at: {path}") + return deserialize_json(path.read_text()) diff --git a/src/openpi/shared/normalize_test.py b/src/openpi/shared/normalize_test.py new file mode 100644 index 0000000000000000000000000000000000000000..65722d8bc35aeccc14f7bbd415fd3320ee529f99 --- /dev/null +++ b/src/openpi/shared/normalize_test.py @@ -0,0 +1,25 @@ +import numpy as np + +import openpi.shared.normalize as normalize + + +def test_normalize_update(): + arr = np.arange(12) + + stats = normalize.RunningStats() + for i in range(0, len(arr), 3): + stats.update(arr[i : i + 3]) + results = stats.get_statistics() + + assert np.allclose(results.mean, np.mean(arr)) + assert np.allclose(results.std, np.std(arr)) + + +def test_serialize_deserialize(): + stats = normalize.RunningStats() + stats.update(np.arange(12)) + + norm_stats = {"test": stats.get_statistics()} + norm_stats2 = normalize.deserialize_json(normalize.serialize_json(norm_stats)) + assert np.allclose(norm_stats["test"].mean, norm_stats2["test"].mean) + assert np.allclose(norm_stats["test"].std, norm_stats2["test"].std) diff --git a/src/openpi/training/checkpoints.py b/src/openpi/training/checkpoints.py new file mode 100644 index 0000000000000000000000000000000000000000..f32a8313979dffe39e831e2c9910d17677ba3c47 --- /dev/null +++ b/src/openpi/training/checkpoints.py @@ -0,0 +1,159 @@ +from __future__ import annotations + +import asyncio +import concurrent.futures as futures +import dataclasses +import logging +from typing import Protocol + +from etils import epath +import jax +import orbax.checkpoint as ocp +import orbax.checkpoint.future as future + +from openpi.shared import array_typing as at +import openpi.shared.normalize as _normalize +import openpi.training.data_loader as _data_loader +import openpi.training.utils as training_utils + + +def initialize_checkpoint_dir( + checkpoint_dir: epath.Path | str, *, keep_period: int | None, overwrite: bool, resume: bool +) -> tuple[ocp.CheckpointManager, bool]: + checkpoint_dir = epath.Path(checkpoint_dir).resolve() + resuming = False + if checkpoint_dir.exists(): + if overwrite: + checkpoint_dir.rmtree() + checkpoint_dir.mkdir(parents=True, exist_ok=True) + logging.info(f"Wiped checkpoint directory {checkpoint_dir}") + elif resume: + resuming = True + else: + raise FileExistsError( + f"Checkpoint directory {checkpoint_dir} already exists. Use --overwrite or --resume " + "to indicate how to handle it." + ) + + checkpoint_dir.mkdir(parents=True, exist_ok=True) + + mngr = ocp.CheckpointManager( + checkpoint_dir, + item_handlers={ + "assets": CallbackHandler(), + "train_state": ocp.PyTreeCheckpointHandler(), + "params": ocp.PyTreeCheckpointHandler(), + }, + options=ocp.CheckpointManagerOptions( + max_to_keep=1, + keep_period=keep_period, + create=False, + async_options=ocp.AsyncOptions(timeout_secs=7200), + ), + ) + + # Special case: the checkpoint directory exists and the user requests to resume training, but the training run did + # not get to the first checkpoint saved. In this case, we don't actually want the train script to try and restore a + # checkpoint, since it will fail. + if resuming and tuple(mngr.all_steps()) in [(), (0,)]: + logging.info("Checkpoint directory exists, but does not contain any checkpoints. Aborting resume.") + resuming = False + + return mngr, resuming + + +def save_state( + checkpoint_manager: ocp.CheckpointManager, + state: training_utils.TrainState, + data_loader: _data_loader.DataLoader, + step: int, +): + def save_assets(directory: epath.Path): + # Save the normalization stats. + data_config = data_loader.data_config() + norm_stats = data_config.norm_stats + if norm_stats is not None and data_config.asset_id is not None: + _normalize.save(directory / data_config.asset_id, norm_stats) + + # Split params that can be used for inference into a separate item. + with at.disable_typechecking(): + train_state, params = _split_params(state) + items = { + "assets": save_assets, + "train_state": train_state, + "params": {"params": params}, + } + checkpoint_manager.save(step, items) + + +def restore_state( + checkpoint_manager: ocp.CheckpointManager, + state: training_utils.TrainState, + data_loader: _data_loader.DataLoader, + step: int | None = None, +) -> training_utils.TrainState: + del data_loader + + with at.disable_typechecking(): + # Split params that can be used for inference into a separate item. + train_state, params = _split_params(state) + restored = checkpoint_manager.restore( + step, + items={ + "train_state": train_state, + "params": {"params": params}, + }, + ) + return _merge_params(restored["train_state"], restored["params"]) + + +def load_norm_stats(assets_dir: epath.Path | str, asset_id: str) -> dict[str, _normalize.NormStats] | None: + norm_stats_dir = epath.Path(assets_dir) / asset_id + norm_stats = _normalize.load(norm_stats_dir) + logging.info(f"Loaded norm stats from {norm_stats_dir}") + return norm_stats + + +class Callback(Protocol): + def __call__(self, directory: epath.Path) -> None: ... + + +class CallbackHandler(ocp.AsyncCheckpointHandler): + """A CheckpointHandler for calling an arbitrary function asynchronously. Only for saving, not for restoring.""" + + def save(self, directory: epath.Path, args: CallbackSave): + if jax.process_index() == 0: + args.callback(directory) + + async def async_save(self, directory: epath.Path, args: CallbackSave) -> list[futures.Future]: + return [future.CommitFutureAwaitingContractedSignals(asyncio.to_thread(self.save, directory, args))] + + def restore(self, *args, **kwargs): + raise NotImplementedError("CallbackHandler does not support restore") + + +@ocp.args.register_with_handler(CallbackHandler, for_save=True) +@dataclasses.dataclass +class CallbackSave(ocp.args.CheckpointArgs): + callback: Callback + + +@ocp.args.register_with_handler(CallbackHandler, for_restore=True) +class CallbackRestore(ocp.args.CheckpointArgs): ... + + +def _split_params(state: training_utils.TrainState) -> tuple[training_utils.TrainState, at.Params]: + if state.ema_params is not None: + params = state.ema_params + train_state = dataclasses.replace(state, ema_params=None) + else: + params = state.params + train_state = dataclasses.replace(state, params={}) + return train_state, params + + +def _merge_params(train_state: training_utils.TrainState, params: dict[str, at.Params]) -> training_utils.TrainState: + # Revert the logic inside `_split_params`. Assumes that existence of `params` means that EMA params were used during the split. + if train_state.params: + return dataclasses.replace(train_state, ema_params=params["params"]) + return dataclasses.replace(train_state, params=params["params"]) diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py new file mode 100644 index 0000000000000000000000000000000000000000..a2bcca45e1b1ca8293fdbcf4cffc313ca364ae6f --- /dev/null +++ b/src/openpi/training/config.py @@ -0,0 +1,756 @@ +"""See _CONFIGS for the list of available configs.""" + +import abc +from collections.abc import Sequence +import dataclasses +import difflib +import logging +import pathlib +from typing import Any, Protocol, TypeAlias + +import etils.epath as epath +import flax.nnx as nnx +from typing_extensions import override +import tyro + +import openpi.models.model as _model +import openpi.models.pi0 as pi0 +import openpi.models.pi0_fast as pi0_fast +import openpi.models.tokenizer as _tokenizer +import openpi.policies.aloha_policy as aloha_policy +import openpi.policies.droid_policy as droid_policy +import openpi.policies.libero_policy as libero_policy +import openpi.shared.download as _download +import openpi.shared.normalize as _normalize +import openpi.training.droid_rlds_dataset as droid_rlds_dataset +import openpi.training.optimizer as _optimizer +import openpi.training.weight_loaders as weight_loaders +import openpi.transforms as _transforms + +ModelType: TypeAlias = _model.ModelType +# Work around a tyro issue with using nnx.filterlib.Filter directly. +Filter: TypeAlias = nnx.filterlib.Filter + + +@dataclasses.dataclass(frozen=True) +class AssetsConfig: + """Determines the location of assets (e.g., norm stats) that will be used to set up the data pipeline. + + These assets will be replicated inside the checkpoint under the `assets/asset_id` directory. + + This can be used to load assets from a different checkpoint (e.g., base model checkpoint) or some other + centralized location. For example, to load the norm stats for the Trossen robot from the base model checkpoint + during fine-tuning, use: + + ``` + AssetsConfig( + assets_dir="gs://openpi-assets/checkpoints/pi0_base/assets", + asset_id="trossen", + ) + ``` + """ + + # Assets directory. If not provided, the config assets_dirs will be used. This is useful to load assets from + # a different checkpoint (e.g., base model checkpoint) or some other centralized location. + assets_dir: str | None = None + + # Asset id. If not provided, the repo id will be used. This allows users to reference assets that describe + # different robot platforms. + asset_id: str | None = None + + +@dataclasses.dataclass(frozen=True) +class DataConfig: + # LeRobot repo id. If None, fake data will be created. + repo_id: str | None = None + # Directory within the assets directory containing the data assets. + asset_id: str | None = None + # Contains precomputed normalization stats. If None, normalization will not be performed. + norm_stats: dict[str, _transforms.NormStats] | None = None + + # Used to adopt the inputs from a dataset specific format to a common format + # which is expected by the data transforms. + repack_transforms: _transforms.Group = dataclasses.field(default_factory=_transforms.Group) + # Data transforms, typically include robot specific transformations. Will be applied + # before the data is normalized. See `model.Observation` and `model.Actions` to learn about the + # normalized data. + data_transforms: _transforms.Group = dataclasses.field(default_factory=_transforms.Group) + # Model specific transforms. Will be applied after the data is normalized. + model_transforms: _transforms.Group = dataclasses.field(default_factory=_transforms.Group) + # If true, will use quantile normalization. Otherwise, normal z-score normalization will be used. + use_quantile_norm: bool = False + + # Names of keys that will be used by the data loader to generate the action sequence. The length of the + # sequence is defined by the `action_horizon` field in the model config. This should be adjusted if your + # LeRobot dataset is using different keys to represent the action. + action_sequence_keys: Sequence[str] = ("actions",) + + # If true, will use the LeRobot dataset task to define the prompt. + prompt_from_task: bool = False + + # Only used for RLDS data loader (ie currently only used for DROID). + rlds_data_dir: str | None = None + # Action space for DROID dataset. + action_space: droid_rlds_dataset.DroidActionSpace | None = None + + +class GroupFactory(Protocol): + def __call__(self, model_config: _model.BaseModelConfig) -> _transforms.Group: + """Create a group.""" + + +@dataclasses.dataclass(frozen=True) +class ModelTransformFactory(GroupFactory): + """Creates model transforms for standard pi0 models.""" + + # If provided, will determine the default prompt that be used by the model. + default_prompt: str | None = None + + def __call__(self, model_config: _model.BaseModelConfig) -> _transforms.Group: + match model_config.model_type: + case _model.ModelType.PI0: + return _transforms.Group( + inputs=[ + _transforms.InjectDefaultPrompt(self.default_prompt), + _transforms.ResizeImages(224, 224), + _transforms.TokenizePrompt( + _tokenizer.PaligemmaTokenizer(model_config.max_token_len), + ), + ], + ) + case _model.ModelType.PI0_FAST: + return _transforms.Group( + inputs=[ + _transforms.InjectDefaultPrompt(self.default_prompt), + _transforms.ResizeImages(224, 224), + _transforms.TokenizeFASTInputs( + _tokenizer.FASTTokenizer(model_config.max_token_len), + ), + ], + outputs=[ + _transforms.ExtractFASTActions( + _tokenizer.FASTTokenizer(model_config.max_token_len), + action_horizon=model_config.action_horizon, + action_dim=model_config.action_dim, + ) + ], + ) + + +@dataclasses.dataclass(frozen=True) +class DataConfigFactory(abc.ABC): + # The LeRobot repo id. + repo_id: str = tyro.MISSING + # Determines how the assets will be loaded. + assets: AssetsConfig = dataclasses.field(default_factory=AssetsConfig) + # Base config that will be updated by the factory. + base_config: tyro.conf.Suppress[DataConfig | None] = None + + @abc.abstractmethod + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + """Create a data config.""" + + def create_base_config(self, assets_dirs: pathlib.Path) -> DataConfig: + repo_id = self.repo_id if self.repo_id is not tyro.MISSING else None + asset_id = self.assets.asset_id or repo_id + return dataclasses.replace( + self.base_config or DataConfig(), + repo_id=repo_id, + asset_id=asset_id, + norm_stats=self._load_norm_stats(epath.Path(self.assets.assets_dir or assets_dirs), asset_id), + ) + + def _load_norm_stats(self, assets_dir: epath.Path, asset_id: str | None) -> dict[str, _transforms.NormStats] | None: + if asset_id is None: + return None + try: + data_assets_dir = str(assets_dir / asset_id) + norm_stats = _normalize.load(_download.maybe_download(data_assets_dir)) + logging.info(f"Loaded norm stats from {data_assets_dir}") + return norm_stats + except FileNotFoundError: + logging.info(f"Norm stats not found in {data_assets_dir}, skipping.") + return None + + +@dataclasses.dataclass(frozen=True) +class FakeDataConfig(DataConfigFactory): + repo_id: str = "fake" + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + return DataConfig(repo_id=self.repo_id) + + +@dataclasses.dataclass(frozen=True) +class SimpleDataConfig(DataConfigFactory): + # Factory for the data transforms. + data_transforms: tyro.conf.Suppress[GroupFactory] = dataclasses.field(default_factory=GroupFactory) + # Factory for the model transforms. + model_transforms: tyro.conf.Suppress[GroupFactory] = dataclasses.field(default_factory=ModelTransformFactory) + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + return dataclasses.replace( + self.create_base_config(assets_dirs), + data_transforms=self.data_transforms(model_config), + model_transforms=self.model_transforms(model_config), + use_quantile_norm=model_config.model_type == ModelType.PI0_FAST, + ) + + +@dataclasses.dataclass(frozen=True) +class LeRobotAlohaDataConfig(DataConfigFactory): + # If true, will convert joint dimensions to deltas with respect to the current state before passing to the model. + # Gripper dimensions will remain in absolute values. + use_delta_joint_actions: bool = True + # If provided, will be injected into the input data if the "prompt" key is not present. + default_prompt: str | None = None + # If true, this will convert the joint and gripper values from the standard Aloha space to + # the space used by the pi internal runtime which was used to train the base model. People who + # use standard Aloha data should set this to true. + adapt_to_pi: bool = True + + # Repack transforms. + repack_transforms: tyro.conf.Suppress[_transforms.Group] = dataclasses.field( + default=_transforms.Group( + inputs=[ + _transforms.RepackTransform( + { + "images": {"cam_high": "observation.images.top"}, + "state": "observation.state", + "actions": "action", + } + ) + ] + ) + ) + # Action keys that will be used to read the action sequence from the dataset. + action_sequence_keys: Sequence[str] = ("action",) + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + data_transforms = _transforms.Group( + inputs=[aloha_policy.AlohaInputs(action_dim=model_config.action_dim, adapt_to_pi=self.adapt_to_pi)], + outputs=[aloha_policy.AlohaOutputs(adapt_to_pi=self.adapt_to_pi)], + ) + if self.use_delta_joint_actions: + delta_action_mask = _transforms.make_bool_mask(6, -1, 6, -1) + data_transforms = data_transforms.push( + inputs=[_transforms.DeltaActions(delta_action_mask)], + outputs=[_transforms.AbsoluteActions(delta_action_mask)], + ) + + model_transforms = ModelTransformFactory(default_prompt=self.default_prompt)(model_config) + + return dataclasses.replace( + self.create_base_config(assets_dirs), + repack_transforms=self.repack_transforms, + data_transforms=data_transforms, + model_transforms=model_transforms, + action_sequence_keys=self.action_sequence_keys, + ) + + +@dataclasses.dataclass(frozen=True) +class LeRobotLiberoDataConfig(DataConfigFactory): + """ + This config is used to configure transforms that are applied at various parts of the data pipeline. + For your own dataset, you can copy this class and modify the transforms to match your dataset based on the + comments below. + """ + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + # The repack transform is *only* applied to the data coming from the dataset, + # and *not* during inference. We can use it to make inputs from the dataset look + # as close as possible to those coming from the inference environment (e.g. match the keys). + # Below, we match the keys in the dataset (which we defined in the data conversion script) to + # the keys we use in our inference pipeline (defined in the inference script for libero). + # For your own dataset, first figure out what keys your environment passes to the policy server + # and then modify the mappings below so your dataset's keys get matched to those target keys. + # The repack transform simply remaps key names here. + repack_transform = _transforms.Group( + inputs=[ + _transforms.RepackTransform( + { + "observation/image": "image", + "observation/wrist_image": "wrist_image", + "observation/state": "state", + "actions": "actions", + "prompt": "prompt", + } + ) + ] + ) + + # The data transforms are applied to the data coming from the dataset *and* during inference. + # Below, we define the transforms for data going into the model (``inputs``) and the transforms + # for data coming out of the model (``outputs``) (the latter is only used during inference). + # We defined these transforms in `libero_policy.py`. You can check the detailed comments there for + # how to modify the transforms to match your dataset. Once you created your own transforms, you can + # replace the transforms below with your own. + data_transforms = _transforms.Group( + inputs=[libero_policy.LiberoInputs(action_dim=model_config.action_dim, model_type=model_config.model_type)], + outputs=[libero_policy.LiberoOutputs()], + ) + + # One additional data transform: pi0 models are trained on delta actions (relative to the first + # state in each action chunk). IF your data has ``absolute`` actions (e.g. target joint angles) + # you can uncomment the following line to convert the actions to delta actions. The only exception + # is for the gripper actions which are always absolute. + # In the example below, we would apply the delta conversion to the first 6 actions (joints) and + # leave the 7th action (gripper) unchanged, i.e. absolute. + # In Libero, the raw actions in the dataset are already delta actions, so we *do not* need to + # apply a separate delta conversion (that's why it's commented out). Choose whether to apply this + # transform based on whether your dataset uses ``absolute`` or ``delta`` actions out of the box. + + # TODO(karl): comment this out once we have updated the Libero checkpoints to not use + # the delta action transform + delta_action_mask = _transforms.make_bool_mask(6, -1) + data_transforms = data_transforms.push( + inputs=[_transforms.DeltaActions(delta_action_mask)], + outputs=[_transforms.AbsoluteActions(delta_action_mask)], + ) + + # Model transforms include things like tokenizing the prompt and action targets + # You do not need to change anything here for your own dataset. + model_transforms = ModelTransformFactory()(model_config) + + # We return all data transforms for training and inference. No need to change anything here. + return dataclasses.replace( + self.create_base_config(assets_dirs), + repack_transforms=repack_transform, + data_transforms=data_transforms, + model_transforms=model_transforms, + ) + + +@dataclasses.dataclass(frozen=True) +class RLDSDroidDataConfig(DataConfigFactory): + """ + Config for training on DROID, using RLDS data format (for efficient training on larger datasets). + """ + + rlds_data_dir: str | None = None + action_space: droid_rlds_dataset.DroidActionSpace | None = None + + @override + def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig: + repack_transform = _transforms.Group( + inputs=[ + _transforms.RepackTransform( + { + "observation/exterior_image_1_left": "observation/image", + "observation/wrist_image_left": "observation/wrist_image", + "observation/joint_position": "observation/joint_position", + "observation/gripper_position": "observation/gripper_position", + "actions": "actions", + "prompt": "prompt", + } + ) + ] + ) + + data_transforms = _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model_config.action_dim, model_type=model_config.model_type)], + outputs=[droid_policy.DroidOutputs()], + ) + + if self.action_space == droid_rlds_dataset.DroidActionSpace.JOINT_POSITION: + # Data loader returns absolute joint position actions -- convert to delta actions for training. + delta_action_mask = _transforms.make_bool_mask(7, -1) + data_transforms = data_transforms.push( + inputs=[_transforms.DeltaActions(delta_action_mask)], + outputs=[_transforms.AbsoluteActions(delta_action_mask)], + ) + + model_transforms = ModelTransformFactory()(model_config) + + assert self.rlds_data_dir is not None, "Need to set rlds data dir for RLDS data loader." + + return dataclasses.replace( + self.create_base_config(assets_dirs), + repack_transforms=repack_transform, + data_transforms=data_transforms, + model_transforms=model_transforms, + use_quantile_norm=model_config.model_type == ModelType.PI0_FAST, + rlds_data_dir=self.rlds_data_dir, + action_space=self.action_space, + ) + + +@dataclasses.dataclass(frozen=True) +class TrainConfig: + # Name of the config. Must be unique. Will be used to reference this config. + name: tyro.conf.Suppress[str] + # Project name. + project_name: str = "openpi" + # Experiment name. Will be used to name the metadata and checkpoint directories. + exp_name: str = tyro.MISSING + + # Defines the model config. Some attributes (action_dim, action_horizon, and max_token_len) are shared by all models + # -- see BaseModelConfig. Specific model implementations (e.g., Pi0Config) inherit from BaseModelConfig and may + # define additional attributes. + model: _model.BaseModelConfig = dataclasses.field(default_factory=pi0.Pi0Config) + + # A weight loader can optionally load (possibly partial) weights from disk after the model is initialized. + weight_loader: weight_loaders.WeightLoader = dataclasses.field(default_factory=weight_loaders.NoOpWeightLoader) + + lr_schedule: _optimizer.LRScheduleConfig = dataclasses.field(default_factory=_optimizer.CosineDecaySchedule) + optimizer: _optimizer.OptimizerConfig = dataclasses.field(default_factory=_optimizer.AdamW) + ema_decay: float | None = 0.99 + + # Specifies which weights should be frozen. + freeze_filter: tyro.conf.Suppress[Filter] = dataclasses.field(default_factory=nnx.Nothing) + + # Determines the data to be trained on. + data: DataConfigFactory = dataclasses.field(default_factory=FakeDataConfig) + + # Base directory for config assets (e.g., norm stats). + assets_base_dir: str = "./assets" + # Base directory for checkpoints. + checkpoint_base_dir: str = "./checkpoints" + + # Random seed that will be used by random generators during training. + seed: int = 42 + # Global batch size. + batch_size: int = 32 + # Number of workers to use for the data loader. Increasing this number will speed up data loading but + # will increase memory and CPU usage. + num_workers: int = 2 + # Number of train steps (batches) to run. + num_train_steps: int = 30_000 + + # How often (in steps) to log training metrics. + log_interval: int = 100 + # How often (in steps) to save checkpoints. + save_interval: int = 5000 + # If set, any existing checkpoints matching step % keep_period == 0 will not be deleted. + keep_period: int | None = 5000 + + # If true, will overwrite the checkpoint directory if it already exists. + overwrite: bool = False + # If true, will resume training from the last checkpoint. + resume: bool = False + + # If true, will enable wandb logging. + wandb_enabled: bool = True + + # Used to pass metadata to the policy server. + policy_metadata: dict[str, Any] | None = None + + # If the value is greater than 1, FSDP will be enabled and shard across number of specified devices; overall + # device memory will be reduced but training could potentially be slower. + # eg. if total device is 4 and fsdp devices is 2; then the model will shard to 2 devices and run + # data parallel between 2 groups of devices. + fsdp_devices: int = 1 + + @property + def assets_dirs(self) -> pathlib.Path: + """Get the assets directory for this config.""" + return (pathlib.Path(self.assets_base_dir) / self.name).resolve() + + @property + def checkpoint_dir(self) -> pathlib.Path: + """Get the checkpoint directory for this config.""" + if not self.exp_name: + raise ValueError("--exp_name must be set") + return (pathlib.Path(self.checkpoint_base_dir) / self.name / self.exp_name).resolve() + + @property + def trainable_filter(self) -> nnx.filterlib.Filter: + """Get the filter for the trainable parameters.""" + return nnx.All(nnx.Param, nnx.Not(self.freeze_filter)) + + def __post_init__(self) -> None: + if self.resume and self.overwrite: + raise ValueError("Cannot resume and overwrite at the same time.") + + +# Use `get_config` if you need to get a config by name in your code. +_CONFIGS = [ + # + # Inference Aloha configs. + # + TrainConfig( + name="pi0_aloha", + model=pi0.Pi0Config(), + data=LeRobotAlohaDataConfig( + assets=AssetsConfig(asset_id="trossen"), + ), + policy_metadata={"reset_pose": [0, -1.5, 1.5, 0, 0, 0]}, + ), + TrainConfig( + name="pi0_aloha_towel", + model=pi0.Pi0Config(), + data=LeRobotAlohaDataConfig( + assets=AssetsConfig(asset_id="trossen"), + default_prompt="fold the towel", + ), + policy_metadata={"reset_pose": [0, -1.5, 1.5, 0, 0, 0]}, + ), + TrainConfig( + name="pi0_aloha_tupperware", + model=pi0.Pi0Config(), + data=LeRobotAlohaDataConfig( + assets=AssetsConfig(asset_id="trossen"), + default_prompt="open the tupperware and put the food on the plate", + ), + policy_metadata={"reset_pose": [0, -1.5, 1.5, 0, 0, 0]}, + ), + # + # Inference DROID configs. + # + TrainConfig( + name="pi0_droid", + model=pi0.Pi0Config(action_horizon=10), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model.action_dim)], + outputs=[droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), + TrainConfig( + name="pi0_fast_droid", + model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=10), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model.action_dim, model_type=ModelType.PI0_FAST)], + outputs=[droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), + # + # Fine-tuning Libero configs. + # + # These train configs define the hyperparameters for fine-tuning the base model on your own dataset. + # They are used to define key elements like the dataset you are training on, the base checkpoint you + # are using, and other hyperparameters like how many training steps to run or what learning rate to use. + # For your own dataset, you can copy this class and modify the dataset name, and data transforms based on + # the comments below. + TrainConfig( + # Change the name to reflect your model and dataset. + name="pi0_libero", + # Here you define the model config -- In this example we use pi0 as the model + # architecture and perform *full* finetuning. in the examples below we show how to modify + # this to perform *low-memory* (LORA) finetuning and use pi0-FAST as an alternative architecture. + model=pi0.Pi0Config(), + # Here you define the dataset you are training on. In this example we use the Libero + # dataset. For your own dataset, you can change the repo_id to point to your dataset. + # Also modify the DataConfig to use the new config you made for your dataset above. + data=LeRobotLiberoDataConfig( + repo_id="physical-intelligence/libero", + base_config=DataConfig( + # This flag determines whether we load the prompt (i.e. the task instruction) from the + # ``task`` field in the LeRobot dataset. If set to True, the prompt will show up in + # a field called ``prompt`` in the input dict. The recommended setting is True. + prompt_from_task=True, + ), + ), + # Here you define which pre-trained checkpoint you want to load to initialize the model. + # This should match the model config you chose above -- i.e. in this case we use the pi0 base model. + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"), + # Below you can define other hyperparameters like the learning rate, number of training steps, etc. + # Check the base TrainConfig class for a full list of available hyperparameters. + num_train_steps=30_000, + ), + TrainConfig( + name="pi0_libero_low_mem_finetune", + # Here is an example of loading a pi0 model for LoRA fine-tuning. + model=pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"), + data=LeRobotLiberoDataConfig( + repo_id="physical-intelligence/libero", + base_config=DataConfig(prompt_from_task=True), + ), + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"), + num_train_steps=30_000, + # The freeze filter defines which parameters should be frozen during training. + # We have a convenience function in the model config that returns the default freeze filter + # for the given model config for LoRA finetuning. Just make sure it matches the model config + # you chose above. + freeze_filter=pi0.Pi0Config( + paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora" + ).get_freeze_filter(), + # Turn off EMA for LoRA finetuning. + ema_decay=None, + ), + TrainConfig( + name="pi0_fast_libero", + # Here is an example of loading a pi0-FAST model for full finetuning. + # Modify action_dim and action_horizon to match your dataset (action horizon is equal to + # the desired action chunk length). + # The max_token_len is the maximum number of (non-image) tokens the model can handle. + # This includes the tokenized prompt, proprioceptive state, and (FAST-tokenized) action tokens. + # Choosing this value too small may chop off tokens at the end of your sequence (the code will throw + # a warning), while choosing it too large will waste memory (since we pad each batch element to the + # max_token_len). A good rule of thumb is to use approx 180 for single-arm robots, and approx 250 for + # two-arm robots. Generally, err on the lower side here first, and potentially increase the value if + # you see many warnings being thrown during training. + model=pi0_fast.Pi0FASTConfig(action_dim=7, action_horizon=10, max_token_len=180), + data=LeRobotLiberoDataConfig( + repo_id="physical-intelligence/libero", + base_config=DataConfig(prompt_from_task=True), + ), + # Note that we load the pi0-FAST base model checkpoint here. + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"), + num_train_steps=50_001, + ), + TrainConfig( + name="pi0_fast_libero_low_mem_finetune", + # Here is an example of loading a pi0-FAST model for LoRA finetuning. + # For setting action_dim, action_horizon, and max_token_len, see the comments above. + model=pi0_fast.Pi0FASTConfig( + action_dim=7, action_horizon=10, max_token_len=180, paligemma_variant="gemma_2b_lora" + ), + data=LeRobotLiberoDataConfig( + repo_id="physical-intelligence/libero", + base_config=DataConfig(prompt_from_task=True), + ), + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"), + num_train_steps=15_001, + # Again, make sure to match the model config above when extracting the freeze filter + # that specifies which parameters should be frozen during LoRA finetuning. + freeze_filter=pi0_fast.Pi0FASTConfig( + action_dim=7, action_horizon=10, max_token_len=180, paligemma_variant="gemma_2b_lora" + ).get_freeze_filter(), + # Turn off EMA for LoRA finetuning. + ema_decay=None, + lr_schedule=_optimizer.CosineDecaySchedule( + warmup_steps=10, + peak_lr=1e-8, + decay_steps=15_001, + decay_lr=1e-8, + ), + ), + # + # Fine-tuning Aloha configs. + # + # This is a test config that is used to illustate how train on a custom LeRobot dataset. + # For instuctions on how to convert and train on your own Aloha dataset see examples/aloha_real/README.md + TrainConfig( + name="pi0_aloha_pen_uncap", + model=pi0.Pi0Config(), + data=LeRobotAlohaDataConfig( + repo_id="physical-intelligence/aloha_pen_uncap_diverse", + assets=AssetsConfig( + assets_dir="gs://openpi-assets/checkpoints/pi0_base/assets", + asset_id="trossen", + ), + default_prompt="uncap the pen", + repack_transforms=_transforms.Group( + inputs=[ + _transforms.RepackTransform( + { + "images": { + "cam_high": "observation.images.cam_high", + "cam_left_wrist": "observation.images.cam_left_wrist", + "cam_right_wrist": "observation.images.cam_right_wrist", + }, + "state": "observation.state", + "actions": "action", + } + ) + ] + ), + ), + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"), + num_train_steps=20_000, + ), + # + # Fine-tuning DROID configs. + # + TrainConfig( + name="pi0_fast_droid_finetune", + model=pi0_fast.Pi0FASTConfig( + action_dim=8, + action_horizon=16, + max_token_len=180, + ), + data=RLDSDroidDataConfig( + repo_id="droid", + # Set this to the path to your DROID RLDS dataset (the parent directory of the `droid` directory). + rlds_data_dir="", + action_space=droid_rlds_dataset.DroidActionSpace.JOINT_POSITION, + ), + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"), + lr_schedule=_optimizer.CosineDecaySchedule( + warmup_steps=1_000, + peak_lr=5e-5, + decay_steps=1_000_000, + decay_lr=5e-5, + ), + num_train_steps=100_000, # 100k steps should be sufficient, takes ~2 days on 8x H100s + batch_size=256, + log_interval=100, + save_interval=5000, + keep_period=20_000, + num_workers=0, # Important: RLDS DataLoader requires num_workers=0, handles multi-processing internally + ), + # + # ALOHA Sim configs. This config is used to demonstrate how to train on a simple simulated environment. + # + TrainConfig( + name="pi0_aloha_sim", + model=pi0.Pi0Config(), + data=LeRobotAlohaDataConfig( + repo_id="lerobot/aloha_sim_transfer_cube_human", + default_prompt="Transfer cube", + use_delta_joint_actions=False, + ), + weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"), + num_train_steps=20_000, + ), + # + # Debugging configs. + # + TrainConfig( + name="debug", + data=FakeDataConfig(), + batch_size=2, + model=pi0.Pi0Config(paligemma_variant="dummy", action_expert_variant="dummy"), + save_interval=100, + overwrite=True, + exp_name="debug", + num_train_steps=10, + wandb_enabled=False, + ), + TrainConfig( + name="debug_restore", + data=FakeDataConfig(), + batch_size=2, + model=pi0.Pi0Config(paligemma_variant="dummy", action_expert_variant="dummy"), + weight_loader=weight_loaders.CheckpointWeightLoader("./checkpoints/debug/debug/9/params"), + overwrite=True, + exp_name="debug", + num_train_steps=10, + wandb_enabled=False, + ), +] + +if len({config.name for config in _CONFIGS}) != len(_CONFIGS): + raise ValueError("Config names must be unique.") +_CONFIGS_DICT = {config.name: config for config in _CONFIGS} + + +def cli() -> TrainConfig: + return tyro.extras.overridable_config_cli({k: (k, v) for k, v in _CONFIGS_DICT.items()}) + + +def get_config(config_name: str) -> TrainConfig: + """Get a config by name.""" + if config_name not in _CONFIGS_DICT: + closest = difflib.get_close_matches(config_name, _CONFIGS_DICT.keys(), n=1, cutoff=0.0) + closest_str = f" Did you mean '{closest[0]}'? " if closest else "" + raise ValueError(f"Config '{config_name}' not found.{closest_str}") + + return _CONFIGS_DICT[config_name] diff --git a/src/openpi/training/data_loader.py b/src/openpi/training/data_loader.py new file mode 100644 index 0000000000000000000000000000000000000000..1f97f275730e82f5174ca713b48b3139443f195d --- /dev/null +++ b/src/openpi/training/data_loader.py @@ -0,0 +1,490 @@ +from collections.abc import Iterator, Sequence +import multiprocessing +import os +import typing +from typing import Protocol, SupportsIndex, TypeVar + +import jax +import jax.numpy as jnp +import lerobot.common.datasets.lerobot_dataset as lerobot_dataset +import numpy as np +import torch + +import openpi.models.model as _model +import openpi.training.config as _config +from openpi.training.droid_rlds_dataset import DroidRldsDataset +import openpi.transforms as _transforms + +T_co = TypeVar("T_co", covariant=True) + + +class Dataset(Protocol[T_co]): + """Interface for a dataset with random access.""" + + def __getitem__(self, index: SupportsIndex) -> T_co: + raise NotImplementedError("Subclasses of Dataset should implement __getitem__.") + + def __len__(self) -> int: + raise NotImplementedError("Subclasses of Dataset should implement __len__.") + + +class IterableDataset(Protocol[T_co]): + """Interface for an iterable dataset.""" + + def __iter__(self) -> Iterator[T_co]: + raise NotImplementedError("Subclasses of IterableDataset should implement __iter__.") + + def __len__(self) -> int: + raise NotImplementedError("Subclasses of Dataset should implement __len__.") + + +class DataLoader(Protocol[T_co]): + """Interface for a data loader.""" + + def data_config(self) -> _config.DataConfig: + """Get the data config for this data loader.""" + raise NotImplementedError("Subclasses of DataLoader should implement data_config.") + + def __iter__(self) -> Iterator[T_co]: + raise NotImplementedError("Subclasses of DataLoader should implement __iter__.") + + +class TransformedDataset(Dataset[T_co]): + def __init__(self, dataset: Dataset, transforms: Sequence[_transforms.DataTransformFn]): + self._dataset = dataset + self._transform = _transforms.compose(transforms) + + def __getitem__(self, index: SupportsIndex) -> T_co: + return self._transform(self._dataset[index]) + + def __len__(self) -> int: + return len(self._dataset) + + +class IterableTransformedDataset(IterableDataset[T_co]): + def __init__( + self, + dataset: IterableDataset, + transforms: Sequence[_transforms.DataTransformFn], + *, + is_batched: bool = False, + ): + self._dataset = dataset + self._transform = _transforms.compose(transforms) + self._is_batched = is_batched + + def __iter__(self): + for sample in self._dataset: + if self._is_batched: + # Transforms are designed to be applied to individual samples. So we need to split the batch into + # individual samples and apply the transform to each sample individually. + batch_size = next(v.shape[0] for v in sample.values()) + + # Split batch into individual samples using tree_map + individual_samples = [jax.tree.map(lambda x: x[i], sample) for i in range(batch_size)] # noqa: B023 + + # Transform each sample + transformed = [self._transform(s) for s in individual_samples] + + # Recombine batch with tree_map + yield jax.tree.map(lambda *x: np.stack(x, axis=0), *transformed) + else: + yield self._transform(sample) + + def __len__(self) -> int: + return len(self._dataset) + + +class FakeDataset(Dataset): + def __init__(self, model_config: _model.BaseModelConfig, num_samples: int): + self._num_samples = num_samples + self._observation_spec, self._action_spec = model_config.inputs_spec() + + def __getitem__(self, index: SupportsIndex) -> dict: + rng = jax.random.key(index.__index__()) + + def make_from_spec(spec: jax.ShapeDtypeStruct): + nonlocal rng + rng, data_rng = jax.random.split(rng) + # Remove the batch dimension. + shape = spec.shape[1:] + if spec.dtype == jnp.float32: + return jax.random.uniform(data_rng, shape=shape, minval=-1.0, maxval=1.0) + if spec.dtype == jnp.int32: + return jax.random.randint(data_rng, shape=shape, minval=0, maxval=2048) + return jnp.zeros(shape=shape, dtype=spec.dtype) + + observation = jax.tree.map(make_from_spec, self._observation_spec) + action = jax.tree.map(make_from_spec, self._action_spec) + + return { + **observation.to_dict(), + "actions": action, + } + + def __len__(self) -> int: + return self._num_samples + + +def create_torch_dataset( + data_config: _config.DataConfig, action_horizon: int, model_config: _model.BaseModelConfig +) -> Dataset: + """Create a dataset for training.""" + repo_id = data_config.repo_id + if repo_id is None: + raise ValueError("Repo ID is not set. Cannot create dataset.") + if repo_id == "fake": + return FakeDataset(model_config, num_samples=1024) + + dataset_meta = lerobot_dataset.LeRobotDatasetMetadata(repo_id) + dataset = lerobot_dataset.LeRobotDataset( + data_config.repo_id, + delta_timestamps={ + key: [t / dataset_meta.fps for t in range(action_horizon)] for key in data_config.action_sequence_keys + }, + ) + + if data_config.prompt_from_task: + dataset = TransformedDataset(dataset, [_transforms.PromptFromLeRobotTask(dataset_meta.tasks)]) + + return dataset + + +def create_rlds_dataset( + data_config: _config.DataConfig, + action_horizon: int, + batch_size: int, + *, + shuffle: bool = False, +) -> Dataset: + # At the moment, we only support DROID for RLDS datasets. + return DroidRldsDataset( + data_dir=data_config.rlds_data_dir, + batch_size=batch_size, + shuffle=shuffle, + action_chunk_size=action_horizon, + action_space=data_config.action_space, + ) + + +def transform_dataset(dataset: Dataset, data_config: _config.DataConfig, *, skip_norm_stats: bool = False) -> Dataset: + """Transform the dataset by applying the data transforms.""" + norm_stats = {} + if data_config.repo_id != "fake" and not skip_norm_stats: + if data_config.norm_stats is None: + raise ValueError( + "Normalization stats not found. " + "Make sure to run `scripts/compute_norm_stats.py --config-name=`." + ) + norm_stats = data_config.norm_stats + + return TransformedDataset( + dataset, + [ + *data_config.repack_transforms.inputs, + *data_config.data_transforms.inputs, + _transforms.Normalize(norm_stats, use_quantiles=data_config.use_quantile_norm), + *data_config.model_transforms.inputs, + ], + ) + + +def transform_iterable_dataset( + dataset: IterableDataset, + data_config: _config.DataConfig, + *, + skip_norm_stats: bool = False, + is_batched: bool = False, +) -> IterableDataset: + """Transform the dataset by applying the data transforms.""" + norm_stats = {} + if data_config.repo_id != "fake" and not skip_norm_stats: + if data_config.norm_stats is None: + raise ValueError( + "Normalization stats not found. " + "Make sure to run `scripts/compute_norm_stats.py --config-name=`." + ) + norm_stats = data_config.norm_stats + + return IterableTransformedDataset( + dataset, + [ + *data_config.repack_transforms.inputs, + *data_config.data_transforms.inputs, + _transforms.Normalize(norm_stats, use_quantiles=data_config.use_quantile_norm), + *data_config.model_transforms.inputs, + ], + is_batched=is_batched, + ) + + +def create_data_loader( + config: _config.TrainConfig, + *, + sharding: jax.sharding.Sharding | None = None, + shuffle: bool = False, + num_batches: int | None = None, + skip_norm_stats: bool = False, +) -> DataLoader[tuple[_model.Observation, _model.Actions]]: + """Create a data loader for training.""" + data_config = config.data.create(config.assets_dirs, config.model) + + if data_config.rlds_data_dir is not None: + return create_rlds_data_loader( + data_config, + action_horizon=config.model.action_horizon, + batch_size=config.batch_size, + sharding=sharding, + shuffle=shuffle, + num_batches=num_batches, + skip_norm_stats=skip_norm_stats, + ) + return create_torch_data_loader( + data_config, + model_config=config.model, + action_horizon=config.model.action_horizon, + batch_size=config.batch_size, + sharding=sharding, + shuffle=shuffle, + num_batches=num_batches, + num_workers=config.num_workers, + seed=config.seed, + skip_norm_stats=skip_norm_stats, + ) + + +def create_torch_data_loader( + data_config: _config.DataConfig, + model_config: _model.BaseModelConfig, + action_horizon: int, + batch_size: int, + *, + sharding: jax.sharding.Sharding | None = None, + skip_norm_stats: bool = False, + shuffle: bool = False, + num_batches: int | None = None, + num_workers: int = 0, + seed: int = 0, +) -> DataLoader[tuple[_model.Observation, _model.Actions]]: + """Create a data loader for training. + + Args: + data_config: The data configuration. + action_horizon: The action horizon. + batch_size: The batch size. + sharding: The sharding to use for the data loader. If None, the data loader will + use a single device sharding. + skip_norm_stats: Whether to skip data normalization. + shuffle: Whether to shuffle the data. + num_batches: Determines the number of batches to return. If the number exceeds the + number of batches in the dataset, the data loader will loop over the dataset. + If not provided, will iterate over the dataset indefinitely. + num_workers: The number of worker processes to use. If zero, the data loader will + execute in the main process. + seed: The seed to use for shuffling the data. + """ + dataset = create_torch_dataset(data_config, action_horizon, model_config) + dataset = transform_dataset(dataset, data_config, skip_norm_stats=skip_norm_stats) + + data_loader = TorchDataLoader( + dataset, + local_batch_size=batch_size // jax.process_count(), + sharding=sharding, + shuffle=shuffle, + num_batches=num_batches, + num_workers=num_workers, + seed=seed, + ) + + return DataLoaderImpl(data_config, data_loader) + + +def create_rlds_data_loader( + data_config: _config.DataConfig, + action_horizon: int, + batch_size: int, + *, + sharding: jax.sharding.Sharding | None = None, + skip_norm_stats: bool = False, + shuffle: bool = False, + num_batches: int | None = None, +) -> DataLoader[tuple[_model.Observation, _model.Actions]]: + """Create an RLDS data loader for training. + + Note: This data loader requires some extra dependencies -- see examples/droid/README_train.md + + Args: + data_config: The data configuration. + action_horizon: The action horizon. + batch_size: The batch size. + sharding: The sharding to use for the data loader. If None, the data loader will + use a single device sharding. + skip_norm_stats: Whether to skip data normalization. + shuffle: Whether to shuffle the data. + num_batches: Determines the number of batches to return. If the number exceeds the + number of batches in the dataset, the data loader will loop over the dataset. + If not provided, will iterate over the dataset indefinitely. + """ + dataset = create_rlds_dataset(data_config, action_horizon, batch_size, shuffle=shuffle) + dataset = transform_iterable_dataset(dataset, data_config, skip_norm_stats=skip_norm_stats, is_batched=True) + + data_loader = RLDSDataLoader( + dataset, + sharding=sharding, + num_batches=num_batches, + ) + + return DataLoaderImpl(data_config, data_loader) + + +class TorchDataLoader: + def __init__( + self, + dataset, + local_batch_size: int, + *, + sharding: jax.sharding.Sharding | None = None, + shuffle: bool = False, + num_batches: int | None = None, + num_workers: int = 0, + seed: int = 0, + ): + """Create a PyTorch data loader. + + Args: + dataset: The dataset to load. + local_batch_size: The local batch size for each process. + sharding: The sharding to use for the data loader. + shuffle: Whether to shuffle the data. + num_batches: If provided, determines the number of returned batches. If the + number is larger than the number of batches in the dataset, the data loader + will loop over the dataset. If not provided, will iterate over the dataset + indefinitely. + num_workers: The number of worker processes to use. If zero, the data loader will + execute in the main process. + seed: The seed to use for shuffling the data. + """ + if jax.process_count() > 1: + raise NotImplementedError("Data loading with multiple processes is not supported.") + + if len(dataset) < local_batch_size: + raise ValueError(f"Local batch size ({local_batch_size}) is larger than the dataset size ({len(dataset)}).") + + if sharding is None: + # Use data parallel sharding by default. + sharding = jax.sharding.NamedSharding( + jax.sharding.Mesh(jax.devices(), ("B",)), + jax.sharding.PartitionSpec("B"), + ) + + self._sharding = sharding + self._num_batches = num_batches + + mp_context = None + if num_workers > 0: + mp_context = multiprocessing.get_context("spawn") + + generator = torch.Generator() + generator.manual_seed(seed) + self._data_loader = torch.utils.data.DataLoader( + typing.cast(torch.utils.data.Dataset, dataset), + batch_size=local_batch_size, + shuffle=shuffle, + num_workers=num_workers, + multiprocessing_context=mp_context, + persistent_workers=num_workers > 0, + collate_fn=_collate_fn, + worker_init_fn=_worker_init_fn, + drop_last=True, + generator=generator, + ) + + @property + def torch_loader(self) -> torch.utils.data.DataLoader: + return self._data_loader + + def __iter__(self): + num_items = 0 + while True: + data_iter = iter(self._data_loader) + while True: + if self._num_batches is not None and num_items >= self._num_batches: + return + try: + batch = next(data_iter) + except StopIteration: + break # We've exhausted the dataset. Create a new iterator and start over. + num_items += 1 + yield jax.tree.map(lambda x: jax.make_array_from_process_local_data(self._sharding, x), batch) + + +def _collate_fn(items): + """Collate the batch elements into batched numpy arrays.""" + # Make sure to convert to numpy arrays before stacking since some of the incoming elements + # may be JAX arrays. + return jax.tree.map(lambda *x: np.stack(np.asarray(x), axis=0), *items) + + +def _worker_init_fn(worker_id: int) -> None: + """Tell JAX inside the worker process not to preallocate the GPU memory.""" + # NOTE: This is called after jax is imported inside the worker process. This + # means that this approach will not work for selecting the backend. + os.environ["XLA_PYTHON_CLIENT_PREALLOCATE"] = "false" + os.environ["XLA_PYTHON_CLIENT_ALLOCATOR"] = "platform" + + +class RLDSDataLoader: + """Shallow wrapper around the DROID data loader to make it compatible with openpi. + + All batching already happens in the DROID dataset, so we don't need to do anything here. + """ + + def __init__( + self, + dataset: DroidRldsDataset, + *, + sharding: jax.sharding.Sharding | None = None, + num_batches: int | None = None, + ): + self._dataset = dataset + self._num_batches = num_batches + + if jax.process_count() > 1: + raise NotImplementedError("Data loading with multiple processes is not supported.") + + if sharding is None: + # Use data parallel sharding by default. + sharding = jax.sharding.NamedSharding( + jax.sharding.Mesh(jax.devices(), ("B",)), + jax.sharding.PartitionSpec("B"), + ) + + self._sharding = sharding + self._num_batches = num_batches + + def __iter__(self): + num_items = 0 + while True: + data_iter = iter(self._dataset) + while True: + if self._num_batches is not None and num_items >= self._num_batches: + return + try: + batch = next(data_iter) + except StopIteration: + break # We've exhausted the dataset. Create a new iterator and start over. + num_items += 1 + yield jax.tree.map(lambda x: jax.make_array_from_process_local_data(self._sharding, x), batch) + + +class DataLoaderImpl(DataLoader): + def __init__(self, data_config: _config.DataConfig, data_loader: TorchDataLoader | RLDSDataLoader): + self._data_config = data_config + self._data_loader = data_loader + + def data_config(self) -> _config.DataConfig: + return self._data_config + + def __iter__(self): + for batch in self._data_loader: + yield _model.Observation.from_dict(batch), batch["actions"] diff --git a/src/openpi/training/data_loader_test.py b/src/openpi/training/data_loader_test.py new file mode 100644 index 0000000000000000000000000000000000000000..8ef6f900e4a2cf23e7156584e0470bfbb24b06e3 --- /dev/null +++ b/src/openpi/training/data_loader_test.py @@ -0,0 +1,84 @@ +import dataclasses + +import jax + +from openpi.models import pi0 +from openpi.training import config as _config +from openpi.training import data_loader as _data_loader + + +def test_torch_data_loader(): + config = pi0.Pi0Config(action_dim=24, action_horizon=50, max_token_len=48) + dataset = _data_loader.FakeDataset(config, 16) + + loader = _data_loader.TorchDataLoader( + dataset, + local_batch_size=4, + num_batches=2, + ) + batches = list(loader) + + assert len(batches) == 2 + for batch in batches: + assert all(x.shape[0] == 4 for x in jax.tree.leaves(batch)) + + +def test_torch_data_loader_infinite(): + config = pi0.Pi0Config(action_dim=24, action_horizon=50, max_token_len=48) + dataset = _data_loader.FakeDataset(config, 4) + + loader = _data_loader.TorchDataLoader(dataset, local_batch_size=4) + data_iter = iter(loader) + + for _ in range(10): + _ = next(data_iter) + + +def test_torch_data_loader_parallel(): + config = pi0.Pi0Config(action_dim=24, action_horizon=50, max_token_len=48) + dataset = _data_loader.FakeDataset(config, 10) + + loader = _data_loader.TorchDataLoader(dataset, local_batch_size=4, num_batches=2, num_workers=2) + batches = list(loader) + + assert len(batches) == 2 + + for batch in batches: + assert all(x.shape[0] == 4 for x in jax.tree.leaves(batch)) + + +def test_with_fake_dataset(): + config = _config.get_config("debug") + + loader = _data_loader.create_data_loader(config, skip_norm_stats=True, num_batches=2) + batches = list(loader) + + assert len(batches) == 2 + + for batch in batches: + assert all(x.shape[0] == config.batch_size for x in jax.tree.leaves(batch)) + + for _, actions in batches: + assert actions.shape == (config.batch_size, config.model.action_horizon, config.model.action_dim) + + +def test_with_real_dataset(): + config = _config.get_config("pi0_aloha_sim") + config = dataclasses.replace(config, batch_size=4) + + loader = _data_loader.create_data_loader( + config, + # Skip since we may not have the data available. + skip_norm_stats=True, + num_batches=2, + shuffle=True, + ) + # Make sure that we can get the data config. + assert loader.data_config().repo_id == config.data.repo_id + + batches = list(loader) + + assert len(batches) == 2 + + for _, actions in batches: + assert actions.shape == (config.batch_size, config.model.action_horizon, config.model.action_dim) diff --git a/src/openpi/training/droid_rlds_dataset.py b/src/openpi/training/droid_rlds_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..f4a87f709e24dc08c1129e7813ae01f7bfacbd00 --- /dev/null +++ b/src/openpi/training/droid_rlds_dataset.py @@ -0,0 +1,161 @@ +""" +RLDS-based data loader for DROID. +While openpi typically uses LeRobot's data loader, it is not currently scalable enough for larger datasets like DROID. +Thus, we provide a data loader example here that uses the RLDS data format. +The data loader also applies a few DROID-specific data filters / transformations. +""" + +from enum import Enum +from enum import auto + + +class DroidActionSpace(Enum): + """Action space for DROID dataset.""" + + JOINT_POSITION = auto() + JOINT_VELOCITY = auto() + + +class DroidRldsDataset: + def __init__( + self, + data_dir: str, + batch_size: int, + *, # Force keyword-only arguments + shuffle: bool = True, + action_chunk_size: int = 16, + # We default to joint position actions, since they allow policy evaluation in simulation. + action_space: DroidActionSpace = DroidActionSpace.JOINT_POSITION, + max_loaded_steps_per_episode: int = 100, + # Reduce this if you are running out of memory, but careful -- below ~100k shuffling is not sufficiently random. + shuffle_buffer_size: int = 250_000, + num_parallel_reads: int = -1, # -1 == tf.data.AUTOTUNE -- hack to not import tf at top level + num_parallel_calls: int = -1, # -1 == tf.data.AUTOTUNE -- hack to not import tf at top level + ): + # Import tensorflow here to not make it mandatory in case RLDS data loader is not used. + import dlimp as dl + import tensorflow as tf + import tensorflow_datasets as tfds + + # Configure Tensorflow with *no GPU devices* (to prevent clobber with PyTorch / JAX) + tf.config.set_visible_devices([], "GPU") + + builder = tfds.builder("droid", data_dir=data_dir) + dataset = dl.DLataset.from_rlds(builder, split="train", shuffle=shuffle, num_parallel_reads=num_parallel_reads) + + # Filter out any unsuccessful trajectories -- we use the file name to check this + dataset = dataset.filter( + lambda traj: tf.strings.regex_full_match( + traj["traj_metadata"]["episode_metadata"]["file_path"][0], ".*success.*" + ) + ) + + # Repeat dataset so we never run out of data. + dataset = dataset.repeat() + + def restructure(traj): + """Reformat observation and action keys, sample language instruction.""" + # Important: we use joint *position* action space -- easier to simulate! + actions = tf.concat( + ( + ( + traj["action_dict"]["joint_position"] + if action_space == DroidActionSpace.JOINT_POSITION + else traj["action_dict"]["joint_velocity"] + ), + traj["action_dict"]["gripper_position"], + ), + axis=-1, + ) + # Randomly samples one of the two exterior images in DROID during training (we only train with one at a time). + # Note: the "left" refers to the left camera in the stereo pair, we only train on the left camera. + exterior_img = tf.cond( + tf.random.uniform(shape=[]) > 0.5, + lambda: traj["observation"]["exterior_image_1_left"], + lambda: traj["observation"]["exterior_image_2_left"], + ) + wrist_img = traj["observation"]["wrist_image_left"] + # Randomly sample one of the three language instructions + instruction = tf.random.shuffle( + [traj["language_instruction"], traj["language_instruction_2"], traj["language_instruction_3"]] + )[0] + + return { + "actions": actions, + "observation": { + "image": exterior_img, + "wrist_image": wrist_img, + "joint_position": traj["observation"]["joint_position"], + "gripper_position": traj["observation"]["gripper_position"], + }, + "prompt": instruction, + } + + dataset = dataset.traj_map(restructure, num_parallel_calls) + + def chunk_actions(traj): + """Splits episode into action chunks.""" + traj_len = tf.shape(traj["actions"])[0] + + # For each step in the trajectory, construct indices for the next n actions + action_chunk_indices = tf.broadcast_to( + tf.range(action_chunk_size)[None], + [traj_len, action_chunk_size], + ) + tf.broadcast_to( + tf.range(traj_len)[:, None], + [traj_len, action_chunk_size], + ) + + # Cap to length of the sequence --> final chunks will repeat the last action + # This makes sense, since we are using absolute joint + gripper position actions + action_chunk_indices = tf.minimum(action_chunk_indices, traj_len - 1) + + # Gather the actions for each chunk + traj["actions"] = tf.gather(traj["actions"], action_chunk_indices) + return traj + + dataset = dataset.traj_map(chunk_actions, num_parallel_calls) + + def filter_idle(traj): + """Filter out chunks with idle actions. + --> we filter if at least first half of chunk does not move. + """ + if action_space == DroidActionSpace.JOINT_POSITION: + # Compute delta to first position in action chunk + return tf.reduce_any(tf.abs(traj["actions"][: action_chunk_size // 2] - traj["actions"][:1]) > 1e-3) + return tf.reduce_any(tf.abs(traj["actions"][: action_chunk_size // 2]) > 1e-3) + + dataset = dataset.filter(filter_idle) + + # Flatten: map from trajectory dataset to dataset of individual action chunks + dataset = dataset.flatten(num_parallel_calls=num_parallel_calls) + + # Decode images: RLDS saves encoded images, only decode now for efficiency + def decode_images(traj): + traj["observation"]["image"] = tf.io.decode_image( + traj["observation"]["image"], expand_animations=False, dtype=tf.uint8 + ) + traj["observation"]["wrist_image"] = tf.io.decode_image( + traj["observation"]["wrist_image"], expand_animations=False, dtype=tf.uint8 + ) + return traj + + dataset = dataset.frame_map(decode_images, num_parallel_calls) + + # Shuffle, batch + dataset = dataset.shuffle(shuffle_buffer_size) + dataset = dataset.batch(batch_size) + # Note =>> Seems to reduce memory usage without affecting speed? + dataset = dataset.with_ram_budget(1) + + self.dataset = dataset + self.batch_size = batch_size + self.shuffle = shuffle + + def __iter__(self): + yield from self.dataset.as_numpy_iterator() + + def __len__(self): + # This is the approximate number of samples in DROID after filtering. + # Easier to hardcode than to iterate through the dataset and compute it. + return 20_000_000 diff --git a/src/openpi/training/optimizer.py b/src/openpi/training/optimizer.py new file mode 100644 index 0000000000000000000000000000000000000000..183daa4ecea74864d34546efb69e64233422659d --- /dev/null +++ b/src/openpi/training/optimizer.py @@ -0,0 +1,108 @@ +import dataclasses +from typing import Protocol, runtime_checkable + +import jax.numpy as jnp +import optax + +import openpi.shared.array_typing as at + + +@runtime_checkable +class LRScheduleConfig(Protocol): + def create(self) -> optax.Schedule: ... + + +@dataclasses.dataclass(frozen=True) +class CosineDecaySchedule(LRScheduleConfig): + """Cosine decay schedule with warmup.""" + + warmup_steps: int = 1_000 + peak_lr: float = 2.5e-5 + decay_steps: int = 30_000 + decay_lr: float = 2.5e-6 + + def create(self) -> optax.Schedule: + return optax.warmup_cosine_decay_schedule( + init_value=self.peak_lr / (self.warmup_steps + 1), + peak_value=self.peak_lr, + warmup_steps=self.warmup_steps, + decay_steps=self.decay_steps, + end_value=self.decay_lr, + ) + + +@dataclasses.dataclass(frozen=True) +class RsqrtDecaySchedule(LRScheduleConfig): + """Inverse square root decay schedule with warmup.""" + + warmup_steps: int = 1_000 + peak_lr: float = 5e-5 + timescale: float = 10_000 + + def create(self) -> optax.Schedule: + return optax.join_schedules( + [ + optax.linear_schedule( + init_value=self.peak_lr / (self.warmup_steps + 1), + end_value=self.peak_lr, + transition_steps=self.warmup_steps, + ), + lambda step: self.peak_lr / jnp.sqrt((self.timescale + step) / self.timescale), + ], + [self.warmup_steps], + ) + + +@runtime_checkable +class OptimizerConfig(Protocol): + def create( + self, + lr: optax.ScalarOrSchedule, + weight_decay_mask: at.PyTree | None = None, + ) -> optax.GradientTransformation: ... + + +@dataclasses.dataclass(frozen=True) +class AdamW(OptimizerConfig): + """AdamW optimizer.""" + + b1: float = 0.9 + b2: float = 0.95 + eps: float = 1e-8 + weight_decay: float = 1e-10 + clip_gradient_norm: float = 1.0 + + def create( + self, + lr: optax.ScalarOrSchedule, + weight_decay_mask: at.PyTree | None = None, + ) -> optax.GradientTransformation: + tx = optax.adamw( + lr, b1=self.b1, b2=self.b2, eps=self.eps, weight_decay=self.weight_decay, mask=weight_decay_mask + ) + + return optax.chain(optax.clip_by_global_norm(self.clip_gradient_norm), tx) + + +@dataclasses.dataclass(frozen=True) +class SGD(OptimizerConfig): + """SGD optimizer.""" + + lr: float = 5e-5 + momentum: float = 0.9 + nesterov: bool = False + + def create( + self, + lr: optax.ScalarOrSchedule, + weight_decay_mask: at.PyTree | None = None, + ) -> optax.GradientTransformation: + assert weight_decay_mask is None, "Weight decay is not supported for SGD" + return optax.sgd(lr, momentum=self.momentum, nesterov=self.nesterov) + + +def create_optimizer( + optimizer: OptimizerConfig, lr_schedule: LRScheduleConfig, weight_decay_mask: at.PyTree | None = None +) -> optax.GradientTransformation: + lr = lr_schedule.create() + return optimizer.create(lr, weight_decay_mask=weight_decay_mask) diff --git a/src/openpi/training/sharding.py b/src/openpi/training/sharding.py new file mode 100644 index 0000000000000000000000000000000000000000..2c54a5c125ef0e17a8fc0d3afc206e14f9831a1c --- /dev/null +++ b/src/openpi/training/sharding.py @@ -0,0 +1,102 @@ +import contextlib +import logging + +import jax +import numpy as np + +BATCH_AXIS = "batch" +FSDP_AXIS = "fsdp" +# In FSDP, we shard the data across both the batch and FSDP axes. +DATA_AXIS = (BATCH_AXIS, FSDP_AXIS) + + +class _MeshState: + active_mesh: jax.sharding.Mesh | None = None + + +def make_mesh(num_fsdp_devices: int) -> jax.sharding.Mesh: + if jax.device_count() % num_fsdp_devices != 0: + raise ValueError( + f"Number of devices {jax.device_count()} must be divisible by the number of FSDP devices {num_fsdp_devices}." + ) + mesh_shape = (jax.device_count() // num_fsdp_devices, num_fsdp_devices) + return jax.make_mesh(mesh_shape, (BATCH_AXIS, FSDP_AXIS)) + + +@contextlib.contextmanager +def set_mesh(mesh: jax.sharding.Mesh): + """Plumbing the mesh deep into the module tree is extremeley cumbersome; until the JAX team lands a better API, a + custom context manager like this one is the recommended way to maintain a reference to a global mesh. This is only used + in `activation_sharding_constraint` below.""" + if _MeshState.active_mesh is not None: + raise ValueError("Cannot nest set_mesh context managers.") + _MeshState.active_mesh = mesh + try: + yield + finally: + _MeshState.active_mesh = None + + +def activation_sharding_constraint(pytree): + if _MeshState.active_mesh is None: + return pytree + return jax.lax.with_sharding_constraint( + pytree, jax.sharding.NamedSharding(_MeshState.active_mesh, jax.sharding.PartitionSpec(DATA_AXIS)) + ) + + +def fsdp_sharding( + pytree, + mesh: jax.sharding.Mesh, + *, + min_size_mbytes: int = 4, # 4 MiB + log: bool = False, +): + """Apply FSDP sharding to a pytree of arrays based on the mesh shape. + + Args: + pytree: A pytree to be apply sharding specified by the mesh, note that only array types (eg. contains .shape attr) + will be considered for sharding. + mesh: The mesh being used for applying sharding on to pytree. + min_size_mbytes: The minimum size of the array in MiB to be considered for sharding, any array smaller than this + will be replicated. + log: If true, will log the sharding decisions for arrays that are being considered for sharding. + + Returns: + The sharded pytree. + """ + min_size_bytes = min_size_mbytes * 2**20 + + def _shard_arr(kp, array: jax.ShapeDtypeStruct): + # if fsdp is not actually going to be used, replicate everything to avoid extraneous logging + if mesh.shape[FSDP_AXIS] == 1: + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + # replicate scalar and vector arrays + if not hasattr(array, "shape"): + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + if len(array.shape) < 2: + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + # replicate small arrays + if (arr_size := np.prod(array.shape) * np.dtype(array.dtype).itemsize) < min_size_bytes: + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + # shard matrices and larger tensors along the largest axis that is divisible by the fsdp dimension + axes = np.argsort(array.shape)[::-1] + spec = [None] * len(axes) + for i in axes: + if array.shape[i] % mesh.shape[FSDP_AXIS] == 0: + if log: + logging.info( + f"Sharding {jax.tree_util.keystr(kp)} of shape {array.shape} ({arr_size / 2**20:.2f} MiB) along axis {i}" + ) + spec[i] = FSDP_AXIS + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec(*spec)) + + # replicate if no valid sharding was found + if log: + logging.warning( + f"Could not find a valid sharding for {jax.tree_util.keystr(kp)} of shape {array.shape} with mesh of shape {mesh.shape}" + ) + return jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec()) + + return jax.tree_util.tree_map_with_path(_shard_arr, pytree) diff --git a/src/openpi/training/utils.py b/src/openpi/training/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..fe7f94db1843b4b817cf24a007ca0b400946a066 --- /dev/null +++ b/src/openpi/training/utils.py @@ -0,0 +1,38 @@ +from collections.abc import Callable +from typing import Any + +from flax import nnx +from flax import struct +import jax +import optax + +from openpi.models import model as _model +from openpi.shared import array_typing as at + + +@at.typecheck +@struct.dataclass +class TrainState: + step: at.Int[at.ArrayLike, ""] + params: nnx.State + model_def: nnx.GraphDef[_model.BaseModel] + opt_state: optax.OptState + tx: optax.GradientTransformation = struct.field(pytree_node=False) + + ema_decay: float | None = struct.field(pytree_node=False) + ema_params: nnx.State | None = None + + +@at.typecheck +def tree_to_info(tree: at.PyTree, interp_func: Callable[[Any], str] = str) -> str: + """Converts a PyTree into a human-readable string for logging. Optionally, `interp_func` can be provided to convert + the leaf values to more meaningful strings. + """ + tree, _ = jax.tree_util.tree_flatten_with_path(tree) + return "\n".join(f"{jax.tree_util.keystr(path)}: {interp_func(value)}" for path, value in tree) + + +@at.typecheck +def array_tree_to_info(tree: at.PyTree) -> str: + """Converts a PyTree of arrays into a human-readable string for logging.""" + return tree_to_info(tree, lambda x: f"{x.shape}@{x.dtype}") diff --git a/src/openpi/training/weight_loaders.py b/src/openpi/training/weight_loaders.py new file mode 100644 index 0000000000000000000000000000000000000000..60d1ce8e89f48abcafb24c5376957edf269d9eea --- /dev/null +++ b/src/openpi/training/weight_loaders.py @@ -0,0 +1,102 @@ +import dataclasses +import logging +import re +from typing import Protocol, runtime_checkable + +import flax.traverse_util +import numpy as np + +import openpi.models.model as _model +import openpi.shared.array_typing as at +import openpi.shared.download as download + +logger = logging.getLogger(__name__) + + +@runtime_checkable +class WeightLoader(Protocol): + def load(self, params: at.Params) -> at.Params: + """Loads the model weights. + + Args: + params: Parameters of the model. This is a nested structure of array-like objects that + represent the model's parameters. + + Returns: + Loaded parameters. The structure must be identical to `params`. If returning a subset of + the parameters the loader must merge the loaded parameters with `params`. + """ + + +@dataclasses.dataclass(frozen=True) +class NoOpWeightLoader(WeightLoader): + def load(self, params: at.Params) -> at.Params: + return params + + +@dataclasses.dataclass(frozen=True) +class CheckpointWeightLoader(WeightLoader): + """Loads an entire set of weights from a checkpoint. + + Compatible with: + trained checkpoints: + example: "./checkpoints////params" + released checkpoints: + example: "gs://openpi-assets/checkpoints//params" + """ + + params_path: str + + def load(self, params: at.Params) -> at.Params: + # We are loading np.ndarray and relying on the training code to properly convert and shard the params. + loaded_params = _model.restore_params(download.maybe_download(self.params_path), restore_type=np.ndarray) + # Add all missing LoRA weights. + return _merge_params(loaded_params, params, missing_regex=".*lora.*") + + +@dataclasses.dataclass(frozen=True) +class PaliGemmaWeightLoader(WeightLoader): + """Loads weights from the official PaliGemma checkpoint. + + This will overwrite existing weights with similar names while keeping all extra weights intact. + This allows us to support the action expert which is used by the Pi0 model. + """ + + def load(self, params: at.Params) -> at.Params: + path = download.maybe_download( + "gs://vertex-model-garden-paligemma-us/paligemma/pt_224.npz", gs={"token": "anon"} + ) + with path.open("rb") as f: + flat_params = dict(np.load(f, allow_pickle=False)) + loaded_params = {"PaliGemma": flax.traverse_util.unflatten_dict(flat_params, sep="/")["params"]} + # Add all missing weights. + return _merge_params(loaded_params, params, missing_regex=".*") + + +def _merge_params(loaded_params: at.Params, params: at.Params, *, missing_regex: str) -> at.Params: + """Merges the loaded parameters with the reference parameters. + + Args: + loaded_params: The parameters to merge. + params: The reference parameters. + missing_regex: A regex pattern for all missing keys that should be merged from the reference parameters. + + Returns: + A new dictionary with the merged parameters. + """ + flat_ref = flax.traverse_util.flatten_dict(params, sep="/") + flat_loaded = flax.traverse_util.flatten_dict(loaded_params, sep="/") + + # First, take all weights that are a subset of the reference weights. + result = {} + for k, v in flat_loaded.items(): + if k in flat_ref: + result[k] = v.astype(flat_ref[k].dtype) + + # Then, merge any missing weights as defined by the missing regex. + pattern = re.compile(missing_regex) + for k in {k for k in flat_ref if pattern.fullmatch(k)}: + if k not in result: + result[k] = flat_ref[k] + + return flax.traverse_util.unflatten_dict(result, sep="/") diff --git a/src/openpi/transforms.py b/src/openpi/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..84a015e2b9c9967c6d5cf648f005de00ef57c3a2 --- /dev/null +++ b/src/openpi/transforms.py @@ -0,0 +1,433 @@ +from collections.abc import Callable, Mapping, Sequence +import dataclasses +import re +from typing import Protocol, TypeAlias, TypeVar, runtime_checkable + +import flax.traverse_util as traverse_util +import jax +import numpy as np +from openpi_client import image_tools + +from openpi.models import tokenizer as _tokenizer +from openpi.shared import array_typing as at +from openpi.shared import normalize as _normalize + +DataDict: TypeAlias = at.PyTree +NormStats: TypeAlias = _normalize.NormStats + + +T = TypeVar("T") +S = TypeVar("S") + + +@runtime_checkable +class DataTransformFn(Protocol): + def __call__(self, data: DataDict) -> DataDict: + """Apply transformation to the data. + + Args: + data: The data to apply the transform to. This is a possibly nested dictionary that contains + unbatched data elements. Each leaf is expected to be a numpy array. Using JAX arrays is allowed + but not recommended since it may result in extra GPU memory usage inside data loader worker + processes. + + Returns: + The transformed data. Could be the input `data` that was modified in place, or a new data structure. + """ + + +@dataclasses.dataclass(frozen=True) +class Group: + """A group of transforms.""" + + # Transforms that are applied to the model input data. + inputs: Sequence[DataTransformFn] = () + + # Transforms that are applied to the model output data. + outputs: Sequence[DataTransformFn] = () + + def push(self, *, inputs: Sequence[DataTransformFn] = (), outputs: Sequence[DataTransformFn] = ()) -> "Group": + """Append transforms to the group and return a new group. + + Args: + inputs: Appended to the *end* of the current input transforms. + outputs: Appended to the *beginning* of the current output transforms. + + Returns: + A new group with the appended transforms. + """ + return Group(inputs=(*self.inputs, *inputs), outputs=(*outputs, *self.outputs)) + + +@dataclasses.dataclass(frozen=True) +class CompositeTransform(DataTransformFn): + """A composite transform that applies a sequence of transforms in order.""" + + transforms: Sequence[DataTransformFn] + + def __call__(self, data: DataDict) -> DataDict: + for transform in self.transforms: + data = transform(data) + return data + + +def compose(transforms: Sequence[DataTransformFn]) -> DataTransformFn: + """Compose a sequence of transforms into a single transform.""" + return CompositeTransform(transforms) + + +@dataclasses.dataclass(frozen=True) +class RepackTransform(DataTransformFn): + """Repacks an input dictionary into a new dictionary. + + Repacking is defined using a dictionary where the keys are the new keys and the values + are the flattened paths to the old keys. We use '/' as the separator during flattening. + + Example: + { + "images": { + "cam_high": "observation.images.top", + "cam_low": "observation.images.bottom", + }, + "state": "observation.state", + "actions": "action", + } + """ + + structure: at.PyTree[str] + + def __call__(self, data: DataDict) -> DataDict: + flat_item = flatten_dict(data) + return jax.tree.map(lambda k: flat_item[k], self.structure) + + +@dataclasses.dataclass(frozen=True) +class InjectDefaultPrompt(DataTransformFn): + prompt: str | None + + def __call__(self, data: DataDict) -> DataDict: + if self.prompt is not None and "prompt" not in data: + data["prompt"] = np.asarray(self.prompt) + return data + + +@dataclasses.dataclass(frozen=True) +class Normalize(DataTransformFn): + norm_stats: at.PyTree[NormStats] | None + # If true, will use quantile normalization. Otherwise, normal z-score normalization will be used. + use_quantiles: bool = False + # If true, will raise an error if any of the keys in the norm stats are not present in the data. + strict: bool = False + + def __post_init__(self): + if self.norm_stats is not None and self.use_quantiles: + _assert_quantile_stats(self.norm_stats) + + def __call__(self, data: DataDict) -> DataDict: + if self.norm_stats is None: + return data + + return apply_tree( + data, + self.norm_stats, + self._normalize_quantile if self.use_quantiles else self._normalize, + strict=self.strict, + ) + + def _normalize(self, x, stats: NormStats): + return (x - stats.mean) / (stats.std + 1e-6) + + def _normalize_quantile(self, x, stats: NormStats): + assert stats.q01 is not None + assert stats.q99 is not None + return (x - stats.q01) / (stats.q99 - stats.q01 + 1e-6) * 2.0 - 1.0 + + +@dataclasses.dataclass(frozen=True) +class Unnormalize(DataTransformFn): + norm_stats: at.PyTree[NormStats] | None + # If true, will use quantile normalization. Otherwise, normal z-score normalization will be used. + use_quantiles: bool = False + + def __post_init__(self): + if self.norm_stats is not None and self.use_quantiles: + _assert_quantile_stats(self.norm_stats) + + def __call__(self, data: DataDict) -> DataDict: + if self.norm_stats is None: + return data + + # Make sure that all the keys in the norm stats are present in the data. + return apply_tree( + data, + self.norm_stats, + self._unnormalize_quantile if self.use_quantiles else self._unnormalize, + strict=True, + ) + + def _unnormalize(self, x, stats: NormStats): + return x * (stats.std + 1e-6) + stats.mean + + def _unnormalize_quantile(self, x, stats: NormStats): + assert stats.q01 is not None + assert stats.q99 is not None + return (x + 1.0) / 2.0 * (stats.q99 - stats.q01 + 1e-6) + stats.q01 + + +@dataclasses.dataclass(frozen=True) +class ResizeImages(DataTransformFn): + height: int + width: int + + def __call__(self, data: DataDict) -> DataDict: + data["image"] = {k: image_tools.resize_with_pad(v, self.height, self.width) for k, v in data["image"].items()} + return data + + +@dataclasses.dataclass(frozen=True) +class SubsampleActions(DataTransformFn): + stride: int + + def __call__(self, data: DataDict) -> DataDict: + data["actions"] = data["actions"][:: self.stride] + return data + + +@dataclasses.dataclass(frozen=True) +class DeltaActions(DataTransformFn): + """Repacks absolute actions into delta action space.""" + + # Boolean mask for the action dimensions to be repacked into delta action space. Length + # can be smaller than the actual number of dimensions. If None, this transform is a no-op. + # See `make_bool_mask` for more details. + mask: Sequence[bool] | None + + def __call__(self, data: DataDict) -> DataDict: + if "actions" not in data or self.mask is None: + return data + + state, actions = data["state"], data["actions"] + mask = np.asarray(self.mask) + dims = mask.shape[-1] + actions[..., :dims] -= np.expand_dims(np.where(mask, state[..., :dims], 0), axis=-2) + data["actions"] = actions + + return data + + +@dataclasses.dataclass(frozen=True) +class AbsoluteActions(DataTransformFn): + """Repacks delta actions into absolute action space.""" + + # Boolean mask for the action dimensions to be repacked into absolute action space. Length + # can be smaller than the actual number of dimensions. If None, this transform is a no-op. + # See `make_bool_mask` for more details. + mask: Sequence[bool] | None + + def __call__(self, data: DataDict) -> DataDict: + if "actions" not in data or self.mask is None: + return data + + state, actions = data["state"], data["actions"] + mask = np.asarray(self.mask) + dims = mask.shape[-1] + actions[..., :dims] += np.expand_dims(np.where(mask, state[..., :dims], 0), axis=-2) + data["actions"] = actions + + return data + + +@dataclasses.dataclass(frozen=True) +class TokenizePrompt(DataTransformFn): + tokenizer: _tokenizer.PaligemmaTokenizer + + def __call__(self, data: DataDict) -> DataDict: + if (prompt := data.pop("prompt", None)) is None: + raise ValueError("Prompt is required") + + if not isinstance(prompt, str): + prompt = prompt.item() + + tokens, token_masks = self.tokenizer.tokenize(prompt) + return {**data, "tokenized_prompt": tokens, "tokenized_prompt_mask": token_masks} + + +@dataclasses.dataclass(frozen=True) +class TokenizeFASTInputs(DataTransformFn): + tokenizer: _tokenizer.FASTTokenizer + + def __call__(self, data: DataDict) -> DataDict: + if (prompt := data.pop("prompt", None)) is None: + raise ValueError("Prompt is required") + + if not isinstance(prompt, str): + prompt = prompt.item() + + state, actions = data["state"], data.get("actions") + tokens, token_mask, ar_mask, loss_mask = self.tokenizer.tokenize(prompt, state, actions) + return { + **data, + "tokenized_prompt": tokens, + "tokenized_prompt_mask": token_mask, + "token_ar_mask": ar_mask, + "token_loss_mask": loss_mask, + } + + +@dataclasses.dataclass(frozen=True) +class ExtractFASTActions(DataTransformFn): + tokenizer: _tokenizer.FASTTokenizer + action_horizon: int + action_dim: int + + def __call__(self, data: DataDict) -> DataDict: + if "actions" not in data: + return data + # Model outputs are saved in "actions", but for FAST models they represent tokens. + tokens = data.pop("actions") + actions = self.tokenizer.extract_actions(tokens.astype(np.int32), self.action_horizon, self.action_dim) + return { + **data, + "actions": actions, + } + + +@dataclasses.dataclass(frozen=True) +class PromptFromLeRobotTask(DataTransformFn): + """Extracts a prompt from the current LeRobot dataset task.""" + + # Contains the LeRobot dataset tasks (dataset.meta.tasks). + tasks: dict[int, str] + + def __call__(self, data: DataDict) -> DataDict: + if "task_index" not in data: + raise ValueError('Cannot extract prompt without "task_index"') + + task_index = int(data["task_index"]) + if (prompt := self.tasks.get(task_index)) is None: + raise ValueError(f"{task_index=} not found in task mapping: {self.tasks}") + + return {**data, "prompt": prompt} + + +def flatten_dict(tree: at.PyTree) -> dict: + """Flatten a nested dictionary. Uses '/' as the separator.""" + return traverse_util.flatten_dict(tree, sep="/") + + +def unflatten_dict(tree: dict) -> at.PyTree: + """Unflatten a flattened dictionary. Assumes that '/' was used as a separator.""" + return traverse_util.unflatten_dict(tree, sep="/") + + +def transform_dict(patterns: Mapping[str, str | None], tree: at.PyTree) -> at.PyTree: + """Transform the structure of a nested dictionary using a set of patterns. + + The transformation is defined using the `patterns` dictionary. The keys are the + input keys that should be matched and the values are the new names inside the output + dictionary. If the value is None, the input key is removed. + + Both keys and values should represent flattened paths using '/' as the separator. + Keys can be regular expressions and values can include backreferences to the + matched groups (see `re.sub` for more details). Note that the regular expression + must match the entire key. + + The order inside the `patterns` dictionary is important. Only the first pattern that + matches the input key will be used. + + See unit tests for more examples. + + Args: + patterns: A mapping from old keys to new keys. + tree: The nested dictionary to transform. + + Returns: + The transformed nested dictionary. + """ + data = flatten_dict(tree) + + # Compile the patterns. + compiled = {re.compile(k): v for k, v in patterns.items()} + + output = {} + for k in data: + for pattern, repl in compiled.items(): + if pattern.fullmatch(k): + new_k = pattern.sub(repl, k, count=1) if repl is not None else None + break + else: + # Use the original key if no match is found. + new_k = k + + if new_k is not None: + if new_k in output: + raise ValueError(f"Key '{new_k}' already exists in output") + output[new_k] = data[k] + + # Validate the output structure to make sure that it can be unflattened. + names = sorted(output) + for i in range(len(names) - 1): + name, next_name = names[i : i + 2] + if next_name.startswith(name + "/"): + raise ValueError(f"Leaf '{name}' aliases a node of '{next_name}'") + + return unflatten_dict(output) + + +def apply_tree( + tree: at.PyTree[T], selector: at.PyTree[S], fn: Callable[[T, S], T], *, strict: bool = False +) -> at.PyTree[T]: + tree = flatten_dict(tree) + selector = flatten_dict(selector) + + def transform(k: str, v: T) -> T: + if k in selector: + return fn(v, selector[k]) + return v + + if strict: + for k in selector: + if k not in tree: + raise ValueError(f"Selector key {k} not found in tree") + + return unflatten_dict({k: transform(k, v) for k, v in tree.items()}) + + +def pad_to_dim(x: np.ndarray, target_dim: int, axis: int = -1) -> np.ndarray: + """Pad an array to the target dimension with zeros along the specified axis.""" + current_dim = x.shape[axis] + if current_dim < target_dim: + pad_width = [(0, 0)] * len(x.shape) + pad_width[axis] = (0, target_dim - current_dim) + return np.pad(x, pad_width) + return x + + +def make_bool_mask(*dims: int) -> tuple[bool, ...]: + """Make a boolean mask for the given dimensions. + + Example: + make_bool_mask(2, -2, 2) == (True, True, False, False, True, True) + make_bool_mask(2, 0, 2) == (True, True, True, True) + + Args: + dims: The dimensions to make the mask for. + + Returns: + A tuple of booleans. + """ + result = [] + for dim in dims: + if dim > 0: + result.extend([True] * (dim)) + else: + result.extend([False] * (-dim)) + return tuple(result) + + +def _assert_quantile_stats(norm_stats: at.PyTree[NormStats]) -> None: + for k, v in flatten_dict(norm_stats).items(): + if v.q01 is None or v.q99 is None: + raise ValueError( + f"quantile stats must be provided if use_quantile_norm is True. Key {k} is missing q01 or q99." + ) diff --git a/src/openpi/transforms_test.py b/src/openpi/transforms_test.py new file mode 100644 index 0000000000000000000000000000000000000000..54b1fe94f9b501685050f5b4f3f233cf3e7c6b0e --- /dev/null +++ b/src/openpi/transforms_test.py @@ -0,0 +1,121 @@ +import numpy as np +import pytest + +import openpi.models.tokenizer as _tokenizer +import openpi.transforms as _transforms + + +def test_repack_transform(): + transform = _transforms.RepackTransform( + structure={ + "a": {"b": "b/c"}, + "d": "e/f", + } + ) + item = {"b": {"c": 1}, "e": {"f": 2}} + assert transform(item) == {"a": {"b": 1}, "d": 2} + + +def test_delta_actions(): + item = {"state": np.array([1, 2, 3]), "actions": np.array([[3, 4, 5], [5, 6, 7]])} + + transform = _transforms.DeltaActions(mask=[False, True]) + transformed = transform(item) + + assert np.all(transformed["state"] == np.array([1, 2, 3])) + assert np.all(transformed["actions"] == np.array([[3, 2, 5], [5, 4, 7]])) + + +def test_delta_actions_noop(): + item = {"state": np.array([1, 2, 3]), "actions": np.array([[3, 4, 5], [5, 6, 7]])} + + # No-op when the mask is disabled. + transform = _transforms.DeltaActions(mask=None) + assert transform(item) is item + + # No-op when there are no actions in the input. + del item["actions"] + transform = _transforms.DeltaActions(mask=[True, False]) + assert transform(item) is item + + +def test_absolute_actions(): + item = {"state": np.array([1, 2, 3]), "actions": np.array([[3, 4, 5], [5, 6, 7]])} + + transform = _transforms.AbsoluteActions(mask=[False, True]) + transformed = transform(item) + + assert np.all(transformed["state"] == np.array([1, 2, 3])) + assert np.all(transformed["actions"] == np.array([[3, 6, 5], [5, 8, 7]])) + + +def test_absolute_actions_noop(): + item = {"state": np.array([1, 2, 3]), "actions": np.array([[3, 4, 5], [5, 6, 7]])} + + # No-op when the mask is disabled. + transform = _transforms.AbsoluteActions(mask=None) + assert transform(item) is item + + # No-op when there are no actions in the input. + del item["actions"] + transform = _transforms.AbsoluteActions(mask=[True, False]) + assert transform(item) is item + + +def test_make_bool_mask(): + assert _transforms.make_bool_mask(2, -2, 2) == (True, True, False, False, True, True) + assert _transforms.make_bool_mask(2, 0, 2) == (True, True, True, True) + + +def test_tokenize_prompt(): + tokenizer = _tokenizer.PaligemmaTokenizer(max_len=12) + transform = _transforms.TokenizePrompt(tokenizer) + + data = transform({"prompt": "Hello, world!"}) + + tok_prompt, tok_mask = tokenizer.tokenize("Hello, world!") + assert np.allclose(tok_prompt, data["tokenized_prompt"]) + assert np.allclose(tok_mask, data["tokenized_prompt_mask"]) + + +def test_tokenize_no_prompt(): + transform = _transforms.TokenizePrompt(_tokenizer.PaligemmaTokenizer()) + + with pytest.raises(ValueError, match="Prompt is required"): + transform({}) + + +def test_transform_dict(): + # Rename and remove keys. + input = {"a": {"b": 1, "c": 2}} + output = _transforms.transform_dict({"a/b": "a/c", "a/c": None}, input) + assert output == {"a": {"c": 1}} + + # Raises and error since the renamed key conflicts with an existing key. + with pytest.raises(ValueError, match="Key 'a/c' already exists in output"): + _transforms.transform_dict({"a/b": "a/c"}, input) + + # Full match is required and so nothing will be removed. + input = {"a": {"b": 1, "c": 2}} + output = _transforms.transform_dict({"a": None}, input) + assert output == input + + # The regex matches the entire key and so the entire input will be removed. + input = {"a": {"b": 1, "c": 2}} + output = _transforms.transform_dict({"a.+": None}, input) + assert output == {} + + # Replace keys using backreferences. All leaves named 'c' are replaced with 'd'. + input = {"a": {"b": 1, "c": 1}, "b": {"c": 2}} + output = _transforms.transform_dict({"(.+)/c": r"\1/d"}, input) + assert output == {"a": {"b": 1, "d": 1}, "b": {"d": 2}} + + +def test_extract_prompt_from_task(): + transform = _transforms.PromptFromLeRobotTask({1: "Hello, world!"}) + + data = transform({"task_index": 1}) + assert data["prompt"] == "Hello, world!" + + with pytest.raises(ValueError, match="task_index=2 not found in task mapping"): + transform({"task_index": 2}) diff --git a/third_party/aloha/.gitignore b/third_party/aloha/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..ef36cf2f057555f91c5a89e1e5e16d7c3c35ac1a --- /dev/null +++ b/third_party/aloha/.gitignore @@ -0,0 +1,4 @@ +.idea +.DS_store +/aloha.egg-info/ +/aloha_scripts/.idea/ diff --git a/third_party/aloha/CMakeLists.txt b/third_party/aloha/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..bec95b396c516631f1401aa7faa0da487585fdbe --- /dev/null +++ b/third_party/aloha/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aloha) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + interbotix_xs_msgs + interbotix_xsarm_control + rosbag + roscpp + tf2_ros + rviz + sensor_msgs + std_msgs + std_srvs +) + +add_message_files( + FILES + RGBGrayscaleImage.msg +) + +generate_messages( + DEPENDENCIES + sensor_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +catkin_package( + CATKIN_DEPENDS interbotix_xs_msgs interbotix_xsarm_control rosbag roscpp tf2_ros rviz sensor_msgs std_msgs std_srvs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + ${catkin_INCLUDE_DIRS} +) + + diff --git a/third_party/aloha/LICENSE b/third_party/aloha/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..35e5f5e277714ec3b4b69ce573f1aa8a79bad787 --- /dev/null +++ b/third_party/aloha/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Tony Z. Zhao + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/third_party/aloha/README.md b/third_party/aloha/README.md new file mode 100644 index 0000000000000000000000000000000000000000..331db4c8b0c387ba7ad903cd1ecd0cc367296c60 --- /dev/null +++ b/third_party/aloha/README.md @@ -0,0 +1,180 @@ +# ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation + +#### Project Website: https://tonyzhaozh.github.io/aloha/ + +This codebase contains implementation for teleoperation and data collection with the ALOHA hardware. +To build ALOHA, follow the [Hardware Assembly Tutorial](https://docs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK-yVtX5cKYME/edit?usp=sharing) and the quick start guide below. +To train imitation learning algorithms, you would also need to install [ACT](https://github.com/tonyzhaozh/act). + +### Repo Structure +- ``config``: a config for each robot, designating the port they should bind to, more details in quick start guide. +- ``launch``: a ROS launch file for all 4 cameras and all 4 robots. +- ``aloha_scripts``: python code for teleop and data collection + +## Quick start guide + +### Hardware selection + +We suggest using a "heavy-duty" computer if possible. + +*In particular, at least 6 USB3 ports are needed. 4 ports for robot connections and 2 ports for cameras.* We have seen cases that a machine was not able to stably connect to all 4 robot arms simultaneously over USB, especially when USB hubs are used. + +### Software selection -- OS: + +Currently tested and working configurations: +- :white_check_mark: Ubuntu 18.04 + ROS 1 noetic +- :white_check_mark: Ubuntu 20.04 + ROS 1 noetic + +Ongoing testing (compatibility effort underway): +- :construction: ROS 2 + +### Software installation - ROS: +1. Install ROS and interbotix software following https://docs.trossenrobotics.com/interbotix_xsarms_docs/ +2. This will create the directory ``~/interbotix_ws`` which contains ``src``. +3. git clone this repo inside ``~/interbotix_ws/src`` +4. ``source /opt/ros/noetic/setup.sh && source ~/interbotix_ws/devel/setup.sh`` +5. ``sudo apt-get install ros-noetic-usb-cam && sudo apt-get install ros-noetic-cv-bridge`` +6. run ``catkin_make`` inside ``~/interbotix_ws``, make sure the build is successful +7. go to ``~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/src/interbotix_xs_modules/arm.py``, find function ``publish_positions``. + Change ``self.T_sb = mr.FKinSpace(self.robot_des.M, self.robot_des.Slist, self.joint_commands)`` to ``self.T_sb = None``. + This prevents the code from calculating FK at every step which delays teleoperation. +### Hardware installation: + +The goal of this section is to run ``roslaunch aloha 4arms_teleop.launch``, which starts +communication with 4 robots and 4 cameras. It should work after finishing the following steps: + +Step 1: Connect 4 robots to the computer via USB, and power on. *Do not use extension cable or usb hub*. +- To check if the robot is connected, install dynamixel wizard [here](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/) +- Dynamixel wizard is a very helpful debugging tool that connects to individual motors of the robot. It allows +things such as rebooting the motor (very useful!), torque on/off, and sending commands. +However, it has no knowledge about the kinematics of the robot, so be careful about collisions. +The robot *will* collapse if motors are torque off i.e. there is no automatically engaged brakes in joints. +- Open Dynamixel wizard, go into ``options`` and select: + - Protocal 2.0 + - All ports + - 1000000 bps + - ID range from 0-10 +- Note: repeat above everytime before you scan. +- Then hit ``Scan``. There should be 4 devices showing up, each with 9 motors. + + +- One issue that arises is the port each robot binds to can change over time, e.g. a robot that +is initially ``ttyUSB0`` might suddenly become ``ttyUSB5``. To resolve this, we bind each robot to a fixed symlink +port with the following mapping: + - ``ttyDXL_master_right``: right master robot (master: the robot that the operator would be holding) + - ``ttyDXL_puppet_right``: right puppet robot (puppet: the robot that performs the task) + - ``ttyDXL_master_left``: left master robot + - ``ttyDXL_puppet_left``: left puppet robot +- Take ``ttyDXL_master_right``: right master robot as an example: + 1. Find the port that the right master robot is currently binding to, e.g. ``ttyUSB0`` + 2. run ``udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial`` to obtain the serial number. Use the first one that shows up, the format should look similar to ``FT6S4DSP``. + 3. ``sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules`` and add the following line: + + SUBSYSTEM=="tty", ATTRS{serial}=="", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_master_right" + + 4. This will make sure the right master robot is *always* binding to ``ttyDXL_master_right`` + 5. Repeat with the rest of 3 arms. +- To apply the changes, run ``sudo udevadm control --reload && sudo udevadm trigger`` +- If successful, you should be able to find ``ttyDXL*`` in your ``/dev`` + +Step 2: Set max current for gripper motors +- Open Dynamixel Wizard, and select the wrist motor for puppet arms. The name of it should be ```[ID:009] XM430-W350``` +- Tip: the LED on the base of robot will flash when it is talking to Dynamixel Wizard. This will help determine which robot is selected. +- Find ``38 Current Limit``, enter ``200``, then hit ``save`` at the bottom. +- Repeat this for both puppet robots. +- This limits the max current through gripper motors, to prevent overloading errors. + + +Step 3: Setup 4 cameras +- You may use usb hub here, but *maximum 2 cameras per hub for reasonable latency*. +- To make sure all 4 cameras are binding to a consistent port, similar steps are needed. +- Cameras are by default binding to ``/dev/video{0, 1, 2...}``, while we want to have symlinks ``{CAM_RIGHT_WRIST, CAM_LEFT_WRIST, CAM_LOW, CAM_HIGH}`` +- Take ``CAM_RIGHT_WRIST`` as an example, and let's say it is now binding to ``/dev/video0``. run ``udevadm info --name=/dev/video0 --attribute-walk | grep serial`` to obtain it's serial. Use the first one that shows up, the format should look similar to ``0E1A2B2F``. +- Then ``sudo vim /etc/udev/rules.d/99-fixed-interbotix-udev.rules`` and add the following line + + SUBSYSTEM=="video4linux", ATTRS{serial}=="", ATTR{index}=="0", ATTRS{idProduct}=="085c", ATTR{device/latency_timer}="1", SYMLINK+="CAM_RIGHT_WRIST" + +- Repeat this for ``{CAM_LEFT_WRIST, CAM_LOW, CAM_HIGH}`` in additional to ``CAM_RIGHT_WRIST`` +- To apply the changes, run ``sudo udevadm control --reload && sudo udevadm trigger`` +- If successful, you should be able to find ``{CAM_RIGHT_WRIST, CAM_LEFT_WRIST, CAM_LOW, CAM_HIGH}`` in your ``/dev`` + +At this point, have a new terminal + + conda deactivate # if conda shows up by default + source /opt/ros/noetic/setup.sh && source ~/interbotix_ws/devel/setup.sh + roslaunch aloha 4arms_teleop.launch + +If no error message is showing up, the computer should be successfully connected to all 4 cameras and all 4 robots. + +#### Trouble shooting +- Make sure Dynamixel Wizard is disconnected, and no app is using webcam's stream. It will prevent ROS from connecting to +these devices. + +### Software installation - Conda: + + conda create -n aloha python=3.8.10 + conda activate aloha + pip install torchvision + pip install torch + pip install pyquaternion + pip install pyyaml + pip install rospkg + pip install pexpect + pip install mujoco==2.3.7 + pip install dm_control==1.0.14 + pip install opencv-python + pip install matplotlib + pip install einops + pip install packaging + pip install h5py + +### Testing teleoperation + +**Notice**: Before running the commands below, be sure to place all 4 robots in their sleep positions, and open master robot's gripper. +All robots will rise to a height that is easy for teleoperation. + + # ROS terminal + conda deactivate + source /opt/ros/noetic/setup.sh && source ~/interbotix_ws/devel/setup.sh + roslaunch aloha 4arms_teleop.launch + + # Right hand terminal + conda activate aloha + cd ~/interbotix_ws/src/aloha/aloha_scripts + python3 one_side_teleop.py right + + # Left hand terminal + conda activate aloha + cd ~/interbotix_ws/src/aloha/aloha_scripts + python3 one_side_teleop.py left + +The teleoperation will start when the master side gripper is closed. + + +## Example Usages + +To set up a new terminal, run: + + conda activate aloha + cd ~/interbotix_ws/src/aloha/aloha_scripts + + +The ``one_side_teleop.py`` we ran is for testing teleoperation and has no data collection. To collect data for an episode, run: + + python3 record_episodes.py --dataset_dir --episode_idx 0 + +This will store a hdf5 file at ````. +To change episode length and other params, edit ``constants.py`` directly. + +To visualize the episode collected, run: + + python3 visualize_episodes.py --dataset_dir --episode_idx 0 + +To replay the episode collected with real robot, run: + + python3 replay_episodes.py --dataset_dir --episode_idx 0 + +To lower 4 robots before e.g. cutting off power, run: + + python3 sleep.py + diff --git a/third_party/aloha/aloha2/Aloha cam wrist mount v13.stl b/third_party/aloha/aloha2/Aloha cam wrist mount v13.stl new file mode 100644 index 0000000000000000000000000000000000000000..88c5fd86e09a7d20bed7b305a21e2fea12b1a5fc --- /dev/null +++ b/third_party/aloha/aloha2/Aloha cam wrist mount v13.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a96a20e37d893090efb8b96c7f481d66990bcd6a4374e2eab520e69e8a0f7ed4 +size 822984 diff --git 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a/third_party/aloha/aloha2/widowx_gripper_std.zip b/third_party/aloha/aloha2/widowx_gripper_std.zip new file mode 100644 index 0000000000000000000000000000000000000000..bdaa701370f514d2d65820bd529bc6867ac2f29e --- /dev/null +++ b/third_party/aloha/aloha2/widowx_gripper_std.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9240e509574ace1d09a065eb688ae59748375cf19924328111bcad13f99ff2b2 +size 389043 diff --git a/third_party/aloha/aloha2/workcell_v2/Aloha workcell v2.stl b/third_party/aloha/aloha2/workcell_v2/Aloha workcell v2.stl new file mode 100644 index 0000000000000000000000000000000000000000..dcc3f45cd7dac221c4258b57a861a30ed8069acb --- /dev/null +++ b/third_party/aloha/aloha2/workcell_v2/Aloha workcell v2.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d527da060ad7c647023ea9b8d14dc9c30eafa7d785d5ae30d39b11d42c6c7fe4 +size 97020784 diff --git a/third_party/aloha/aloha_scripts/auto_record.sh b/third_party/aloha/aloha_scripts/auto_record.sh new file mode 100644 index 0000000000000000000000000000000000000000..cc8748b71e8ed160bb49f2e29e8ae1b70caec7e4 --- /dev/null +++ b/third_party/aloha/aloha_scripts/auto_record.sh @@ -0,0 +1,15 @@ +if [ "$2" -lt 0 ]; then + echo "# of episodes not valid" + exit +fi + +echo "Task: $1" +for (( i=0; i<$2; i++ )) +do + echo "Starting episode $i" + python3 record_episodes.py --task "$1" + if [ $? -ne 0 ]; then + echo "Failed to execute command. Returning" + exit + fi +done \ No newline at end of file diff --git a/third_party/aloha/aloha_scripts/constants.py b/third_party/aloha/aloha_scripts/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..8361c08521e4c3b081f202ecf2ae85dc664b75f9 --- /dev/null +++ b/third_party/aloha/aloha_scripts/constants.py @@ -0,0 +1,52 @@ +### Task parameters + +DATA_DIR = '' +TASK_CONFIGS = { + 'aloha_wear_shoe':{ + 'dataset_dir': DATA_DIR + '/aloha_wear_shoe', + 'num_episodes': 50, + 'episode_len': 1000, + 'camera_names': ['cam_high', 'cam_low', 'cam_left_wrist', 'cam_right_wrist'] + }, +} + +### ALOHA fixed constants +DT = 0.001 +JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"] +START_ARM_POSE = [0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239, 0, -0.96, 1.16, 0, -0.3, 0, 0.02239, -0.02239] + +# Left finger position limits (qpos[7]), right_finger = -1 * left_finger +MASTER_GRIPPER_POSITION_OPEN = 0.02417 +MASTER_GRIPPER_POSITION_CLOSE = 0.01244 +PUPPET_GRIPPER_POSITION_OPEN = 0.05800 +PUPPET_GRIPPER_POSITION_CLOSE = 0.01844 + +# Gripper joint limits (qpos[6]) +MASTER_GRIPPER_JOINT_OPEN = 0.3083 +MASTER_GRIPPER_JOINT_CLOSE = -0.6842 +PUPPET_GRIPPER_JOINT_OPEN = 1.4910 +PUPPET_GRIPPER_JOINT_CLOSE = -0.6213 + +############################ Helper functions ############################ + +MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) +PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) +MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE +PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE +MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(MASTER_GRIPPER_POSITION_NORMALIZE_FN(x)) + +MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) +PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) +MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE +PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE +MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x)) + +MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) +PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + +MASTER_POS2JOINT = lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE +MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN((x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)) +PUPPET_POS2JOINT = lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE +PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN((x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)) + +MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE)/2 diff --git a/third_party/aloha/aloha_scripts/one_side_teleop.py b/third_party/aloha/aloha_scripts/one_side_teleop.py new file mode 100644 index 0000000000000000000000000000000000000000..b9aa89973e08e9e4a9dbcb5a5b70f834bad92020 --- /dev/null +++ b/third_party/aloha/aloha_scripts/one_side_teleop.py @@ -0,0 +1,70 @@ +import time +import sys +import IPython +e = IPython.embed + +from interbotix_xs_modules.arm import InterbotixManipulatorXS +from interbotix_xs_msgs.msg import JointSingleCommand +from constants import MASTER2PUPPET_JOINT_FN, DT, START_ARM_POSE, MASTER_GRIPPER_JOINT_MID, PUPPET_GRIPPER_JOINT_CLOSE +from robot_utils import torque_on, torque_off, move_arms, move_grippers, get_arm_gripper_positions + +def prep_robots(master_bot, puppet_bot): + # reboot gripper motors, and set operating modes for all motors + puppet_bot.dxl.robot_reboot_motors("single", "gripper", True) + puppet_bot.dxl.robot_set_operating_modes("group", "arm", "position") + puppet_bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + master_bot.dxl.robot_set_operating_modes("group", "arm", "position") + master_bot.dxl.robot_set_operating_modes("single", "gripper", "position") + # puppet_bot.dxl.robot_set_motor_registers("single", "gripper", 'current_limit', 1000) # TODO(tonyzhaozh) figure out how to set this limit + torque_on(puppet_bot) + torque_on(master_bot) + + # move arms to starting position + start_arm_qpos = START_ARM_POSE[:6] + move_arms([master_bot, puppet_bot], [start_arm_qpos] * 2, move_time=1) + # move grippers to starting position + move_grippers([master_bot, puppet_bot], [MASTER_GRIPPER_JOINT_MID, PUPPET_GRIPPER_JOINT_CLOSE], move_time=0.5) + + +def press_to_start(master_bot): + # press gripper to start data collection + # disable torque for only gripper joint of master robot to allow user movement + master_bot.dxl.robot_torque_enable("single", "gripper", False) + print(f'Close the gripper to start') + close_thresh = -0.3 + pressed = False + while not pressed: + gripper_pos = get_arm_gripper_positions(master_bot) + if gripper_pos < close_thresh: + pressed = True + time.sleep(DT/10) + torque_off(master_bot) + print(f'Started!') + + +def teleop(robot_side): + """ A standalone function for experimenting with teleoperation. No data recording. """ + puppet_bot = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_{robot_side}', init_node=True) + master_bot = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", robot_name=f'master_{robot_side}', init_node=False) + + prep_robots(master_bot, puppet_bot) + press_to_start(master_bot) + + ### Teleoperation loop + gripper_command = JointSingleCommand(name="gripper") + while True: + # sync joint positions + master_state_joints = master_bot.dxl.joint_states.position[:6] + puppet_bot.arm.set_joint_positions(master_state_joints, blocking=False) + # sync gripper positions + master_gripper_joint = master_bot.dxl.joint_states.position[6] + puppet_gripper_joint_target = MASTER2PUPPET_JOINT_FN(master_gripper_joint) + gripper_command.cmd = puppet_gripper_joint_target + puppet_bot.gripper.core.pub_single.publish(gripper_command) + # sleep DT + time.sleep(DT) + + +if __name__=='__main__': + side = sys.argv[1] + teleop(side) diff --git a/third_party/aloha/aloha_scripts/real_env.py b/third_party/aloha/aloha_scripts/real_env.py new file mode 100644 index 0000000000000000000000000000000000000000..a2246e1ad34a83bd3b0ae49073b660cf9b1cd74f --- /dev/null +++ b/third_party/aloha/aloha_scripts/real_env.py @@ -0,0 +1,206 @@ +import time +import numpy as np +import collections +import matplotlib.pyplot as plt +import dm_env + +from constants import DT, START_ARM_POSE, MASTER_GRIPPER_JOINT_NORMALIZE_FN, PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN +from constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN, PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN +from constants import PUPPET_GRIPPER_JOINT_OPEN, PUPPET_GRIPPER_JOINT_CLOSE +from robot_utils import Recorder, ImageRecorder +from robot_utils import setup_master_bot, setup_puppet_bot, move_arms, move_grippers +from interbotix_xs_modules.arm import InterbotixManipulatorXS +from interbotix_xs_msgs.msg import JointSingleCommand + +import IPython +e = IPython.embed + +class RealEnv: + """ + Environment for real robot bi-manual manipulation + Action space: [left_arm_qpos (6), # absolute joint position + left_gripper_positions (1), # normalized gripper position (0: close, 1: open) + right_arm_qpos (6), # absolute joint position + right_gripper_positions (1),] # normalized gripper position (0: close, 1: open) + + Observation space: {"qpos": Concat[ left_arm_qpos (6), # absolute joint position + left_gripper_position (1), # normalized gripper position (0: close, 1: open) + right_arm_qpos (6), # absolute joint position + right_gripper_qpos (1)] # normalized gripper position (0: close, 1: open) + "qvel": Concat[ left_arm_qvel (6), # absolute joint velocity (rad) + left_gripper_velocity (1), # normalized gripper velocity (pos: opening, neg: closing) + right_arm_qvel (6), # absolute joint velocity (rad) + right_gripper_qvel (1)] # normalized gripper velocity (pos: opening, neg: closing) + "images": {"cam_high": (480x640x3), # h, w, c, dtype='uint8' + "cam_low": (480x640x3), # h, w, c, dtype='uint8' + "cam_left_wrist": (480x640x3), # h, w, c, dtype='uint8' + "cam_right_wrist": (480x640x3)} # h, w, c, dtype='uint8' + """ + + def __init__(self, init_node, setup_robots=True): + self.puppet_bot_left = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", + robot_name=f'puppet_left', init_node=init_node) + self.puppet_bot_right = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", + robot_name=f'puppet_right', init_node=False) + if setup_robots: + self.setup_robots() + + self.recorder_left = Recorder('left', init_node=False) + self.recorder_right = Recorder('right', init_node=False) + self.image_recorder = ImageRecorder(init_node=False) + self.gripper_command = JointSingleCommand(name="gripper") + + def setup_robots(self): + setup_puppet_bot(self.puppet_bot_left) + setup_puppet_bot(self.puppet_bot_right) + + def get_qpos(self): + left_qpos_raw = self.recorder_left.qpos + right_qpos_raw = self.recorder_right.qpos + left_arm_qpos = left_qpos_raw[:6] + right_arm_qpos = right_qpos_raw[:6] + left_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(left_qpos_raw[7])] # this is position not joint + right_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(right_qpos_raw[7])] # this is position not joint + return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos]) + + def get_qvel(self): + left_qvel_raw = self.recorder_left.qvel + right_qvel_raw = self.recorder_right.qvel + left_arm_qvel = left_qvel_raw[:6] + right_arm_qvel = right_qvel_raw[:6] + left_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(left_qvel_raw[7])] + right_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(right_qvel_raw[7])] + return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel]) + + def get_effort(self): + left_effort_raw = self.recorder_left.effort + right_effort_raw = self.recorder_right.effort + left_robot_effort = left_effort_raw[:7] + right_robot_effort = right_effort_raw[:7] + return np.concatenate([left_robot_effort, right_robot_effort]) + + def get_images(self): + return self.image_recorder.get_images() + + def set_gripper_pose(self, left_gripper_desired_pos_normalized, right_gripper_desired_pos_normalized): + left_gripper_desired_joint = PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(left_gripper_desired_pos_normalized) + self.gripper_command.cmd = left_gripper_desired_joint + self.puppet_bot_left.gripper.core.pub_single.publish(self.gripper_command) + + right_gripper_desired_joint = PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(right_gripper_desired_pos_normalized) + self.gripper_command.cmd = right_gripper_desired_joint + self.puppet_bot_right.gripper.core.pub_single.publish(self.gripper_command) + + def _reset_joints(self): + # reset_position = START_ARM_POSE[:6] + reset_position = [0, -1.5, 1.5, 0, 0, 0] + move_arms([self.puppet_bot_left, self.puppet_bot_right], [reset_position, reset_position], move_time=1) + + def _reset_gripper(self): + """Set to position mode and do position resets: first open then close. Then change back to PWM mode""" + move_grippers([self.puppet_bot_left, self.puppet_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=0.5) + move_grippers([self.puppet_bot_left, self.puppet_bot_right], [PUPPET_GRIPPER_JOINT_CLOSE] * 2, move_time=1) + + def get_observation(self): + obs = collections.OrderedDict() + obs['qpos'] = self.get_qpos() + obs['qvel'] = self.get_qvel() + obs['effort'] = self.get_effort() + obs['images'] = self.get_images() + return obs + + def get_reward(self): + return 0 + + def reset(self, fake=False): + if not fake: + # Reboot puppet robot gripper motors + self.puppet_bot_left.dxl.robot_reboot_motors("single", "gripper", True) + self.puppet_bot_right.dxl.robot_reboot_motors("single", "gripper", True) + self._reset_joints() + self._reset_gripper() + return dm_env.TimeStep( + step_type=dm_env.StepType.FIRST, + reward=self.get_reward(), + discount=None, + observation=self.get_observation()) + + def step(self, action): + state_len = int(len(action) / 2) + left_action = action[:state_len] + right_action = action[state_len:] + self.puppet_bot_left.arm.set_joint_positions(left_action[:6], blocking=False) + self.puppet_bot_right.arm.set_joint_positions(right_action[:6], blocking=False) + self.set_gripper_pose(left_action[-1], right_action[-1]) + time.sleep(DT) + return dm_env.TimeStep( + step_type=dm_env.StepType.MID, + reward=self.get_reward(), + discount=None, + observation=self.get_observation()) + + +def get_action(master_bot_left, master_bot_right): + action = np.zeros(14) # 6 joint + 1 gripper, for two arms + # Arm actions + action[:6] = master_bot_left.dxl.joint_states.position[:6] + action[7:7+6] = master_bot_right.dxl.joint_states.position[:6] + # Gripper actions + action[6] = MASTER_GRIPPER_JOINT_NORMALIZE_FN(master_bot_left.dxl.joint_states.position[6]) + action[7+6] = MASTER_GRIPPER_JOINT_NORMALIZE_FN(master_bot_right.dxl.joint_states.position[6]) + + return action + + +def make_real_env(init_node, setup_robots=True): + env = RealEnv(init_node, setup_robots) + return env + + +def test_real_teleop(): + """ + Test bimanual teleoperation and show image observations onscreen. + It first reads joint poses from both master arms. + Then use it as actions to step the environment. + The environment returns full observations including images. + + An alternative approach is to have separate scripts for teleoperation and observation recording. + This script will result in higher fidelity (obs, action) pairs + """ + + onscreen_render = True + render_cam = 'cam_left_wrist' + + # source of data + master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", + robot_name=f'master_left', init_node=True) + master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", + robot_name=f'master_right', init_node=False) + setup_master_bot(master_bot_left) + setup_master_bot(master_bot_right) + + # setup the environment + env = make_real_env(init_node=False) + ts = env.reset(fake=True) + episode = [ts] + # setup visualization + if onscreen_render: + ax = plt.subplot() + plt_img = ax.imshow(ts.observation['images'][render_cam]) + plt.ion() + + for t in range(1000): + action = get_action(master_bot_left, master_bot_right) + ts = env.step(action) + episode.append(ts) + + if onscreen_render: + plt_img.set_data(ts.observation['images'][render_cam]) + plt.pause(DT) + else: + time.sleep(DT) + + +if __name__ == '__main__': + test_real_teleop() + diff --git a/third_party/aloha/aloha_scripts/realsense_publisher.py b/third_party/aloha/aloha_scripts/realsense_publisher.py new file mode 100644 index 0000000000000000000000000000000000000000..22bbac3685a22f506099851d6d2ae6411e55b75c --- /dev/null +++ b/third_party/aloha/aloha_scripts/realsense_publisher.py @@ -0,0 +1,173 @@ +#!/usr/bin/env python3 + +import time + +from cv_bridge import CvBridge +import numpy as np +import pyrealsense2 as rs # Intel RealSense cross-platform open-source API +import rospy + +from aloha.msg import RGBGrayscaleImage + + +TIMEOUT_MS = 100 +FPS = 30 #30 + +cv_bridge = CvBridge() +rospy.init_node('realsense_publisher') + +camera_names = ['cam_left_wrist', 'cam_high', 'cam_low', 'cam_right_wrist'] +camera_sns = ['130322270931', '128422272318', '218722271368', '130322271696'] #'218622270083', '127122270166'] +cam_dict = dict(zip(camera_sns,camera_names)) +mean_intensity_set_point_config = { # NOTE these numbers are specific to your lighting setup + 'cam_left_wrist': 500, + 'cam_high': 500, + 'cam_right_wrist': 500, + 'cam_low': 1000 +} + +print("\n\nSTARTING REALSENSE PUBLISHER\n\n") + +ctx = rs.context() +devices = ctx.query_devices() +print([device for device in devices]) +device_ids = [d.get_info(rs.camera_info.serial_number) for d in devices] + +def get_profiles(): + ctx = rs.context() + devices = ctx.query_devices() + color_profiles = [] + depth_profiles = [] + + for device in devices: + name = device.get_info(rs.camera_info.name) + serial = device.get_info(rs.camera_info.serial_number) + print('Sensor: {}, {}'.format(name, serial)) + print('Supported video formats:') + for sensor in device.query_sensors(): + for stream_profile in sensor.get_stream_profiles(): + stream_type = str(stream_profile.stream_type()) + + if stream_type in ['stream.color', 'stream.depth']: + v_profile = stream_profile.as_video_stream_profile() + fmt = stream_profile.format() + w, h = v_profile.width(), v_profile.height() + fps = v_profile.fps() + + video_type = stream_type.split('.')[-1] + print(' {}: width={}, height={}, fps={}, fmt={}'.format( + video_type, w, h, fps, fmt)) + if video_type == 'color': + color_profiles.append((w, h, fps, fmt)) + else: + depth_profiles.append((w, h, fps, fmt)) + +missing_cams = [camera_names[i] for i, c in enumerate(camera_sns) if c not in device_ids] +if missing_cams: + raise Exception(f"Cameras missing:{missing_cams}") + +for dev in devices: + dev.hardware_reset() + time.sleep(2) + # https://dev.intelrealsense.com/docs/high-dynamic-range-with-stereoscopic-depth-cameras#section-2-4-manual-vs-auto-exposure + # advnc_mode = rs.rs400_advanced_mode(dev) + # cam_name = cam_dict[dev.get_info(rs.camera_info.serial_number)] + # intensity_set_point = mean_intensity_set_point_config[cam_name] + # while True: + # # Read-modify-write of the AE control table + # ae_ctrl = advnc_mode.get_ae_control() + # if ae_ctrl.meanIntensitySetPoint == intensity_set_point: + # print('setting meanIntensitySetPoint SUCCESS\n\n') + # break + # else: + # ae_ctrl.meanIntensitySetPoint = intensity_set_point + # advnc_mode.set_ae_control(ae_ctrl) + # print('attempted setting meanIntensitySetPoint') + # time.sleep(0.5) + +print(camera_names, camera_sns) + +pipes = [rs.pipeline() for _ in range(len(camera_sns))] +cfgs = [rs.config() for _ in range(len(camera_sns))] +profiles = [] +depth_scales = [] + +for cam_name, sn, pipe, cfg in zip(camera_names, camera_sns, pipes, cfgs): + try: + print(cam_name, sn) + + cfg.enable_device(sn) + print(f"Enabled device at {FPS}") + cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, FPS) + # cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, FPS) + print("No depth stream") + + # get_profiles() + print(f"Starting {cam_name}, {sn}") + profile = pipe.start(cfg) + device = profile.get_device() + + # depth_sensor = device.first_depth_sensor() + # depth_scale = depth_sensor.get_depth_scale() + # print("Depth Scale is: ", depth_scale) + + profiles.append(profile) + # depth_scales.append(depth_scale) + + except Exception as e: + print(f"Error starting {cam_name}, {sn}: {e}") + +print('\nWAITING FOR FRAMES\n') +for _ in range(3): + for pipe, cam_name in zip(pipes, camera_names): + t = time.time() + try: + pipe.wait_for_frames() + print(f"{cam_name} waited {time.time() - t}s") + except: + print(f"{cam_name} waited too long: {time.time() - t}s\n\n") + raise Exception + +publishers = [rospy.Publisher(cam_name, RGBGrayscaleImage, queue_size=1) for cam_name in camera_names] + +# i = 0 + +print("\n\nREALSENSE PUBLISHER RUNNING\n\n") +no_error = True +t = time.time() +while not rospy.is_shutdown(): + rgb_imgs = [] + # depth_imgs = [] + msgs = [] + + for cam_name, pipe in zip(camera_names, pipes): + try: + frameset = pipe.wait_for_frames(timeout_ms=TIMEOUT_MS) + except: + print("\n\n", cam_name, "failed\n") + no_error = False + [pipe.stop() for pipe in pipes] + break + + color_frame = np.array(frameset.get_color_frame().get_data()) + # Conver to RGB + color_frame = color_frame[..., ::-1] + # depth_frame = np.array(frameset.get_depth_frame().get_data()) + + rgb_imgs.append(color_frame) + # depth_imgs.append(depth_frame) + + msg = RGBGrayscaleImage() + msg.header.stamp = rospy.Time.now() + msg.images.append(cv_bridge.cv2_to_imgmsg(color_frame, encoding="bgr8")) + # msg.images.append(cv_bridge.cv2_to_imgmsg(depth_frame, encoding="mono16")) + msgs.append(msg) + + # h, w = depth_frame.shape + half_block_size = 5 + + if not no_error: + break + + for pub, msg in zip(publishers, msgs): + pub.publish(msg) \ No newline at end of file diff --git a/third_party/aloha/aloha_scripts/record_episodes.py b/third_party/aloha/aloha_scripts/record_episodes.py new file mode 100644 index 0000000000000000000000000000000000000000..270772e7a482cac28748e7d413e16eb18879952d --- /dev/null +++ b/third_party/aloha/aloha_scripts/record_episodes.py @@ -0,0 +1,228 @@ +import os +import time +import h5py +import argparse +import numpy as np +from tqdm import tqdm + +from constants import DT, START_ARM_POSE, TASK_CONFIGS +from constants import MASTER_GRIPPER_JOINT_MID, PUPPET_GRIPPER_JOINT_CLOSE, PUPPET_GRIPPER_JOINT_OPEN +from robot_utils import Recorder, ImageRecorder, get_arm_gripper_positions +from robot_utils import move_arms, torque_on, torque_off, move_grippers +from real_env import make_real_env, get_action + +from interbotix_xs_modules.arm import InterbotixManipulatorXS + +import IPython +e = IPython.embed + + +def opening_ceremony(master_bot_left, master_bot_right, puppet_bot_left, puppet_bot_right): + """ Move all 4 robots to a pose where it is easy to start demonstration """ + # reboot gripper motors, and set operating modes for all motors + puppet_bot_left.dxl.robot_reboot_motors("single", "gripper", True) + puppet_bot_left.dxl.robot_set_operating_modes("group", "arm", "position") + puppet_bot_left.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + master_bot_left.dxl.robot_set_operating_modes("group", "arm", "position") + master_bot_left.dxl.robot_set_operating_modes("single", "gripper", "position") + # puppet_bot_left.dxl.robot_set_motor_registers("single", "gripper", 'current_limit', 1000) # TODO(tonyzhaozh) figure out how to set this limit + + puppet_bot_right.dxl.robot_reboot_motors("single", "gripper", True) + puppet_bot_right.dxl.robot_set_operating_modes("group", "arm", "position") + puppet_bot_right.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + master_bot_right.dxl.robot_set_operating_modes("group", "arm", "position") + master_bot_right.dxl.robot_set_operating_modes("single", "gripper", "position") + # puppet_bot_left.dxl.robot_set_motor_registers("single", "gripper", 'current_limit', 1000) # TODO(tonyzhaozh) figure out how to set this limit + + torque_on(puppet_bot_left) + torque_on(master_bot_left) + torque_on(puppet_bot_right) + torque_on(master_bot_right) + + # move arms to starting position + start_arm_qpos = START_ARM_POSE[:6] + move_arms([master_bot_left, puppet_bot_left, master_bot_right, puppet_bot_right], [start_arm_qpos] * 4, move_time=1.5) + # move grippers to starting position + move_grippers([master_bot_left, puppet_bot_left, master_bot_right, puppet_bot_right], [MASTER_GRIPPER_JOINT_MID, PUPPET_GRIPPER_JOINT_CLOSE] * 2, move_time=0.5) + + + # press gripper to start data collection + # disable torque for only gripper joint of master robot to allow user movement + master_bot_left.dxl.robot_torque_enable("single", "gripper", False) + master_bot_right.dxl.robot_torque_enable("single", "gripper", False) + print(f'Close the gripper to start') + close_thresh = -0.3 + pressed = False + while not pressed: + gripper_pos_left = get_arm_gripper_positions(master_bot_left) + gripper_pos_right = get_arm_gripper_positions(master_bot_right) + if (gripper_pos_left < close_thresh) and (gripper_pos_right < close_thresh): + pressed = True + time.sleep(DT/10) + torque_off(master_bot_left) + torque_off(master_bot_right) + print(f'Started!') + + +def capture_one_episode(dt, max_timesteps, camera_names, dataset_dir, dataset_name, overwrite): + print(f'Dataset name: {dataset_name}') + + # source of data + master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", + robot_name=f'master_left', init_node=True) + master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", + robot_name=f'master_right', init_node=False) + env = make_real_env(init_node=False, setup_robots=False) + + # saving dataset + if not os.path.isdir(dataset_dir): + os.makedirs(dataset_dir) + dataset_path = os.path.join(dataset_dir, dataset_name) + if os.path.isfile(dataset_path) and not overwrite: + print(f'Dataset already exist at \n{dataset_path}\nHint: set overwrite to True.') + exit() + + # move all 4 robots to a starting pose where it is easy to start teleoperation, then wait till both gripper closed + opening_ceremony(master_bot_left, master_bot_right, env.puppet_bot_left, env.puppet_bot_right) + + # Data collection + ts = env.reset(fake=True) + timesteps = [ts] + actions = [] + actual_dt_history = [] + for t in tqdm(range(max_timesteps)): + t0 = time.time() # + action = get_action(master_bot_left, master_bot_right) + t1 = time.time() # + ts = env.step(action) + t2 = time.time() # + timesteps.append(ts) + actions.append(action) + actual_dt_history.append([t0, t1, t2]) + + # Torque on both master bots + torque_on(master_bot_left) + torque_on(master_bot_right) + # Open puppet grippers + move_grippers([env.puppet_bot_left, env.puppet_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=0.5) + + freq_mean = print_dt_diagnosis(actual_dt_history) + if freq_mean < 42: + return False + + """ + For each timestep: + observations + - images + - cam_high (480, 640, 3) 'uint8' + - cam_low (480, 640, 3) 'uint8' + - cam_left_wrist (480, 640, 3) 'uint8' + - cam_right_wrist (480, 640, 3) 'uint8' + - qpos (14,) 'float64' + - qvel (14,) 'float64' + + action (14,) 'float64' + """ + + data_dict = { + '/observations/qpos': [], + '/observations/qvel': [], + '/observations/effort': [], + '/action': [], + } + for cam_name in camera_names: + data_dict[f'/observations/images/{cam_name}'] = [] + + # len(action): max_timesteps, len(time_steps): max_timesteps + 1 + while actions: + action = actions.pop(0) + ts = timesteps.pop(0) + data_dict['/observations/qpos'].append(ts.observation['qpos']) + data_dict['/observations/qvel'].append(ts.observation['qvel']) + data_dict['/observations/effort'].append(ts.observation['effort']) + data_dict['/action'].append(action) + for cam_name in camera_names: + data_dict[f'/observations/images/{cam_name}'].append(ts.observation['images'][cam_name]) + + # HDF5 + t0 = time.time() + with h5py.File(dataset_path + '.hdf5', 'w', rdcc_nbytes=1024**2*2) as root: + root.attrs['sim'] = False + obs = root.create_group('observations') + image = obs.create_group('images') + for cam_name in camera_names: + _ = image.create_dataset(cam_name, (max_timesteps, 480, 640, 3), dtype='uint8', + chunks=(1, 480, 640, 3), ) + # compression='gzip',compression_opts=2,) + # compression=32001, compression_opts=(0, 0, 0, 0, 9, 1, 1), shuffle=False) + _ = obs.create_dataset('qpos', (max_timesteps, 14)) + _ = obs.create_dataset('qvel', (max_timesteps, 14)) + _ = obs.create_dataset('effort', (max_timesteps, 14)) + _ = root.create_dataset('action', (max_timesteps, 14)) + + for name, array in data_dict.items(): + root[name][...] = array + print(f'Saving: {time.time() - t0:.1f} secs') + + return True + + +def main(args): + task_config = TASK_CONFIGS[args['task_name']] + dataset_dir = task_config['dataset_dir'] + max_timesteps = task_config['episode_len'] + camera_names = task_config['camera_names'] + + if args['episode_idx'] is not None: + episode_idx = args['episode_idx'] + else: + episode_idx = get_auto_index(dataset_dir) + overwrite = True + + dataset_name = f'episode_{episode_idx}' + print(dataset_name + '\n') + while True: + is_healthy = capture_one_episode(DT, max_timesteps, camera_names, dataset_dir, dataset_name, overwrite) + if is_healthy: + break + + +def get_auto_index(dataset_dir, dataset_name_prefix = '', data_suffix = 'hdf5'): + max_idx = 1000 + if not os.path.isdir(dataset_dir): + os.makedirs(dataset_dir) + for i in range(max_idx+1): + if not os.path.isfile(os.path.join(dataset_dir, f'{dataset_name_prefix}episode_{i}.{data_suffix}')): + return i + raise Exception(f"Error getting auto index, or more than {max_idx} episodes") + + +def print_dt_diagnosis(actual_dt_history): + actual_dt_history = np.array(actual_dt_history) + get_action_time = actual_dt_history[:, 1] - actual_dt_history[:, 0] + step_env_time = actual_dt_history[:, 2] - actual_dt_history[:, 1] + total_time = actual_dt_history[:, 2] - actual_dt_history[:, 0] + + dt_mean = np.mean(total_time) + dt_std = np.std(total_time) + freq_mean = 1 / dt_mean + print(f'Avg freq: {freq_mean:.2f} Get action: {np.mean(get_action_time):.3f} Step env: {np.mean(step_env_time):.3f}') + return freq_mean + +def debug(): + print(f'====== Debug mode ======') + recorder = Recorder('right', is_debug=True) + image_recorder = ImageRecorder(init_node=False, is_debug=True) + while True: + time.sleep(1) + recorder.print_diagnostics() + image_recorder.print_diagnostics() + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--task_name', action='store', type=str, help='Task name.', required=True) + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', default=None, required=False) + main(vars(parser.parse_args())) + # debug() + + diff --git a/third_party/aloha/aloha_scripts/replay_episodes.py b/third_party/aloha/aloha_scripts/replay_episodes.py new file mode 100644 index 0000000000000000000000000000000000000000..663eb2420147062442b1a82422e3f58cb9068e0a --- /dev/null +++ b/third_party/aloha/aloha_scripts/replay_episodes.py @@ -0,0 +1,40 @@ +import os +import h5py +from robot_utils import move_grippers +import argparse +from real_env import make_real_env +from constants import JOINT_NAMES, PUPPET_GRIPPER_JOINT_OPEN + +import IPython +e = IPython.embed + +STATE_NAMES = JOINT_NAMES + ["gripper", 'left_finger', 'right_finger'] + +def main(args): + dataset_dir = args['dataset_dir'] + episode_idx = args['episode_idx'] + dataset_name = f'episode_{episode_idx}' + + dataset_path = os.path.join(dataset_dir, dataset_name + '.hdf5') + if not os.path.isfile(dataset_path): + print(f'Dataset does not exist at \n{dataset_path}\n') + exit() + + with h5py.File(dataset_path, 'r') as root: + actions = root['/action'][()] + + env = make_real_env(init_node=True) + env.reset() + for action in actions: + env.step(action) + + move_grippers([env.puppet_bot_left, env.puppet_bot_right], [PUPPET_GRIPPER_JOINT_OPEN] * 2, move_time=0.5) # open + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset dir.', required=True) + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', required=False) + main(vars(parser.parse_args())) + + diff --git a/third_party/aloha/aloha_scripts/robot_utils.py b/third_party/aloha/aloha_scripts/robot_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..5363b1f280c190e1a96243362e44e04fe873b121 --- /dev/null +++ b/third_party/aloha/aloha_scripts/robot_utils.py @@ -0,0 +1,279 @@ +import time + +from aloha.msg import RGBGrayscaleImage +from constants import DT +from interbotix_xs_msgs.msg import JointSingleCommand +import IPython +import numpy as np + +e = IPython.embed + + +class ImageRecorder: + def __init__(self, init_node=True, is_debug=False): + from collections import deque + + from cv_bridge import CvBridge + import rospy + + self.is_debug = is_debug + self.bridge = CvBridge() + self.camera_names = ["cam_high", "cam_low", "cam_left_wrist", "cam_right_wrist"] + + if init_node: + rospy.init_node("image_recorder", anonymous=True) + for cam_name in self.camera_names: + setattr(self, f"{cam_name}_rgb_image", None) + setattr(self, f"{cam_name}_depth_image", None) + setattr(self, f"{cam_name}_timestamp", 0.0) + if cam_name == "cam_high": + callback_func = self.image_cb_cam_high + elif cam_name == "cam_low": + callback_func = self.image_cb_cam_low + elif cam_name == "cam_left_wrist": + callback_func = self.image_cb_cam_left_wrist + elif cam_name == "cam_right_wrist": + callback_func = self.image_cb_cam_right_wrist + else: + raise NotImplementedError + rospy.Subscriber(f"/{cam_name}", RGBGrayscaleImage, callback_func) + if self.is_debug: + setattr(self, f"{cam_name}_timestamps", deque(maxlen=50)) + + self.cam_last_timestamps = {cam_name: 0.0 for cam_name in self.camera_names} + time.sleep(0.5) + + def image_cb(self, cam_name, data): + setattr( + self, + f"{cam_name}_rgb_image", + self.bridge.imgmsg_to_cv2(data.images[0], desired_encoding="bgr8"), + ) + # setattr( + # self, + # f"{cam_name}_depth_image", + # self.bridge.imgmsg_to_cv2(data.images[1], desired_encoding="mono16"), + # ) + setattr( + self, + f"{cam_name}_timestamp", + data.header.stamp.secs + data.header.stamp.nsecs * 1e-9, + ) + # setattr(self, f'{cam_name}_secs', data.images[0].header.stamp.secs) + # setattr(self, f'{cam_name}_nsecs', data.images[0].header.stamp.nsecs) + # cv2.imwrite('/home/lucyshi/Desktop/sample.jpg', cv_image) + if self.is_debug: + getattr(self, f"{cam_name}_timestamps").append( + data.images[0].header.stamp.secs + data.images[0].header.stamp.nsecs * 1e-9 + ) + + def image_cb_cam_high(self, data): + cam_name = "cam_high" + return self.image_cb(cam_name, data) + + def image_cb_cam_low(self, data): + cam_name = "cam_low" + return self.image_cb(cam_name, data) + + def image_cb_cam_left_wrist(self, data): + cam_name = "cam_left_wrist" + return self.image_cb(cam_name, data) + + def image_cb_cam_right_wrist(self, data): + cam_name = "cam_right_wrist" + return self.image_cb(cam_name, data) + + def get_images(self): + image_dict = dict() + for cam_name in self.camera_names: + while getattr(self, f"{cam_name}_timestamp") <= self.cam_last_timestamps[cam_name]: + time.sleep(0.00001) + rgb_image = getattr(self, f"{cam_name}_rgb_image") + depth_image = getattr(self, f"{cam_name}_depth_image") + self.cam_last_timestamps[cam_name] = getattr(self, f"{cam_name}_timestamp") + image_dict[cam_name] = rgb_image + image_dict[f"{cam_name}_depth"] = depth_image + return image_dict + + def print_diagnostics(self): + def dt_helper(l): + l = np.array(l) + diff = l[1:] - l[:-1] + return np.mean(diff) + + for cam_name in self.camera_names: + image_freq = 1 / dt_helper(getattr(self, f"{cam_name}_timestamps")) + print(f"{cam_name} {image_freq=:.2f}") + print() + + +class Recorder: + def __init__(self, side, init_node=True, is_debug=False): + from collections import deque + + from interbotix_xs_msgs.msg import JointGroupCommand + from interbotix_xs_msgs.msg import JointSingleCommand + import rospy + from sensor_msgs.msg import JointState + + self.secs = None + self.nsecs = None + self.qpos = None + self.effort = None + self.arm_command = None + self.gripper_command = None + self.is_debug = is_debug + + if init_node: + rospy.init_node("recorder", anonymous=True) + rospy.Subscriber(f"/puppet_{side}/joint_states", JointState, self.puppet_state_cb) + rospy.Subscriber( + f"/puppet_{side}/commands/joint_group", + JointGroupCommand, + self.puppet_arm_commands_cb, + ) + rospy.Subscriber( + f"/puppet_{side}/commands/joint_single", + JointSingleCommand, + self.puppet_gripper_commands_cb, + ) + if self.is_debug: + self.joint_timestamps = deque(maxlen=50) + self.arm_command_timestamps = deque(maxlen=50) + self.gripper_command_timestamps = deque(maxlen=50) + time.sleep(0.1) + + def puppet_state_cb(self, data): + self.qpos = data.position + self.qvel = data.velocity + self.effort = data.effort + self.data = data + if self.is_debug: + self.joint_timestamps.append(time.time()) + + def puppet_arm_commands_cb(self, data): + self.arm_command = data.cmd + if self.is_debug: + self.arm_command_timestamps.append(time.time()) + + def puppet_gripper_commands_cb(self, data): + self.gripper_command = data.cmd + if self.is_debug: + self.gripper_command_timestamps.append(time.time()) + + def print_diagnostics(self): + def dt_helper(l): + l = np.array(l) + diff = l[1:] - l[:-1] + return np.mean(diff) + + joint_freq = 1 / dt_helper(self.joint_timestamps) + arm_command_freq = 1 / dt_helper(self.arm_command_timestamps) + gripper_command_freq = 1 / dt_helper(self.gripper_command_timestamps) + + print(f"{joint_freq=:.2f}\n{arm_command_freq=:.2f}\n{gripper_command_freq=:.2f}\n") + + +def get_arm_joint_positions(bot): + return bot.arm.core.joint_states.position[:6] + + +def get_arm_gripper_positions(bot): + joint_position = bot.gripper.core.joint_states.position[6] + return joint_position + + +def move_arms(bot_list, target_pose_list, move_time=1): + num_steps = int(move_time / DT) + curr_pose_list = [get_arm_joint_positions(bot) for bot in bot_list] + traj_list = [ + np.linspace(curr_pose, target_pose, num_steps) + for curr_pose, target_pose in zip(curr_pose_list, target_pose_list) + ] + for t in range(num_steps): + for bot_id, bot in enumerate(bot_list): + bot.arm.set_joint_positions(traj_list[bot_id][t], blocking=False) + time.sleep(DT) + + +def move_grippers(bot_list, target_pose_list, move_time): + print(f'Moving grippers to {target_pose_list=}') + gripper_command = JointSingleCommand(name="gripper") + num_steps = int(move_time / DT) + curr_pose_list = [get_arm_gripper_positions(bot) for bot in bot_list] + traj_list = [np.linspace(curr_pose, target_pose, num_steps) for curr_pose, target_pose in zip(curr_pose_list, target_pose_list)] + import json + import datetime + with open(f"/data/gripper_traj_{datetime.datetime.now().strftime('%Y%m%d_%H%M%S')}.jsonl", "a") as f: + for t in range(num_steps): + d = {} + for bot_id, bot in enumerate(bot_list): + gripper_command.cmd = traj_list[bot_id][t] + bot.gripper.core.pub_single.publish(gripper_command) + d[bot_id] = {'obs': get_arm_gripper_positions(bot), 'act': traj_list[bot_id][t]} + f.write(json.dumps(d) + '\n') + time.sleep(DT) + + +def setup_puppet_bot(bot): + bot.dxl.robot_reboot_motors("single", "gripper", True) + bot.dxl.robot_set_operating_modes("group", "arm", "position") + bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + torque_on(bot) + + +def setup_master_bot(bot): + bot.dxl.robot_set_operating_modes("group", "arm", "pwm") + bot.dxl.robot_set_operating_modes("single", "gripper", "current_based_position") + torque_off(bot) + + +def set_standard_pid_gains(bot): + bot.dxl.robot_set_motor_registers("group", "arm", "Position_P_Gain", 800) + bot.dxl.robot_set_motor_registers("group", "arm", "Position_I_Gain", 0) + + +def set_low_pid_gains(bot): + bot.dxl.robot_set_motor_registers("group", "arm", "Position_P_Gain", 100) + bot.dxl.robot_set_motor_registers("group", "arm", "Position_I_Gain", 0) + + +def torque_off(bot): + bot.dxl.robot_torque_enable("group", "arm", False) + bot.dxl.robot_torque_enable("single", "gripper", False) + + +def torque_on(bot): + bot.dxl.robot_torque_enable("group", "arm", True) + bot.dxl.robot_torque_enable("single", "gripper", True) + + +# for DAgger +def sync_puppet_to_master(master_bot_left, master_bot_right, puppet_bot_left, puppet_bot_right): + print("\nSyncing!") + + # activate master arms + torque_on(master_bot_left) + torque_on(master_bot_right) + + # get puppet arm positions + puppet_left_qpos = get_arm_joint_positions(puppet_bot_left) + puppet_right_qpos = get_arm_joint_positions(puppet_bot_right) + + # get puppet gripper positions + puppet_left_gripper = get_arm_gripper_positions(puppet_bot_left) + puppet_right_gripper = get_arm_gripper_positions(puppet_bot_right) + + # move master arms to puppet positions + move_arms( + [master_bot_left, master_bot_right], + [puppet_left_qpos, puppet_right_qpos], + move_time=1, + ) + + # move master grippers to puppet positions + move_grippers( + [master_bot_left, master_bot_right], + [puppet_left_gripper, puppet_right_gripper], + move_time=1, + ) \ No newline at end of file diff --git a/third_party/aloha/aloha_scripts/sleep.py b/third_party/aloha/aloha_scripts/sleep.py new file mode 100644 index 0000000000000000000000000000000000000000..3567fa552b329b2d749ff44ab3d3ce96eee33993 --- /dev/null +++ b/third_party/aloha/aloha_scripts/sleep.py @@ -0,0 +1,19 @@ +from interbotix_xs_modules.arm import InterbotixManipulatorXS +from robot_utils import move_arms, torque_on + +def main(): + puppet_bot_left = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_left', init_node=True) + puppet_bot_right = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name=f'puppet_right', init_node=False) + master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", robot_name=f'master_left', init_node=False) + master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper", robot_name=f'master_right', init_node=False) + + all_bots = [puppet_bot_left, puppet_bot_right] + for bot in all_bots: + torque_on(bot) + + puppet_sleep_position = (0, -1.7, 1.55, 0.12, 0.65, 0) + master_sleep_position = (0, -1.1, 1.24, 0, -0.24, 0) + move_arms(all_bots, [puppet_sleep_position] * 2, move_time=2) + +if __name__ == '__main__': + main() diff --git a/third_party/aloha/aloha_scripts/visualize_episodes.py b/third_party/aloha/aloha_scripts/visualize_episodes.py new file mode 100644 index 0000000000000000000000000000000000000000..434a74f242c43fe14f4693baf058c6f3aba85b52 --- /dev/null +++ b/third_party/aloha/aloha_scripts/visualize_episodes.py @@ -0,0 +1,176 @@ +import os +import numpy as np +import cv2 +import h5py +import argparse + +import matplotlib.pyplot as plt +from constants import DT + +import IPython +e = IPython.embed + +JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"] +STATE_NAMES = JOINT_NAMES + ["gripper"] + +def load_hdf5(dataset_dir, dataset_name): + dataset_path = os.path.join(dataset_dir, dataset_name + '.hdf5') + if not os.path.isfile(dataset_path): + print(f'Dataset does not exist at \n{dataset_path}\n') + exit() + + with h5py.File(dataset_path, 'r') as root: + is_sim = root.attrs['sim'] + qpos = root['/observations/qpos'][()] + qvel = root['/observations/qvel'][()] + effort = root['/observations/effort'][()] + action = root['/action'][()] + image_dict = dict() + for cam_name in root[f'/observations/images/'].keys(): + image_dict[cam_name] = root[f'/observations/images/{cam_name}'][()] + + return qpos, qvel, effort, action, image_dict + +def main(args): + dataset_dir = args['dataset_dir'] + episode_idx = args['episode_idx'] + dataset_name = f'episode_{episode_idx}' + + qpos, qvel, effort, action, image_dict = load_hdf5(dataset_dir, dataset_name) + save_videos(image_dict, DT, video_path=os.path.join(dataset_dir, dataset_name + '_video.mp4')) + visualize_joints(qpos, action, plot_path=os.path.join(dataset_dir, dataset_name + '_qpos.png')) + visualize_single(effort, 'effort', plot_path=os.path.join(dataset_dir, dataset_name + '_effort.png')) + visualize_single(action - qpos, 'tracking_error', plot_path=os.path.join(dataset_dir, dataset_name + '_error.png')) + # visualize_timestamp(t_list, dataset_path) # TODO addn timestamp back + + +def save_videos(video, dt, video_path=None): + if isinstance(video, list): + cam_names = list(video[0].keys()) + h, w, _ = video[0][cam_names[0]].shape + w = w * len(cam_names) + fps = int(1/dt) + out = cv2.VideoWriter(video_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h)) + for ts, image_dict in enumerate(video): + images = [] + for cam_name in cam_names: + image = image_dict[cam_name] + image = image[:, :, [2, 1, 0]] # swap B and R channel + images.append(image) + images = np.concatenate(images, axis=1) + out.write(images) + out.release() + print(f'Saved video to: {video_path}') + elif isinstance(video, dict): + cam_names = list(video.keys()) + all_cam_videos = [] + for cam_name in cam_names: + all_cam_videos.append(video[cam_name]) + all_cam_videos = np.concatenate(all_cam_videos, axis=2) # width dimension + + n_frames, h, w, _ = all_cam_videos.shape + fps = int(1 / dt) + out = cv2.VideoWriter(video_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h)) + for t in range(n_frames): + image = all_cam_videos[t] + image = image[:, :, [2, 1, 0]] # swap B and R channel + out.write(image) + out.release() + print(f'Saved video to: {video_path}') + + +def visualize_joints(qpos_list, command_list, plot_path=None, ylim=None, label_overwrite=None): + if label_overwrite: + label1, label2 = label_overwrite + else: + label1, label2 = 'State', 'Command' + + qpos = np.array(qpos_list) # ts, dim + command = np.array(command_list) + num_ts, num_dim = qpos.shape + h, w = 2, num_dim + num_figs = num_dim + fig, axs = plt.subplots(num_figs, 1, figsize=(w, h * num_figs)) + + # plot joint state + all_names = [name + '_left' for name in STATE_NAMES] + [name + '_right' for name in STATE_NAMES] + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.plot(qpos[:, dim_idx], label=label1) + ax.set_title(f'Joint {dim_idx}: {all_names[dim_idx]}') + ax.legend() + + # plot arm command + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.plot(command[:, dim_idx], label=label2) + ax.legend() + + if ylim: + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.set_ylim(ylim) + + plt.tight_layout() + plt.savefig(plot_path) + print(f'Saved qpos plot to: {plot_path}') + plt.close() + +def visualize_single(efforts_list, label, plot_path=None, ylim=None, label_overwrite=None): + efforts = np.array(efforts_list) # ts, dim + num_ts, num_dim = efforts.shape + h, w = 2, num_dim + num_figs = num_dim + fig, axs = plt.subplots(num_figs, 1, figsize=(w, h * num_figs)) + + # plot joint state + all_names = [name + '_left' for name in STATE_NAMES] + [name + '_right' for name in STATE_NAMES] + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.plot(efforts[:, dim_idx], label=label) + ax.set_title(f'Joint {dim_idx}: {all_names[dim_idx]}') + ax.legend() + + if ylim: + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.set_ylim(ylim) + + plt.tight_layout() + plt.savefig(plot_path) + print(f'Saved effort plot to: {plot_path}') + plt.close() + + +def visualize_timestamp(t_list, dataset_path): + plot_path = dataset_path.replace('.pkl', '_timestamp.png') + h, w = 4, 10 + fig, axs = plt.subplots(2, 1, figsize=(w, h*2)) + # process t_list + t_float = [] + for secs, nsecs in t_list: + t_float.append(secs + nsecs * 10E-10) + t_float = np.array(t_float) + + ax = axs[0] + ax.plot(np.arange(len(t_float)), t_float) + ax.set_title(f'Camera frame timestamps') + ax.set_xlabel('timestep') + ax.set_ylabel('time (sec)') + + ax = axs[1] + ax.plot(np.arange(len(t_float)-1), t_float[:-1] - t_float[1:]) + ax.set_title(f'dt') + ax.set_xlabel('timestep') + ax.set_ylabel('time (sec)') + + plt.tight_layout() + plt.savefig(plot_path) + print(f'Saved timestamp plot to: {plot_path}') + plt.close() + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset dir.', required=True) + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', required=False) + main(vars(parser.parse_args())) diff --git a/third_party/aloha/config/master_modes_left.yaml b/third_party/aloha/config/master_modes_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9008ec3edd435e02750410700b0308d5fb644107 --- /dev/null +++ b/third_party/aloha/config/master_modes_left.yaml @@ -0,0 +1,9 @@ +port: /dev/ttyDXL_master_left + +groups: + arm: + torque_enable: false + +singles: + gripper: + torque_enable: false diff --git a/third_party/aloha/config/master_modes_right.yaml b/third_party/aloha/config/master_modes_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43cff86c195bc76f4508fe4ac21dd2d59c064e98 --- /dev/null +++ b/third_party/aloha/config/master_modes_right.yaml @@ -0,0 +1,9 @@ +port: /dev/ttyDXL_master_right + +groups: + arm: + torque_enable: false + +singles: + gripper: + torque_enable: false diff --git a/third_party/aloha/config/puppet_modes_left.yaml b/third_party/aloha/config/puppet_modes_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..890fbcbd0b5675258bb630b11af8b7dafb60c1bf --- /dev/null +++ b/third_party/aloha/config/puppet_modes_left.yaml @@ -0,0 +1,17 @@ +port: /dev/ttyDXL_puppet_left + +groups: + arm: + operating_mode: position + profile_type: velocity + profile_velocity: 0 + profile_acceleration: 0 + torque_enable: true + +singles: + gripper: + operating_mode: linear_position + profile_type: velocity + profile_velocity: 0 + profile_acceleration: 0 + torque_enable: true diff --git a/third_party/aloha/config/puppet_modes_right.yaml b/third_party/aloha/config/puppet_modes_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c7064779300a00067df687a298c77505be46a9d7 --- /dev/null +++ b/third_party/aloha/config/puppet_modes_right.yaml @@ -0,0 +1,17 @@ +port: /dev/ttyDXL_puppet_right + +groups: + arm: + operating_mode: position + profile_type: velocity + profile_velocity: 0 + profile_acceleration: 0 + torque_enable: true + +singles: + gripper: + operating_mode: linear_position + profile_type: velocity + profile_velocity: 0 + profile_acceleration: 0 + torque_enable: true diff --git a/third_party/aloha/launch/4arms_teleop.launch b/third_party/aloha/launch/4arms_teleop.launch new file mode 100644 index 0000000000000000000000000000000000000000..abe161b31671c6738f0044d5931cb040542979d2 --- /dev/null +++ b/third_party/aloha/launch/4arms_teleop.launch @@ -0,0 +1,144 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/third_party/aloha/launch/ros_nodes.launch b/third_party/aloha/launch/ros_nodes.launch new file mode 100644 index 0000000000000000000000000000000000000000..47be9ef5b1ee58537e93634e7153be3a06e886cb --- /dev/null +++ b/third_party/aloha/launch/ros_nodes.launch @@ -0,0 +1,90 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/third_party/aloha/msg/RGBGrayscaleImage.msg b/third_party/aloha/msg/RGBGrayscaleImage.msg new file mode 100644 index 0000000000000000000000000000000000000000..260d07ad01834db093763edba7bcbd517d543a4b --- /dev/null +++ b/third_party/aloha/msg/RGBGrayscaleImage.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +sensor_msgs/Image[] images \ No newline at end of file diff --git a/third_party/aloha/package.xml b/third_party/aloha/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..a20977a833f36ef500a2ad4d5c1bbf916de8113d --- /dev/null +++ b/third_party/aloha/package.xml @@ -0,0 +1,46 @@ + + + aloha + 0.0.0 + ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation + Tony Zhao + BSD + + Tony Zhao + + + + catkin + interbotix_xs_msgs + interbotix_xsarm_control + rosbag + roscpp + tf2_ros + rviz + sensor_msgs + std_msgs + std_srvs + interbotix_xs_msgs + interbotix_xsarm_control + rosbag + roscpp + tf2_ros + rviz + sensor_msgs + std_msgs + std_srvs + interbotix_xs_msgs + interbotix_xsarm_control + rosbag + roscpp + tf2_ros + rviz + sensor_msgs + std_msgs + std_srvs + + + + + + diff --git a/third_party/aloha/setup.py b/third_party/aloha/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..a216d9ccdaf9636580b85e35f1777fae5ec2b462 --- /dev/null +++ b/third_party/aloha/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from setuptools import find_packages + +setup( + name='aloha', + version='0.0.0', + packages=find_packages(), + license='MIT License', + long_description=open('README.md').read(), +) \ No newline at end of file diff --git a/third_party/libero/.gitignore b/third_party/libero/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..be96fe1ac1a24ddd98492c708babc343e199d916 --- /dev/null +++ b/third_party/libero/.gitignore @@ -0,0 +1,18 @@ +*~ +.hydra +*pyc +datasets +results +outputs/* +/MUJOCO_LOG.TXT +wandb +experiments/ +experiments_saved/ +clip/ +gpt/ +bert/ +logs/ + +*.mp4 +libero.egg-info/ +.vscode/ diff --git a/third_party/libero/LICENSE b/third_party/libero/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..49b61c0f9209a5dfd3ad5a5d181eff7d5da153ae --- /dev/null +++ b/third_party/libero/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Lifelong Robot Learning + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/third_party/libero/README.md b/third_party/libero/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2a17e66c50392585c42d5b368325b33542d49463 --- /dev/null +++ b/third_party/libero/README.md @@ -0,0 +1,170 @@ + + +**LIBERO** is designed for studying knowledge transfer in multitask and lifelong robot learning problems. Successfully resolving these problems require both declarative knowledge about objects/spatial relationships and procedural knowledge about motion/behaviors. **LIBERO** provides: +- a procedural generation pipeline that could in principle generate an infinite number of manipulation tasks. +- 130 tasks grouped into four task suites: **LIBERO-Spatial**, **LIBERO-Object**, **LIBERO-Goal**, and **LIBERO-100**. The first three task suites have controlled distribution shifts, meaning that they require the transfer of a specific type of knowledge. In contrast, **LIBERO-100** consists of 100 manipulation tasks that require the transfer of entangled knowledge. **LIBERO-100** is further splitted into **LIBERO-90** for pretraining a policy and **LIBERO-10** for testing the agent's downstream lifelong learning performance. +- five research topics. +- three visuomotor policy network architectures. +- three lifelong learning algorithms with the sequential finetuning and multitask learning baselines. + +--- + + +# Contents + +- [Installation](#Installation) +- [Datasets](#Dataset) +- [Getting Started](#Getting-Started) + - [Task](#Task) + - [Training](#Training) + - [Evaluation](#Evaluation) +- [Citation](#Citation) +- [License](#License) + + +# Installtion +Please run the following commands in the given order to install the dependency for **LIBERO**. +``` +conda create -n libero python=3.8.13 +conda activate libero +git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git +cd LIBERO +pip install -r requirements.txt +pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 torchaudio==0.11.0 --extra-index-url https://download.pytorch.org/whl/cu113 +``` + +Then install the `libero` package: +``` +pip install -e . +``` + +# Datasets +We provide high-quality human teleoperation demonstrations for the four task suites in **LIBERO**. To download the demonstration dataset, run: +```python +python benchmark_scripts/download_libero_datasets.py +``` +By default, the dataset will be stored under the ```LIBERO``` folder and all four datasets will be downloaded. To download a specific dataset, use +```python +python benchmark_scripts/download_libero_datasets.py --datasets DATASET +``` +where ```DATASET``` is chosen from `[libero_spatial, libero_object, libero_100, libero_goal`. + + +# Getting Started + +For a detailed walk-through, please either refer to the documentation or the notebook examples provided under the `notebooks` folder. In the following, we provide example scripts for retrieving a task, training and evaluation. + +## Task + +The following is a minimal example of retrieving a specific task from a specific task suite. +```python +from libero.libero import benchmark +from libero.libero.envs import OffScreenRenderEnv + + +benchmark_dict = benchmark.get_benchmark_dict() +task_suite_name = "libero_10" # can also choose libero_spatial, libero_object, etc. +task_suite = benchmark_dict[task_suite_name]() + +# retrieve a specific task +task_id = 0 +task = task_suite.get_task(task_id) +task_name = task.name +task_description = task.language +task_bddl_file = os.path.join(get_libero_path("bddl_files"), task.problem_folder, task.bddl_file) +print(f"[info] retrieving task {task_id} from suite {task_suite_name}, the " + \ + f"language instruction is {task_description}, and the bddl file is {task_bddl_file}") + +# step over the environment +env_args = { + "bddl_file_name": task_bddl_file, + "camera_heights": 128, + "camera_widths": 128 +} +env = OffScreenRenderEnv(**env_args) +env.seed(0) +env.reset() +init_states = task_suite.get_task_init_states(task_id) # for benchmarking purpose, we fix the a set of initial states +init_state_id = 0 +env.set_init_state(init_states[init_state_id]) + +dummy_action = [0.] * 7 +for step in range(10): + obs, reward, done, info = env.step(dummy_action) +env.close() +``` +Currently, we only support sparse reward function (i.e., the agent receives `+1` when the task is finished). As sparse-reward RL is extremely hard to learn, currently we mainly focus on lifelong imitation learning. + +## Training +To start a lifelong learning experiment, please choose: +- `BENCHMARK` from `[LIBERO_SPATIAL, LIBERO_OBJECT, LIBERO_GOAL, LIBERO_90, LIBERO_10]` +- `POLICY` from `[bc_rnn_policy, bc_transformer_policy, bc_vilt_policy]` +- `ALGO` from `[base, er, ewc, packnet, multitask]` + +then run the following: + +```shell +export CUDA_VISIBLE_DEVICES=GPU_ID && \ +export MUJOCO_EGL_DEVICE_ID=GPU_ID && \ +python libero/lifelong/main.py seed=SEED \ + benchmark_name=BENCHMARK \ + policy=POLICY \ + lifelong=ALGO +``` +Please see the documentation for the details of reproducing the study results. + +## Evaluation + +By default the policies will be evaluated on the fly during training. If you have limited computing resource of GPUs, we offer an evaluation script for you to evaluate models separately. + +```shell +python libero/lifelong/evaluate.py --benchmark BENCHMARK_NAME \ + --task_id TASK_ID \ + --algo ALGO_NAME \ + --policy POLICY_NAME \ + --seed SEED \ + --ep EPOCH \ + --load_task LOAD_TASK \ + --device_id CUDA_ID +``` + +# Citation +If you find **LIBERO** to be useful in your own research, please consider citing our paper: + +```bibtex +@article{liu2023libero, + title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning}, + author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter}, + journal={arXiv preprint arXiv:2306.03310}, + year={2023} +} +``` + +# License +| Component | License | +|------------------|-------------------------------------------------------------------------------------------------------------------------------------| +| Codebase | [MIT License](LICENSE) | +| Datasets | [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode) | diff --git a/third_party/libero/benchmark_scripts/check_task_suites.py b/third_party/libero/benchmark_scripts/check_task_suites.py new file mode 100644 index 0000000000000000000000000000000000000000..9025a4aa72339241cdf51459ef62a4ce851ee355 --- /dev/null +++ b/third_party/libero/benchmark_scripts/check_task_suites.py @@ -0,0 +1,117 @@ +""" +This script is to test if users can successfully load all the environments, the benchmark initial states in their machines +""" +import os +from termcolor import colored +import cv2 +import h5py +import subprocess +import shutil +import numpy as np + +from pathlib import Path + +# import init_path +from libero.libero import benchmark, get_libero_path + + +# def render_task(task, bddl_file, init_states, demo_file): +# env_args = { +# "bddl_file_name": bddl_file, +# "camera_heights": 128, +# "camera_widths": 128 +# } + +# env = OffScreenRenderEnv(**env_args) +# env.reset() +# obs = env.set_init_state(init_states[0]) +# for _ in range(5): +# obs, _, _, _ = env.step([0.] * 7) +# images = [obs["agentview_image"]] + +# with h5py.File(demo_file, "r") as f: +# states = f["data/demo_0/states"][()] +# obs = env.set_init_state(states[-1]) + +# images.append(obs["agentview_image"]) +# images = np.concatenate(images, axis=1) +# cv2.imwrite(f"benchmark_tasks/{task.problem}-{task.language}.png", images[::-1, :, ::-1]) +# env.close() + + +def main(): + + benchmark_root_path = get_libero_path("benchmark_root") + init_states_default_path = get_libero_path("init_states") + datasets_default_path = get_libero_path("datasets") + bddl_files_default_path = get_libero_path("bddl_files") + + # Check all the files + task_tuples = [] + demo_files = [] + for benchmark_name in [ + "libero_object", + "libero_goal", + "libero_spatial", + "libero_10", + "libero_90", + ]: + benchmark_instance = benchmark.get_benchmark_dict()[benchmark_name]() + num_tasks = benchmark_instance.get_num_tasks() + # see how many tasks involved in the benchmark + print(f"{num_tasks} tasks in the benchmark {benchmark_instance.name}: ") + + # Check if all the task names and their bddl file names + task_names = benchmark_instance.get_task_names() + print("The benchmark contains the following tasks:") + for task_id in range(num_tasks): + task_name = task_names[task_id] + task = benchmark_instance.get_task(task_id) + bddl_file = os.path.join( + bddl_files_default_path, task.problem_folder, task.bddl_file + ) + assert os.path.exists(bddl_file), f"{bddl_file} does not exist!" + init_states_path = os.path.join( + init_states_default_path, task.problem_folder, task.init_states_file + ) + assert os.path.exists( + init_states_path + ), f"{init_states_path} does not exist!" + demo_file = os.path.join( + datasets_default_path, + benchmark_instance.get_task_demonstration(task_id), + ) + assert os.path.exists(demo_file), f"{demo_file} does not exist!" + init_states = benchmark_instance.get_task_init_states(task_id) + task_tuples.append((benchmark_name, task_id, bddl_file, demo_file)) + demo_files.append(demo_file) + + print(colored("All the files exist!", "green")) + processes = [] + if os.path.exists("benchmark_tasks"): + shutil.rmtree("benchmark_tasks") + + for i in range(len(task_tuples)): + command = f"python benchmark_scripts/render_single_task.py --benchmark_name {task_tuples[i][0]} --task_id {task_tuples[i][1]} --bddl_file {task_tuples[i][2]} --demo_file {task_tuples[i][3]}" + p = subprocess.Popen(command, shell=True) + processes.append(p) + if i % 10 == 9: + for p in processes: + p.wait() + processes = [] + + count = len(list(Path("benchmark_tasks").glob("*.png"))) + print(f"Expected 130 tasks, Rendered {count} tasks successfully.") + if count < 130: + print(colored("Some tasks failed to render!", "red")) + for demo_file in demo_files: + if not os.path.exists( + os.path.join( + "benchmark_tasks", demo_file.split("/")[-1].replace(".hdf5", ".png") + ) + ): + print(demo_file) + + +if __name__ == "__main__": + main() diff --git a/third_party/libero/benchmark_scripts/download_libero_datasets.py b/third_party/libero/benchmark_scripts/download_libero_datasets.py new file mode 100644 index 0000000000000000000000000000000000000000..50e974c54db20c0e4d92df39ab8449899237ce74 --- /dev/null +++ b/third_party/libero/benchmark_scripts/download_libero_datasets.py @@ -0,0 +1,46 @@ +import init_path +import argparse +import os + +import libero.libero.utils.download_utils as download_utils +from libero.libero import get_libero_path + + +def parse_args(): + parser = argparse.ArgumentParser() + parser.add_argument( + "--download-dir", + type=str, + default=get_libero_path("datasets"), + ) + parser.add_argument( + "--datasets", + type=str, + choices=["all", "libero_goal", "libero_spatial", "libero_object", "libero_100"], + default="all", + ) + return parser.parse_args() + + +def main(): + + args = parse_args() + + # Ask users to specify the download directory of datasets + os.makedirs(args.download_dir, exist_ok=True) + print(f"Datasets downloaded to {args.download_dir}") + print(f"Downloading {args.datasets} datasets") + + # If not, download + download_utils.libero_dataset_download( + download_dir=args.download_dir, datasets=args.datasets + ) + + # (TODO) If datasets exist, check if datasets are the same as benchmark + + # Check if datasets exist first + download_utils.check_libero_dataset(download_dir=args.download_dir) + + +if __name__ == "__main__": + main() diff --git a/third_party/libero/benchmark_scripts/init_path.py b/third_party/libero/benchmark_scripts/init_path.py new file mode 100644 index 0000000000000000000000000000000000000000..8ce393ddb0729e7347fa53ac2b55a8b599861e27 --- /dev/null +++ b/third_party/libero/benchmark_scripts/init_path.py @@ -0,0 +1,8 @@ +import sys +import os + +path = os.path.dirname(os.path.realpath(__file__)) +sys.path.insert(0, os.path.join(path, "../")) + +# import robosuite.utils.macros as macros +# macros.IMAGE_CONVENTION = "opencv" diff --git a/third_party/libero/benchmark_scripts/render_single_task.py b/third_party/libero/benchmark_scripts/render_single_task.py new file mode 100644 index 0000000000000000000000000000000000000000..aaf86a093f66b39ff380f109fa3dc51ece7a7a99 --- /dev/null +++ b/third_party/libero/benchmark_scripts/render_single_task.py @@ -0,0 +1,82 @@ +import os +from termcolor import colored +import cv2 +import h5py +import argparse +import numpy as np + +from libero.libero.envs import OffScreenRenderEnv +from libero.libero import benchmark, get_libero_path + + +def render_task(task, bddl_file, init_states, demo_file): + env_args = { + "bddl_file_name": bddl_file, + "camera_heights": 128, + "camera_widths": 128, + } + + env = OffScreenRenderEnv(**env_args) + env.reset() + obs = env.set_init_state(init_states[0]) + for _ in range(5): + obs, _, _, _ = env.step([0.0] * 7) + images = [obs["agentview_image"]] + + with h5py.File(demo_file, "r") as f: + states = f["data/demo_0/states"][()] + obs = env.set_init_state(states[-1]) + + images.append(obs["agentview_image"]) + images = np.concatenate(images, axis=1) + cv2.imwrite( + f"benchmark_tasks/{task.problem}-{task.language}.png", images[::-1, :, ::-1] + ) + env.close() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--benchmark_name", type=str) + parser.add_argument("--task_id", type=int, default=0) + parser.add_argument("--bddl_file", type=str) + parser.add_argument("--demo_file", type=str) + args = parser.parse_args() + + benchmark_name = args.benchmark_name + task_id = args.task_id + bddl_file = args.bddl_file + demo_file = args.demo_file + + benchmark_instance = benchmark.get_benchmark_dict()[benchmark_name]() + env_args = { + "bddl_file_name": bddl_file, + "camera_heights": 128, + "camera_widths": 128, + } + + os.makedirs("benchmark_tasks", exist_ok=True) + + task = benchmark_instance.get_task(task_id) + init_states = benchmark_instance.get_task_init_states(task_id) + + env = OffScreenRenderEnv(**env_args) + env.reset() + obs = env.set_init_state(init_states[0]) + for _ in range(5): + obs, _, _, _ = env.step([0.0] * 7) + images = [obs["agentview_image"]] + + with h5py.File(demo_file, "r") as f: + states = f["data/demo_0/states"][()] + obs = env.set_init_state(states[-1]) + + images.append(obs["agentview_image"]) + images = np.concatenate(images, axis=1) + image_name = demo_file.split("/")[-1].replace(".hdf5", ".png") + cv2.imwrite(f"benchmark_tasks/{image_name}", images[::-1, :, ::-1]) + env.close() + + +if __name__ == "__main__": + main() diff --git a/third_party/libero/benchmark_scripts/shasum_files.py b/third_party/libero/benchmark_scripts/shasum_files.py new file mode 100644 index 0000000000000000000000000000000000000000..4aa4770820e0ff826f2b1d80c5297ab76f61bd31 --- /dev/null +++ b/third_party/libero/benchmark_scripts/shasum_files.py @@ -0,0 +1,49 @@ +import os +import hashlib +from pathlib import Path + + +def shasum_file(file_path): + if os.path.exists(file_path): + with open(file_path, "rb") as f: + data = f.read() + sha_hash = hashlib.sha1(data).hexdigest() + file_name = file_path.split("/")[-1] + return {file_name: sha_hash} + else: + return None + + +def shasum_datasets(download_dir="datasets"): + dataset_shasum = {} + for dataset_name in [ + "libero_object", + "libero_goal", + "libero_spatial", + "libero_10", + "libero_90", + ]: + dataset_dir = os.path.join(download_dir, dataset_name) + if os.path.exists(dataset_dir): + count = 0 + for path in Path(dataset_dir).glob("*.hdf5"): + count += 1 + if not ( + (count == 10 and dataset_name != "libero_90") + or (count == 90 and dataset_name == "libero_90") + ): + print("file count doesn't match") + else: + print("dataset not found") + for path in Path(dataset_dir).glob("*.hdf5"): + dataset_shasum.update(shasum_file(str(path))) + print(dataset_shasum) + + +# def shalsum_pretrained_models(): + + +# def shalsum_pretrained_policies(): + + +shasum_datasets() diff --git a/third_party/libero/images/fig1.png b/third_party/libero/images/fig1.png new file mode 100644 index 0000000000000000000000000000000000000000..2a6e372b536ce9b285a42712cb80413fa7321495 --- /dev/null +++ b/third_party/libero/images/fig1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0afb7dc138345b00bb8a445ae92dd480e05f10e41c63a62e443c050f7cbc854d +size 2650500 diff --git a/third_party/libero/images/libero_logo.png b/third_party/libero/images/libero_logo.png new file mode 100644 index 0000000000000000000000000000000000000000..d13361fdaf5cb4806ed947e3badfe2aeab63d972 Binary files /dev/null and b/third_party/libero/images/libero_logo.png differ diff --git a/third_party/libero/libero/configs/__init__.py b/third_party/libero/libero/configs/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/third_party/libero/libero/configs/config.yaml b/third_party/libero/libero/configs/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1f084f3359e0676493529cc3f8ff67013de6f1f --- /dev/null +++ b/third_party/libero/libero/configs/config.yaml @@ -0,0 +1,24 @@ +# @package _global_ + +defaults: + - _self_ + - data: default + - policy: bc_transformer_policy + - train: default + - eval: default + - lifelong: base + - test: null + +seed: 10000 +use_wandb: false +wandb_project: "lifelong learning" +folder: null # use default path +bddl_folder: null # use default path +init_states_folder: null # use default path +load_previous_model: false +device: "cuda" +task_embedding_format: "bert" +task_embedding_one_hot_offset: 1 +pretrain: false +pretrain_model_path: "" +benchmark_name: "LIBERO_SPATIAL" diff --git a/third_party/libero/libero/configs/eval/default.yaml b/third_party/libero/libero/configs/eval/default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0c9266383554f4be2ee9d9d93df556429aaa7109 --- /dev/null +++ b/third_party/libero/libero/configs/eval/default.yaml @@ -0,0 +1,10 @@ +load_path: "" # only used when separately evaluating a pretrained model +eval: true +batch_size: 64 +num_workers: 4 +n_eval: 20 +eval_every: 5 +max_steps: 600 +use_mp: true +num_procs: 20 +save_sim_states: false diff --git a/third_party/libero/libero/configs/lifelong/agem.yaml b/third_party/libero/libero/configs/lifelong/agem.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f49bb86e8bcdec2c7326c5610898e41da9894928 --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/agem.yaml @@ -0,0 +1,2 @@ +algo: AGEM +n_memories: 1000 diff --git a/third_party/libero/libero/configs/lifelong/base.yaml b/third_party/libero/libero/configs/lifelong/base.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d90a30d054e4fa13bc0b40b11495f27590c819b --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/base.yaml @@ -0,0 +1 @@ +algo: Sequential diff --git a/third_party/libero/libero/configs/lifelong/er.yaml b/third_party/libero/libero/configs/lifelong/er.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbd30ebc6bd2e0a53556f20c6443bd521280b994 --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/er.yaml @@ -0,0 +1,2 @@ +algo: ER +n_memories: 1000 diff --git a/third_party/libero/libero/configs/lifelong/ewc.yaml b/third_party/libero/libero/configs/lifelong/ewc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e00198fd2e69be7d75e15562e3f71a9311b5dd5b --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/ewc.yaml @@ -0,0 +1,3 @@ +algo: EWC +e_lambda: 50000 +gamma: 0.9 diff --git a/third_party/libero/libero/configs/lifelong/multitask.yaml b/third_party/libero/libero/configs/lifelong/multitask.yaml new file mode 100644 index 0000000000000000000000000000000000000000..60c282981adcd350374fa7d4ec38c804b8478609 --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/multitask.yaml @@ -0,0 +1,2 @@ +algo: Multitask +eval_in_train: false diff --git a/third_party/libero/libero/configs/lifelong/packnet.yaml b/third_party/libero/libero/configs/lifelong/packnet.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ebae4b54c19e6bbc4278b4b14cdb808376c019 --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/packnet.yaml @@ -0,0 +1,4 @@ +algo: PackNet +prune_perc: 0.75 +post_prune_epochs: 50 +post_eval_every: 5 diff --git a/third_party/libero/libero/configs/lifelong/single_task.yaml b/third_party/libero/libero/configs/lifelong/single_task.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42271bc6ef94eb277f6fb0c3b03f8e0bfeaabc72 --- /dev/null +++ b/third_party/libero/libero/configs/lifelong/single_task.yaml @@ -0,0 +1 @@ +algo: SingleTask diff --git a/third_party/libero/libero/configs/policy/bc_rnn_policy.yaml b/third_party/libero/libero/configs/policy/bc_rnn_policy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..631bf25db6e5903bd3adcde11cc40e6c3835ca58 --- /dev/null +++ b/third_party/libero/libero/configs/policy/bc_rnn_policy.yaml @@ -0,0 +1,15 @@ +policy_type: BCRNNPolicy +image_embed_size: 64 +text_embed_size: 32 + +rnn_hidden_size: 1024 +rnn_num_layers: 2 +rnn_dropout: 0.0 +rnn_bidirectional: false + +defaults: + - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml + - data_augmentation@translation_aug: translation_aug.yaml + - image_encoder: resnet_encoder + - language_encoder: mlp_encoder + - policy_head: gmm_head diff --git a/third_party/libero/libero/configs/policy/bc_transformer_policy.yaml b/third_party/libero/libero/configs/policy/bc_transformer_policy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bf8b603eb3e29b466d3421b5ad6ef18e3645160 --- /dev/null +++ b/third_party/libero/libero/configs/policy/bc_transformer_policy.yaml @@ -0,0 +1,20 @@ +policy_type: BCTransformerPolicy +extra_num_layers: 0 +extra_hidden_size: 128 +embed_size: 64 + +transformer_input_size: null +transformer_num_layers: 4 +transformer_num_heads: 6 +transformer_head_output_size: 64 +transformer_mlp_hidden_size: 256 +transformer_dropout: 0.1 +transformer_max_seq_len: 10 + +defaults: + - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml + - data_augmentation@translation_aug: translation_aug.yaml + - image_encoder: resnet_encoder.yaml + - language_encoder: mlp_encoder.yaml + - position_encoding@temporal_position_encoding: sinusoidal_position_encoding.yaml + - policy_head: gmm_head.yaml diff --git a/third_party/libero/libero/configs/policy/bc_vilt_policy.yaml b/third_party/libero/libero/configs/policy/bc_vilt_policy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01157122e76d3026d5b541536f7761f060b6a39b --- /dev/null +++ b/third_party/libero/libero/configs/policy/bc_vilt_policy.yaml @@ -0,0 +1,30 @@ +policy_type: BCViLTPolicy +extra_num_layers: 0 +extra_hidden_size: 128 +embed_size: 128 + +spatial_transformer_input_size: null +spatial_transformer_num_layers: 7 +spatial_transformer_num_heads: 8 +spatial_transformer_head_output_size: 120 +spatial_transformer_mlp_hidden_size: 256 +spatial_transformer_dropout: 0.1 + +spatial_down_sample: true +spatial_down_sample_embed_size: 64 + +transformer_input_size: null +transformer_num_layers: 4 +transformer_num_heads: 6 +transformer_head_output_size: 64 +transformer_mlp_hidden_size: 256 +transformer_dropout: 0.1 +transformer_max_seq_len: 10 + +defaults: + - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml + - data_augmentation@translation_aug: translation_aug.yaml + - image_encoder: patch_encoder.yaml + - language_encoder: mlp_encoder.yaml + - position_encoding@temporal_position_encoding: sinusoidal_position_encoding.yaml + - policy_head: gmm_head.yaml diff --git a/third_party/libero/libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml b/third_party/libero/libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83711f02a9edac7cf5a183fd69e73bb901f76eff --- /dev/null +++ b/third_party/libero/libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml @@ -0,0 +1,9 @@ +network: BatchWiseImgColorJitterAug + +network_kwargs: + input_shape: null + brightness: 0.3 + contrast: 0.3 + saturation: 0.3 + hue: 0.3 + epsilon: 0.1 \ No newline at end of file diff --git a/third_party/libero/libero/configs/policy/data_augmentation/identity_aug.yaml b/third_party/libero/libero/configs/policy/data_augmentation/identity_aug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a792a9707cf17bc3745a65df677365bbc506151d --- /dev/null +++ b/third_party/libero/libero/configs/policy/data_augmentation/identity_aug.yaml @@ -0,0 +1,4 @@ +network: IdentityAug + +network_kwargs: + input_shape: null \ No newline at end of file diff --git a/third_party/libero/libero/configs/policy/data_augmentation/img_color_jitter_group_aug.yaml b/third_party/libero/libero/configs/policy/data_augmentation/img_color_jitter_group_aug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/third_party/libero/libero/configs/policy/data_augmentation/translation_aug.yaml b/third_party/libero/libero/configs/policy/data_augmentation/translation_aug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47766d27790a6c7b8039ae0673a275b72f046df0 --- /dev/null +++ b/third_party/libero/libero/configs/policy/data_augmentation/translation_aug.yaml @@ -0,0 +1,5 @@ +network: TranslationAug + +network_kwargs: + input_shape: null + translation: 8 \ No newline at end of file diff --git a/third_party/libero/libero/configs/policy/data_augmentation/translation_aug_group.yaml b/third_party/libero/libero/configs/policy/data_augmentation/translation_aug_group.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84e2d4a71677126d27b25181aff3f0897e980ba5 --- /dev/null +++ b/third_party/libero/libero/configs/policy/data_augmentation/translation_aug_group.yaml @@ -0,0 +1,5 @@ +network: TranslationAugGroup + +network_kwargs: + input_shapes: {} + translation: 8 \ No newline at end of file diff --git a/third_party/libero/libero/configs/policy/image_encoder/patch_encoder.yaml b/third_party/libero/libero/configs/policy/image_encoder/patch_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b3ce62e7b1a62b07ad37aa2a190a7ac26bca99ff --- /dev/null +++ b/third_party/libero/libero/configs/policy/image_encoder/patch_encoder.yaml @@ -0,0 +1,4 @@ +network: PatchEncoder +network_kwargs: + patch_size: [8, 8] + no_patch_embed_bias: false diff --git a/third_party/libero/libero/configs/policy/image_encoder/resnet_encoder.yaml b/third_party/libero/libero/configs/policy/image_encoder/resnet_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86844802fb381939b5509e7ea48f4978db6372dd --- /dev/null +++ b/third_party/libero/libero/configs/policy/image_encoder/resnet_encoder.yaml @@ -0,0 +1,7 @@ +network: ResnetEncoder +network_kwargs: + pretrained: false + freeze: false + remove_layer_num: 4 + no_stride: false + language_fusion: 'film' diff --git a/third_party/libero/libero/configs/policy/language_encoder/clip_encoder.yaml b/third_party/libero/libero/configs/policy/language_encoder/clip_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0efd0d5668f96524ff537e58c4735028741ed7ca --- /dev/null +++ b/third_party/libero/libero/configs/policy/language_encoder/clip_encoder.yaml @@ -0,0 +1,7 @@ +network: CLIPEncoder +network_kwargs: + model_type: "ViT-B/32" + hidden_size: 128 + output_size: 128 + num_layers: 1 + download_path: "./clip" diff --git a/third_party/libero/libero/configs/policy/language_encoder/identity_encoder.yaml b/third_party/libero/libero/configs/policy/language_encoder/identity_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ee981443db14cb50d5041f0f19153ef1ed006c1 --- /dev/null +++ b/third_party/libero/libero/configs/policy/language_encoder/identity_encoder.yaml @@ -0,0 +1,3 @@ +network: IdentityEncoder +network_kwargs: + dummy: true diff --git a/third_party/libero/libero/configs/policy/language_encoder/mlp_encoder.yaml b/third_party/libero/libero/configs/policy/language_encoder/mlp_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a9dbe3d8d61dc0b6e4f400413f50f997285acff2 --- /dev/null +++ b/third_party/libero/libero/configs/policy/language_encoder/mlp_encoder.yaml @@ -0,0 +1,6 @@ +network: MLPEncoder +network_kwargs: + input_size: 768 + hidden_size: 128 + output_size: 128 + num_layers: 1 diff --git a/third_party/libero/libero/configs/policy/language_encoder/rnn_encoder.yaml b/third_party/libero/libero/configs/policy/language_encoder/rnn_encoder.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8688cd0016c064e2a2d0ae5b654bf497c12ddd2e --- /dev/null +++ b/third_party/libero/libero/configs/policy/language_encoder/rnn_encoder.yaml @@ -0,0 +1,6 @@ +network: RNNEncoder +network_kwargs: + input_size: 768 + hidden_size: 128 + output_size: 16 + num_layers: 1 diff --git a/third_party/libero/libero/configs/policy/policy_head/gmm_head.yaml b/third_party/libero/libero/configs/policy/policy_head/gmm_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9bb65533f50e076f176c3c2685f9abf67583483 --- /dev/null +++ b/third_party/libero/libero/configs/policy/policy_head/gmm_head.yaml @@ -0,0 +1,12 @@ +network: GMMHead + +network_kwargs: + hidden_size: 1024 + num_layers: 2 + min_std: 0.0001 + num_modes: 5 + low_eval_noise: false + activation: "softplus" + +loss_kwargs: + loss_coef: 1.0 diff --git a/third_party/libero/libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml b/third_party/libero/libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d86e73a7ef6793517f70292adb178c712d339df7 --- /dev/null +++ b/third_party/libero/libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml @@ -0,0 +1,6 @@ +network: SinusoidalPositionEncoding +network_kwargs: + input_size: null + inv_freq_factor: 10 + factor_ratio: null + diff --git a/third_party/libero/libero/configs/reproduce_experiment/default_experiment.yaml b/third_party/libero/libero/configs/reproduce_experiment/default_experiment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..922fb4b3eb644fe113ddfbb585b62e0317a38580 --- /dev/null +++ b/third_party/libero/libero/configs/reproduce_experiment/default_experiment.yaml @@ -0,0 +1,14 @@ +# @package _global_ + +default: +- override /policy: bc_transformer_policy + +train: + use_augmentation: true + grad_clip: 100 + loss_scale: 1.0 + +eval: + eval_every: 5 + n_epochs: 50 + diff --git a/third_party/libero/libero/configs/train/default.yaml b/third_party/libero/libero/configs/train/default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a30c2f7dad399d689be0a782f633f36fc5e553ea --- /dev/null +++ b/third_party/libero/libero/configs/train/default.yaml @@ -0,0 +1,17 @@ +# training +n_epochs: 50 +batch_size: 32 +num_workers: 4 +grad_clip: 100. +loss_scale: 1.0 + +# resume training +resume: false +resume_path: "" +debug: false + +use_augmentation: true + +defaults: + - optimizer@optimizer: adam_w.yaml + - scheduler@scheduler: cosine_annealing.yaml diff --git a/third_party/libero/libero/configs/train/optimizer/adam_w.yaml b/third_party/libero/libero/configs/train/optimizer/adam_w.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7b5303ebebb7b2668cde2327e8ba1362fe13b1e --- /dev/null +++ b/third_party/libero/libero/configs/train/optimizer/adam_w.yaml @@ -0,0 +1,6 @@ +name: torch.optim.AdamW + +kwargs: + lr: 0.0001 + betas: [0.9, 0.999] + weight_decay: 0.0001 diff --git a/third_party/libero/libero/configs/train/scheduler/cosine_annealing.yaml b/third_party/libero/libero/configs/train/scheduler/cosine_annealing.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b90820b8b11b4e0dfcfd3e9cdd7c6c6b00bee5e --- /dev/null +++ b/third_party/libero/libero/configs/train/scheduler/cosine_annealing.yaml @@ -0,0 +1,5 @@ +name: torch.optim.lr_scheduler.CosineAnnealingLR + +kwargs: + eta_min: 1e-5 + last_epoch: -1 diff --git a/third_party/libero/libero/libero/__init__.py b/third_party/libero/libero/libero/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..426ccc5c8d4c9540a45ea9b42a0540c6d59a4f6a --- /dev/null +++ b/third_party/libero/libero/libero/__init__.py @@ -0,0 +1,96 @@ +import os +import yaml + +# This is a default path for localizing all the benchmark related files +libero_config_path = os.environ.get( + "LIBERO_CONFIG_PATH", os.path.expanduser("~/.libero") +) +config_file = os.path.join(libero_config_path, "config.yaml") + + +def get_default_path_dict(custom_location=None): + if custom_location is None: + benchmark_root_path = os.path.dirname(os.path.abspath(__file__)) + else: + benchmark_root_path = custom_location + + # This is a default path for localizing all the default bddl files + bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files") + + # This is a default path for localizing all the default bddl files + init_states_default_path = os.path.join(benchmark_root_path, "./init_files") + + # This is a default path for localizing all the default datasets + dataset_default_path = os.path.join(benchmark_root_path, "../datasets") + + # This is a default path for localizing all the default assets + assets_default_path = os.path.join(benchmark_root_path, "./assets") + + return { + "benchmark_root": benchmark_root_path, + "bddl_files": bddl_files_default_path, + "init_states": init_states_default_path, + "datasets": dataset_default_path, + "assets": assets_default_path, + } + + +def get_libero_path(query_key): + with open(config_file, "r") as f: + config = dict(yaml.load(f.read(), Loader=yaml.FullLoader)) + + # Give warnings in case the user needs to access the paths + for key in config: + if not os.path.exists(config[key]): + print(f"[Warning]: {key} path {config[key]} does not exist!") + + assert ( + query_key in config + ), f"Key {query_key} not found in config file {config_file}. You need to modify it. Available keys are: {config.keys()}" + return config[query_key] + + +def set_libero_default_path(custom_location=os.path.dirname(os.path.abspath(__file__))): + print( + f"[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file." + ) + new_config = get_default_path_dict(custom_location) + with open(config_file, "w") as f: + yaml.dump(new_config, f) + + +if not os.path.exists(libero_config_path): + os.makedirs(libero_config_path) + +if not os.path.exists(config_file): + # Create a default config file + + default_path_dict = get_default_path_dict() + answer = input( + "Do you want to specify a custom path for the dataset folder? (Y/N): " + ).lower() + if answer == "y": + # If the user wants to specify a custom storage path, prompt them to enter it + custom_dataset_path = input( + "Enter the path where you want to store the datasets: " + ) + full_custom_dataset_path = os.path.join( + os.path.abspath(os.path.expanduser(custom_dataset_path)), "datasets" + ) + # Check if the custom storage path exists, and create if it doesn't + + print("The full path of the custom storage path you entered is:") + print(full_custom_dataset_path) + print("Do you want to continue? (Y/N)") + confirm_answer = input().lower() + if confirm_answer == "y": + if not os.path.exists(full_custom_dataset_path): + os.makedirs(full_custom_dataset_path) + default_path_dict["datasets"] = full_custom_dataset_path + print("Initializing the default config file...") + print(f"The following information is stored in the config file: {config_file}") + # write all the paths into a yaml file + with open(config_file, "w") as f: + yaml.dump(default_path_dict, f) + for key, value in default_path_dict.items(): + print(f"{key}: {value}") diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6530a7778f9413f4b22b291a5a6606c04809d7c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the moka pot on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..71d1a650ea4e109e0d13b8c4475bf2cbe0ae091b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet and close it) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f531a4ede009cff9e1b0cb928049a88d72070d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug in the microwave and close it) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b983d7285869b49d3b6fe1329a9b7574de67b41b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl @@ -0,0 +1,69 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put both moka pots on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + moka_pot_2 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0f3ba3ce48af83e690bfe8bed3caad22d4bf4cdf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl @@ -0,0 +1,95 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the cream cheese box in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..071ec86f8b5d8f33d542a72f925fe89e42442657 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the alphabet soup and the tomato sauce in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9b7eda1e3aff44a193003fb88a568fc803d86 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl @@ -0,0 +1,134 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put both the cream cheese box and the butter in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..32024734f78b9c469d45c9d50503c2099ad67c4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate and put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + plate_1 + plate_2 + white_yellow_mug_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..437f0755b8fee33d2fba02bd4f898845f6ed150f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate and put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + plate_1 + chocolate_pudding_1 + porcelain_mug_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2f0ad4b2d57354113768bdc6575c97041037ef0c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_10/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_10/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..171640383efe903a781e381aeb2b90f144b4c603 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_10/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl +libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl +libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ff55b5f6118e1f5ee2d5a4bfba85e6544ca3a2c0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,102 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the top drawer of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (Close wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9a472b5b81b7e84cc528738bd59949a4ad749ddd --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl @@ -0,0 +1,103 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the top drawer of the cabinet and put the black bowl on top of it) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + wooden_cabinet_1 + akita_black_bowl_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (Close wooden_cabinet_1_top_region) (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d104a26252f2907f6af8b898b6bfb2249674c6d4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,103 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the top drawer of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bca2e025c5d834f528e7d65ae6141608ce317b61 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,103 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the butter at the back in the top drawer of the cabinet and close it) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + butter_2 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (In butter_2 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ec40909885b7d80b55f0375eb18f0e133b4c3a04 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,103 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the butter at the front in the top drawer of the cabinet and close it) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + butter_1 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (In butter_1 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..45f823a34efa47072ee1036bd02d2917a8eb9bab --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl @@ -0,0 +1,103 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the chocolate pudding in the top drawer of the cabinet and close it) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.025 -0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 0.17500000000000002 -0.07500000000000001 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_front_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.17500000000000002 0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.025 0.025 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + butter_1 butter_2 - butter + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + chocolate_pudding_1 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On butter_1 kitchen_table_butter_front_init_region) + (On butter_2 kitchen_table_butter_back_init_region) + (On chocolate_pudding_1 kitchen_table_chocolate_pudding_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + (Open wooden_cabinet_1_top_region) + ) + + (:goal + (And (In chocolate_pudding_1 wooden_cabinet_1_top_region) (Close wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d8eefdc202184491b9bd9a793f826302397a439c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl @@ -0,0 +1,76 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language open the bottom drawer of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.225 0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (Open wooden_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c87a4200db60b6db4aef468782b469312da50eac --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,76 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language open the top drawer of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.225 0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (Open wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..cbf10b380d32c722cc63d6dd13dd4f589a81333d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language open the top drawer of the cabinet and put the bowl in it) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.225 0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1 + akita_black_bowl_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (Open wooden_cabinet_1_top_region) (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0e4ced34ba178aea6b1aa1bdc1644c23fa44a1fc --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl on the plate) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.225 0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b97648138aecd39771de818c6b4013d1d4e11b1f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl on top of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 0.225 0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..066e546253d2d7a20d1127d284b79d1cefcdfa96 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,100 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language open the top drawer of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (Open wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..51252ea01b9aafbe87dbf62c2737d8e31b00fc04 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl at the back on the plate) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_3 + plate_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_3 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..fba57f5e7562838d195c6a329e8c752de44f50bb --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl at the front on the plate) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..13a674edb12ad3ea3204419bc2d933b9424ee253 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the middle on the plate) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + plate_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_2 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6265211f855effd9229cddc3396684a1ab071b57 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the middle black bowl on top of the cabinet) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + wooden_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_2 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0ba2f4cba13a793f303e3261de4ec921c70305ca --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language stack the black bowl at the front on the black bowl in the middle) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + akita_black_bowl_2 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_1 akita_black_bowl_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0c8f4e12d64d871c458baa0096f9558691fefc5f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl @@ -0,0 +1,101 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language stack the black bowl in the middle on the black bowl at the front) + (:regions + (wooden_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.31 0.01 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_middle_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.17500000000000002 -0.025 0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_front_init_region + (:target kitchen_table) + (:ranges ( + (0.07500000000000001 0.125 0.125 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_back_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target wooden_cabinet_1) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + wooden_cabinet_1 - wooden_cabinet + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 akita_black_bowl_3 - akita_black_bowl + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_2 + akita_black_bowl_3 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_front_init_region) + (On akita_black_bowl_2 kitchen_table_akita_black_bowl_middle_init_region) + (On akita_black_bowl_3 kitchen_table_akita_black_bowl_back_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region) + ) + + (:goal + (And (On akita_black_bowl_2 akita_black_bowl_3)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9fab771bc2558c12edf1c231a3ae6c2731953672 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the frying pan on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + chefmate_8_frypan_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (On chefmate_8_frypan_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..26b97b05f8321ff79f14efcb5c63a7245e05fb48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the moka pot on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2ee52e41828a4264c5e79211b801db9ae705e837 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove.bddl @@ -0,0 +1,67 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b47d51e00c8d1df5a6a04a878aea373ddf4b8e64 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the frying pan on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.19 -0.19 0.21000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + chefmate_8_frypan_1 - chefmate_8_frypan + moka_pot_1 - moka_pot + ) + + (:obj_of_interest + chefmate_8_frypan_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On moka_pot_1 kitchen_table_moka_pot_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On chefmate_8_frypan_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f65b649fc22bfe463db1e7218498f7e63c36ee31 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl @@ -0,0 +1,93 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the bottom drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl new file mode 100644 index 0000000000000000000000000000000000000000..dc4c08fcf9c3b2bccc6a444d4648caa57a281ad0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl @@ -0,0 +1,93 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the bottom drawer of the cabinet and open the top drawer) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (Close white_cabinet_1_bottom_region) (Open white_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..8c4ceb1691e356e552a80bd3eaaaedd1405c5dce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the bottom drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (In akita_black_bowl_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..284cdceb616a545373c00358c85bdacecf2306d3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl on top of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (On akita_black_bowl_1 white_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1e16887b3e6c79edec59bc7c803964dc16996a7e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the wine bottle in the bottom drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + wine_bottle_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (In wine_bottle_1 white_cabinet_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b0e3eb7127cd41f1c28e76b9d0dbb9b7ad09e8c2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the wine bottle on the wine rack) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_rack_init_region + (:target kitchen_table) + (:ranges ( + (-0.11 -0.31 -0.09000000000000001 -0.29) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wine_bottle_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.025 -0.125 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + wine_bottle_1 - wine_bottle + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On wine_bottle_1 kitchen_table_wine_bottle_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On wine_rack_1 kitchen_table_wine_rack_init_region) + (Open white_cabinet_1_bottom_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..9108ccaf84a1de7eb5580baf6e66c520945c7193 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the top drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ketchup_1 - ketchup + ) + + (:obj_of_interest + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On ketchup_1 kitchen_table_ketchup_init_region) + (Open white_cabinet_1_top_region) + ) + + (:goal + (And (Close white_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..242bc4539a3032d109e7759032f8e629e8d5b8da --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,91 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl in the top drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ketchup_1 - ketchup + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On ketchup_1 kitchen_table_ketchup_init_region) + (Open white_cabinet_1_top_region) + ) + + (:goal + (And (In akita_black_bowl_1 white_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..31e3ffd1e75d104e3f549e190d3f50eac2fc1ea1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl @@ -0,0 +1,91 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl on the plate) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ketchup_1 - ketchup + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On ketchup_1 kitchen_table_ketchup_init_region) + (Open white_cabinet_1_top_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5ff66840e25b800960fbbd4228d8e447825c0be6 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,91 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the black bowl on top of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ketchup_1 - ketchup + ) + + (:obj_of_interest + akita_black_bowl_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On ketchup_1 kitchen_table_ketchup_init_region) + (Open white_cabinet_1_top_region) + ) + + (:goal + (And (On akita_black_bowl_1 white_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..cdd0e89076e01a741f5fe44ae0a397b1d7702ca9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl @@ -0,0 +1,91 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the ketchup in the top drawer of the cabinet) + (:regions + (white_cabinet_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.29 0.01 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_init_region + (:target kitchen_table) + (:ranges ( + (0.0049999999999999975 -0.07500000000000001 0.055 -0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.125 -0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 -0.275 -0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target white_cabinet_1) + ) + (top_region + (:target white_cabinet_1) + ) + (middle_region + (:target white_cabinet_1) + ) + (bottom_region + (:target white_cabinet_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + white_cabinet_1 - white_cabinet + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + plate_1 - plate + ketchup_1 - ketchup + ) + + (:obj_of_interest + ketchup_1 + white_cabinet_1 + ) + + (:init + (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region) + (On plate_1 kitchen_table_plate_init_region) + (On white_cabinet_1 kitchen_table_white_cabinet_init_region) + (On ketchup_1 kitchen_table_ketchup_init_region) + (Open white_cabinet_1_top_region) + ) + + (:goal + (And (In ketchup_1 white_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_close_the_microwave.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_close_the_microwave.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c523ad1a89044b92ae67cc09f2624ad02b38e09f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_close_the_microwave.bddl @@ -0,0 +1,82 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language close the microwave) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + microwave_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (Close microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f752fc84acf1cee6d93057404aece75d6b0ce832 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl @@ -0,0 +1,83 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug to the front of the white mug) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 0.33999999999999997 0.01 0.36) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (white_yellow_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target kitchen_table) + (:ranges ( + (-0.125 -0.275 -0.07500000000000001 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_front_region + (:target kitchen_table) + (:ranges ( + (-0.05 -0.3 0.05 -0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + porcelain_mug_1 - porcelain_mug + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + porcelain_mug_1 + white_yellow_mug_1 + ) + + (:init + (On porcelain_mug_1 kitchen_table_porcelain_mug_init_region) + (On white_yellow_mug_1 kitchen_table_white_yellow_mug_init_region) + (On microwave_1 kitchen_table_microwave_init_region) + (Open microwave_1) + ) + + (:goal + (And (On white_yellow_mug_1 kitchen_table_porcelain_mug_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_open_the_microwave.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_open_the_microwave.bddl new file mode 100644 index 0000000000000000000000000000000000000000..15f4df2e4b3acd67582214df6f170e5556592d46 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_open_the_microwave.bddl @@ -0,0 +1,71 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language open the microwave) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target kitchen_table) + (:ranges ( + (-0.05 0.05 0.05 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + white_bowl_1 - white_bowl + plate_1 - plate + ) + + (:obj_of_interest + microwave_1 + ) + + (:init + (On white_bowl_1 microwave_1_top_side) + (On microwave_1 kitchen_table_microwave_init_region) + (Close microwave_1) + (On plate_1 kitchen_table_plate_init_region) + ) + + (:goal + (And (Open microwave_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..3aa59ae7839ae3d53c78399670ca89212f96ab07 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl @@ -0,0 +1,72 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white bowl on the plate) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target kitchen_table) + (:ranges ( + (-0.05 0.05 0.05 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + white_bowl_1 - white_bowl + plate_1 - plate + ) + + (:obj_of_interest + white_bowl_1 + plate_1 + ) + + (:init + (On white_bowl_1 microwave_1_top_side) + (On microwave_1 kitchen_table_microwave_init_region) + (Close microwave_1) + (On plate_1 kitchen_table_plate_init_region) + ) + + (:goal + (And (On white_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a1b495dac27cd3da422b3d37ca1042d380dd2bb0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.bddl @@ -0,0 +1,72 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white bowl to the right of the plate) + (:regions + (microwave_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (plate_init_region + (:target kitchen_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target kitchen_table) + (:ranges ( + (-0.05 0.05 0.05 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (top_side + (:target microwave_1) + ) + (heating_region + (:target microwave_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + microwave_1 - microwave + ) + + (:objects + white_bowl_1 - white_bowl + plate_1 - plate + ) + + (:obj_of_interest + white_bowl_1 + plate_1 + ) + + (:init + (On white_bowl_1 microwave_1_top_side) + (On microwave_1 kitchen_table_microwave_init_region) + (Close microwave_1) + (On plate_1 kitchen_table_plate_init_region) + ) + + (:goal + (And (On white_bowl_1 kitchen_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6cf5a777d26923b834ae545ea46abc6ee27814fe --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.bddl @@ -0,0 +1,68 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the right moka pot on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + moka_pot_1 + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (On moka_pot_1 flat_stove_1_cook_region) (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_turn_off_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_turn_off_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..de277c48d258fe4e5dc62609434b09eb47979d06 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE8_turn_off_the_stove.bddl @@ -0,0 +1,67 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn off the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_right_init_region + (:target kitchen_table) + (:ranges ( + (-0.07500000000000001 0.225 -0.025 0.275) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (moka_pot_left_init_region + (:target kitchen_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + ) + + (:objects + moka_pot_1 moka_pot_2 - moka_pot + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On moka_pot_1 kitchen_table_moka_pot_right_init_region) + (On moka_pot_2 kitchen_table_moka_pot_left_init_region) + (Turnon flat_stove_1) + ) + + (:goal + (And (Turnoff flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b1e7a7169199c06253ce8e6c270c4900886d27ca --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the frying pan on the cabinet shelf) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + chefmate_8_frypan_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (In chefmate_8_frypan_1 wooden_two_layer_shelf_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a8619d2f2001e2b684b6c7a13e7ade7fb49fe3ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the frying pan on top of the cabinet) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + chefmate_8_frypan_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (On chefmate_8_frypan_1 wooden_two_layer_shelf_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..aa9c5bd85e98ac888e85f748d96b2e7a8997ab29 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the frying pan under the cabinet shelf) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + chefmate_8_frypan_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (In chefmate_8_frypan_1 wooden_two_layer_shelf_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bb229f665f7a94bc56cb90ec1a00a30bf368bcf9 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white bowl on top of the cabinet) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + white_bowl_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (On white_bowl_1 wooden_two_layer_shelf_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7f481303772b54e977276c49205de6e8bdcf38a4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove.bddl @@ -0,0 +1,89 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5a42fd99ecaa47746485df2163acf6bec9c331db --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Kitchen_Tabletop_Manipulation) + (:domain robosuite) + (:language turn on the stove and put the frying pan on it) + (:regions + (flat_stove_init_region + (:target kitchen_table) + (:ranges ( + (-0.21000000000000002 0.29 -0.19 0.31) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target kitchen_table) + (:ranges ( + (-0.01 -0.26 0.01 -0.24) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (frypan_init_region + (:target kitchen_table) + (:ranges ( + (0.025 -0.025 0.07500000000000001 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_bowl_init_region + (:target kitchen_table) + (:ranges ( + (-0.175 0.07500000000000001 -0.125 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cook_region + (:target flat_stove_1) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + kitchen_table - kitchen_table + flat_stove_1 - flat_stove + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + white_bowl_1 - white_bowl + chefmate_8_frypan_1 - chefmate_8_frypan + ) + + (:obj_of_interest + flat_stove_1 + chefmate_8_frypan_1 + ) + + (:init + (On flat_stove_1 kitchen_table_flat_stove_init_region) + (On chefmate_8_frypan_1 kitchen_table_frypan_init_region) + (On white_bowl_1 kitchen_table_white_bowl_init_region) + (On wooden_two_layer_shelf_1 kitchen_table_wooden_two_layer_shelf_init_region) + ) + + (:goal + (And (Turnon flat_stove_1) (On chefmate_8_frypan_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7308a2f4a44d34cb3192e879127dbebf8fe1ab79 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the alphabet soup and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c5eed4ad4913be8c2cad017f08172bf14551a829 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the cream cheese box and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c4a5b5b8a865a55d8c55488e372130625b6fdec0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the ketchup and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a01a0429fa0541f56786059c6cbce1100d4a268f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the tomato sauce and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.175 -0.17500000000000002 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + basket_1 - basket + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..23245afa54212b49436f611059caf89e6a25beb5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl @@ -0,0 +1,133 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the alphabet soup and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..59d2481f1205670f4c34b488189400e037b9fde4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.bddl @@ -0,0 +1,133 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the butter and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..299dcc86a210487b6c5a4c9b0580a491045cb0f5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.bddl @@ -0,0 +1,133 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the milk and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ab85e72d38d5130e8ad29f39ee00011c2a2136d3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.bddl @@ -0,0 +1,133 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the orange juice and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..85873007a7bf3551d2883913864d09718cd6be63 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl @@ -0,0 +1,133 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the tomato sauce and put it in the basket) + (:regions + (basket_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (milk_init_region + (:target living_room_table) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (orange_juice_init_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.275 0.025 -0.225) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + orange_juice_1 - orange_juice + milk_1 - milk + butter_1 - butter + basket_1 - basket + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On milk_1 living_room_table_milk_init_region) + (On orange_juice_1 living_room_table_orange_juice_init_region) + (On butter_1 living_room_table_butter_init_region) + (On basket_1 living_room_table_basket_init_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d9b79725e01a2b68cfa5bc4ff0a1ae654268e2f2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.bddl @@ -0,0 +1,107 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the alphabet soup and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + butter_1 - butter + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + alphabet_soup_1 + wooden_tray_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On butter_1 living_room_table_butter_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In alphabet_soup_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5c9a613022a41cf0cb1759d32f1e7f95547a20aa --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.bddl @@ -0,0 +1,107 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the butter and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + butter_1 - butter + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + butter_1 + wooden_tray_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On butter_1 living_room_table_butter_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In butter_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..86995232a64dcc71896cfbf114f0e94e0cf7ba2a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.bddl @@ -0,0 +1,107 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the cream cheese and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + butter_1 - butter + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + cream_cheese_1 + wooden_tray_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On butter_1 living_room_table_butter_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In cream_cheese_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6b8f7cda20916f4059c96b49cd179951a1465320 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.bddl @@ -0,0 +1,107 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the ketchup and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + butter_1 - butter + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + ketchup_1 + wooden_tray_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On butter_1 living_room_table_butter_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In ketchup_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7f91faa3a45a5c50261f09264da77bea99a5e35d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.bddl @@ -0,0 +1,107 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the tomato sauce and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (cream_cheese_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (tomato_sauce_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (alphabet_soup_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (butter_init_region + (:target living_room_table) + (:ranges ( + (0.025 0.025 0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (ketchup_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.175 -0.225 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + ketchup_1 - ketchup + butter_1 - butter + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + tomato_sauce_1 + wooden_tray_1 + ) + + (:init + (On alphabet_soup_1 living_room_table_alphabet_soup_init_region) + (On cream_cheese_1 living_room_table_cream_cheese_init_region) + (On tomato_sauce_1 living_room_table_tomato_sauce_init_region) + (On ketchup_1 living_room_table_ketchup_init_region) + (On butter_1 living_room_table_butter_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In tomato_sauce_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..8659499bd4cf9b78dfd4756fa50d748c7653476d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.bddl @@ -0,0 +1,93 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the black bowl on the left and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_right_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_left_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.125 -0.225 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + new_salad_dressing_1 - new_salad_dressing + chocolate_pudding_1 - chocolate_pudding + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_tray_1 + ) + + (:init + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On akita_black_bowl_1 living_room_table_akita_black_bowl_left_init_region) + (On akita_black_bowl_2 living_room_table_akita_black_bowl_right_init_region) + (On new_salad_dressing_1 living_room_table_salad_dressing_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..020f82569191e7afc2952f0ba3ff7b2d1efdb609 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.bddl @@ -0,0 +1,93 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the chocolate pudding and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_right_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_left_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.125 -0.225 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + new_salad_dressing_1 - new_salad_dressing + chocolate_pudding_1 - chocolate_pudding + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + chocolate_pudding_1 + wooden_tray_1 + ) + + (:init + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On akita_black_bowl_1 living_room_table_akita_black_bowl_left_init_region) + (On akita_black_bowl_2 living_room_table_akita_black_bowl_right_init_region) + (On new_salad_dressing_1 living_room_table_salad_dressing_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In chocolate_pudding_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4a51ca7f9c5110621d8c66dff5e59c49bd987f4d --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.bddl @@ -0,0 +1,93 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the salad dressing and put it in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_right_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_left_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.125 -0.225 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + new_salad_dressing_1 - new_salad_dressing + chocolate_pudding_1 - chocolate_pudding + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + new_salad_dressing_1 + wooden_tray_1 + ) + + (:init + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On akita_black_bowl_1 living_room_table_akita_black_bowl_left_init_region) + (On akita_black_bowl_2 living_room_table_akita_black_bowl_right_init_region) + (On new_salad_dressing_1 living_room_table_salad_dressing_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (In new_salad_dressing_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e212831bdec4e3645a9e76dde7025b474d915a91 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language stack the left bowl on the right bowl and place them in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_right_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_left_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.125 -0.225 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + new_salad_dressing_1 - new_salad_dressing + chocolate_pudding_1 - chocolate_pudding + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + akita_black_bowl_1 + akita_black_bowl_2 + wooden_tray_1 + ) + + (:init + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On akita_black_bowl_1 living_room_table_akita_black_bowl_left_init_region) + (On akita_black_bowl_2 living_room_table_akita_black_bowl_right_init_region) + (On new_salad_dressing_1 living_room_table_salad_dressing_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (On akita_black_bowl_1 akita_black_bowl_2) (In akita_black_bowl_2 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.bddl new file mode 100644 index 0000000000000000000000000000000000000000..39013a35ec6878ee55b52b6a2615ac7ae9ec7677 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.bddl @@ -0,0 +1,94 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language stack the right bowl on the left bowl and place them in the tray) + (:regions + (wooden_tray_init_region + (:target living_room_table) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_right_init_region + (:target living_room_table) + (:ranges ( + (-0.125 0.025 -0.07500000000000001 0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (akita_black_bowl_left_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (salad_dressing_init_region + (:target living_room_table) + (:ranges ( + (-0.275 -0.125 -0.225 -0.07500000000000001) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (contain_region + (:target wooden_tray_1) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + new_salad_dressing_1 - new_salad_dressing + chocolate_pudding_1 - chocolate_pudding + wooden_tray_1 - wooden_tray + ) + + (:obj_of_interest + akita_black_bowl_1 + akita_black_bowl_2 + wooden_tray_1 + ) + + (:init + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On akita_black_bowl_1 living_room_table_akita_black_bowl_left_init_region) + (On akita_black_bowl_2 living_room_table_akita_black_bowl_right_init_region) + (On new_salad_dressing_1 living_room_table_salad_dressing_init_region) + (On wooden_tray_1 living_room_table_wooden_tray_init_region) + ) + + (:goal + (And (On akita_black_bowl_2 akita_black_bowl_1) (In akita_black_bowl_1 wooden_tray_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..8fed99d89fe0da5ffed86ba252aca796d14ead7c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the red mug on the left plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + red_coffee_mug_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On red_coffee_mug_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e18a33ddf65d92a6a55b75a21e9c05435c1a8dec --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the red mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + red_coffee_mug_1 + plate_2 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On red_coffee_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c4d6ef03a8346396beb5d6f3631ea3239002a1d4 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the left plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + porcelain_mug_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..749628300fc27e2d305e19125585a726ee0a8af8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.bddl @@ -0,0 +1,90 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the yellow and white mug on the right plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (-0.025 -0.325 0.025 -0.27499999999999997) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (-0.025 0.27499999999999997 0.025 0.325) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (white_yellow_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + white_yellow_mug_1 - white_yellow_mug + plate_1 plate_2 - plate + ) + + (:obj_of_interest + white_yellow_mug_1 + plate_2 + ) + + (:init + (On plate_1 living_room_table_plate_left_region) + (On plate_2 living_room_table_plate_right_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On white_yellow_mug_1 living_room_table_white_yellow_mug_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On white_yellow_mug_1 plate_2)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..76bc6b3a5961392c9a38eb4e92583626743352ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.bddl @@ -0,0 +1,100 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the chocolate pudding to the left of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + chocolate_pudding_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On chocolate_pudding_1 living_room_table_plate_left_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e9c3920a8987980f40969ea76d4828a0cb553dc1 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl @@ -0,0 +1,100 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the chocolate pudding to the right of the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + chocolate_pudding_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On chocolate_pudding_1 living_room_table_plate_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..73dbe58c44ac5dce2f472406e190e92c0bdc00b3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.bddl @@ -0,0 +1,100 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the red mug on the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + red_coffee_mug_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On red_coffee_mug_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..707d7b023ddbab932e068d32bc1f319523a39673 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.bddl @@ -0,0 +1,100 @@ +(define (problem LIBERO_Living_Room_Tabletop_Manipulation) + (:domain robosuite) + (:language put the white mug on the plate) + (:regions + (plate_left_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 -0.15000000000000002 0.2 -0.05) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_right_region + (:target living_room_table) + (:ranges ( + (0.09999999999999999 0.05 0.2 0.15000000000000002) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (plate_init_region + (:target living_room_table) + (:ranges ( + (0.125 -0.025 0.175 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.125 -0.175 -0.07500000000000001 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (chocolate_pudding_init_region + (:target living_room_table) + (:ranges ( + (-0.07500000000000001 0.07500000000000001 -0.025 0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_init_region + (:target living_room_table) + (:ranges ( + (-0.225 -0.025 -0.17500000000000002 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + ) + + (:fixtures + living_room_table - living_room_table + ) + + (:objects + porcelain_mug_1 - porcelain_mug + red_coffee_mug_1 - red_coffee_mug + plate_1 - plate + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + porcelain_mug_1 + plate_1 + ) + + (:init + (On plate_1 living_room_table_plate_init_region) + (On red_coffee_mug_1 living_room_table_red_coffee_mug_init_region) + (On chocolate_pudding_1 living_room_table_chocolate_pudding_init_region) + (On porcelain_mug_1 living_room_table_porcelain_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ed58210b4564ee00e3b91c73515af57a2439c88e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the front compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_front_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1c6334771bbc0faba5b97ff5ba64749eec446730 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the left compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_left_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4506b0e967c9ca22b1e1a2325b70b61232451bcf --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the right compartment of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_right_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..091250f69dc425ae6fdc90c88e37f5bc77c955d0 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.bddl @@ -0,0 +1,88 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the yellow and white mug and place it to the right of the caddy) + (:regions + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (white_yellow_mug_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + white_yellow_mug_1 - white_yellow_mug + ) + + (:obj_of_interest + white_yellow_mug_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On white_yellow_mug_1 study_table_white_yellow_mug_init_region) + ) + + (:goal + (And (On white_yellow_mug_1 study_table_desk_caddy_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..cd28e12cb1e870e600616cf489cb3733519d2974 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the back compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.07500000000000001 0.025 -0.025) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_back_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..feaeff370431bd816489277a86d7d0245bb2386b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the front compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.07500000000000001 0.025 -0.025) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_front_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..e0256cb4c8ad97677759c0bb4a322de92d5ce6e8 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the left compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.07500000000000001 0.025 -0.025) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_left_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b11e1b4c69d2345695055db7419e522737679efe --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl @@ -0,0 +1,77 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the right compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 0.125 0.025 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.07500000000000001 0.025 -0.025) + ) + ) + (:yaw_rotation ( + (-1.5707963267948966 -0.7853981633974483) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_black_book_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_right_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2aa4c04ddacc93fd62bed4827d20a455a29bb121 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl @@ -0,0 +1,123 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the front compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (0.17500000000000002 0.125 0.225 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_behind_region + (:target study_table) + (:ranges ( + (0.05 0.09999999999999999 0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (desk_caddy_front_left_contain_region + (:target study_table) + (:ranges ( + (-0.025 -0.175 0.025 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + porcelain_mug_1 - porcelain_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_desk_caddy_front_left_contain_region) + (On porcelain_mug_1 study_table_porcelain_mug_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_front_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7e79a1de8457e356a5140bef50bdcf5bc668f23f --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl @@ -0,0 +1,123 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the left compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (0.17500000000000002 0.125 0.225 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_behind_region + (:target study_table) + (:ranges ( + (0.05 0.09999999999999999 0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (desk_caddy_front_left_contain_region + (:target study_table) + (:ranges ( + (-0.025 -0.175 0.025 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + porcelain_mug_1 - porcelain_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_desk_caddy_front_left_contain_region) + (On porcelain_mug_1 study_table_porcelain_mug_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_left_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..bf7579042354a2856b073875d469b5fbd75ec1ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl @@ -0,0 +1,123 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book and place it in the right compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (0.17500000000000002 0.125 0.225 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_behind_region + (:target study_table) + (:ranges ( + (0.05 0.09999999999999999 0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (desk_caddy_front_left_contain_region + (:target study_table) + (:ranges ( + (-0.025 -0.175 0.025 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + porcelain_mug_1 - porcelain_mug + ) + + (:obj_of_interest + black_book_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_desk_caddy_front_left_contain_region) + (On porcelain_mug_1 study_table_porcelain_mug_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (In black_book_1 desk_caddy_1_right_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..5c4f26d4197cb8158a10e2bb33b8c4fbd469e91e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.bddl @@ -0,0 +1,123 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the red mug and place it to the right compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (0.17500000000000002 0.125 0.225 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_behind_region + (:target study_table) + (:ranges ( + (0.05 0.09999999999999999 0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (desk_caddy_front_left_contain_region + (:target study_table) + (:ranges ( + (-0.025 -0.175 0.025 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + porcelain_mug_1 - porcelain_mug + ) + + (:obj_of_interest + red_coffee_mug_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_desk_caddy_front_left_contain_region) + (On porcelain_mug_1 study_table_porcelain_mug_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (On red_coffee_mug_1 study_table_desk_caddy_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7a01e7e84794466fbeecae607bf7f7ac433de586 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.bddl @@ -0,0 +1,123 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the white mug and place it to the right compartment of the caddy) + (:regions + (red_coffee_mug_init_region + (:target study_table) + (:ranges ( + (0.17500000000000002 0.125 0.225 0.175) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (red_coffee_mug_behind_region + (:target study_table) + (:ranges ( + (0.05 0.09999999999999999 0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (porcelain_mug_init_region + (:target study_table) + (:ranges ( + (-0.025 -0.025 0.025 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.07500000000000001 -0.025 0.125 0.025) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_init_region + (:target study_table) + (:ranges ( + (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (desk_caddy_front_left_contain_region + (:target study_table) + (:ranges ( + (-0.025 -0.175 0.025 -0.125) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (desk_caddy_right_region + (:target study_table) + (:ranges ( + (-0.25 0.09999999999999999 -0.15000000000000002 0.2) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (right_contain_region + (:target desk_caddy_1) + ) + (left_contain_region + (:target desk_caddy_1) + ) + (back_contain_region + (:target desk_caddy_1) + ) + (front_contain_region + (:target desk_caddy_1) + ) + ) + + (:fixtures + study_table - study_table + desk_caddy_1 - desk_caddy + ) + + (:objects + black_book_1 - black_book + red_coffee_mug_1 - red_coffee_mug + porcelain_mug_1 - porcelain_mug + ) + + (:obj_of_interest + porcelain_mug_1 + desk_caddy_1 + ) + + (:init + (On desk_caddy_1 study_table_desk_caddy_init_region) + (On black_book_1 study_table_desk_caddy_front_left_contain_region) + (On porcelain_mug_1 study_table_porcelain_mug_init_region) + (On red_coffee_mug_1 study_table_red_coffee_mug_init_region) + ) + + (:goal + (And (On porcelain_mug_1 study_table_desk_caddy_right_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..848172a31891deccab4a9a68a6302b9e8f37d72e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.bddl @@ -0,0 +1,86 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book in the middle and place it on the cabinet shelf) + (:regions + (yellow_book_right_init_region + (:target study_table) + (:ranges ( + (-0.01 -0.01 0.01 0.01) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (yellow_book_left_init_region + (:target study_table) + (:ranges ( + (-0.060000000000000005 -0.26 -0.04 -0.24) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.04 -0.16 0.060000000000000005 -0.13999999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target study_table) + (:ranges ( + (-0.01 0.27 0.01 0.29000000000000004) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + study_table - study_table + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + black_book_1 - black_book + yellow_book_1 yellow_book_2 - yellow_book + ) + + (:obj_of_interest + black_book_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On wooden_two_layer_shelf_1 study_table_wooden_two_layer_shelf_init_region) + (On yellow_book_1 study_table_yellow_book_right_init_region) + (On yellow_book_2 study_table_yellow_book_left_init_region) + (On black_book_1 study_table_black_book_init_region) + ) + + (:goal + (And (In black_book_1 wooden_two_layer_shelf_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..c73a7e226f585e97d5939911fbc89d8dc7749f44 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.bddl @@ -0,0 +1,86 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book on the left and place it on top of the shelf) + (:regions + (yellow_book_right_init_region + (:target study_table) + (:ranges ( + (-0.01 -0.01 0.01 0.01) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (yellow_book_left_init_region + (:target study_table) + (:ranges ( + (-0.060000000000000005 -0.26 -0.04 -0.24) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.04 -0.16 0.060000000000000005 -0.13999999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target study_table) + (:ranges ( + (-0.01 0.27 0.01 0.29000000000000004) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + study_table - study_table + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + black_book_1 - black_book + yellow_book_1 yellow_book_2 - yellow_book + ) + + (:obj_of_interest + yellow_book_2 + wooden_two_layer_shelf_1 + ) + + (:init + (On wooden_two_layer_shelf_1 study_table_wooden_two_layer_shelf_init_region) + (On yellow_book_1 study_table_yellow_book_right_init_region) + (On yellow_book_2 study_table_yellow_book_left_init_region) + (On black_book_1 study_table_black_book_init_region) + ) + + (:goal + (And (On yellow_book_2 wooden_two_layer_shelf_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..360f49e3d227d7e5f9a3fb1c5d16beebb5b3199b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.bddl @@ -0,0 +1,86 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book on the right and place it on the cabinet shelf) + (:regions + (yellow_book_right_init_region + (:target study_table) + (:ranges ( + (-0.01 -0.01 0.01 0.01) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (yellow_book_left_init_region + (:target study_table) + (:ranges ( + (-0.060000000000000005 -0.26 -0.04 -0.24) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.04 -0.16 0.060000000000000005 -0.13999999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target study_table) + (:ranges ( + (-0.01 0.27 0.01 0.29000000000000004) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + study_table - study_table + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + black_book_1 - black_book + yellow_book_1 yellow_book_2 - yellow_book + ) + + (:obj_of_interest + yellow_book_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On wooden_two_layer_shelf_1 study_table_wooden_two_layer_shelf_init_region) + (On yellow_book_1 study_table_yellow_book_right_init_region) + (On yellow_book_2 study_table_yellow_book_left_init_region) + (On black_book_1 study_table_black_book_init_region) + ) + + (:goal + (And (In yellow_book_1 wooden_two_layer_shelf_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.bddl b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.bddl new file mode 100644 index 0000000000000000000000000000000000000000..7584f79b5047250ef4c3103f8efdf7cb35efabe2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.bddl @@ -0,0 +1,86 @@ +(define (problem LIBERO_Study_Tabletop_Manipulation) + (:domain robosuite) + (:language pick up the book on the right and place it under the cabinet shelf) + (:regions + (yellow_book_right_init_region + (:target study_table) + (:ranges ( + (-0.01 -0.01 0.01 0.01) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (yellow_book_left_init_region + (:target study_table) + (:ranges ( + (-0.060000000000000005 -0.26 -0.04 -0.24) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (black_book_init_region + (:target study_table) + (:ranges ( + (0.04 -0.16 0.060000000000000005 -0.13999999999999999) + ) + ) + (:yaw_rotation ( + (0.0 0.0) + ) + ) + ) + (wooden_two_layer_shelf_init_region + (:target study_table) + (:ranges ( + (-0.01 0.27 0.01 0.29000000000000004) + ) + ) + (:yaw_rotation ( + (0 0) + ) + ) + ) + (top_side + (:target wooden_two_layer_shelf_1) + ) + (top_region + (:target wooden_two_layer_shelf_1) + ) + (bottom_region + (:target wooden_two_layer_shelf_1) + ) + ) + + (:fixtures + study_table - study_table + wooden_two_layer_shelf_1 - wooden_two_layer_shelf + ) + + (:objects + black_book_1 - black_book + yellow_book_1 yellow_book_2 - yellow_book + ) + + (:obj_of_interest + yellow_book_1 + wooden_two_layer_shelf_1 + ) + + (:init + (On wooden_two_layer_shelf_1 study_table_wooden_two_layer_shelf_init_region) + (On yellow_book_1 study_table_yellow_book_right_init_region) + (On yellow_book_2 study_table_yellow_book_left_init_region) + (On black_book_1 study_table_black_book_init_region) + ) + + (:goal + (And (In yellow_book_1 wooden_two_layer_shelf_1_bottom_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_90/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_90/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..11930149d0b64de68fc710d7e53ae2950ec67263 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_90/tasks_info.txt @@ -0,0 +1,90 @@ +libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE3_turn_on_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE6_close_the_microwave.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE8_turn_off_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE9_turn_on_the_stove.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.bddl +libero/bddl_files/libero_90/KITCHEN_SCENE7_open_the_microwave.bddl +libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.bddl +libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.bddl +libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.bddl +libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.bddl +libero/bddl_files/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.bddl +libero/bddl_files/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..582fa1b35b9d32cf3c11cfb3fe3bdaba4b410bb3 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the middle layer of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wooden_cabinet_1_middle_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Open wooden_cabinet_1_middle_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d5d3322dbd90c45f0461779835088803070592fa --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Open the top layer of the drawer and put the bowl inside) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (In akita_black_bowl_1 wooden_cabinet_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b31490451ee3c938ba45321e4f900a699a20230b --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Push the plate to the front of the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + plate_1 + main_table_stove_front_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On plate_1 main_table_stove_front_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..60eba979b3c660f26e2fabde5835e21a12a0f840 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_plate.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f4d3c61daa4cde457a7b4dc6332ff1b208ac3e03 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_the_stove.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + flat_stove_1_cook_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 flat_stove_1_cook_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..4b03c35f2bc5432666d6ffd86f5d9b483773bdad --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the bowl on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On akita_black_bowl_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_cream_cheese_in_the_bowl.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_cream_cheese_in_the_bowl.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a04a03bccb35991a6b3cd5bc0ccf81ff414679f2 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_cream_cheese_in_the_bowl.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the cream cheese on the bowl) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + cream_cheese_1 + akita_black_bowl_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On cream_cheese_1 akita_black_bowl_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_the_rack.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_the_rack.bddl new file mode 100644 index 0000000000000000000000000000000000000000..def509b60cbacdfdcbc605e37f02d67980985077 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_the_rack.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the rack) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wine_rack_1_top_region + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wine_rack_1_top_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl new file mode 100644 index 0000000000000000000000000000000000000000..b86ebdc4205f2a5e24de3a2f80d2573e01ebb098 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl @@ -0,0 +1,128 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Put the wine bottle on the top of the drawer) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + wine_bottle_1 + wooden_cabinet_1_top_side + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (On wine_bottle_1 wooden_cabinet_1_top_side)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_goal/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9fb3c29134ab7b0842185335b5e7951e73f3c467 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.bddl +libero/bddl_files/libero_goal/turn_on_the_stove.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_top_of_the_cabinet.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_the_plate.bddl +libero/bddl_files/libero_goal/put_the_wine_bottle_on_the_rack.bddl +libero/bddl_files/libero_goal/put_the_cream_cheese_in_the_bowl.bddl +libero/bddl_files/libero_goal/open_the_middle_drawer_of_the_cabinet.bddl +libero/bddl_files/libero_goal/push_the_plate_to_the_front_of_the_stove.bddl +libero/bddl_files/libero_goal/put_the_bowl_on_the_stove.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_goal/turn_on_the_stove.bddl b/third_party/libero/libero/libero/bddl_files/libero_goal/turn_on_the_stove.bddl new file mode 100644 index 0000000000000000000000000000000000000000..ae8b0e8bad4a895664665152c7e2c63dc8e0f3ce --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_goal/turn_on_the_stove.bddl @@ -0,0 +1,127 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Turn on the stove) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.04 -0.03 0.060000000000000005 -0.01) + ) + ) + ) + (akita_black_bowl_region + (:target main_table) + (:ranges ( + (-0.09999999999999999 -0.01 -0.08 0.01) + ) + ) + ) + (wine_bottle_region + (:target main_table) + (:ranges ( + (-0.21000000000000002 -0.060000000000000005 -0.19 -0.04) + ) + ) + ) + (cream_cheese_region + (:target main_table) + (:ranges ( + (-0.060000000000000005 0.12000000000000001 -0.04 0.14) + ) + ) + ) + (stove_front_region + (:target main_table) + (:ranges ( + (-0.09 0.16999999999999998 -0.010000000000000002 0.25) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.25 0.04 -0.23) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 0.2 -0.4 0.22) + ) + ) + ) + (wine_rack_region + (:target main_table) + (:ranges ( + (-0.27 -0.27 -0.25 -0.25) + ) + ) + (:yaw_rotation ( + (3.141592653589793 3.141592653589793) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + (right_region + (:target bowl_drainer_1) + ) + (left_region + (:target bowl_drainer_1) + ) + (top_region + (:target wine_rack_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + wine_rack_1 - wine_rack + ) + + (:objects + akita_black_bowl_1 - akita_black_bowl + cream_cheese_1 - cream_cheese + wine_bottle_1 - wine_bottle + plate_1 - plate + ) + + (:obj_of_interest + flat_stove_1 + ) + + (:init + (On wine_bottle_1 main_table_wine_bottle_region) + (On akita_black_bowl_1 main_table_akita_black_bowl_region) + (On plate_1 main_table_plate_region) + (On cream_cheese_1 main_table_cream_cheese_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + (On wine_rack_1 main_table_wine_rack_region) + ) + + (:goal + (And (Turnon flat_stove_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..51dfce0f0244b4d5118ba283fbb6c5ce8360ac89 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the alphabet soup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + alphabet_soup_1 - alphabet_soup + basket_1 - basket + salad_dressing_1 - salad_dressing + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + ) + + (:obj_of_interest + alphabet_soup_1 + basket_1 + ) + + (:init + (On alphabet_soup_1 floor_target_object_region) + (On salad_dressing_1 floor_other_object_region_0) + (On cream_cheese_1 floor_other_object_region_1) + (On milk_1 floor_other_object_region_2) + (On tomato_sauce_1 floor_other_object_region_3) + (On butter_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In alphabet_soup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..543355b1164f931cc6da9be8131e6b8924992397 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the bbq sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + bbq_sauce_1 - bbq_sauce + basket_1 - basket + chocolate_pudding_1 - chocolate_pudding + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + ) + + (:obj_of_interest + bbq_sauce_1 + basket_1 + ) + + (:init + (On bbq_sauce_1 floor_target_object_region) + (On chocolate_pudding_1 floor_other_object_region_0) + (On ketchup_1 floor_other_object_region_1) + (On salad_dressing_1 floor_other_object_region_2) + (On alphabet_soup_1 floor_other_object_region_3) + (On cream_cheese_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In bbq_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..358024afc867808122cf9ea9dfbbdb82c86ad703 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the butter and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + butter_1 - butter + basket_1 - basket + tomato_sauce_1 - tomato_sauce + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + ) + + (:obj_of_interest + butter_1 + basket_1 + ) + + (:init + (On butter_1 floor_target_object_region) + (On tomato_sauce_1 floor_other_object_region_0) + (On orange_juice_1 floor_other_object_region_1) + (On chocolate_pudding_1 floor_other_object_region_2) + (On bbq_sauce_1 floor_other_object_region_3) + (On ketchup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In butter_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..1df6bc98ea2e209103a43d5dd2c23620fea4f12c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the chocolate pudding and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + chocolate_pudding_1 - chocolate_pudding + basket_1 - basket + orange_juice_1 - orange_juice + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + ) + + (:obj_of_interest + chocolate_pudding_1 + basket_1 + ) + + (:init + (On chocolate_pudding_1 floor_target_object_region) + (On orange_juice_1 floor_other_object_region_0) + (On bbq_sauce_1 floor_other_object_region_1) + (On ketchup_1 floor_other_object_region_2) + (On salad_dressing_1 floor_other_object_region_3) + (On alphabet_soup_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In chocolate_pudding_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..a4aa87fd74386ec9a1f034d45cb0e0beafda8def --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the cream cheese and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + cream_cheese_1 - cream_cheese + basket_1 - basket + alphabet_soup_1 - alphabet_soup + milk_1 - milk + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + ) + + (:obj_of_interest + cream_cheese_1 + basket_1 + ) + + (:init + (On cream_cheese_1 floor_target_object_region) + (On alphabet_soup_1 floor_other_object_region_0) + (On milk_1 floor_other_object_region_1) + (On tomato_sauce_1 floor_other_object_region_2) + (On butter_1 floor_other_object_region_3) + (On orange_juice_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In cream_cheese_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..797e9f1cb35383e42c164d7ca311cefca4015869 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the ketchup and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + ketchup_1 - ketchup + basket_1 - basket + bbq_sauce_1 - bbq_sauce + salad_dressing_1 - salad_dressing + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + ) + + (:obj_of_interest + ketchup_1 + basket_1 + ) + + (:init + (On ketchup_1 floor_target_object_region) + (On bbq_sauce_1 floor_other_object_region_0) + (On salad_dressing_1 floor_other_object_region_1) + (On alphabet_soup_1 floor_other_object_region_2) + (On cream_cheese_1 floor_other_object_region_3) + (On milk_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In ketchup_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6b10f254cd992cdb1da1b2382b4dff396d43fc35 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the milk and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + milk_1 - milk + basket_1 - basket + cream_cheese_1 - cream_cheese + tomato_sauce_1 - tomato_sauce + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + ) + + (:obj_of_interest + milk_1 + basket_1 + ) + + (:init + (On milk_1 floor_target_object_region) + (On cream_cheese_1 floor_other_object_region_0) + (On tomato_sauce_1 floor_other_object_region_1) + (On butter_1 floor_other_object_region_2) + (On orange_juice_1 floor_other_object_region_3) + (On chocolate_pudding_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In milk_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..517bb4eef4fb1ee89f85cfef4a200eb2a88d175a --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the orange juice and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + orange_juice_1 - orange_juice + basket_1 - basket + butter_1 - butter + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ketchup_1 - ketchup + salad_dressing_1 - salad_dressing + ) + + (:obj_of_interest + orange_juice_1 + basket_1 + ) + + (:init + (On orange_juice_1 floor_target_object_region) + (On butter_1 floor_other_object_region_0) + (On chocolate_pudding_1 floor_other_object_region_1) + (On bbq_sauce_1 floor_other_object_region_2) + (On ketchup_1 floor_other_object_region_3) + (On salad_dressing_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In orange_juice_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..f83758a229d7a098eaaa1b2c1bd33093aa7c8e33 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the salad dressing and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + salad_dressing_1 - salad_dressing + basket_1 - basket + ketchup_1 - ketchup + alphabet_soup_1 - alphabet_soup + cream_cheese_1 - cream_cheese + milk_1 - milk + tomato_sauce_1 - tomato_sauce + ) + + (:obj_of_interest + salad_dressing_1 + basket_1 + ) + + (:init + (On salad_dressing_1 floor_target_object_region) + (On ketchup_1 floor_other_object_region_0) + (On alphabet_soup_1 floor_other_object_region_1) + (On cream_cheese_1 floor_other_object_region_2) + (On milk_1 floor_other_object_region_3) + (On tomato_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In salad_dressing_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl new file mode 100644 index 0000000000000000000000000000000000000000..d48e7b34ce9325a9ba9f16aaf5bafb210ee1d028 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl @@ -0,0 +1,92 @@ +(define (problem LIBERO_Floor_Manipulation) + (:domain robosuite) + (:language Pick the tomato sauce and place it in the basket) + (:regions + (bin_region + (:target floor) + (:ranges ( + (-0.01 0.25 0.01 0.27) + ) + ) + ) + (target_object_region + (:target floor) + (:ranges ( + (0.025 -0.125 0.07500000000000001 -0.07500000000000001) + ) + ) + ) + (other_object_region_0 + (:target floor) + (:ranges ( + (-0.145 -0.265 -0.095 -0.215) + ) + ) + ) + (other_object_region_1 + (:target floor) + (:ranges ( + (-0.175 0.034999999999999996 -0.125 0.08499999999999999) + ) + ) + ) + (other_object_region_2 + (:target floor) + (:ranges ( + (0.07500000000000001 -0.225 0.125 -0.17500000000000002) + ) + ) + ) + (other_object_region_3 + (:target floor) + (:ranges ( + (0.125 0.0049999999999999975 0.175 0.055) + ) + ) + ) + (other_object_region_4 + (:target floor) + (:ranges ( + (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055) + ) + ) + ) + (contain_region + (:target basket_1) + ) + ) + + (:fixtures + floor - floor + ) + + (:objects + tomato_sauce_1 - tomato_sauce + basket_1 - basket + milk_1 - milk + butter_1 - butter + orange_juice_1 - orange_juice + chocolate_pudding_1 - chocolate_pudding + bbq_sauce_1 - bbq_sauce + ) + + (:obj_of_interest + tomato_sauce_1 + basket_1 + ) + + (:init + (On tomato_sauce_1 floor_target_object_region) + (On milk_1 floor_other_object_region_0) + (On butter_1 floor_other_object_region_1) + (On orange_juice_1 floor_other_object_region_2) + (On chocolate_pudding_1 floor_other_object_region_3) + (On bbq_sauce_1 floor_other_object_region_4) + (On basket_1 floor_bin_region) + ) + + (:goal + (And (In tomato_sauce_1 basket_1_contain_region)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_object/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_object/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ed64b7df73bd31bcddc5c756fdebdf7eb6397df --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_object/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl +libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..6438652602192995ca5b3f4343ab475494c7b334 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_between_plate_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..349fd74360adea9941d28c5ddef790f82ce30036 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl from table center and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_table_center) + (On akita_black_bowl_2 main_table_next_to_plate_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0448f00dc390d8f2c52101deb25bb1e30045b693 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,136 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (In akita_black_bowl_1 wooden_cabinet_1_top_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (Open wooden_cabinet_1_top_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..826feca969f7d8f8486ed8844cc1263f2bfddf59 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_box_region) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..953274bc90dffb2fd7b869f22e2bdfc28f49bf84 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the plate and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_plate_region) + (On akita_black_bowl_2 main_table_next_to_ramekin_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..2ebb6cfbd7134c458d3db13c0ae9b7ce5a9f2610 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl next to the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 main_table_next_to_ramekin_region) + (On akita_black_bowl_2 main_table_next_to_box_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0d5ded52edd5095ea4538e94947cbe4d159aff48 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the cookies box and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 cookies_1) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..eaff46f029e7eb560cba3b51c1cc6f7012ce9f50 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the ramekin and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1) + (On akita_black_bowl_2 cookies_1) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..0872c50dc5d0c32059bb7c43e69af4c5afdb30d5 --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the stove and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 flat_stove_1_cook_region) + (On akita_black_bowl_2 wooden_cabinet_1_top_side) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl new file mode 100644 index 0000000000000000000000000000000000000000..91bef9667d7aae9ec20759eac0b341c914b1b31e --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl @@ -0,0 +1,135 @@ +(define (problem LIBERO_Tabletop_Manipulation) + (:domain robosuite) + (:language Pick the akita black bowl on the wooden cabinet and place it on the plate) + (:regions + (plate_region + (:target main_table) + (:ranges ( + (0.05 0.19 0.07 0.21) + ) + ) + ) + (next_to_plate_region + (:target main_table) + (:ranges ( + (0.0 0.3 0.02 0.32) + ) + ) + ) + (box_region + (:target main_table) + (:ranges ( + (0.06 0.02 0.08 0.04) + ) + ) + ) + (next_to_box_region + (:target main_table) + (:ranges ( + (0.12 -0.08 0.14 -0.06) + ) + ) + ) + (between_plate_ramekin_region + (:target main_table) + (:ranges ( + (-0.06 0.19 -0.04 0.21) + ) + ) + ) + (ramekin_region + (:target main_table) + (:ranges ( + (-0.21 0.19 -0.19 0.21) + ) + ) + ) + (next_to_ramekin_region + (:target main_table) + (:ranges ( + (-0.19 0.31 -0.17 0.33) + ) + ) + ) + (table_center + (:target main_table) + (:ranges ( + (-0.1 -0.01 -0.05 0.01) + ) + ) + ) + (table_front + (:target main_table) + (:ranges ( + (0.19 -0.01 0.21 0.01) + ) + ) + ) + (cabinet_region + (:target main_table) + (:ranges ( + (0.02 -0.28 0.04 -0.26) + ) + ) + (:yaw_rotation ( + (2.6613777765410678 2.7242096296128633) + ) + ) + ) + (stove_region + (:target main_table) + (:ranges ( + (-0.42 -0.15 -0.4 -0.13) + ) + ) + ) + (top_region + (:target wooden_cabinet_1) + ) + (middle_region + (:target wooden_cabinet_1) + ) + (bottom_region + (:target wooden_cabinet_1) + ) + (top_side + (:target wooden_cabinet_1) + ) + (cook_region + (:target flat_stove_1) + ) + ) + + (:fixtures + main_table - table + wooden_cabinet_1 - wooden_cabinet + flat_stove_1 - flat_stove + ) + + (:objects + akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl + cookies_1 - cookies + glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin + plate_1 - plate + ) + + (:obj_of_interest + akita_black_bowl_1 + plate_1 + ) + + (:init + (On akita_black_bowl_1 wooden_cabinet_1_top_side) + (On akita_black_bowl_2 flat_stove_1_cook_region) + (On plate_1 main_table_plate_region) + (On cookies_1 main_table_box_region) + (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region) + (On wooden_cabinet_1 main_table_cabinet_region) + (On flat_stove_1 main_table_stove_region) + ) + + (:goal + (And (On akita_black_bowl_1 plate_1)) + ) + +) diff --git a/third_party/libero/libero/libero/bddl_files/libero_spatial/tasks_info.txt b/third_party/libero/libero/libero/bddl_files/libero_spatial/tasks_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..6ba183844c24aa3c9f2333f2454d97a04aafd96c --- /dev/null +++ b/third_party/libero/libero/libero/bddl_files/libero_spatial/tasks_info.txt @@ -0,0 +1,10 @@ +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl +libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl diff --git a/third_party/libero/libero/libero/benchmark/__init__.py b/third_party/libero/libero/libero/benchmark/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..2b833d0935163fb75a26ca77bf1e38eca6ccc31b --- /dev/null +++ b/third_party/libero/libero/libero/benchmark/__init__.py @@ -0,0 +1,219 @@ +import abc +import os +import glob +import random +import torch + +from typing import List, NamedTuple, Type +from libero.libero import get_libero_path +from libero.libero.benchmark.libero_suite_task_map import libero_task_map + +BENCHMARK_MAPPING = {} + + +def register_benchmark(target_class): + """We design the mapping to be case-INsensitive.""" + BENCHMARK_MAPPING[target_class.__name__.lower()] = target_class + + +def get_benchmark_dict(help=False): + if help: + print("Available benchmarks:") + for benchmark_name in BENCHMARK_MAPPING.keys(): + print(f"\t{benchmark_name}") + return BENCHMARK_MAPPING + + +def get_benchmark(benchmark_name): + return BENCHMARK_MAPPING[benchmark_name.lower()] + + +def print_benchmark(): + print(BENCHMARK_MAPPING) + + +class Task(NamedTuple): + name: str + language: str + problem: str + problem_folder: str + bddl_file: str + init_states_file: str + + +def grab_language_from_filename(x): + if x[0].isupper(): # LIBERO-100 + if "SCENE10" in x: + language = " ".join(x[x.find("SCENE") + 8 :].split("_")) + else: + language = " ".join(x[x.find("SCENE") + 7 :].split("_")) + else: + language = " ".join(x.split("_")) + en = language.find(".bddl") + return language[:en] + + +libero_suites = [ + "libero_spatial", + "libero_object", + "libero_goal", + "libero_90", + "libero_10", +] +task_maps = {} +max_len = 0 +for libero_suite in libero_suites: + task_maps[libero_suite] = {} + + for task in libero_task_map[libero_suite]: + language = grab_language_from_filename(task + ".bddl") + task_maps[libero_suite][task] = Task( + name=task, + language=language, + problem="Libero", + problem_folder=libero_suite, + bddl_file=f"{task}.bddl", + init_states_file=f"{task}.pruned_init", + ) + + # print(language, "\n", f"{task}.bddl", "\n") + # print("") + + +task_orders = [ + [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], + [4, 6, 8, 7, 3, 1, 2, 0, 9, 5], + [6, 3, 5, 0, 4, 2, 9, 1, 8, 7], + [7, 4, 3, 0, 8, 1, 2, 5, 9, 6], + [4, 5, 6, 3, 8, 0, 2, 7, 1, 9], + [1, 2, 3, 0, 6, 9, 5, 7, 4, 8], + [3, 7, 8, 1, 6, 2, 9, 4, 0, 5], + [4, 2, 9, 7, 6, 8, 5, 1, 3, 0], + [1, 8, 5, 4, 0, 9, 6, 7, 2, 3], + [8, 3, 6, 4, 9, 5, 1, 2, 0, 7], + [6, 9, 0, 5, 7, 1, 2, 8, 3, 4], + [6, 8, 3, 1, 0, 2, 5, 9, 7, 4], + [8, 0, 6, 9, 4, 1, 7, 3, 2, 5], + [3, 8, 6, 4, 2, 5, 0, 7, 1, 9], + [7, 1, 5, 6, 3, 2, 8, 9, 4, 0], + [2, 0, 9, 5, 3, 6, 8, 7, 1, 4], + [3, 5, 9, 6, 2, 4, 8, 7, 1, 0], + [7, 6, 5, 9, 0, 3, 4, 2, 8, 1], + [2, 5, 0, 9, 3, 1, 6, 4, 8, 7], + [3, 5, 1, 2, 7, 8, 6, 0, 4, 9], + [3, 4, 1, 9, 7, 6, 8, 2, 0, 5], +] + + +class Benchmark(abc.ABC): + """A Benchmark.""" + + def __init__(self, task_order_index=0): + self.task_embs = None + self.task_order_index = task_order_index + + def _make_benchmark(self): + tasks = list(task_maps[self.name].values()) + if self.name == "libero_90": + self.tasks = tasks + else: + print(f"[info] using task orders {task_orders[self.task_order_index]}") + self.tasks = [tasks[i] for i in task_orders[self.task_order_index]] + self.n_tasks = len(self.tasks) + + def get_num_tasks(self): + return self.n_tasks + + def get_task_names(self): + return [task.name for task in self.tasks] + + def get_task_problems(self): + return [task.problem for task in self.tasks] + + def get_task_bddl_files(self): + return [task.bddl_file for task in self.tasks] + + def get_task_bddl_file_path(self, i): + bddl_file_path = os.path.join( + get_libero_path("bddl_files"), + self.tasks[i].problem_folder, + self.tasks[i].bddl_file, + ) + return bddl_file_path + + def get_task_demonstration(self, i): + assert ( + 0 <= i and i < self.n_tasks + ), f"[error] task number {i} is outer of range {self.n_tasks}" + # this path is relative to the datasets folder + demo_path = f"{self.tasks[i].problem_folder}/{self.tasks[i].name}_demo.hdf5" + return demo_path + + def get_task(self, i): + return self.tasks[i] + + def get_task_emb(self, i): + return self.task_embs[i] + + def get_task_init_states(self, i): + init_states_path = os.path.join( + get_libero_path("init_states"), + self.tasks[i].problem_folder, + self.tasks[i].init_states_file, + ) + init_states = torch.load(init_states_path) + return init_states + + def set_task_embs(self, task_embs): + self.task_embs = task_embs + + +@register_benchmark +class LIBERO_SPATIAL(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_spatial" + self._make_benchmark() + + +@register_benchmark +class LIBERO_OBJECT(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_object" + self._make_benchmark() + + +@register_benchmark +class LIBERO_GOAL(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_goal" + self._make_benchmark() + + +@register_benchmark +class LIBERO_90(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + assert ( + task_order_index == 0 + ), "[error] currently only support task order for 10-task suites" + self.name = "libero_90" + self._make_benchmark() + + +@register_benchmark +class LIBERO_10(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_10" + self._make_benchmark() + + +@register_benchmark +class LIBERO_100(Benchmark): + def __init__(self, task_order_index=0): + super().__init__(task_order_index=task_order_index) + self.name = "libero_100" + self._make_benchmark() diff --git a/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py b/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py new file mode 100644 index 0000000000000000000000000000000000000000..08144b4dd01d91fb0ca40e2c1d93ccaa85025fbc --- /dev/null +++ b/third_party/libero/libero/libero/benchmark/libero_suite_task_map.py @@ -0,0 +1,142 @@ +libero_task_map = { + "libero_spatial": [ + "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", + "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate", + "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate", + "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate", + "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate", + "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate", + "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate", + "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate", + "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate", + "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate", + ], + "libero_object": [ + "pick_up_the_alphabet_soup_and_place_it_in_the_basket", + "pick_up_the_cream_cheese_and_place_it_in_the_basket", + "pick_up_the_salad_dressing_and_place_it_in_the_basket", + "pick_up_the_bbq_sauce_and_place_it_in_the_basket", + "pick_up_the_ketchup_and_place_it_in_the_basket", + "pick_up_the_tomato_sauce_and_place_it_in_the_basket", + "pick_up_the_butter_and_place_it_in_the_basket", + "pick_up_the_milk_and_place_it_in_the_basket", + "pick_up_the_chocolate_pudding_and_place_it_in_the_basket", + "pick_up_the_orange_juice_and_place_it_in_the_basket", + ], + "libero_goal": [ + "open_the_middle_drawer_of_the_cabinet", + "put_the_bowl_on_the_stove", + "put_the_wine_bottle_on_top_of_the_cabinet", + "open_the_top_drawer_and_put_the_bowl_inside", + "put_the_bowl_on_top_of_the_cabinet", + "push_the_plate_to_the_front_of_the_stove", + "put_the_cream_cheese_in_the_bowl", + "turn_on_the_stove", + "put_the_bowl_on_the_plate", + "put_the_wine_bottle_on_the_rack", + ], + "libero_10": [ + "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", + "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", + "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", + ], + "libero_90": [ + "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it", + "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it", + "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it", + "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it", + "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet", + "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it", + "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate", + "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet", + "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate", + "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate", + "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate", + "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet", + "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle", + "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl", + "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove", + "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove", + "KITCHEN_SCENE3_turn_on_the_stove", + "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it", + "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet", + "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer", + "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet", + "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet", + "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet", + "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack", + "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate", + "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet", + "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet", + "KITCHEN_SCENE6_close_the_microwave", + "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug", + "KITCHEN_SCENE7_open_the_microwave", + "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate", + "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate", + "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove", + "KITCHEN_SCENE8_turn_off_the_stove", + "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf", + "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet", + "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf", + "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet", + "KITCHEN_SCENE9_turn_on_the_stove", + "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it", + "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket", + "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray", + "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray", + "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray", + "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate", + "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate", + "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate", + "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate", + "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate", + "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate", + "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate", + "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", + "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", + "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy", + "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", + "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", + "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", + "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", + "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", + "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", + "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", + "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy", + "STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy", + "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf", + "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf", + "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf", + "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf", + ], +} diff --git a/third_party/libero/libero/libero/benchmark/mu_creation.py b/third_party/libero/libero/libero/benchmark/mu_creation.py new file mode 100644 index 0000000000000000000000000000000000000000..0725385c6fe20cc8b3af50d8cae7938d05af3ba3 --- /dev/null +++ b/third_party/libero/libero/libero/benchmark/mu_creation.py @@ -0,0 +1,1575 @@ +import re +from libero.libero.envs import objects +from libero.libero.utils.bddl_generation_utils import * +from libero.libero.envs.objects import OBJECTS_DICT +from libero.libero.utils.object_utils import get_affordance_regions + +from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates + + +@register_mu(scene_type="kitchen") +class KitchenScene1(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "wooden_cabinet": 1, + } + + object_num_info = { + "akita_black_bowl": 1, + "plate": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.30], + region_name="wooden_cabinet_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="akita_black_bowl_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.25], + region_name="plate_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), + ("On", "plate_1", "kitchen_table_plate_init_region"), + ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene2(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "wooden_cabinet": 1, + } + + object_num_info = { + "akita_black_bowl": 3, + "plate": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.30], + region_name="wooden_cabinet_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, 0.20], + region_name="akita_black_bowl_middle_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, 0.15], + region_name="akita_black_bowl_front_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.15, 0.05], + region_name="akita_black_bowl_back_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="plate_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ( + "On", + "akita_black_bowl_1", + "kitchen_table_akita_black_bowl_front_init_region", + ), + ( + "On", + "akita_black_bowl_2", + "kitchen_table_akita_black_bowl_middle_init_region", + ), + ( + "On", + "akita_black_bowl_3", + "kitchen_table_akita_black_bowl_back_init_region", + ), + ("On", "plate_1", "kitchen_table_plate_init_region"), + ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene3(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "flat_stove": 1, + } + + object_num_info = {"chefmate_8_frypan": 1, "moka_pot": 1} + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.20], + region_name="flat_stove_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, -0.25], + region_name="frypan_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, 0.0], + region_name="moka_pot_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), + ("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"), + ("On", "moka_pot_1", "kitchen_table_moka_pot_init_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene4(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "white_cabinet": 1, + "wine_rack": 1, + } + + object_num_info = {"akita_black_bowl": 1, "wine_bottle": 1} + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.30], + region_name="white_cabinet_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.30], + region_name="wine_rack_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.03, -0.05], + region_name="akita_black_bowl_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.15, 0.05], + region_name="wine_bottle_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), + ("On", "wine_bottle_1", "kitchen_table_wine_bottle_init_region"), + ("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"), + ("On", "wine_rack_1", "kitchen_table_wine_rack_init_region"), + ("Open", "white_cabinet_1_bottom_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene5(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "white_cabinet": 1, + } + + object_num_info = { + "akita_black_bowl": 1, + "plate": 1, + "ketchup": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.30], + region_name="white_cabinet_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.03, -0.05], + region_name="akita_black_bowl_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.10], + region_name="ketchup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, -0.25], + region_name="plate_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), + ("On", "plate_1", "kitchen_table_plate_init_region"), + ("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"), + ("On", "ketchup_1", "kitchen_table_ketchup_init_region"), + ("Open", "white_cabinet_1_top_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene6(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "microwave": 1, + } + + object_num_info = { + "porcelain_mug": 1, + "white_yellow_mug": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.35], + region_name="microwave_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(0, 0), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="white_yellow_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.25], + region_name="porcelain_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.25], + region_name="porcelain_mug_front_region", + target_name=self.workspace_name, + region_half_len=0.05, + ) + ) + + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "porcelain_mug_1", "kitchen_table_porcelain_mug_init_region"), + ("On", "white_yellow_mug_1", "kitchen_table_white_yellow_mug_init_region"), + ("On", "microwave_1", "kitchen_table_microwave_init_region"), + ("Open", "microwave_1"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene7(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "microwave": 1, + } + + object_num_info = { + "white_bowl": 1, + "plate": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.25], + region_name="microwave_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="plate_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.10], + region_name="plate_right_region", + target_name=self.workspace_name, + region_half_len=0.05, + ) + ) + + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "white_bowl_1", "microwave_1_top_side"), + ("On", "microwave_1", "kitchen_table_microwave_init_region"), + ("Close", "microwave_1"), + ("On", "plate_1", "kitchen_table_plate_init_region"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene8(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "flat_stove": 1, + } + + object_num_info = {"moka_pot": 2} + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, -0.20], + region_name="flat_stove_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, 0.25], + region_name="moka_pot_right_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, 0.05], + region_name="moka_pot_left_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), + ("On", "moka_pot_1", "kitchen_table_moka_pot_right_init_region"), + ("On", "moka_pot_2", "kitchen_table_moka_pot_left_init_region"), + ("Turnon", "flat_stove_1"), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene9(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "flat_stove": 1, + "wooden_two_layer_shelf": 1, + } + + object_num_info = { + "white_bowl": 1, + "chefmate_8_frypan": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.30], + region_name="flat_stove_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0, -0.25], + region_name="wooden_two_layer_shelf_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, 0.0], + region_name="frypan_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.15, 0.10], + region_name="white_bowl_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), + ("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"), + ("On", "white_bowl_1", "kitchen_table_white_bowl_init_region"), + ( + "On", + "wooden_two_layer_shelf_1", + "kitchen_table_wooden_two_layer_shelf_init_region", + ), + ] + return states + + +@register_mu(scene_type="kitchen") +class KitchenScene10(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "kitchen_table": 1, + "wooden_cabinet": 1, + } + + object_num_info = { + "akita_black_bowl": 1, + "butter": 2, + "chocolate_pudding": 1, + } + + super().__init__( + workspace_name="kitchen_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.30], + region_name="wooden_cabinet_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, 0.0], + region_name="akita_black_bowl_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, 0.20], + region_name="butter_back_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.20], + region_name="butter_front_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.05], + region_name="chocolate_pudding_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), + ("On", "butter_1", "kitchen_table_butter_front_init_region"), + ("On", "butter_2", "kitchen_table_butter_back_init_region"), + ( + "On", + "chocolate_pudding_1", + "kitchen_table_chocolate_pudding_init_region", + ), + ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), + ("Open", "wooden_cabinet_1_top_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene1(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "alphabet_soup": 1, + "cream_cheese": 1, + "tomato_sauce": 1, + "ketchup": 1, + "basket": 1, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.26], + region_name="basket_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, -0.10], + region_name="alphabet_soup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.15, 0.06], + region_name="cream_cheese_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, -0.20], + region_name="tomato_sauce_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, -0.15], + region_name="ketchup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), + ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), + ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), + ("On", "ketchup_1", "living_room_table_ketchup_init_region"), + ("On", "basket_1", "living_room_table_basket_init_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene2(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "alphabet_soup": 1, + "cream_cheese": 1, + "tomato_sauce": 1, + "ketchup": 1, + "orange_juice": 1, + "milk": 1, + "butter": 1, + "basket": 1, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.26], + region_name="basket_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, -0.10], + region_name="milk_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, -0.20], + region_name="cream_cheese_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.25], + region_name="orange_juice_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.1, 0.05], + region_name="tomato_sauce_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.15], + region_name="alphabet_soup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, 0.05], + region_name="butter_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.25, -0.15], + region_name="ketchup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), + ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), + ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), + ("On", "ketchup_1", "living_room_table_ketchup_init_region"), + ("On", "milk_1", "living_room_table_milk_init_region"), + ("On", "orange_juice_1", "living_room_table_orange_juice_init_region"), + ("On", "butter_1", "living_room_table_butter_init_region"), + ("On", "basket_1", "living_room_table_basket_init_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene3(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "alphabet_soup": 1, + "cream_cheese": 1, + "tomato_sauce": 1, + "ketchup": 1, + "butter": 1, + "wooden_tray": 1, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.26], + region_name="wooden_tray_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, -0.20], + region_name="cream_cheese_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.1, 0.05], + region_name="tomato_sauce_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.15], + region_name="alphabet_soup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, 0.05], + region_name="butter_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.25, -0.15], + region_name="ketchup_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), + ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), + ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), + ("On", "ketchup_1", "living_room_table_ketchup_init_region"), + ("On", "butter_1", "living_room_table_butter_init_region"), + ("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene4(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "akita_black_bowl": 2, + "new_salad_dressing": 1, + "chocolate_pudding": 1, + "wooden_tray": 1, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.26], + region_name="wooden_tray_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, -0.20], + region_name="chocolate_pudding_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.1, 0.05], + region_name="akita_black_bowl_right_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.15], + region_name="akita_black_bowl_left_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.25, -0.10], + region_name="salad_dressing_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ( + "On", + "chocolate_pudding_1", + "living_room_table_chocolate_pudding_init_region", + ), + ( + "On", + "akita_black_bowl_1", + "living_room_table_akita_black_bowl_left_init_region", + ), + ( + "On", + "akita_black_bowl_2", + "living_room_table_akita_black_bowl_right_init_region", + ), + ( + "On", + "new_salad_dressing_1", + "living_room_table_salad_dressing_init_region", + ), + ("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene5(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "porcelain_mug": 1, + "red_coffee_mug": 1, + "white_yellow_mug": 1, + "plate": 2, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.30], + region_name="plate_left_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.30], + region_name="plate_right_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.15], + region_name="porcelain_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, 0.10], + region_name="white_yellow_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.0], + region_name="red_coffee_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "plate_1", "living_room_table_plate_left_region"), + ("On", "plate_2", "living_room_table_plate_right_region"), + ("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"), + ( + "On", + "white_yellow_mug_1", + "living_room_table_white_yellow_mug_init_region", + ), + ("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"), + ] + return states + + +@register_mu(scene_type="living_room") +class LivingRoomScene6(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "living_room_table": 1, + } + + object_num_info = { + "porcelain_mug": 1, + "red_coffee_mug": 1, + "plate": 1, + "chocolate_pudding": 1, + } + + super().__init__( + workspace_name="living_room_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.15, -0.10], + region_name="plate_left_region", + target_name=self.workspace_name, + region_half_len=0.05, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.15, 0.10], + region_name="plate_right_region", + target_name=self.workspace_name, + region_half_len=0.05, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.15, 0.0], + region_name="plate_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.10, -0.15], + region_name="porcelain_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, 0.10], + region_name="chocolate_pudding_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.0], + region_name="red_coffee_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "plate_1", "living_room_table_plate_init_region"), + ("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"), + ( + "On", + "chocolate_pudding_1", + "living_room_table_chocolate_pudding_init_region", + ), + ("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"), + ] + return states + + +@register_mu(scene_type="study") +class StudyScene1(InitialSceneTemplates): + def __init__(self): + + fixture_num_info = { + "study_table": 1, + "desk_caddy": 1, + } + + object_num_info = { + "black_book": 1, + "white_yellow_mug": 1, + } + + super().__init__( + workspace_name="study_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, -0.14], + region_name="desk_caddy_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.15], + region_name="black_book_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + yaw_rotation=(-np.pi / 2, -np.pi / 4), + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, 0.0], + region_name="white_yellow_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.15], + region_name="desk_caddy_right_region", + target_name=self.workspace_name, + region_half_len=0.05, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), + ("On", "black_book_1", "study_table_black_book_init_region"), + ("On", "white_yellow_mug_1", "study_table_white_yellow_mug_init_region"), + ] + return states + + +@register_mu(scene_type="study") +class StudyScene2(InitialSceneTemplates): + def __init__(self): + fixture_num_info = { + "study_table": 1, + "desk_caddy": 1, + } + + object_num_info = { + "black_book": 1, + "red_coffee_mug": 1, + } + + super().__init__( + workspace_name="study_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.15], + region_name="red_coffee_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.05], + region_name="black_book_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + yaw_rotation=(-np.pi / 2, -np.pi / 4), + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, -0.14], + region_name="desk_caddy_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), + ("On", "black_book_1", "study_table_black_book_init_region"), + ("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"), + ] + return states + + +@register_mu(scene_type="study") +class StudyScene3(InitialSceneTemplates): + def __init__(self): + fixture_num_info = { + "study_table": 1, + "desk_caddy": 1, + } + + object_num_info = { + "black_book": 1, + "red_coffee_mug": 1, + "porcelain_mug": 1, + } + + super().__init__( + workspace_name="study_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.20, 0.15], + region_name="red_coffee_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, 0.15], + region_name="red_coffee_mug_behind_region", + target_name=self.workspace_name, + region_half_len=0.05, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="porcelain_mug_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.10, 0.0], + region_name="black_book_init_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, -0.14], + region_name="desk_caddy_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, -0.15], + region_name="desk_caddy_front_left_contain_region", + target_name=self.workspace_name, + region_half_len=0.025, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.20, 0.15], + region_name="desk_caddy_right_region", + target_name=self.workspace_name, + region_half_len=0.05, + yaw_rotation=(np.pi, np.pi), + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), + ("On", "black_book_1", "study_table_desk_caddy_front_left_contain_region"), + ("On", "porcelain_mug_1", "study_table_porcelain_mug_init_region"), + ("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"), + ] + return states + + +@register_mu(scene_type="study") +class StudyScene4(InitialSceneTemplates): + def __init__(self): + fixture_num_info = { + "study_table": 1, + "wooden_two_layer_shelf": 1, + } + + object_num_info = { + "black_book": 1, + "yellow_book": 2, + } + + super().__init__( + workspace_name="study_table", + fixture_num_info=fixture_num_info, + object_num_info=object_num_info, + ) + + def define_regions(self): + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.0], + region_name="yellow_book_right_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[-0.05, -0.25], + region_name="yellow_book_left_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.05, -0.15], + region_name="black_book_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + ) + ) + self.regions.update( + self.get_region_dict( + region_centroid_xy=[0.0, 0.28], + region_name="wooden_two_layer_shelf_init_region", + target_name=self.workspace_name, + region_half_len=0.01, + yaw_rotation=(0, 0), + ) + ) + self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( + self.regions + ) + + @property + def init_states(self): + states = [ + ( + "On", + "wooden_two_layer_shelf_1", + "study_table_wooden_two_layer_shelf_init_region", + ), + ("On", "yellow_book_1", "study_table_yellow_book_right_init_region"), + ("On", "yellow_book_2", "study_table_yellow_book_left_init_region"), + ("On", "black_book_1", "study_table_black_book_init_region"), + ] + return states diff --git a/third_party/libero/libero/libero/envs/__init__.py b/third_party/libero/libero/libero/envs/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..6b05794f91af1b444dabfe99c918c90078eb8d37 --- /dev/null +++ b/third_party/libero/libero/libero/envs/__init__.py @@ -0,0 +1,7 @@ +from .bddl_base_domain import TASK_MAPPING +from .base_object import OBJECTS_DICT +from .problems import * +from .robots import * +from .arenas import * +from .env_wrapper import OffScreenRenderEnv, SegmentationRenderEnv +from .venv import SubprocVectorEnv, DummyVectorEnv diff --git a/third_party/libero/libero/libero/envs/arenas/__init__.py b/third_party/libero/libero/libero/envs/arenas/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..3b627c9f8daf632164046baffa8d1a3160865639 --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/__init__.py @@ -0,0 +1,6 @@ +from .table_arena import TableArena +from .empty_arena import EmptyArena +from .coffee_table_arena import CoffeeTableArena +from .living_room_arena import LivingRoomTableArena +from .study_arena import StudyTableArena +from .kitchen_arena import KitchenTableArena diff --git a/third_party/libero/libero/libero/envs/arenas/coffee_table_arena.py b/third_party/libero/libero/libero/envs/arenas/coffee_table_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..8b1ca547f7b2eafb540011e944280db65a8b941b --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/coffee_table_arena.py @@ -0,0 +1,33 @@ +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import xml_path_completion + +from libero.libero.envs.arenas.style import get_texture_filename + + +class CoffeeTableArena(Arena): + """Empty workspace.""" + + def __init__( + self, + xml="arenas/table_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + self.coffee_table_body = self.worldbody.find("./body[@name='coffee_table']") + + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) diff --git a/third_party/libero/libero/libero/envs/arenas/empty_arena.py b/third_party/libero/libero/libero/envs/arenas/empty_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..0c4466da78bf0498c5e72394ed57e541cd0ebced --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/empty_arena.py @@ -0,0 +1,33 @@ +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import xml_path_completion + +from libero.libero.envs.arenas.style import get_texture_filename + + +class EmptyArena(Arena): + """Empty workspace.""" + + def __init__( + self, + xml="arenas/empty_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + self.floor_body = self.worldbody.find("./body[@name='floor']") + + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) diff --git a/third_party/libero/libero/libero/envs/arenas/kitchen_arena.py b/third_party/libero/libero/libero/envs/arenas/kitchen_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..185cbe6fbbab2108cae6e0124c5cf0d0214ab230 --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/kitchen_arena.py @@ -0,0 +1,129 @@ +from libero.libero.envs.arenas.style import STYLE_MAPPING +import numpy as np + +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import ( + array_to_string, + string_to_array, + xml_path_completion, +) + +from libero.libero.envs.arenas.style import get_texture_filename + + +class KitchenTableArena(Arena): + """ + Workspace that contains an empty table. + + + Args: + table_full_size (3-tuple): (L,W,H) full dimensions of the table + table_friction (3-tuple): (sliding, torsional, rolling) friction parameters of the table + table_offset (3-tuple): (x,y,z) offset from center of arena when placing table. + Note that the z value sets the upper limit of the table + has_legs (bool): whether the table has legs or not + xml (str): xml file to load arena + """ + + def __init__( + self, + table_full_size=(0.8, 0.8, 0.05), + table_friction=(1, 0.005, 0.0001), + table_offset=(0, 0, 0.8), + has_legs=True, + xml="arenas/table_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + + self.table_full_size = np.array(table_full_size) + self.table_half_size = self.table_full_size / 2 + self.table_friction = table_friction + self.table_offset = table_offset + self.center_pos = ( + self.bottom_pos + + np.array([0, 0, -self.table_half_size[2]]) + + self.table_offset + ) + + self.table_body = self.worldbody.find("./body[@name='table']") + self.table_collision = self.table_body.find("./geom[@name='table_collision']") + self.table_visual = self.table_body.find("./geom[@name='table_visual']") + self.table_top = self.table_body.find("./site[@name='table_top']") + + self.has_legs = has_legs + self.table_legs_visual = [ + self.table_body.find("./geom[@name='table_leg1_visual']"), + self.table_body.find("./geom[@name='table_leg2_visual']"), + self.table_body.find("./geom[@name='table_leg3_visual']"), + self.table_body.find("./geom[@name='table_leg4_visual']"), + ] + + self.configure_location() + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) + + def configure_location(self): + """Configures correct locations for this arena""" + self.floor.set("pos", array_to_string(self.bottom_pos)) + + self.table_body.set("pos", array_to_string(self.center_pos)) + self.table_collision.set("size", array_to_string(self.table_half_size)) + self.table_collision.set("friction", array_to_string(self.table_friction)) + self.table_visual.set("size", array_to_string(self.table_half_size)) + # self.table_visual.set("rgba", array_to_string([0, 0, 0, 0])) + + self.table_top.set( + "pos", array_to_string(np.array([0, 0, self.table_half_size[2]])) + ) + + # If we're not using legs, set their size to 0 + if not self.has_legs: + for leg in self.table_legs_visual: + leg.set("rgba", array_to_string([1, 0, 0, 0])) + leg.set("size", array_to_string([0.0001, 0.0001])) + else: + # Otherwise, set leg locations appropriately + delta_x = [0.1, -0.1, -0.1, 0.1] + delta_y = [0.1, 0.1, -0.1, -0.1] + for leg, dx, dy in zip(self.table_legs_visual, delta_x, delta_y): + # If x-length of table is less than a certain length, place leg in the middle between ends + # Otherwise we place it near the edge + x = 0 + if self.table_half_size[0] > abs(dx * 2.0): + x += np.sign(dx) * self.table_half_size[0] - dx + # Repeat the same process for y + y = 0 + if self.table_half_size[1] > abs(dy * 2.0): + y += np.sign(dy) * self.table_half_size[1] - dy + # Get z value + z = (self.table_offset[2] - self.table_half_size[2]) / 2.0 + # Set leg position + leg.set("pos", array_to_string([x, y, -z])) + # Set leg size + leg.set("size", array_to_string([0.025, z])) + # leg.set("rgba", array_to_string([0, 0, 0, 0])) + + @property + def table_top_abs(self): + """ + Grabs the absolute position of table top + + Returns: + np.array: (x,y,z) table position + """ + return string_to_array(self.floor.get("pos")) + self.table_offset diff --git a/third_party/libero/libero/libero/envs/arenas/living_room_arena.py b/third_party/libero/libero/libero/envs/arenas/living_room_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..dd4b37d27fe37566e368968a0bcffb864003c107 --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/living_room_arena.py @@ -0,0 +1,50 @@ +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import xml_path_completion +import numpy as np + +from libero.libero.envs.arenas.style import get_texture_filename + + +class LivingRoomTableArena(Arena): + """Empty workspace.""" + + def __init__( + self, + table_full_size=(0.8, 0.8, 0.05), + table_friction=(1, 0.005, 0.0001), + table_offset=(0, 0, 0.41), + xml="arenas/empty_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + + self.table_full_size = np.array(table_full_size) + self.table_half_size = self.table_full_size / 2 + self.table_friction = table_friction + self.table_offset = table_offset + self.center_pos = ( + self.bottom_pos + + np.array([0, 0, -self.table_half_size[2]]) + + self.table_offset + ) + + self.living_room_table_body = self.worldbody.find( + "./body[@name='living_room_table']" + ) + + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) diff --git a/third_party/libero/libero/libero/envs/arenas/study_arena.py b/third_party/libero/libero/libero/envs/arenas/study_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..75ca5902f14bbd96ef902041c9ddd5ba17ff8da8 --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/study_arena.py @@ -0,0 +1,117 @@ +from libero.libero.envs.arenas.style import STYLE_MAPPING +import numpy as np + +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import ( + array_to_string, + string_to_array, + xml_path_completion, +) + +from libero.libero.envs.arenas.style import get_texture_filename + + +class StudyTableArena(Arena): + """ + Workspace that contains an empty table. + + + Args: + table_full_size (3-tuple): (L,W,H) full dimensions of the table + table_friction (3-tuple): (sliding, torsional, rolling) friction parameters of the table + table_offset (3-tuple): (x,y,z) offset from center of arena when placing table. + Note that the z value sets the upper limit of the table + has_legs (bool): whether the table has legs or not + xml (str): xml file to load arena + """ + + def __init__( + self, + table_full_size=(0.8, 0.8, 0.05), + table_friction=(1, 0.005, 0.0001), + table_offset=(0, 0, 0.8), + has_legs=True, + xml="arenas/empty_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + + self.table_full_size = np.array(table_full_size) + self.table_half_size = self.table_full_size / 2 + self.table_friction = table_friction + self.table_offset = table_offset + self.center_pos = ( + self.bottom_pos + + np.array([0, 0, -self.table_half_size[2]]) + + self.table_offset + ) + + self.table_body = self.worldbody.find("./body[@name='study_table']") + + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) + + def configure_location(self): + """Configures correct locations for this arena""" + self.floor.set("pos", array_to_string(self.bottom_pos)) + + self.table_body.set("pos", array_to_string(self.center_pos)) + self.table_collision.set("size", array_to_string(self.table_half_size)) + self.table_collision.set("friction", array_to_string(self.table_friction)) + self.table_visual.set("size", array_to_string(self.table_half_size)) + # self.table_visual.set("rgba", array_to_string([0, 0, 0, 0])) + + self.table_top.set( + "pos", array_to_string(np.array([0, 0, self.table_half_size[2]])) + ) + + # If we're not using legs, set their size to 0 + if not self.has_legs: + for leg in self.table_legs_visual: + leg.set("rgba", array_to_string([1, 0, 0, 0])) + leg.set("size", array_to_string([0.0001, 0.0001])) + else: + # Otherwise, set leg locations appropriately + delta_x = [0.1, -0.1, -0.1, 0.1] + delta_y = [0.1, 0.1, -0.1, -0.1] + for leg, dx, dy in zip(self.table_legs_visual, delta_x, delta_y): + # If x-length of table is less than a certain length, place leg in the middle between ends + # Otherwise we place it near the edge + x = 0 + if self.table_half_size[0] > abs(dx * 2.0): + x += np.sign(dx) * self.table_half_size[0] - dx + # Repeat the same process for y + y = 0 + if self.table_half_size[1] > abs(dy * 2.0): + y += np.sign(dy) * self.table_half_size[1] - dy + # Get z value + z = (self.table_offset[2] - self.table_half_size[2]) / 2.0 + # Set leg position + leg.set("pos", array_to_string([x, y, -z])) + # Set leg size + leg.set("size", array_to_string([0.025, z])) + # leg.set("rgba", array_to_string([0, 0, 0, 0])) + + @property + def table_top_abs(self): + """ + Grabs the absolute position of table top + + Returns: + np.array: (x,y,z) table position + """ + return string_to_array(self.floor.get("pos")) + self.table_offset diff --git a/third_party/libero/libero/libero/envs/arenas/style.py b/third_party/libero/libero/libero/envs/arenas/style.py new file mode 100644 index 0000000000000000000000000000000000000000..912bddc3f2fe968aaf5b05caa79fb0c1c21ae9ad --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/style.py @@ -0,0 +1,31 @@ +FLOOR_STYLE = { + "dark": "dark_floor_texture.png", + "rustic": "rustic_floor.png", + "light-gray": "light-gray-floor-tile.png", + "white-marble": "white_marble_floor.png", + "wood-plank": "seamless_wood_planks_floor.png", + "brown-ceramic": "brown_ceramic_tile.png", + "gray-ceramic": "gray_ceramic_tile.png", + "tile_grigia_caldera": "tile_grigia_caldera_porcelain_floor.png", +} + +WALL_STYLE = { + "light-blue": "light_blue_wall.png", + "dark-blue": "dark_blue_wall.png", + "dark-gray-plaster": "dark_gray_plaster.png", + "gray-plaster": "gray_plaster.png", + "dark-green": "dark_green_plaster_wall.png", + "light-gray-plaster": "light-gray-plaster.png", + "ceramic": "ceramic.png", + "white": "white_wall.png", + "yellow-linen": "yellow_linen_wall_texture.png", +} + + +STYLE_MAPPING = {"floor": FLOOR_STYLE, "wall": WALL_STYLE} + + +def get_texture_filename(type, style): + assert type in STYLE_MAPPING.keys() + assert style in STYLE_MAPPING[type].keys() + return STYLE_MAPPING[type][style] diff --git a/third_party/libero/libero/libero/envs/arenas/table_arena.py b/third_party/libero/libero/libero/envs/arenas/table_arena.py new file mode 100644 index 0000000000000000000000000000000000000000..bc7a93eac876f6bdb7cc1df725f4ce0f9251c016 --- /dev/null +++ b/third_party/libero/libero/libero/envs/arenas/table_arena.py @@ -0,0 +1,129 @@ +from libero.libero.envs.arenas.style import STYLE_MAPPING +import numpy as np + +from robosuite.models.arenas import Arena +from robosuite.utils.mjcf_utils import ( + array_to_string, + string_to_array, + xml_path_completion, +) + +from libero.libero.envs.arenas.style import get_texture_filename + + +class TableArena(Arena): + """ + Workspace that contains an empty table. + + + Args: + table_full_size (3-tuple): (L,W,H) full dimensions of the table + table_friction (3-tuple): (sliding, torsional, rolling) friction parameters of the table + table_offset (3-tuple): (x,y,z) offset from center of arena when placing table. + Note that the z value sets the upper limit of the table + has_legs (bool): whether the table has legs or not + xml (str): xml file to load arena + """ + + def __init__( + self, + table_full_size=(0.8, 0.8, 0.05), + table_friction=(1, 0.005, 0.0001), + table_offset=(0, 0, 0.8), + has_legs=True, + xml="arenas/table_arena.xml", + floor_style="light-gray", + wall_style="light-gray-plaster", + ): + super().__init__(xml_path_completion(xml)) + + self.table_full_size = np.array(table_full_size) + self.table_half_size = self.table_full_size / 2 + self.table_friction = table_friction + self.table_offset = table_offset + self.center_pos = ( + self.bottom_pos + + np.array([0, 0, -self.table_half_size[2]]) + + self.table_offset + ) + + self.table_body = self.worldbody.find("./body[@name='table']") + self.table_collision = self.table_body.find("./geom[@name='table_collision']") + self.table_visual = self.table_body.find("./geom[@name='table_visual']") + self.table_top = self.table_body.find("./site[@name='table_top']") + + self.has_legs = has_legs + self.table_legs_visual = [ + self.table_body.find("./geom[@name='table_leg1_visual']"), + self.table_body.find("./geom[@name='table_leg2_visual']"), + self.table_body.find("./geom[@name='table_leg3_visual']"), + self.table_body.find("./geom[@name='table_leg4_visual']"), + ] + + self.configure_location() + texplane = self.asset.find("./texture[@name='texplane']") + plane_file = texplane.get("file") + plane_file = "/".join( + plane_file.split("/")[:-1] + + [get_texture_filename(type="floor", style=floor_style)] + ) + texplane.set("file", plane_file) + + texwall = self.asset.find("./texture[@name='tex-wall']") + wall_file = texwall.get("file") + wall_file = "/".join( + wall_file.split("/")[:-1] + + [get_texture_filename(type="wall", style=wall_style)] + ) + texwall.set("file", wall_file) + + def configure_location(self): + """Configures correct locations for this arena""" + self.floor.set("pos", array_to_string(self.bottom_pos)) + + self.table_body.set("pos", array_to_string(self.center_pos)) + self.table_collision.set("size", array_to_string(self.table_half_size)) + self.table_collision.set("friction", array_to_string(self.table_friction)) + self.table_visual.set("size", array_to_string(self.table_half_size)) + # self.table_visual.set("rgba", array_to_string([0, 0, 0, 0])) + + self.table_top.set( + "pos", array_to_string(np.array([0, 0, self.table_half_size[2]])) + ) + + # If we're not using legs, set their size to 0 + if not self.has_legs: + for leg in self.table_legs_visual: + leg.set("rgba", array_to_string([1, 0, 0, 0])) + leg.set("size", array_to_string([0.0001, 0.0001])) + else: + # Otherwise, set leg locations appropriately + delta_x = [0.1, -0.1, -0.1, 0.1] + delta_y = [0.1, 0.1, -0.1, -0.1] + for leg, dx, dy in zip(self.table_legs_visual, delta_x, delta_y): + # If x-length of table is less than a certain length, place leg in the middle between ends + # Otherwise we place it near the edge + x = 0 + if self.table_half_size[0] > abs(dx * 2.0): + x += np.sign(dx) * self.table_half_size[0] - dx + # Repeat the same process for y + y = 0 + if self.table_half_size[1] > abs(dy * 2.0): + y += np.sign(dy) * self.table_half_size[1] - dy + # Get z value + z = (self.table_offset[2] - self.table_half_size[2]) / 2.0 + # Set leg position + leg.set("pos", array_to_string([x, y, -z])) + # Set leg size + leg.set("size", array_to_string([0.025, z])) + # leg.set("rgba", array_to_string([0, 0, 0, 0])) + + @property + def table_top_abs(self): + """ + Grabs the absolute position of table top + + Returns: + np.array: (x,y,z) table position + """ + return string_to_array(self.floor.get("pos")) + self.table_offset diff --git a/third_party/libero/libero/libero/envs/base_object.py b/third_party/libero/libero/libero/envs/base_object.py new file mode 100644 index 0000000000000000000000000000000000000000..2a98820fa7306598eade675f9a8307c038e337cf --- /dev/null +++ b/third_party/libero/libero/libero/envs/base_object.py @@ -0,0 +1,19 @@ +import re + +OBJECTS_DICT = {} +VISUAL_CHANGE_OBJECTS_DICT = {} + + +def register_object(target_class): + """We design the mapping to be case-INsensitive.""" + key = "_".join(re.sub(r"([A-Z0-9])", r" \1", target_class.__name__).split()).lower() + assert key not in OBJECTS_DICT + OBJECTS_DICT[key] = target_class + return target_class + + +def register_visual_change_object(target_class): + """We keep track of objects that might have visual changes to optimize the codebase""" + key = "_".join(re.sub(r"([A-Z0-9])", r" \1", target_class.__name__).split()).lower() + VISUAL_CHANGE_OBJECTS_DICT[key] = target_class + return target_class diff --git a/third_party/libero/libero/libero/envs/bddl_base_domain.py b/third_party/libero/libero/libero/envs/bddl_base_domain.py new file mode 100644 index 0000000000000000000000000000000000000000..0aa0f0c212a3ee0413980ff8d48c5100724115c5 --- /dev/null +++ b/third_party/libero/libero/libero/envs/bddl_base_domain.py @@ -0,0 +1,851 @@ +import numpy as np +import os +import robosuite.utils.transform_utils as T + +from copy import deepcopy +from robosuite.environments.manipulation.single_arm_env import SingleArmEnv +from robosuite.models.tasks import ManipulationTask +from robosuite.utils.placement_samplers import SequentialCompositeSampler +from robosuite.utils.observables import Observable, sensor +from robosuite.utils.mjcf_utils import CustomMaterial +import robosuite.macros as macros + +import mujoco + +import libero.libero.envs.bddl_utils as BDDLUtils +from libero.libero.envs.robots import * +from libero.libero.envs.utils import * +from libero.libero.envs.object_states import * +from libero.libero.envs.objects import * +from libero.libero.envs.regions import * +from libero.libero.envs.arenas import * + + +DIR_PATH = os.path.dirname(os.path.realpath(__file__)) + +TASK_MAPPING = {} + + +def register_problem(target_class): + """We design the mapping to be case-INsensitive.""" + TASK_MAPPING[target_class.__name__.lower()] = target_class + + +import time + + +class BDDLBaseDomain(SingleArmEnv): + """ + A base domain for parsing bddl files. + """ + + def __init__( + self, + bddl_file_name, + robots, + env_configuration="default", + controller_configs=None, + gripper_types="default", + initialization_noise="default", + use_latch=False, + use_camera_obs=True, + use_object_obs=True, + reward_scale=1.0, + reward_shaping=False, + placement_initializer=None, + object_property_initializers=None, + has_renderer=False, + has_offscreen_renderer=True, + render_camera="frontview", + render_collision_mesh=False, + render_visual_mesh=True, + render_gpu_device_id=-1, + control_freq=20, + horizon=1000, + ignore_done=False, + hard_reset=True, + camera_names="agentview", + camera_heights=256, + camera_widths=256, + camera_depths=False, + camera_segmentations=None, + renderer="mujoco", + table_full_size=(1.0, 1.0, 0.05), + workspace_offset=(0.0, 0.0, 0.0), + arena_type="table", + scene_xml="scenes/libero_base_style.xml", + scene_properties={}, + **kwargs, + ): + t0 = time.time() + # settings for table top (hardcoded since it's not an essential part of the environment) + self.workspace_offset = workspace_offset + # reward configuration + self.reward_scale = reward_scale + self.reward_shaping = reward_shaping + + # whether to use ground-truth object states + self.use_object_obs = use_object_obs + + # object placement initializer + self.placement_initializer = placement_initializer + self.conditional_placement_initializer = None + self.conditional_placement_on_objects_initializer = None + + # object property initializer + + if object_property_initializers is not None: + self.object_property_initializers = object_property_initializers + else: + self.object_property_initializers = list() + + # Keep track of movable objects in the tasks + self.objects_dict = {} + # Kepp track of fixed objects in the tasks + self.fixtures_dict = {} + # Keep track of site objects in the tasks. site objects + # (instances of SiteObject) + self.object_sites_dict = {} + # This is a dictionary that stores all the object states + # interface for all the objects + self.object_states_dict = {} + + # For those that require visual feature changes, update the state every time step to avoid missing state changes. We keep track of this type of objects to make predicate checking more efficient. + self.tracking_object_states_change = [] + + self.object_sites_dict = {} + + self.objects = [] + self.fixtures = [] + # self.custom_material_dict = {} + + self.custom_asset_dir = os.path.abspath(os.path.join(DIR_PATH, "../assets")) + + self.bddl_file_name = bddl_file_name + self.parsed_problem = BDDLUtils.robosuite_parse_problem(self.bddl_file_name) + + self.obj_of_interest = self.parsed_problem["obj_of_interest"] + + self._assert_problem_name() + + self._arena_type = arena_type + self._arena_xml = os.path.join(self.custom_asset_dir, scene_xml) + self._arena_properties = scene_properties + + super().__init__( + robots=robots, + env_configuration=env_configuration, + controller_configs=controller_configs, + mount_types="default", + gripper_types=gripper_types, + initialization_noise=initialization_noise, + use_camera_obs=use_camera_obs, + has_renderer=has_renderer, + has_offscreen_renderer=has_offscreen_renderer, + render_camera=render_camera, + render_collision_mesh=render_collision_mesh, + render_visual_mesh=render_visual_mesh, + render_gpu_device_id=render_gpu_device_id, + control_freq=control_freq, + horizon=horizon, + ignore_done=ignore_done, + hard_reset=hard_reset, + camera_names=camera_names, + camera_heights=camera_heights, + camera_widths=camera_widths, + camera_depths=camera_depths, + camera_segmentations=camera_segmentations, + renderer=renderer, + **kwargs, + ) + + def seed(self, seed): + np.random.seed(seed) + + def reward(self, action=None): + """ + Reward function for the task. + + Sparse un-normalized reward: + + - a discrete reward of 1.0 is provided if the task succeeds. + + Args: + action (np.array): [NOT USED] + + Returns: + float: reward value + """ + reward = 0.0 + + # sparse completion reward + if self._check_success(): + reward = 1.0 + + # Scale reward if requested + if self.reward_scale is not None: + reward *= self.reward_scale / 1.0 + + return reward + + def _assert_problem_name(self): + """Implement this to make sure the loaded bddl file has the correct problem name specification.""" + assert ( + self.parsed_problem["problem_name"] == self.__class__.__name__.lower() + ), "Problem name mismatched" + + def _load_fixtures_in_arena(self, mujoco_arena): + """ + Load fixtures based on the bddl file description. Please override the method in the custom problem file. + """ + raise NotImplementedError + + def _load_objects_in_arena(self, mujoco_arena): + """ + Load movable objects based on the bddl file description + """ + raise NotImplementedError + + def _load_sites_in_arena(self, mujoco_arena): + """ + Load sites information from each object to keep track of them for predicate checking + """ + raise NotImplementedError + + def _generate_object_state_wrapper( + self, skip_object_names=["main_table", "floor", "countertop", "coffee_table"] + ): + object_states_dict = {} + tracking_object_states_changes = [] + for object_name in self.objects_dict.keys(): + if object_name in skip_object_names: + continue + object_states_dict[object_name] = ObjectState(self, object_name) + if ( + self.objects_dict[object_name].category_name + in VISUAL_CHANGE_OBJECTS_DICT + ): + tracking_object_states_changes.append(object_states_dict[object_name]) + + for object_name in self.fixtures_dict.keys(): + if object_name in skip_object_names: + continue + object_states_dict[object_name] = ObjectState( + self, object_name, is_fixture=True + ) + if ( + self.fixtures_dict[object_name].category_name + in VISUAL_CHANGE_OBJECTS_DICT + ): + tracking_object_states_changes.append(object_states_dict[object_name]) + + for object_name in self.object_sites_dict.keys(): + if object_name in skip_object_names: + continue + object_states_dict[object_name] = SiteObjectState( + self, + object_name, + parent_name=self.object_sites_dict[object_name].parent_name, + ) + self.object_states_dict = object_states_dict + self.tracking_object_states_change = tracking_object_states_changes + + def _load_distracting_objects(self, mujoco_arena): + raise NotImplementedError + + def _load_custom_material(self): + """ + Define all the textures + """ + # self.custom_material_dict = dict() + + # tex_attrib = { + # "type": "cube" + # } + + # self.custom_material_dict["bread"] = CustomMaterial( + # texture="Bread", + # tex_name="bread", + # mat_name="MatBread", + # tex_attrib=tex_attrib, + # mat_attrib={"texrepeat": "3 3", "specular": "0.4","shininess": "0.1"} + # ) + + def _setup_camera(self, mujoco_arena): + # Modify default agentview camera + mujoco_arena.set_camera( + camera_name="canonical_agentview", + pos=[0.5386131746834771, 0.0, 1.4903500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.5886131746834771, 0.0, 1.4903500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) + + def _load_model(self): + """ + Loads an xml model, puts it in self.model + """ + super()._load_model() + # Adjust base pose accordingly + + if self._arena_type == "table": + xpos = self.robots[0].robot_model.base_xpos_offset["table"]( + self.table_full_size[0] + ) + self.robots[0].robot_model.set_base_xpos(xpos) + mujoco_arena = TableArena( + table_full_size=self.table_full_size, + table_offset=self.workspace_offset, + table_friction=(0.6, 0.005, 0.0001), + xml=self._arena_xml, + **self._arena_properties, + ) + elif self._arena_type == "kitchen": + xpos = self.robots[0].robot_model.base_xpos_offset["kitchen_table"]( + self.kitchen_table_full_size[0] + ) + self.robots[0].robot_model.set_base_xpos(xpos) + mujoco_arena = KitchenTableArena( + table_full_size=self.kitchen_table_full_size, + table_offset=self.workspace_offset, + xml=self._arena_xml, + **self._arena_properties, + ) + + elif self._arena_type == "floor": + xpos = self.robots[0].robot_model.base_xpos_offset["empty"] + self.robots[0].robot_model.set_base_xpos(xpos) + + mujoco_arena = EmptyArena( + xml=self._arena_xml, + **self._arena_properties, + ) + elif self._arena_type == "coffee_table": + xpos = self.robots[0].robot_model.base_xpos_offset["coffee_table"]( + self.coffee_table_full_size[0] + ) + self.robots[0].robot_model.set_base_xpos(xpos) + mujoco_arena = CoffeeTableArena( + xml=self._arena_xml, + **self._arena_properties, + ) + + elif self._arena_type == "living_room": + xpos = self.robots[0].robot_model.base_xpos_offset["living_room_table"]( + self.living_room_table_full_size[0] + ) + self.robots[0].robot_model.set_base_xpos(xpos) + mujoco_arena = LivingRoomTableArena( + xml=self._arena_xml, + **self._arena_properties, + ) + + elif self._arena_type == "study": + xpos = self.robots[0].robot_model.base_xpos_offset["study_table"]( + self.study_table_full_size[0] + ) + self.robots[0].robot_model.set_base_xpos(xpos) + mujoco_arena = StudyTableArena( + xml=self._arena_xml, + **self._arena_properties, + ) + + # Arena always gets set to zero origin + mujoco_arena.set_origin([0, 0, 0]) + + self._setup_camera(mujoco_arena) + + self._load_custom_material() + + self._load_fixtures_in_arena(mujoco_arena) + + self._load_objects_in_arena(mujoco_arena) + + self._load_sites_in_arena(mujoco_arena) + + self._generate_object_state_wrapper() + + self._setup_placement_initializer(mujoco_arena) + + self.objects = list(self.objects_dict.values()) + self.fixtures = list(self.fixtures_dict.values()) + + # task includes arena, robot, and objects of interest + self.model = ManipulationTask( + mujoco_arena=mujoco_arena, + mujoco_robots=[robot.robot_model for robot in self.robots], + mujoco_objects=self.objects + self.fixtures, + ) + + for fixture in self.fixtures: + self.model.merge_assets(fixture) + + def _setup_placement_initializer(self, mujoco_arena): + self.placement_initializer = SequentialCompositeSampler(name="ObjectSampler") + self.conditional_placement_initializer = SiteSequentialCompositeSampler( + name="ConditionalSiteSampler" + ) + self.conditional_placement_on_objects_initializer = SequentialCompositeSampler( + name="ConditionalObjectSampler" + ) + self._add_placement_initializer() + + def _setup_references(self): + """ + Sets up references to important components. A reference is typically an + index or a list of indices that point to the corresponding elements + in a flatten array, which is how MuJoCo stores physical simulation data. + """ + super()._setup_references() + + # Additional object references from this env + self.obj_body_id = dict() + + for (object_name, object_body) in self.objects_dict.items(): + self.obj_body_id[object_name] = self.sim.model.body_name2id( + object_body.root_body + ) + + for (fixture_name, fixture_body) in self.fixtures_dict.items(): + self.obj_body_id[fixture_name] = self.sim.model.body_name2id( + fixture_body.root_body + ) + + def _setup_observables(self): + """ + Sets up observables to be used for this environment. Creates object-based observables if enabled + + Returns: + OrderedDict: Dictionary mapping observable names to its corresponding Observable object + """ + observables = super()._setup_observables() + + observables["robot0_joint_pos"]._active = True + + # low-level object information + if self.use_object_obs: + # Get robot prefix and define observables modality + pf = self.robots[0].robot_model.naming_prefix + sensors = [] + names = [s.__name__ for s in sensors] + + # Also append handle qpos if we're using a locked drawer version with rotatable handle + + # Create observables + for name, s in zip(names, sensors): + observables[name] = Observable( + name=name, + sensor=s, + sampling_rate=self.control_freq, + ) + + pf = self.robots[0].robot_model.naming_prefix + + @sensor(modality="object") + def world_pose_in_gripper(obs_cache): + return ( + T.pose_inv( + T.pose2mat((obs_cache[f"{pf}eef_pos"], obs_cache[f"{pf}eef_quat"])) + ) + if f"{pf}eef_pos" in obs_cache and f"{pf}eef_quat" in obs_cache + else np.eye(4) + ) + + sensors.append(world_pose_in_gripper) + names.append("world_pose_in_gripper") + + for (i, obj) in enumerate(self.objects): + obj_sensors, obj_sensor_names = self._create_obj_sensors( + obj_name=obj.name, modality="object" + ) + + sensors += obj_sensors + names += obj_sensor_names + + for name, s in zip(names, sensors): + if name == "world_pose_in_gripper": + observables[name] = Observable( + name=name, + sensor=s, + sampling_rate=self.control_freq, + enabled=True, + active=False, + ) + else: + observables[name] = Observable( + name=name, sensor=s, sampling_rate=self.control_freq + ) + + return observables + + def _create_obj_sensors(self, obj_name, modality="object"): + """ + Helper function to create sensors for a given object. This is abstracted in a separate function call so that we + don't have local function naming collisions during the _setup_observables() call. + + Args: + obj_name (str): Name of object to create sensors for + modality (str): Modality to assign to all sensors + + Returns: + 2-tuple: + sensors (list): Array of sensors for the given obj + names (list): array of corresponding observable names + """ + pf = self.robots[0].robot_model.naming_prefix + + @sensor(modality=modality) + def obj_pos(obs_cache): + return np.array(self.sim.data.body_xpos[self.obj_body_id[obj_name]]) + + @sensor(modality=modality) + def obj_quat(obs_cache): + return T.convert_quat( + self.sim.data.body_xquat[self.obj_body_id[obj_name]], to="xyzw" + ) + + @sensor(modality=modality) + def obj_to_eef_pos(obs_cache): + # Immediately return default value if cache is empty + if any( + [ + name not in obs_cache + for name in [ + f"{obj_name}_pos", + f"{obj_name}_quat", + "world_pose_in_gripper", + ] + ] + ): + return np.zeros(3) + obj_pose = T.pose2mat( + (obs_cache[f"{obj_name}_pos"], obs_cache[f"{obj_name}_quat"]) + ) + rel_pose = T.pose_in_A_to_pose_in_B( + obj_pose, obs_cache["world_pose_in_gripper"] + ) + rel_pos, rel_quat = T.mat2pose(rel_pose) + obs_cache[f"{obj_name}_to_{pf}eef_quat"] = rel_quat + return rel_pos + + @sensor(modality=modality) + def obj_to_eef_quat(obs_cache): + return ( + obs_cache[f"{obj_name}_to_{pf}eef_quat"] + if f"{obj_name}_to_{pf}eef_quat" in obs_cache + else np.zeros(4) + ) + + sensors = [obj_pos, obj_quat, obj_to_eef_pos, obj_to_eef_quat] + names = [ + f"{obj_name}_pos", + f"{obj_name}_quat", + f"{obj_name}_to_{pf}eef_pos", + f"{obj_name}_to_{pf}eef_quat", + ] + + return sensors, names + + def _add_placement_initializer(self): + + mapping_inv = {} + for k, values in self.parsed_problem["fixtures"].items(): + for v in values: + mapping_inv[v] = k + for k, values in self.parsed_problem["objects"].items(): + for v in values: + mapping_inv[v] = k + + regions = self.parsed_problem["regions"] + initial_state = self.parsed_problem["initial_state"] + problem_name = self.parsed_problem["problem_name"] + + conditioned_initial_place_state_on_sites = [] + conditioned_initial_place_state_on_objects = [] + conditioned_initial_place_state_in_objects = [] + + for state in initial_state: + if state[0] == "on" and state[2] in self.objects_dict: + conditioned_initial_place_state_on_objects.append(state) + continue + + # (Yifeng) Given that an object needs to have a certain "containing" region in order to hold the relation "In", we assume that users need to specify the containing region of the object already. + if state[0] == "in" and state[2] in regions: + conditioned_initial_place_state_in_objects.append(state) + continue + # Check if the predicate is in the form of On(object, region) + if state[0] == "on" and state[2] in regions: + object_name = state[1] + region_name = state[2] + target_name = regions[region_name]["target"] + x_ranges, y_ranges = rectangle2xyrange(regions[region_name]["ranges"]) + yaw_rotation = regions[region_name]["yaw_rotation"] + if ( + target_name in self.objects_dict + or target_name in self.fixtures_dict + ): + conditioned_initial_place_state_on_sites.append(state) + continue + if self.is_fixture(object_name): + # This is to place environment fixtures. + fixture_sampler = MultiRegionRandomSampler( + f"{object_name}_sampler", + mujoco_objects=self.fixtures_dict[object_name], + x_ranges=x_ranges, + y_ranges=y_ranges, + rotation=yaw_rotation, + rotation_axis="z", + z_offset=self.z_offset, # -self.table_full_size[2], + ensure_object_boundary_in_range=False, + ensure_valid_placement=False, + reference_pos=self.workspace_offset, + ) + self.placement_initializer.append_sampler(fixture_sampler) + else: + # This is to place movable objects. + region_sampler = get_region_samplers( + problem_name, mapping_inv[target_name] + )( + object_name, + self.objects_dict[object_name], + x_ranges=x_ranges, + y_ranges=y_ranges, + rotation=self.objects_dict[object_name].rotation, + rotation_axis=self.objects_dict[object_name].rotation_axis, + reference_pos=self.workspace_offset, + ) + self.placement_initializer.append_sampler(region_sampler) + if state[0] in ["open", "close"]: + # If "open" is implemented, we assume "close" is also implemented + if state[1] in self.object_states_dict and hasattr( + self.object_states_dict[state[1]], "set_joint" + ): + obj = self.get_object(state[1]) + if state[0] == "open": + joint_ranges = obj.object_properties["articulation"][ + "default_open_ranges" + ] + else: + joint_ranges = obj.object_properties["articulation"][ + "default_close_ranges" + ] + + property_initializer = OpenCloseSampler( + name=obj.name, + state_type=state[0], + joint_ranges=joint_ranges, + ) + self.object_property_initializers.append(property_initializer) + elif state[0] in ["turnon", "turnoff"]: + # If "turnon" is implemented, we assume "turnoff" is also implemented. + if state[1] in self.object_states_dict and hasattr( + self.object_states_dict[state[1]], "set_joint" + ): + obj = self.get_object(state[1]) + if state[0] == "turnon": + joint_ranges = obj.object_properties["articulation"][ + "default_turnon_ranges" + ] + else: + joint_ranges = obj.object_properties["articulation"][ + "default_turnoff_ranges" + ] + + property_initializer = TurnOnOffSampler( + name=obj.name, + state_type=state[0], + joint_ranges=joint_ranges, + ) + self.object_property_initializers.append(property_initializer) + + # Place objects that are on sites + for state in conditioned_initial_place_state_on_sites: + object_name = state[1] + region_name = state[2] + target_name = regions[region_name]["target"] + site_xy_size = self.object_sites_dict[region_name].size[:2] + sampler = SiteRegionRandomSampler( + f"{object_name}_sampler", + mujoco_objects=self.objects_dict[object_name], + x_ranges=[[-site_xy_size[0] / 2, site_xy_size[0] / 2]], + y_ranges=[[-site_xy_size[1] / 2, site_xy_size[1] / 2]], + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + rotation=self.objects_dict[object_name].rotation, + rotation_axis=self.objects_dict[object_name].rotation_axis, + ) + self.conditional_placement_initializer.append_sampler( + sampler, {"reference": target_name, "site_name": region_name} + ) + # Place objects that are on other objects + for state in conditioned_initial_place_state_on_objects: + object_name = state[1] + other_object_name = state[2] + sampler = ObjectBasedSampler( + f"{object_name}_sampler", + mujoco_objects=self.objects_dict[object_name], + x_ranges=[[0.0, 0.0]], + y_ranges=[[0.0, 0.0]], + ensure_object_boundary_in_range=False, + ensure_valid_placement=False, + rotation=self.objects_dict[object_name].rotation, + rotation_axis=self.objects_dict[object_name].rotation_axis, + ) + self.conditional_placement_on_objects_initializer.append_sampler( + sampler, {"reference": other_object_name} + ) + # Place objects inside some containing regions + for state in conditioned_initial_place_state_in_objects: + object_name = state[1] + region_name = state[2] + target_name = regions[region_name]["target"] + + site_xy_size = self.object_sites_dict[region_name].size[:2] + sampler = InSiteRegionRandomSampler( + f"{object_name}_sampler", + mujoco_objects=self.objects_dict[object_name], + # x_ranges=[[-site_xy_size[0] / 2, site_xy_size[0] / 2]], + # y_ranges=[[-site_xy_size[1] / 2, site_xy_size[1] / 2]], + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + rotation=self.objects_dict[object_name].rotation, + rotation_axis=self.objects_dict[object_name].rotation_axis, + ) + self.conditional_placement_initializer.append_sampler( + sampler, {"reference": target_name, "site_name": region_name} + ) + + def _reset_internal(self): + """ + Resets simulation internal configurations. + """ + super()._reset_internal() + + # Reset all object positions using initializer sampler if we're not directly loading from an xml + if not self.deterministic_reset: + + # Sample from the placement initializer for all objects + for object_property_initializer in self.object_property_initializers: + if isinstance(object_property_initializer, OpenCloseSampler): + joint_pos = object_property_initializer.sample() + self.object_states_dict[object_property_initializer.name].set_joint( + joint_pos + ) + elif isinstance(object_property_initializer, TurnOnOffSampler): + joint_pos = object_property_initializer.sample() + self.object_states_dict[object_property_initializer.name].set_joint( + joint_pos + ) + else: + print("Warning!!! This sampler doesn't seem to be used") + # robosuite didn't provide api for this stepping. we manually do this stepping to increase the speed of resetting simulation. + mujoco.mj_step1(self.sim.model._model, self.sim.data._data) + + object_placements = self.placement_initializer.sample() + object_placements = self.conditional_placement_initializer.sample( + self.sim, object_placements + ) + object_placements = ( + self.conditional_placement_on_objects_initializer.sample( + object_placements + ) + ) + for obj_pos, obj_quat, obj in object_placements.values(): + if obj.name not in list(self.fixtures_dict.keys()): + # This is for movable object resetting + self.sim.data.set_joint_qpos( + obj.joints[-1], + np.concatenate([np.array(obj_pos), np.array(obj_quat)]), + ) + else: + # This is for fixture resetting + body_id = self.sim.model.body_name2id(obj.root_body) + self.sim.model.body_pos[body_id] = obj_pos + self.sim.model.body_quat[body_id] = obj_quat + + def _check_success(self): + """ + This needs to match with the goal description from the bddl file + + Returns: + bool: True if drawer has been opened + """ + return False + + def visualize(self, vis_settings): + """ + In addition to super call, visualize gripper site proportional to the distance to the drawer handle. + + Args: + vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific + component should be visualized. Should have "grippers" keyword as well as any other relevant + options specified. + """ + # Run superclass method first + super().visualize(vis_settings=vis_settings) + + def step(self, action): + if self.action_dim == 4 and len(action) > 4: + # Convert OSC_POSITION action + action = np.array(action) + action = np.concatenate((action[:3], action[-1:]), axis=-1) + + obs, reward, done, info = super().step(action) + done = self._check_success() + + return obs, reward, done, info + + def _pre_action(self, action, policy_step=False): + super()._pre_action(action, policy_step=policy_step) + + def _post_action(self, action): + reward, done, info = super()._post_action(action) + + self._post_process() + + return reward, done, info + + def _post_process(self): + # Update some object states, such as light switching etc. + for object_state in self.tracking_object_states_change: + object_state.update_state() + + def get_robot_state_vector(self, obs): + return np.concatenate( + [obs["robot0_gripper_qpos"], obs["robot0_eef_pos"], obs["robot0_eef_quat"]] + ) + + def is_fixture(self, object_name): + """ + Check if an object is defined as a fixture in the task + + Args: + object_name (str): The name string of the object in query + """ + return object_name in list(self.fixtures_dict.keys()) + + @property + def language_instruction(self): + return self.parsed_problem["language"] + + def get_object(self, object_name): + for query_dict in [ + self.fixtures_dict, + self.objects_dict, + self.object_sites_dict, + ]: + if object_name in query_dict: + return query_dict[object_name] diff --git a/third_party/libero/libero/libero/envs/bddl_utils.py b/third_party/libero/libero/libero/envs/bddl_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..7902646b9475728d6eda655f0d51bb9ffa409cf4 --- /dev/null +++ b/third_party/libero/libero/libero/envs/bddl_utils.py @@ -0,0 +1,172 @@ +from bddl.parsing import * + +import itertools +import numpy as np + +pi = np.pi + + +def get_regions(t, regions, group): + group.pop(0) + while group: + region = group.pop(0) + region_name = region[0] + target_name = None + region_dict = { + "target": None, + "ranges": [], + "extra": [], + "yaw_rotation": [0, 0], + "rgba": [0, 0, 1, 0], + } + for attribute in region[1:]: + if attribute[0] == ":target": + assert len(attribute) == 2 + region_dict["target"] = attribute[1] + target_name = attribute[1] + elif attribute[0] == ":ranges": + for rect_range in attribute[1]: + assert ( + len(rect_range) == 4 + ), f"Dimension of rectangular range mismatched!!, supposed to be 4, only found {len(rect_range)}" + region_dict["ranges"].append([float(x) for x in rect_range]) + elif attribute[0] == ":yaw_rotation": + # print(attribute[1]) + for value in attribute[1]: + region_dict["yaw_rotation"] = [eval(x) for x in value] + elif attribute[0] == ":rgba": + assert ( + len(attribute[1]) == 4 + ), f"Missing specification for rgba color, supposed to be 4 dimension, but only got {attribute[1]}" + region_dict["rgba"] = [float(x) for x in attribute[1]] + else: + raise NotImplementedError + regions[target_name + "_" + region_name] = region_dict + + +def get_scenes(t, scene_properties, group): + group.pop(0) + while group: + scene_property = group.pop(0) + scene_properties_dict = {} + for attribute in region[1:]: + if attribute[0] == ":floor": + assert len(attribute) == 2 + scene_properties_dict["floor_style"] = attribute[1] + elif attribute[0] == ":wall": + assert len(attribute) == 2 + scene_properties_dict["wall_style"] = attribute[1] + else: + raise NotImplementedError + + +def get_problem_info(problem_filename): + domain_name = "unknown" + problem_filename = problem_filename + tokens = scan_tokens(filename=problem_filename) + if isinstance(tokens, list) and tokens.pop(0) == "define": + problem_name = "unknown" + language_instruction = "" + while tokens: + group = tokens.pop() + t = group[0] + if t == "problem": + problem_name = group[-1] + elif t == ":domain": + domain_name = "robosuite" + elif t == ":language": + group.pop(0) + language_instruction = group + return { + "problem_name": problem_name, + "domain_name": domain_name, + "language_instruction": " ".join(language_instruction), + } + + +def robosuite_parse_problem(problem_filename): + domain_name = "robosuite" + problem_filename = problem_filename + tokens = scan_tokens(filename=problem_filename) + if isinstance(tokens, list) and tokens.pop(0) == "define": + problem_name = "unknown" + objects = {} + obj_of_interest = [] + initial_state = [] + goal_state = [] + fixtures = {} + regions = {} + scene_properties = {} + language_instruction = "" + while tokens: + group = tokens.pop() + t = group[0] + if t == "problem": + problem_name = group[-1] + elif t == ":domain": + if domain_name != group[-1]: + raise Exception("Different domain specified in problem file") + elif t == ":requirements": + pass + elif t == ":objects": + group.pop(0) + object_list = [] + while group: + if group[0] == "-": + group.pop(0) + objects[group.pop(0)] = object_list + object_list = [] + else: + object_list.append(group.pop(0)) + if object_list: + if not "object" in objects: + objects["object"] = [] + objects["object"] += object_list + elif t == ":obj_of_interest": + group.pop(0) + while group: + obj_of_interest.append(group.pop(0)) + elif t == ":fixtures": + group.pop(0) + fixture_list = [] + while group: + if group[0] == "-": + group.pop(0) + fixtures[group.pop(0)] = fixture_list + fixture_list = [] + else: + fixture_list.append(group.pop(0)) + if fixture_list: + if not "fixture" in fixtures: + fixtures["fixture"] = [] + fixtures["fixture"] += fixture_list + elif t == ":regions": + get_regions(t, regions, group) + elif t == ":scene_properties": + get_scenes(t, scene_properties, group) + elif t == ":language": + group.pop(0) + language_instruction = group + + elif t == ":init": + group.pop(0) + initial_state = group + elif t == ":goal": + package_predicates(group[1], goal_state, "", "goals") + else: + print("%s is not recognized in problem" % t) + return { + "problem_name": problem_name, + "fixtures": fixtures, + "regions": regions, + "objects": objects, + "scene_properties": scene_properties, + "initial_state": initial_state, + "goal_state": goal_state, + "language_instruction": language_instruction, + "obj_of_interest": obj_of_interest, + } + else: + raise Exception( + f"Problem {behavior_activity} {activity_definition} does not match problem pattern" + ) diff --git a/third_party/libero/libero/libero/envs/env_wrapper.py b/third_party/libero/libero/libero/envs/env_wrapper.py new file mode 100644 index 0000000000000000000000000000000000000000..b5a732b0d7e5d67ba5428fdf0edef150e80f6296 --- /dev/null +++ b/third_party/libero/libero/libero/envs/env_wrapper.py @@ -0,0 +1,278 @@ +import os +import numpy as np +import robosuite as suite +import matplotlib.cm as cm + +from robosuite.utils.errors import RandomizationError + +import libero.libero.envs.bddl_utils as BDDLUtils +from libero.libero.envs import * + + +class ControlEnv: + def __init__( + self, + bddl_file_name, + robots=["Panda"], + controller="OSC_POSE", + gripper_types="default", + initialization_noise=None, + use_camera_obs=True, + has_renderer=False, + has_offscreen_renderer=True, + render_camera="frontview", + render_collision_mesh=False, + render_visual_mesh=True, + render_gpu_device_id=-1, + control_freq=20, + horizon=1000, + ignore_done=False, + hard_reset=True, + camera_names=[ + "agentview", + "robot0_eye_in_hand", + ], + camera_heights=128, + camera_widths=128, + camera_depths=False, + camera_segmentations=None, + renderer="mujoco", + renderer_config=None, + **kwargs, + ): + assert os.path.exists( + bddl_file_name + ), f"[error] {bddl_file_name} does not exist!" + + controller_configs = suite.load_controller_config(default_controller=controller) + + problem_info = BDDLUtils.get_problem_info(bddl_file_name) + # Check if we're using a multi-armed environment and use env_configuration argument if so + + # Create environment + self.problem_name = problem_info["problem_name"] + self.domain_name = problem_info["domain_name"] + self.language_instruction = problem_info["language_instruction"] + self.env = TASK_MAPPING[self.problem_name]( + bddl_file_name, + robots=robots, + controller_configs=controller_configs, + gripper_types=gripper_types, + initialization_noise=initialization_noise, + use_camera_obs=use_camera_obs, + has_renderer=has_renderer, + has_offscreen_renderer=has_offscreen_renderer, + render_camera=render_camera, + render_collision_mesh=render_collision_mesh, + render_visual_mesh=render_visual_mesh, + render_gpu_device_id=render_gpu_device_id, + control_freq=control_freq, + horizon=horizon, + ignore_done=ignore_done, + hard_reset=hard_reset, + camera_names=camera_names, + camera_heights=camera_heights, + camera_widths=camera_widths, + camera_depths=camera_depths, + camera_segmentations=camera_segmentations, + renderer=renderer, + renderer_config=renderer_config, + **kwargs, + ) + + @property + def obj_of_interest(self): + return self.env.obj_of_interest + + def step(self, action): + return self.env.step(action) + + def reset(self): + success = False + while not success: + try: + ret = self.env.reset() + success = True + except RandomizationError: + pass + finally: + continue + + return ret + + def check_success(self): + return self.env._check_success() + + @property + def _visualizations(self): + return self.env._visualizations + + @property + def robots(self): + return self.env.robots + + @property + def sim(self): + return self.env.sim + + def get_sim_state(self): + return self.env.sim.get_state().flatten() + + def _post_process(self): + return self.env._post_process() + + def _update_observables(self, force=False): + self.env._update_observables(force=force) + + def set_state(self, mujoco_state): + self.env.sim.set_state_from_flattened(mujoco_state) + + def reset_from_xml_string(self, xml_string): + self.env.reset_from_xml_string(xml_string) + + def seed(self, seed): + self.env.seed(seed) + + def set_init_state(self, init_state): + return self.regenerate_obs_from_state(init_state) + + def regenerate_obs_from_state(self, mujoco_state): + self.set_state(mujoco_state) + self.env.sim.forward() + self.check_success() + self._post_process() + self._update_observables(force=True) + return self.env._get_observations() + + def close(self): + self.env.close() + del self.env + + +class OffScreenRenderEnv(ControlEnv): + """ + For visualization and evaluation. + """ + + def __init__(self, **kwargs): + # This shouldn't be customized + kwargs["has_renderer"] = False + kwargs["has_offscreen_renderer"] = True + super().__init__(**kwargs) + + +class SegmentationRenderEnv(OffScreenRenderEnv): + """ + This wrapper will additionally generate the segmentation mask of objects, + which is useful for comparing attention. + """ + + def __init__( + self, + camera_segmentations="instance", + camera_heights=128, + camera_widths=128, + **kwargs, + ): + assert camera_segmentations is not None + kwargs["camera_segmentations"] = camera_segmentations + kwargs["camera_heights"] = camera_heights + kwargs["camera_widths"] = camera_widths + self.segmentation_id_mapping = {} + self.instance_to_id = {} + self.segmentation_robot_id = None + super().__init__(**kwargs) + + def step(self, action): + return self.env.step(action) + + def reset(self): + obs = self.env.reset() + self.segmentation_id_mapping = {} + + for i, instance_name in enumerate(list(self.env.model.instances_to_ids.keys())): + if instance_name == "Panda0": + self.segmentation_robot_id = i + + for i, instance_name in enumerate(list(self.env.model.instances_to_ids.keys())): + if instance_name not in ["Panda0", "RethinkMount0", "PandaGripper0"]: + self.segmentation_id_mapping[i] = instance_name + + self.instance_to_id = { + v: k + 1 for k, v in self.segmentation_id_mapping.items() + } + return obs + + def get_segmentation_instances(self, segmentation_image): + # get all instances' segmentation separately + seg_img_dict = {} + segmentation_image[segmentation_image > self.segmentation_robot_id] = ( + self.segmentation_robot_id + 1 + ) + seg_img_dict["robot"] = segmentation_image * ( + segmentation_image == self.segmentation_robot_id + 1 + ) + + for seg_id, instance_name in self.segmentation_id_mapping.items(): + seg_img_dict[instance_name] = segmentation_image * ( + segmentation_image == seg_id + 1 + ) + return seg_img_dict + + def get_segmentation_of_interest(self, segmentation_image): + # get the combined segmentation of obj of interest + # 1 for obj_of_interest + # -1.0 for robot + # 0 for other things + ret_seg = np.zeros_like(segmentation_image) + for obj in self.obj_of_interest: + ret_seg[segmentation_image == self.instance_to_id[obj]] = 1.0 + # ret_seg[segmentation_image == self.segmentation_robot_id+1] = -1.0 + ret_seg[segmentation_image == 0] = -1.0 + return ret_seg + + def segmentation_to_rgb(self, seg_im, random_colors=False): + """ + Helper function to visualize segmentations as RGB frames. + NOTE: assumes that geom IDs go up to 255 at most - if not, + multiple geoms might be assigned to the same color. + """ + # ensure all values lie within [0, 255] + seg_im = np.mod(seg_im, 256) + + if random_colors: + colors = randomize_colors(N=256, bright=True) + return (255.0 * colors[seg_im]).astype(np.uint8) + else: + # deterministic shuffling of values to map each geom ID to a random int in [0, 255] + rstate = np.random.RandomState(seed=2) + inds = np.arange(256) + rstate.shuffle(inds) + seg_img = ( + np.array(255.0 * cm.rainbow(inds[seg_im], 10)) + .astype(np.uint8)[..., :3] + .astype(np.uint8) + .squeeze(-2) + ) + print(seg_img.shape) + cv2.imshow("Seg Image", seg_img[::-1]) + cv2.waitKey(1) + # use @inds to map each geom ID to a color + return seg_img + + +class DemoRenderEnv(ControlEnv): + """ + For visualization and evaluation. + """ + + def __init__(self, **kwargs): + # This shouldn't be customized + kwargs["has_renderer"] = False + kwargs["has_offscreen_renderer"] = True + kwargs["render_camera"] = "frontview" + + super().__init__(**kwargs) + + def _get_observations(self): + return self.env._get_observations() diff --git a/third_party/libero/libero/libero/envs/object_states/__init__.py b/third_party/libero/libero/libero/envs/object_states/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..1589b695854a538a5bdd55b1ff7593e6b88af60b --- /dev/null +++ b/third_party/libero/libero/libero/envs/object_states/__init__.py @@ -0,0 +1 @@ +from .base_object_states import * diff --git a/third_party/libero/libero/libero/envs/object_states/base_object_states.py b/third_party/libero/libero/libero/envs/object_states/base_object_states.py new file mode 100644 index 0000000000000000000000000000000000000000..300f1daa99487328755820e46260bbe728894e40 --- /dev/null +++ b/third_party/libero/libero/libero/envs/object_states/base_object_states.py @@ -0,0 +1,220 @@ +import robosuite.utils.transform_utils as transform_utils +import numpy as np + + +class BaseObjectState: + def __init__(self): + pass + + def get_geom_state(self): + raise NotImplementedError + + def check_contact(self, other): + raise NotImplementedError + + def check_contain(self, other): + raise NotImplementedError + + def get_joint_state(self): + raise NotImplementedError + + def is_open(self): + raise NotImplementedError + + def is_close(self): + raise NotImplementedError + + def get_size(self): + raise NotImplementedError + + def check_ontop(self, other): + raise NotImplementedError + + +class ObjectState(BaseObjectState): + def __init__(self, env, object_name, is_fixture=False): + self.env = env + self.object_name = object_name + self.is_fixture = is_fixture + self.query_dict = ( + self.env.fixtures_dict if self.is_fixture else self.env.objects_dict + ) + self.object_state_type = "object" + self.has_turnon_affordance = hasattr( + self.env.get_object(self.object_name), "turn_on" + ) + + def get_geom_state(self): + object_pos = self.env.sim.data.body_xpos[self.env.obj_body_id[self.object_name]] + object_quat = self.env.sim.data.body_xquat[ + self.env.obj_body_id[self.object_name] + ] + return {"pos": object_pos, "quat": object_quat} + + def check_contact(self, other): + object_1 = self.env.get_object(self.object_name) + object_2 = self.env.get_object(other.object_name) + return self.env.check_contact(object_1, object_2) + + def check_contain(self, other): + object_1 = self.env.get_object(self.object_name) + object_1_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[self.object_name] + ] + object_2 = self.env.get_object(other.object_name) + object_2_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[other.object_name] + ] + return object_1.in_box(object_1_position, object_2_position) + + def get_joint_state(self): + # Return None if joint state does not exist + joint_states = [] + for joint in self.env.get_object(self.object_name).joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + joint_states.append(self.env.sim.data.qpos[qpos_addr]) + return joint_states + + def check_ontop(self, other): + this_object = self.env.get_object(self.object_name) + this_object_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[self.object_name] + ] + other_object = self.env.get_object(other.object_name) + other_object_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[other.object_name] + ] + return ( + (this_object_position[2] <= other_object_position[2]) + and self.check_contact(other) + and ( + np.linalg.norm(this_object_position[:2] - other_object_position[:2]) + < 0.03 + ) + ) + + def set_joint(self, qpos=1.5): + for joint in self.env.get_object(self.object_name).joints: + self.env.sim.data.set_joint_qpos(joint, qpos) + + def is_open(self): + for joint in self.env.get_object(self.object_name).joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if self.env.get_object(self.object_name).is_open(qpos): + return True + return False + + def is_close(self): + for joint in self.env.get_object(self.object_name).joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if not (self.env.get_object(self.object_name).is_close(qpos)): + return False + return True + + def turn_on(self): + for joint in self.env.get_object(self.object_name).joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if self.env.get_object(self.object_name).turn_on(qpos): + return True + return False + + def turn_off(self): + for joint in self.env.get_object(self.object_name).joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if not (self.env.get_object(self.object_name).turn_off(qpos)): + return False + return True + + def update_state(self): + if self.has_turnon_affordance: + self.turn_on() + + +class SiteObjectState(BaseObjectState): + """ + This is to make site based objects to have the same API as normal Object State. + """ + + def __init__(self, env, object_name, parent_name, is_fixture=False): + self.env = env + self.object_name = object_name + self.parent_name = parent_name + self.is_fixture = self.parent_name in self.env.fixtures_dict + self.query_dict = ( + self.env.fixtures_dict if self.is_fixture else self.env.objects_dict + ) + self.object_state_type = "site" + + def get_geom_state(self): + object_pos = self.env.sim.data.get_site_xpos(self.object_name) + object_quat = transform_utils.mat2quat( + self.env.sim.data.get_site_xmat(self.object_name) + ) + return {"pos": object_pos, "quat": object_quat} + + def check_contain(self, other): + this_object = self.env.object_sites_dict[self.object_name] + this_object_position = self.env.sim.data.get_site_xpos(self.object_name) + this_object_mat = self.env.sim.data.get_site_xmat(self.object_name) + + other_object = self.env.get_object(other.object_name) + other_object_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[other.object_name] + ] + return this_object.in_box( + this_object_position, this_object_mat, other_object_position + ) + + def check_contact(self, other): + """ + There is no dynamics for site objects, so we return true all the time. + """ + return True + + def check_ontop(self, other): + this_object = self.env.object_sites_dict[self.object_name] + if hasattr(this_object, "under"): + this_object_position = self.env.sim.data.get_site_xpos(self.object_name) + this_object_mat = self.env.sim.data.get_site_xmat(self.object_name) + other_object = self.env.get_object(other.object_name) + other_object_position = self.env.sim.data.body_xpos[ + self.env.obj_body_id[other.object_name] + ] + # print(self.object_name, this_object_position) + # print(other_object_position) + + parent_object = self.env.get_object(self.parent_name) + if parent_object is None: + return this_object.under( + this_object_position, this_object_mat, other_object_position + ) + else: + return this_object.under( + this_object_position, this_object_mat, other_object_position + ) and self.env.check_contact(parent_object, other_object) + else: + return True + + def set_joint(self, qpos=1.5): + for joint in self.env.object_sites_dict[self.object_name].joints: + self.env.sim.data.set_joint_qpos(joint, qpos) + + def is_open(self): + for joint in self.env.object_sites_dict[self.object_name].joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if self.env.get_object(self.parent_name).is_open(qpos): + return True + return False + + def is_close(self): + for joint in self.env.object_sites_dict[self.object_name].joints: + qpos_addr = self.env.sim.model.get_joint_qpos_addr(joint) + qpos = self.env.sim.data.qpos[qpos_addr] + if not (self.env.get_object(self.parent_name).is_close(qpos)): + return False + return True diff --git a/third_party/libero/libero/libero/envs/objects/__init__.py b/third_party/libero/libero/libero/envs/objects/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..d7d8d66e34ee291f250c31d7358e8caf24e928b2 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/__init__.py @@ -0,0 +1,18 @@ +import re + +from libero.libero.envs.base_object import OBJECTS_DICT, VISUAL_CHANGE_OBJECTS_DICT + +from .hope_objects import * +from .google_scanned_objects import * +from .articulated_objects import * +from .turbosquid_objects import * +from .site_object import SiteObject +from .target_zones import * + + +def get_object_fn(category_name): + return OBJECTS_DICT[category_name.lower()] + + +def get_object_dict(): + return OBJECTS_DICT diff --git a/third_party/libero/libero/libero/envs/objects/articulated_objects.py b/third_party/libero/libero/libero/envs/objects/articulated_objects.py new file mode 100644 index 0000000000000000000000000000000000000000..b90f09db2cd98a3a61d6cf6053801f606d6433e9 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/articulated_objects.py @@ -0,0 +1,268 @@ +import os +import re +import numpy as np + +from dataclasses import dataclass +from robosuite.models.objects import MujocoXMLObject +from easydict import EasyDict + +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() + +from libero.libero.envs.base_object import ( + register_visual_change_object, + register_object, +) + + +class ArticulatedObject(MujocoXMLObject): + def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]): + super().__init__( + os.path.join( + str(absolute_path), f"assets/articulated_objects/{obj_name}.xml" + ), + name=name, + joints=joints, + obj_type="all", + duplicate_collision_geoms=False, + ) + self.category_name = "_".join( + re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split() + ).lower() + self.rotation = (np.pi / 4, np.pi / 2) + self.rotation_axis = "x" + + articulation_object_properties = { + "default_open_ranges": [], + "default_close_ranges": [], + } + self.object_properties = { + "articulation": articulation_object_properties, + "vis_site_names": {}, + } + + def is_open(self, qpos): + raise NotImplementedError + + def is_close(self, qpos): + raise NotImplementedError + + +@register_object +class Microwave(ArticulatedObject): + def __init__( + self, + name="microwave", + obj_name="microwave", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + self.object_properties["articulation"]["default_open_ranges"] = [-2.094, -1.3] + self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0] + + def is_open(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_open_ranges"]): + return True + else: + return False + + def is_close(self, qpos): + if qpos > min(self.object_properties["articulation"]["default_close_ranges"]): + return True + else: + return False + + +@register_object +class SlideCabinet(ArticulatedObject): + def __init__( + self, + name="slide_cabinet", + obj_name="slide_cabinet", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class Window(ArticulatedObject): + def __init__( + self, + name="window", + obj_name="window", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.z_on_table = 0.13 + + +@register_object +class Faucet(ArticulatedObject): + def __init__( + self, + name="faucet", + obj_name="faucet", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class BasinFaucet(ArticulatedObject): + def __init__(self, name="basin_faucet", obj_name="basin_faucet", joints=None): + super().__init__(name, obj_name, joints) + + +@register_object +class ShortCabinet(ArticulatedObject): + def __init__( + self, + name="short_cabinet", + obj_name="short_cabinet", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + self.object_properties["articulation"]["default_open_ranges"] = [0.10, 0.16] + self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0] + + def is_open(self, qpos): + if qpos > min(self.object_properties["articulation"]["default_open_ranges"]): + return True + else: + return False + + def is_close(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_close_ranges"]): + return True + else: + return False + + +@register_object +class ShortFridge(ArticulatedObject): + def __init__( + self, + name="short_fridge", + obj_name="short_fridge", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + self.object_properties["articulation"]["default_open_ranges"] = [2.0, 2.7] + self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0] + + def is_open(self, qpos): + if qpos > min(self.object_properties["articulation"]["default_open_ranges"]): + return True + else: + return False + + def is_close(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_close_ranges"]): + return True + else: + return False + + # Sample initial joint positions for random door open or door closed + + +@register_object +class WoodenCabinet(ArticulatedObject): + def __init__( + self, + name="wooden_cabinet", + obj_name="wooden_cabinet", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14] + self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005] + + def is_open(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_open_ranges"]): + return True + else: + return False + + def is_close(self, qpos): + if qpos > min(self.object_properties["articulation"]["default_close_ranges"]): + return True + else: + return False + + +@register_object +class WhiteCabinet(ArticulatedObject): + def __init__( + self, + name="white_cabinet", + obj_name="white_cabinet", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14] + self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005] + + def is_open(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_open_ranges"]): + return True + else: + return False + + def is_close(self, qpos): + if qpos > min(self.object_properties["articulation"]["default_close_ranges"]): + return True + else: + return False + + +@register_object +@register_visual_change_object +class FlatStove(ArticulatedObject): + def __init__( + self, + name="flat_stove", + obj_name="flat_stove", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (0, 0) + self.rotation_axis = "y" + + tracking_sites_dict = {} + tracking_sites_dict["burner"] = (self.naming_prefix + "burner", False) + self.object_properties["vis_site_names"].update(tracking_sites_dict) + self.object_properties["articulation"]["default_turnon_ranges"] = [0.5, 2.1] + self.object_properties["articulation"]["default_turnoff_ranges"] = [-0.005, 0.0] + + def turn_on(self, qpos): + if qpos >= min(self.object_properties["articulation"]["default_turnon_ranges"]): + # TODO: Set visualization sites to be true + self.object_properties["vis_site_names"]["burner"] = ( + self.naming_prefix + "burner", + True, + ) + return True + else: + self.object_properties["vis_site_names"]["burner"] = ( + self.naming_prefix + "burner", + False, + ) + return False + + def turn_off(self, qpos): + if qpos < max(self.object_properties["articulation"]["default_turnoff_ranges"]): + self.object_properties["vis_site_names"]["burner"] = ( + self.naming_prefix + "burner", + False, + ) + return True + else: + self.object_properties["vis_site_names"]["burner"] = ( + self.naming_prefix + "burner", + True, + ) + return False diff --git a/third_party/libero/libero/libero/envs/objects/google_scanned_objects.py b/third_party/libero/libero/libero/envs/objects/google_scanned_objects.py new file mode 100644 index 0000000000000000000000000000000000000000..4b35da55ecfe519ce8794173796e43b42220b6a2 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/google_scanned_objects.py @@ -0,0 +1,88 @@ +import os +import numpy as np +import re + +from robosuite.models.objects import MujocoXMLObject +from robosuite.utils.mjcf_utils import xml_path_completion + +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() + +from libero.libero.envs.base_object import ( + register_visual_change_object, + register_object, +) + + +class GoogleScannedObject(MujocoXMLObject): + def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]): + super().__init__( + os.path.join( + str(absolute_path), + f"assets/stable_scanned_objects/{obj_name}/{obj_name}.xml", + ), + name=name, + joints=joints, + obj_type="all", + duplicate_collision_geoms=False, + ) + self.category_name = "_".join( + re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split() + ).lower() + self.rotation = (np.pi / 2, np.pi / 2) + self.rotation_axis = "x" + self.object_properties = {"vis_site_names": {}} + + +@register_object +class Rack(GoogleScannedObject): + def __init__( + self, + name="simple_rack", + obj_name="simple_rack", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints=joints) + self.rotation = (0, 0) + self.rotation_axis = "x" + + +@register_object +class WhiteBowl(GoogleScannedObject): + def __init__(self, name="white_bowl", obj_name="white_bowl"): + super().__init__(name, obj_name) + + +@register_object +class AkitaBlackBowl(GoogleScannedObject): + def __init__(self, name="akita_black_bowl", obj_name="akita_black_bowl"): + super().__init__(name, obj_name) + + +@register_object +class Plate(GoogleScannedObject): + def __init__(self, name="plate", obj_name="plate"): + super().__init__(name, obj_name) + + +@register_object +class Basket(GoogleScannedObject): + def __init__(self, name="basket", obj_name="basket"): + super().__init__(name, obj_name) + + +@register_object +class Chefmate8Frypan(GoogleScannedObject): + def __init__(self, name="chefmate_8_frypan", obj_name="chefmate_8_frypan"): + super().__init__(name, obj_name) + + +@register_object +class GlazedRimPorcelainRamekin(GoogleScannedObject): + def __init__( + self, + name="glazed_rim_porcelain_ramekin", + obj_name="glazed_rim_porcelain_ramekin", + ): + super().__init__(name, obj_name) diff --git a/third_party/libero/libero/libero/envs/objects/hope_objects.py b/third_party/libero/libero/libero/envs/objects/hope_objects.py new file mode 100644 index 0000000000000000000000000000000000000000..a3a1a4cf3ff923b895dd0b42da7b67e678a6e397 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/hope_objects.py @@ -0,0 +1,240 @@ +import os +import re +import numpy as np +from robosuite.models.objects import MujocoXMLObject +from robosuite.utils.mjcf_utils import array_to_string + +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() + +from libero.libero.envs.base_object import register_object + + +class HopeBaseObject(MujocoXMLObject): + def __init__(self, name, obj_name): + super().__init__( + os.path.join( + str(absolute_path), + f"assets/stable_hope_objects/{obj_name}/{obj_name}.xml", + ), + name=name, + joints=[dict(type="free", damping="0.0005")], + obj_type="all", + duplicate_collision_geoms=False, + ) + self.category_name = "_".join( + re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split() + ).lower() + self.rotation = (np.pi / 2, np.pi / 2) + self.rotation_axis = "x" + + self.object_properties = {"vis_site_names": {}} + + +@register_object +class AlphabetSoup(HopeBaseObject): + def __init__(self, name="alphabet_soup", obj_name="alphabet_soup"): + super().__init__(name, obj_name) + self.rotation_axis = "z" + + +@register_object +class BbqSauce(HopeBaseObject): + def __init__(self, name="bbq_sauce", obj_name="bbq_sauce"): + super().__init__(name, obj_name) + + +@register_object +class Butter(HopeBaseObject): + def __init__(self, name="butter", obj_name="butter"): + super().__init__(name, obj_name) + self.rotation = (0.0, 0.0) + self.rotation_axis = "x" + + +@register_object +class Cherries(HopeBaseObject): + def __init__(self, name="cherries", obj_name="cherries"): + super().__init__(name, obj_name) + + +@register_object +class ChocolatePudding(HopeBaseObject): + def __init__(self, name="chocolate_pudding", obj_name="chocolate_pudding"): + super().__init__(name, obj_name) + self.rotation = (0.0, 0.0) + self.rotation_axis = "x" + + +@register_object +class Cookies(HopeBaseObject): + def __init__(self, name="cookies", obj_name="cookies"): + super().__init__(name, obj_name) + + +@register_object +class Corn(HopeBaseObject): + def __init__(self, name="corn", obj_name="corn"): + super().__init__(name, obj_name) + + +@register_object +class CreamCheese(HopeBaseObject): + def __init__(self, name="cream_cheese", obj_name="cream_cheese"): + super().__init__(name, obj_name) + self.rotation = (0.0, 0.0) + self.rotation_axis = "x" + + +@register_object +class Ketchup(HopeBaseObject): + def __init__(self, name="ketchup", obj_name="ketchup"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + self.rotation_axis = None + + +@register_object +class MacaroniAndCheese(HopeBaseObject): + def __init__(self, name="macaroni_and_cheese", obj_name="macaroni_and_cheese"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + self.rotation_axis = None + + +@register_object +class Mayo(HopeBaseObject): + def __init__(self, name="mayo", obj_name="mayo"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + self.rotation_axis = None + + +@register_object +class Milk(HopeBaseObject): + def __init__(self, name="milk", obj_name="milk"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + + +# class Mushrooms(HopeBaseObject): +# def __init__(self, +# name="mushrooms", +# obj_name="mushrooms"): +# super().__init__(name, obj_name) + +# class Mustard(HopeBaseObject): +# def __init__(self, +# name="mustard", +# obj_name="mustard"): +# super().__init__(name, obj_name) +# self.rotation={ +# "x": (np.pi / 2, np.pi/2), +# "z": (np.pi / 2, np.pi/2), +# } +# self.rotation_axis= None + + +@register_object +class OrangeJuice(HopeBaseObject): + def __init__(self, name="orange_juice", obj_name="orange_juice"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + + +# class Parmesan(HopeBaseObject): +# def __init__(self, +# name="parmesan", +# obj_name="parmesan"): +# super().__init__(name, obj_name) + +# class Peaches(HopeBaseObject): +# def __init__(self, +# name="peaches", +# obj_name="peaches"): +# super().__init__(name, obj_name) + +# class PeasAndCarrots(HopeBaseObject): +# def __init__(self, +# name="peas_and_carrots", +# obj_name="peas_and_carrots"): +# super().__init__(name, obj_name) + +# class Pineapple(HopeBaseObject): +# def __init__(self, +# name="pineapple", +# obj_name="pineapple"): +# super().__init__(name, obj_name) + + +@register_object +class Popcorn(HopeBaseObject): + def __init__(self, name="popcorn", obj_name="popcorn"): + super().__init__(name, obj_name) + self.rotation = (0.0, 0.0) + self.rotation_axis = "x" + + +# class Raisins(HopeBaseObject): +# def __init__(self, +# name="raisins", +# obj_name="raisins"): +# super().__init__(name, obj_name) + + +@register_object +class SaladDressing(HopeBaseObject): + def __init__(self, name="salad_dressing", obj_name="salad_dressing"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + self.rotation_axis = None + + +@register_object +class NewSaladDressing(HopeBaseObject): + def __init__(self, name="new_salad_dressing", obj_name="new_salad_dressing"): + super().__init__(name, obj_name) + self.rotation = { + "x": (np.pi / 2, np.pi / 2), + "z": (np.pi / 2, np.pi / 2), + } + self.rotation_axis = None + + +@register_object +class TomatoSauce(HopeBaseObject): + def __init__(self, name="tomato_sauce", obj_name="tomato_sauce"): + super().__init__(name, obj_name) + self.rotation_axis = "z" + + +# class Tuna(HopeBaseObject): +# def __init__(self, +# name="tuna", +# obj_name="tuna"): +# super().__init__(name, obj_name) + +# class Yogurt(HopeBaseObject): +# def __init__(self, +# name="yogurt", +# obj_name="yogurt"): +# super().__init__(name, obj_name) diff --git a/third_party/libero/libero/libero/envs/objects/site_object.py b/third_party/libero/libero/libero/envs/objects/site_object.py new file mode 100644 index 0000000000000000000000000000000000000000..88eceb274d13b4774307d9d7f69f1674d52adda4 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/site_object.py @@ -0,0 +1,80 @@ +import os +import numpy as np + +from robosuite.utils.mjcf_utils import string_to_array +import robosuite.utils.transform_utils as transform_utils + +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() + + +class SiteObject: + def __init__( + self, + name, + parent_name=None, + joints=None, + size=None, + rgba=None, + site_type="box", + site_pos="0 0 0", + site_quat="1 0 0 0", + object_properties={}, + ): + self.name = name + self.parent_name = parent_name + self.joints = joints + self.site_pos = string_to_array(site_pos) + self.site_quat = string_to_array(site_quat) + self.size = size if type(size) is not str else string_to_array(size) + self.rgba = rgba + self.site_type = site_type + self.object_properties = object_properties + + def in_box(self, this_position, this_mat, other_position): + """ + Checks whether the object is contained within this SiteObject. + Useful for when the CompositeObject has holes and the object should + be within one of the holes. Makes an approximation by treating the + object as a point, and the SiteObject as an axis-aligned grid. + Args: + this_position: 3D position of this SiteObject + other_position: 3D position of object to test for insertion + """ + + # (TODO) Yifeng: The transformation for size is a little bit + # hacky at the moment. Will dig deeper into it. + total_size = np.abs(this_mat @ self.size) + + ub = this_position + total_size + lb = this_position - total_size + + lb[2] -= 0.01 + # print(np.all(other_position > lb), np.all(other_position < ub)) + # print(lb, other_position, ub) + return np.all(other_position > lb) and np.all(other_position < ub) + + def __str__(self): + return ( + f"Object {self.name} : \n geom type: {self.site_type} \n size: {self.size}" + ) + + def under(self, this_position, this_mat, other_position, other_height=0.10): + """ + Checks whether an object is on this SiteObject. + Useful for when the CompositeObject has holes and the object should + be within one of the holes. Makes an approximation by treating the + object as a point, and the SiteObject as an axis-aligned grid. + Args: + this_position: 3D position of this SiteObject + other_position: 3D position of object to test for insertion + """ + total_size = self.size # np.abs(this_mat @ self.size) + + delta_position = this_mat @ (other_position - this_position) + # print(total_size, " | ", delta_position) + # print(total_size[2] < delta_position[2] < total_size[2] + other_height, np.all(np.abs(delta_position[:2]) < total_size[:2])) + return total_size[2] - 0.005 < delta_position[2] < total_size[ + 2 + ] + other_height and np.all(np.abs(delta_position[:2]) < total_size[:2]) diff --git a/third_party/libero/libero/libero/envs/objects/target_zones.py b/third_party/libero/libero/libero/envs/objects/target_zones.py new file mode 100644 index 0000000000000000000000000000000000000000..98c51c1ee323650d3940aabe426a7fd62b2ba438 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/target_zones.py @@ -0,0 +1,92 @@ +import re +import numpy as np +import robosuite.utils.transform_utils as T +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() +from robosuite.models.objects import MujocoXMLObject +from robosuite.utils.mjcf_utils import ( + xml_path_completion, + array_to_string, + find_elements, + CustomMaterial, + add_to_dict, + RED, + GREEN, + BLUE, +) + +# from robosuite.models.objects import BoxObject +from libero.libero.envs.objects.site_object import SiteObject + +from libero.libero.envs.base_object import ( + register_visual_change_object, + register_object, +) + + +@register_object +class TargetZone(SiteObject): + def __init__( + self, + name, + zone_height=0.007, + z_offset=0.02, + rgba=(1, 0, 0, 1), + joints=None, + zone_size=(0.15, 0.05), + zone_centroid_xy=(0, 0), + # site_type="box", + # site_pos="0 0 0", + # site_quat="1 0 0 0", + ): + self.category_name = "_".join( + re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split() + ).lower() + self.size = (zone_size[0], zone_size[1], zone_height) + self.pos = zone_centroid_xy + (z_offset,) + self.quat = (1, 0, 0, 0) + super().__init__( + name=name, + size=self.size, + rgba=rgba, + site_type="box", + site_pos=array_to_string(self.pos), + site_quat=array_to_string(self.quat), + ) + + def in_box(self, this_position, this_mat, other_position): + """ + Checks whether the object is contained within this SiteObject. + Useful for when the CompositeObject has holes and the object should + be within one of the holes. Makes an approximation by treating the + object as a point, and the SiteObject as an axis-aligned grid. + Args: + this_position: 3D position of this SiteObject + other_position: 3D position of object to test for insertion + """ + + total_size = np.abs(this_mat @ self.size) + + ub = this_position + total_size + lb = this_position - total_size + + lb[2] -= 0.01 + return np.all(other_position > lb) and np.all(other_position < ub) + + def on_top(self, this_position, this_mat, other_position): + """ + Checks whether the object is contained within this SiteObject. + Useful for when the CompositeObject has holes and the object should + be within one of the holes. Makes an approximation by treating the + object as a point, and the SiteObject as an axis-aligned grid. + Args: + this_position: 3D position of this SiteObject + other_position: 3D position of object to test for insertion + """ + + # (TODO) Yifeng: The transformation for size is a little bit + # hacky at the moment. Will dig deeper into it. + total_size = np.abs(this_mat @ self.size) + ub = this_position + total_size + return np.all(other_position > ub) diff --git a/third_party/libero/libero/libero/envs/objects/turbosquid_objects.py b/third_party/libero/libero/libero/envs/objects/turbosquid_objects.py new file mode 100644 index 0000000000000000000000000000000000000000..6ffcebdb8cef94fa8a59893fe004107bd3bc15e3 --- /dev/null +++ b/third_party/libero/libero/libero/envs/objects/turbosquid_objects.py @@ -0,0 +1,209 @@ +import os +import re +import numpy as np + +from robosuite.models.objects import MujocoXMLObject +from robosuite.utils.mjcf_utils import xml_path_completion + +import pathlib + +absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute() + +from libero.libero.envs.base_object import ( + register_visual_change_object, + register_object, +) + + +class TurbosquidObjects(MujocoXMLObject): + def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]): + super().__init__( + os.path.join( + str(absolute_path), + f"assets/turbosquid_objects/{obj_name}/{obj_name}.xml", + ), + name=name, + joints=joints, + obj_type="all", + duplicate_collision_geoms=False, + ) + self.category_name = "_".join( + re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split() + ).lower() + self.rotation = (0, 0) + self.rotation_axis = "x" + self.object_properties = {"vis_site_names": {}} + + +@register_object +class WoodenTray(TurbosquidObjects): + def __init__( + self, + name="wooden_tray", + obj_name="wooden_tray", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class WhiteStorageBox(TurbosquidObjects): + def __init__( + self, + name="white_storage_box", + obj_name="white_storage_box", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (0, 0) + self.rotation_axis = "y" + + +@register_object +class WoodenShelf(TurbosquidObjects): + def __init__( + self, + name="wooden_shelf", + obj_name="wooden_shelf", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class WoodenTwoLayerShelf(TurbosquidObjects): + def __init__( + self, + name="wooden_two_layer_shelf", + obj_name="wooden_two_layer_shelf", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class WineRack(TurbosquidObjects): + def __init__( + self, + name="wine_rack", + obj_name="wine_rack", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class WineBottle(TurbosquidObjects): + def __init__( + self, + name="wine_bottle", + obj_name="wine_bottle", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class DiningSetGroup(TurbosquidObjects): + """This dining set group is mostly for visualization""" + + def __init__( + self, + name="dining_set_group", + obj_name="dining_set_group", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class BowlDrainer(TurbosquidObjects): + def __init__( + self, + name="bowl_drainer", + obj_name="bowl_drainer", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class MokaPot(TurbosquidObjects): + def __init__( + self, + name="moka_pot", + obj_name="moka_pot", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class BlackBook(TurbosquidObjects): + def __init__( + self, + name="black_book", + obj_name="black_book", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (-np.pi / 2, -np.pi / 4) + + +@register_object +class YellowBook(TurbosquidObjects): + def __init__( + self, + name="yellow_book", + obj_name="yellow_book", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (-np.pi / 2, -np.pi / 4) + + +@register_object +class RedCoffeeMug(TurbosquidObjects): + def __init__( + self, + name="red_coffee_mug", + obj_name="red_coffee_mug", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (-np.pi / 2, -np.pi / 2) + + +@register_object +class DeskCaddy(TurbosquidObjects): + def __init__( + self, + name="desk_caddy", + obj_name="desk_caddy", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + + +@register_object +class PorcelainMug(TurbosquidObjects): + def __init__( + self, + name="porcelain_mug", + obj_name="porcelain_mug", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (-np.pi / 2, -np.pi / 2) + + +@register_object +class WhiteYellowMug(TurbosquidObjects): + def __init__( + self, + name="white_yellow_mug", + obj_name="white_yellow_mug", + joints=[dict(type="free", damping="0.0005")], + ): + super().__init__(name, obj_name, joints) + self.rotation = (-np.pi / 2, -np.pi / 2) diff --git a/third_party/libero/libero/libero/envs/predicates/__init__.py b/third_party/libero/libero/libero/envs/predicates/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..f4c4ea790e11e43c28a391e5a4d92525a502b490 --- /dev/null +++ b/third_party/libero/libero/libero/envs/predicates/__init__.py @@ -0,0 +1,35 @@ +from .base_predicates import * + + +VALIDATE_PREDICATE_FN_DICT = { + "true": TruePredicateFn(), + "false": FalsePredicateFn(), + "in": In(), + # "incontact": InContactPredicateFn(), + "on": On(), + "up": Up(), + # "stack": Stack(), + # "temporal": TemporalPredicate(), + "printjointstate": PrintJointState(), + "open": Open(), + "close": Close(), + "turnon": TurnOn(), + "turnoff": TurnOff(), +} + + +def update_predicate_fn_dict(fn_key, fn_name): + VALIDATE_PREDICATE_FN_DICT.update({fn_key: eval(fn_name)()}) + + +def eval_predicate_fn(predicate_fn_name, *args): + assert predicate_fn_name in VALIDATE_PREDICATE_FN_DICT + return VALIDATE_PREDICATE_FN_DICT[predicate_fn_name](*args) + + +def get_predicate_fn_dict(): + return VALIDATE_PREDICATE_FN_DICT + + +def get_predicate_fn(predicate_fn_name): + return VALIDATE_PREDICATE_FN_DICT[predicate_fn_name.lower()] diff --git a/third_party/libero/libero/libero/envs/predicates/base_predicates.py b/third_party/libero/libero/libero/envs/predicates/base_predicates.py new file mode 100644 index 0000000000000000000000000000000000000000..b8cc0299ba4a53a37ab809db5bcf32eda249865e --- /dev/null +++ b/third_party/libero/libero/libero/envs/predicates/base_predicates.py @@ -0,0 +1,118 @@ +from typing import List + + +class Expression: + def __init__(self): + raise NotImplementedError + + def __call__(self): + raise NotImplementedError + + +class UnaryAtomic(Expression): + def __init__(self): + pass + + def __call__(self, arg1): + raise NotImplementedError + + +class BinaryAtomic(Expression): + def __init__(self): + pass + + def __call__(self, arg1, arg2): + raise NotImplementedError + + +class MultiarayAtomic(Expression): + def __init__(self): + pass + + def __call__(self, *args): + raise NotImplementedError + + +class TruePredicateFn(MultiarayAtomic): + def __init__(self): + super().__init__() + + def __call__(self, *args): + return True + + +class FalsePredicateFn(MultiarayAtomic): + def __init__(self): + super().__init__() + + def __call__(self, *args): + return False + + +class InContactPredicateFn(BinaryAtomic): + def __call__(self, arg1, arg2): + return arg1.check_contact(arg2) + + +class In(BinaryAtomic): + def __call__(self, arg1, arg2): + return arg2.check_contact(arg1) and arg2.check_contain(arg1) + + +class On(BinaryAtomic): + def __call__(self, arg1, arg2): + return arg2.check_ontop(arg1) + + # if arg2.object_state_type == "site": + # return arg2.check_ontop(arg1) + # else: + # obj_1_pos = arg1.get_geom_state()["pos"] + # obj_2_pos = arg2.get_geom_state()["pos"] + # # arg1.on_top_of(arg2) ? + # # TODO (Yfeng): Add checking of center of mass are in the same regions + # if obj_1_pos[2] >= obj_2_pos[2] and arg2.check_contact(arg1): + # return True + # else: + # return False + + +class Up(BinaryAtomic): + def __call__(self, arg1): + return arg1.get_geom_state()["pos"][2] >= 1.0 + + +class Stack(BinaryAtomic): + def __call__(self, arg1, arg2): + return ( + arg1.check_contact(arg2) + and arg2.check_contain(arg1) + and arg1.get_geom_state()["pos"][2] > arg2.get_geom_state()["pos"][2] + ) + + +class PrintJointState(UnaryAtomic): + """This is a debug predicate to allow you print the joint values of the object you care""" + + def __call__(self, arg): + print(arg.get_joint_state()) + return True + + +class Open(UnaryAtomic): + def __call__(self, arg): + return arg.is_open() + + +class Close(UnaryAtomic): + def __call__(self, arg): + return arg.is_close() + + +class TurnOn(UnaryAtomic): + def __call__(self, arg): + return arg.turn_on() + + +class TurnOff(UnaryAtomic): + def __call__(self, arg): + return arg.turn_off() diff --git a/third_party/libero/libero/libero/envs/problems/__init__.py b/third_party/libero/libero/libero/envs/problems/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..055bd33546b74c917d2c0d7384967ec4eb8c3e2f --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/__init__.py @@ -0,0 +1,8 @@ +from .libero_tabletop_manipulation import Libero_Tabletop_Manipulation +from .libero_coffee_table_manipulation import Libero_Coffee_Table_Manipulation +from .libero_floor_manipulation import Libero_Floor_Manipulation +from .libero_study_tabletop_manipulation import Libero_Study_Tabletop_Manipulation +from .libero_living_room_tabletop_manipulation import ( + Libero_Living_Room_Tabletop_Manipulation, +) +from .libero_kitchen_tabletop_manipulation import Libero_Kitchen_Tabletop_Manipulation diff --git a/third_party/libero/libero/libero/envs/problems/libero_coffee_table_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_coffee_table_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..39f193a8f2d9ca023983c08dac20ab12e70d67b2 --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_coffee_table_manipulation.py @@ -0,0 +1,210 @@ +from robosuite.utils.mjcf_utils import new_site + +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Coffee_Table_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "coffee_table" + self.visualization_sites_list = [] + if "coffee_table_full_size" in kwargs: + self.coffee_table_full_size = coffee_table_full_size + else: + self.coffee_table_full_size = (0.70, 1.6, 0.024) + self.coffee_table_offset = (0, 0, 0.41) + # For z offset of environment fixtures + self.z_offset = 0.01 - self.coffee_table_full_size[2] + kwargs.update( + {"robots": [f"OnTheGround{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.coffee_table_offset}) + kwargs.update({"arena_type": "coffee_table"}) + kwargs.update( + { + "scene_xml": "scenes/libero_coffee_table_base_style.xml", + "scene_properties": { + "floor_style": "wood-plank", + "wall_style": "light-gray-plaster", + }, + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "coffee_table": + continue + + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "coffee_table" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2, + (ranges[3] + ranges[1]) / 2, + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + + mujoco_arena.coffee_table_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos, + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", pos=[1.5, 0.0, 0.9], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) + + # robosuite's default agentview camera configuration + mujoco_arena.set_camera( + camera_name="canonical_agentview", + pos=[0.5386131746834771, 0.0, 0.7903500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) diff --git a/third_party/libero/libero/libero/envs/problems/libero_floor_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_floor_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..c054c48912b95fddc3e4e2d713847eb692ba172a --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_floor_manipulation.py @@ -0,0 +1,209 @@ +from robosuite.utils.mjcf_utils import new_site + +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Floor_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "floor" + self.visualization_sites_list = [] + self.floor_offset = (0, 0, -0.035) + + self.z_offset = -0.025 + kwargs.update( + {"robots": [f"OnTheGround{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.floor_offset}) + kwargs.update({"arena_type": "floor"}) + + if "scene_xml" not in kwargs or kwargs["scene_xml"] is None: + kwargs.update({"scene_xml": "scenes/libero_floor_base_style.xml"}) + if "scene_properties" not in kwargs or kwargs["scene_properties"] is None: + kwargs.update( + { + "scene_properties": { + "floor_style": "light-gray", + "wall_style": "light-gray-plaster", + } + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "floor": + continue + + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "floor" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2, + (ranges[3] + ranges[1]) / 2, + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + + mujoco_arena.floor_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos, + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.8965773716836134, 5.216182733499864e-07, 0.65], + quat=[ + 0.6182166934013367, + 0.3432307541370392, + 0.3432314395904541, + 0.6182177066802979, + ], + ) + + # For visualization purpose + mujoco_arena.set_camera( + camera_name="frontview", pos=[1.0, 0.0, 0.65], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) diff --git a/third_party/libero/libero/libero/envs/problems/libero_kitchen_tabletop_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_kitchen_tabletop_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..a7fd5fb37ba5e92eddde309d12841f231ce51da5 --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_kitchen_tabletop_manipulation.py @@ -0,0 +1,218 @@ +from robosuite.utils.mjcf_utils import new_site + +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Kitchen_Tabletop_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "kitchen_table" + self.visualization_sites_list = [] + if "table_full_size" in kwargs: + self.kitchen_table_full_size = table_full_size + else: + self.kitchen_table_full_size = (1.0, 1.2, 0.05) + self.kitchen_table_offset = (0.0, 0, 0.90) + # For z offset of environment fixtures + self.z_offset = 0.01 - self.kitchen_table_full_size[2] + kwargs.update( + {"robots": [f"Mounted{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.kitchen_table_offset}) + kwargs.update({"arena_type": "kitchen"}) + if "scene_xml" not in kwargs or kwargs["scene_xml"] is None: + kwargs.update( + {"scene_xml": "scenes/libero_kitchen_tabletop_base_style.xml"} + ) + if "scene_properties" not in kwargs or kwargs["scene_properties"] is None: + kwargs.update( + { + "scene_properties": { + "floor_style": "gray-ceramic", + "wall_style": "yellow-linen", + } + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "kitchen_table": + continue + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "kitchen_table" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2 + self.workspace_offset[0], + (ranges[3] + ranges[1]) / 2 + self.workspace_offset[1], + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + z_offset=self.workspace_offset[2], + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + mujoco_arena.table_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos + np.array([0.0, 0.0, -0.90]), + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.6586131746834771, 0.0, 1.6103500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) + + # For visualization purpose + mujoco_arena.set_camera( + camera_name="frontview", pos=[1.0, 0.0, 1.48], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) + mujoco_arena.set_camera( + camera_name="paperview", + pos=[2.1, 0.535, 2.075], + quat=[0.513, 0.353, 0.443, 0.645], + ) diff --git a/third_party/libero/libero/libero/envs/problems/libero_living_room_tabletop_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_living_room_tabletop_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..3af12d6622a9ddcd02353cdce8dbbc8b0eae07a0 --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_living_room_tabletop_manipulation.py @@ -0,0 +1,218 @@ +from robosuite.utils.mjcf_utils import new_site + +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Living_Room_Tabletop_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "living_room_table" + self.visualization_sites_list = [] + if "living_room_table_full_size" in kwargs: + self.living_room_table_full_size = living_room_table_full_size + else: + self.living_room_table_full_size = (0.70, 1.6, 0.024) + self.living_room_table_offset = (0, 0, 0.41) + # For z offset of environment fixtures + self.z_offset = 0.01 - self.living_room_table_full_size[2] + kwargs.update( + {"robots": [f"OnTheGround{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.living_room_table_offset}) + kwargs.update({"arena_type": "living_room"}) + if "scene_xml" not in kwargs or kwargs["scene_xml"] is None: + kwargs.update( + {"scene_xml": "scenes/libero_living_room_tabletop_base_style.xml"} + ) + if "scene_properties" not in kwargs or kwargs["scene_properties"] is None: + kwargs.update( + { + "scene_properties": { + "floor_style": "wood-plank", + "wall_style": "light-gray-plaster", + } + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "living_room_table": + continue + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "living_room_table" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2 + self.workspace_offset[0], + (ranges[3] + ranges[1]) / 2 + self.workspace_offset[1], + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + z_offset=self.workspace_offset[2], + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + mujoco_arena.living_room_table_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos, + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.6065773716836134, 0.0, 0.96], + quat=[ + 0.6182166934013367, + 0.3432307541370392, + 0.3432314395904541, + 0.6182177066802979, + ], + ) + + # For visualization purpose + mujoco_arena.set_camera( + camera_name="frontview", pos=[1.5, 0.0, 0.9], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) + mujoco_arena.set_camera( + camera_name="paperview", + pos=[2.1, 0.735, 1.875], + quat=[0.513, 0.353, 0.443, 0.645], + ) diff --git a/third_party/libero/libero/libero/envs/problems/libero_study_tabletop_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_study_tabletop_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..c125d66cbeb4ca0b6bd1f51befbec1e0fd43f529 --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_study_tabletop_manipulation.py @@ -0,0 +1,221 @@ +from robosuite.utils.mjcf_utils import new_site + +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Study_Tabletop_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "study_table" + self.visualization_sites_list = [] + if "table_full_size" in kwargs: + self.study_table_full_size = table_full_size + else: + self.study_table_full_size = (1.0, 1.2, 0.05) + self.study_table_offset = (-0.2, 0, 0.867) + # For z offset of environment fixtures + self.z_offset = 0.01 - self.study_table_full_size[2] + kwargs.update( + {"robots": [f"Mounted{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.study_table_offset}) + kwargs.update({"arena_type": "study"}) + + if "scene_xml" not in kwargs or kwargs["scene_xml"] is None: + kwargs.update({"scene_xml": "scenes/libero_study_base_style.xml"}) + if "scene_properties" not in kwargs or kwargs["scene_properties"] is None: + kwargs.update( + { + "scene_properties": { + "floor_style": "light-gray", + "wall_style": "light-gray-plaster", + } + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "study_table": + continue + + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "study_table" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2 + self.workspace_offset[0], + (ranges[3] + ranges[1]) / 2 + self.workspace_offset[1], + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + z_offset=self.workspace_offset[2], + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + + mujoco_arena.table_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos, + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + # if not result: + # return False + # return True + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.4586131746834771, 0.0, 1.6103500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) + + # For visualization purpose + mujoco_arena.set_camera( + camera_name="frontview", pos=[1.0, 0.0, 1.48], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) + mujoco_arena.set_camera( + camera_name="paperview", + pos=[2.1, 0.535, 2.075], + quat=[0.513, 0.353, 0.443, 0.645], + ) diff --git a/third_party/libero/libero/libero/envs/problems/libero_tabletop_manipulation.py b/third_party/libero/libero/libero/envs/problems/libero_tabletop_manipulation.py new file mode 100644 index 0000000000000000000000000000000000000000..43cd4a8540bac703547c58e99c10c65b622f85b1 --- /dev/null +++ b/third_party/libero/libero/libero/envs/problems/libero_tabletop_manipulation.py @@ -0,0 +1,212 @@ +from robosuite.utils.mjcf_utils import new_site +from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem +from libero.libero.envs.robots import * +from libero.libero.envs.objects import * +from libero.libero.envs.predicates import * +from libero.libero.envs.regions import * +from libero.libero.envs.utils import rectangle2xyrange + + +@register_problem +class Libero_Tabletop_Manipulation(BDDLBaseDomain): + def __init__(self, bddl_file_name, *args, **kwargs): + self.workspace_name = "main_table" + self.visualization_sites_list = [] + if "table_full_size" in kwargs: + self.table_full_size = table_full_size + else: + self.table_full_size = (1.0, 1.2, 0.05) + self.table_offset = (0, 0, 0.90) + # For z offset of environment fixtures + self.z_offset = 0.01 - self.table_full_size[2] + kwargs.update( + {"robots": [f"Mounted{robot_name}" for robot_name in kwargs["robots"]]} + ) + kwargs.update({"workspace_offset": self.table_offset}) + kwargs.update({"arena_type": "table"}) + + if "scene_xml" not in kwargs or kwargs["scene_xml"] is None: + kwargs.update({"scene_xml": "scenes/libero_tabletop_base_style.xml"}) + if "scene_properties" not in kwargs or kwargs["scene_properties"] is None: + kwargs.update( + { + "scene_properties": { + "floor_style": "light-gray", + "wall_style": "light-gray-plaster", + } + } + ) + + super().__init__(bddl_file_name, *args, **kwargs) + + def _load_fixtures_in_arena(self, mujoco_arena): + """Nothing extra to load in this simple problem.""" + for fixture_category in list(self.parsed_problem["fixtures"].keys()): + if fixture_category == "table": + continue + + for fixture_instance in self.parsed_problem["fixtures"][fixture_category]: + self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)( + name=fixture_instance, + joints=None, + ) + + def _load_objects_in_arena(self, mujoco_arena): + objects_dict = self.parsed_problem["objects"] + for category_name in objects_dict.keys(): + for object_name in objects_dict[category_name]: + self.objects_dict[object_name] = get_object_fn(category_name)( + name=object_name + ) + + def _load_sites_in_arena(self, mujoco_arena): + # Create site objects + object_sites_dict = {} + region_dict = self.parsed_problem["regions"] + for object_region_name in list(region_dict.keys()): + + if "main_table" in object_region_name: + ranges = region_dict[object_region_name]["ranges"][0] + assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1] + zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2) + zone_centroid_xy = ( + (ranges[2] + ranges[0]) / 2, + (ranges[3] + ranges[1]) / 2, + ) + target_zone = TargetZone( + name=object_region_name, + rgba=region_dict[object_region_name]["rgba"], + zone_size=zone_size, + zone_centroid_xy=zone_centroid_xy, + ) + object_sites_dict[object_region_name] = target_zone + + mujoco_arena.table_body.append( + new_site( + name=target_zone.name, + pos=target_zone.pos, + quat=target_zone.quat, + rgba=target_zone.rgba, + size=target_zone.size, + type="box", + ) + ) + continue + # Otherwise the processing is consistent + for query_dict in [self.objects_dict, self.fixtures_dict]: + for (name, body) in query_dict.items(): + try: + if "worldbody" not in list(body.__dict__.keys()): + # This is a special case for CompositeObject, we skip this as this is very rare in our benchmark + continue + except: + continue + for part in body.worldbody.find("body").findall(".//body"): + sites = part.findall(".//site") + joints = part.findall("./joint") + if sites == []: + break + for site in sites: + site_name = site.get("name") + if site_name == object_region_name: + object_sites_dict[object_region_name] = SiteObject( + name=site_name, + parent_name=body.name, + joints=[joint.get("name") for joint in joints], + size=site.get("size"), + rgba=site.get("rgba"), + site_type=site.get("type"), + site_pos=site.get("pos"), + site_quat=site.get("quat"), + object_properties=body.object_properties, + ) + self.object_sites_dict = object_sites_dict + + # Keep track of visualization objects + for query_dict in [self.fixtures_dict, self.objects_dict]: + for name, body in query_dict.items(): + if body.object_properties["vis_site_names"] != {}: + self.visualization_sites_list.append(name) + + def _add_placement_initializer(self): + """Very simple implementation at the moment. Will need to upgrade for other relations later.""" + super()._add_placement_initializer() + + def _check_success(self): + """ + Check if the goal is achieved. Consider conjunction goals at the moment + """ + goal_state = self.parsed_problem["goal_state"] + result = True + for state in goal_state: + result = self._eval_predicate(state) and result + return result + + def _eval_predicate(self, state): + if len(state) == 3: + # Checking binary logical predicates + predicate_fn_name = state[0] + object_1_name = state[1] + object_2_name = state[2] + return eval_predicate_fn( + predicate_fn_name, + self.object_states_dict[object_1_name], + self.object_states_dict[object_2_name], + ) + elif len(state) == 2: + # Checking unary logical predicates + predicate_fn_name = state[0] + object_name = state[1] + return eval_predicate_fn( + predicate_fn_name, self.object_states_dict[object_name] + ) + + def _setup_references(self): + super()._setup_references() + + def _post_process(self): + super()._post_process() + + self.set_visualization() + + def set_visualization(self): + + for object_name in self.visualization_sites_list: + for _, (site_name, site_visible) in ( + self.get_object(object_name).object_properties["vis_site_names"].items() + ): + vis_g_id = self.sim.model.site_name2id(site_name) + if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or ( + (self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible + ): + # We toggle the alpha value + self.sim.model.site_rgba[vis_g_id][3] = ( + 1 - self.sim.model.site_rgba[vis_g_id][3] + ) + + def _setup_camera(self, mujoco_arena): + mujoco_arena.set_camera( + camera_name="agentview", + pos=[0.6586131746834771, 0.0, 1.6103500240372423], + quat=[ + 0.6380177736282349, + 0.3048497438430786, + 0.30484986305236816, + 0.6380177736282349, + ], + ) + + # For visualization purpose + mujoco_arena.set_camera( + camera_name="frontview", pos=[1.0, 0.0, 1.48], quat=[0.56, 0.43, 0.43, 0.56] + ) + mujoco_arena.set_camera( + camera_name="galleryview", + pos=[2.844547668904445, 2.1279684793440667, 3.128616846013882], + quat=[ + 0.42261379957199097, + 0.23374411463737488, + 0.41646939516067505, + 0.7702690958976746, + ], + ) diff --git a/third_party/libero/libero/libero/envs/regions/__init__.py b/third_party/libero/libero/libero/envs/regions/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ca824daf118f6f35af341e721ce8b702b84860ba --- /dev/null +++ b/third_party/libero/libero/libero/envs/regions/__init__.py @@ -0,0 +1,42 @@ +from .base_region_sampler import * +from .workspace_region_sampler import * +from .object_property_sampler import * + +""" + +Define different regions for different problem domains. + +Naming convention for registering region smapler: +key: lower-case naming, each word separated by hyphens +value: lower-case naming, {problem_name}.{region_sampler_class_name} + +""" +REGION_SAMPLERS = { + "libero_tabletop_manipulation": {"table": TableRegionSampler}, + "libero_floor_manipulation": {"floor": TableRegionSampler}, + "libero_coffee_table_manipulation": {"coffee_table": TableRegionSampler}, + "libero_living_room_tabletop_manipulation": { + "living_room_table": Libero100TableRegionSampler + }, + "libero_study_tabletop_manipulation": {"study_table": Libero100TableRegionSampler}, + "libero_kitchen_tabletop_manipulation": { + "kitchen_table": Libero100TableRegionSampler + }, +} + + +def update_region_samplers( + problem_name, region_sampler_name, region_sampler_class_name +): + """ + This is for registering customized region samplers without adding to / modifying original codebase. + """ + if problem_name not in REGION_SAMPLERS: + REGION_SAMPLERS[problem_name] = {} + REGION_SAMPLERS[problem_name][region_sampler_name] = eval( + f"{problem_name}.{region_sampler_class_name}" + ) + + +def get_region_samplers(problem_name, region_sampler_name): + return REGION_SAMPLERS[problem_name][region_sampler_name] diff --git a/third_party/libero/libero/libero/envs/regions/base_region_sampler.py b/third_party/libero/libero/libero/envs/regions/base_region_sampler.py new file mode 100644 index 0000000000000000000000000000000000000000..b2d9e8a7528defaf863ff0e2e3c42cc56d36f09f --- /dev/null +++ b/third_party/libero/libero/libero/envs/regions/base_region_sampler.py @@ -0,0 +1,804 @@ +import collections +import numpy as np +import os +import robosuite +import xml.etree.ElementTree as ET + +from copy import copy +from robosuite.utils.errors import RandomizationError +from robosuite.utils.placement_samplers import ObjectPositionSampler +from robosuite.utils.transform_utils import quat_multiply +import robosuite.utils.transform_utils as T + + +class MultiRegionRandomSampler(ObjectPositionSampler): + """ + Places all objects within the table uniformly random. + Args: + name (str): Name of this sampler. + mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models + x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects + y_range (2-array of float): Specify the (min, max) relative y_range used to uniformly place objects + rotation (None or float or Iterable): + :`None`: Add uniform random random rotation + :`Iterable (a,b)`: Uniformly randomize rotation angle between a and b (in radians) + :`value`: Add fixed angle rotation + rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation + ensure_object_boundary_in_range (bool): + :`True`: The center of object is at position: + [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)] + :`False`: + [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)] + ensure_valid_placement (bool): If True, will check for correct (valid) object placements + reference_pos (3-array): global (x,y,z) position relative to which sampling will occur + z_offset (float): Add a small z-offset to placements. This is useful for fixed objects + that do not move (i.e. no free joint) to place them above the table. + """ + + def __init__( + self, + name, + mujoco_objects=None, + x_ranges=[(0, 0)], + y_ranges=[(0, 0)], + rotation=None, + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.0, + ): + self.x_ranges = x_ranges + self.y_ranges = y_ranges + assert len(self.x_ranges) == len(self.y_ranges) + self.num_ranges = len(self.x_ranges) + self.rotation = rotation + self.rotation_axis = rotation_axis + self.idx = 0 + + super().__init__( + name=name, + mujoco_objects=mujoco_objects, + ensure_object_boundary_in_range=ensure_object_boundary_in_range, + ensure_valid_placement=ensure_valid_placement, + reference_pos=reference_pos, + z_offset=z_offset, + ) + + def _sample_x(self, object_horizontal_radius): + """ + Samples the x location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled x position + """ + minimum, maximum = self.x_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_y(self, object_horizontal_radius): + """ + Samples the y location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled y position + """ + minimum, maximum = self.y_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, collections.abc.Iterable): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + else: + rot_angle = self.rotation + + if self.rotation_axis == "x": + return np.array([np.cos(rot_angle / 2), np.sin(rot_angle / 2), 0, 0]) + elif self.rotation_axis == "y": + return np.array([np.cos(rot_angle / 2), 0, np.sin(rot_angle / 2), 0]) + elif self.rotation_axis == "z": + return np.array([np.cos(rot_angle / 2), 0, 0, np.sin(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + def sample(self, fixtures=None, reference=None, on_top=True): + """ + Uniformly sample relative to this sampler's reference_pos or @reference (if specified). + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. This corresponds to a sampled + z-offset of the current sampled object's bottom_offset + the reference object's top_offset + (if specified) + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + Raises: + RandomizationError: [Cannot place all objects] + AssertionError: [Reference object name does not exist, invalid inputs] + """ + # Standardize inputs + placed_objects = {} if fixtures is None else copy(fixtures) + if reference is None: + base_offset = self.reference_pos + elif type(reference) is str: + assert ( + reference in placed_objects + ), "Invalid reference received. Current options are: {}, requested: {}".format( + placed_objects.keys(), reference + ) + ref_pos, ref_quat, ref_obj = placed_objects[reference] + base_offset = np.array(ref_pos) + if on_top: + base_offset += np.array((0, 0, ref_obj.top_offset[-1])) + else: + base_offset = np.array(reference) + assert ( + base_offset.shape[0] == 3 + ), "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}".format( + base_offset + ) + + # Sample pos and quat for all objects assigned to this sampler + for obj in self.mujoco_objects: + # First make sure the currently sampled object hasn't already been sampled + assert ( + obj.name not in placed_objects + ), "Object '{}' has already been sampled!".format(obj.name) + + horizontal_radius = obj.horizontal_radius + bottom_offset = obj.bottom_offset + success = False + for i in range(5000): # 5000 retries + self.idx = np.random.randint(self.num_ranges) + object_x = self._sample_x(horizontal_radius) + base_offset[0] + object_y = self._sample_y(horizontal_radius) + base_offset[1] + object_z = self.z_offset + base_offset[2] + if on_top: + object_z -= bottom_offset[-1] + + # objects cannot overlap + location_valid = True + if self.ensure_valid_placement: + for (x, y, z), _, other_obj in placed_objects.values(): + if ( + np.linalg.norm((object_x - x, object_y - y)) + <= other_obj.horizontal_radius + horizontal_radius + ) and ( + object_z - z <= other_obj.top_offset[-1] - bottom_offset[-1] + ): + location_valid = False + break + + if location_valid: + # random rotation + quat = self._sample_quat() + + # multiply this quat by the object's initial rotation if it has the attribute specified + if hasattr(obj, "init_quat"): + quat = quat_multiply(quat, obj.init_quat) + + # location is valid, put the object down + pos = (object_x, object_y, object_z) + placed_objects[obj.name] = (pos, quat, obj) + success = True + break + + if not success: + raise RandomizationError("Cannot place all objects ):") + + return placed_objects + + +class SiteRegionRandomSampler(ObjectPositionSampler): + """ + Places all objects on a site + Args: + name (str): Name of this sampler. + mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models + x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects + y_range (2-array of float): Specify the (min, max) relative y_range used to uniformly place objects + rotation (None or float or Iterable): + :`None`: Add uniform random random rotation + :`Iterable (a,b)`: Uniformly randomize rotation angle between a and b (in radians) + :`value`: Add fixed angle rotation + rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation + ensure_object_boundary_in_range (bool): + :`True`: The center of object is at position: + [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)] + :`False`: + [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)] + ensure_valid_placement (bool): If True, will check for correct (valid) object placements + reference_pos (3-array): global (x,y,z) position relative to which sampling will occur + z_offset (float): Add a small z-offset to placements. This is useful for fixed objects + that do not move (i.e. no free joint) to place them above the table. + """ + + def __init__( + self, + name, + mujoco_objects=None, + x_ranges=[(0, 0)], + y_ranges=[(0, 0)], + rotation=None, + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.0, + sim=None, + ): + self.x_ranges = x_ranges + self.y_ranges = y_ranges + assert len(self.x_ranges) == len(self.y_ranges) + self.num_ranges = len(self.x_ranges) + self.rotation = rotation + self.rotation_axis = rotation_axis + self.idx = 0 + self.sim = sim + super().__init__( + name=name, + mujoco_objects=mujoco_objects, + ensure_object_boundary_in_range=ensure_object_boundary_in_range, + ensure_valid_placement=ensure_valid_placement, + reference_pos=reference_pos, + z_offset=z_offset, + ) + + def _sample_x(self, object_horizontal_radius): + """ + Samples the x location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled x position + """ + minimum, maximum = self.x_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_y(self, object_horizontal_radius): + """ + Samples the y location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled y position + """ + minimum, maximum = self.y_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Add multiple rotation options + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, tuple) or isinstance(self.rotation, list): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + # multiple rotations + elif isinstance(self.rotation, dict): + quat = np.array( + [0.0, 0.0, 0.0, 1.0] + ) # \theta=0, in robosuite, quat = (x, y, z), w + for i in range(len(self.rotation.keys())): + rotation_axis = list(self.rotation.keys())[i] + rot_angle = np.random.uniform( + high=max(self.rotation[rotation_axis]), + low=min(self.rotation[rotation_axis]), + ) + + if rotation_axis == "x": + current_quat = np.array( + [np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "y": + current_quat = np.array( + [0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "z": + current_quat = np.array( + [0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)] + ) + + quat = quat_multiply(current_quat, quat) + + return quat + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "y": + return np.array([0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "z": + return np.array([0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + def sample(self, sim, fixtures=None, reference=None, site_name="", on_top=True): + """ + Uniformly sample relative to this sampler's reference_pos or @reference (if specified). + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. This corresponds to a sampled + z-offset of the current sampled object's bottom_offset + the reference object's top_offset + (if specified) + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + Raises: + RandomizationError: [Cannot place all objects] + AssertionError: [Reference object name does not exist, invalid inputs] + """ + # Standardize inputs + placed_objects = {} if fixtures is None else copy(fixtures) + if reference is None: + base_offset = self.reference_pos + elif type(reference) is str: + assert ( + reference in placed_objects + ), "Invalid reference received. Current options are: {}, requested: {}".format( + placed_objects.keys(), reference + ) + ref_pos, ref_quat, ref_obj = placed_objects[reference] + base_offset = np.array(ref_pos) + if on_top: + base_offset += np.array((0, 0, ref_obj.top_offset[-1])) + else: + base_offset = np.array(reference) + assert ( + base_offset.shape[0] == 3 + ), "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}".format( + base_offset + ) + + # Sample pos and quat for all objects assigned to this sampler + for obj in self.mujoco_objects: + # First make sure the currently sampled object hasn't already been sampled + assert ( + obj.name not in placed_objects + ), "Object '{}' has already been sampled!".format(obj.name) + + horizontal_radius = obj.horizontal_radius + bottom_offset = obj.bottom_offset + success = False + site_x, site_y, site_z = T.quat2mat( + T.convert_quat(ref_quat, to="xyzw") + ) @ sim.data.get_site_xpos(site_name) + for i in range(5000): # 5000 retries + self.idx = np.random.randint(self.num_ranges) + object_x = self._sample_x(horizontal_radius) + base_offset[0] + site_x + object_y = self._sample_y(horizontal_radius) + base_offset[1] + site_y + object_z = self.z_offset + base_offset[2] + site_z + if on_top: + object_z -= bottom_offset[-1] + + # objects cannot overlap + location_valid = True + if self.ensure_valid_placement: + for (x, y, z), _, other_obj in placed_objects.values(): + if ( + np.linalg.norm((object_x - x, object_y - y)) + <= other_obj.horizontal_radius + horizontal_radius + ) and ( + object_z - z <= other_obj.top_offset[-1] - bottom_offset[-1] + ): + location_valid = False + break + + if location_valid: + # random rotation + quat = self._sample_quat() + # multiply this quat by the object's initial rotation if it has the attribute specified + if hasattr(obj, "init_quat"): + quat = quat_multiply(quat, obj.init_quat) + + # location is valid, put the object down + pos = (object_x, object_y, object_z) + placed_objects[obj.name] = (pos, quat, obj) + success = True + break + + if not success: + raise RandomizationError("Cannot place all objects ):") + + return placed_objects + + +class InSiteRegionRandomSampler(SiteRegionRandomSampler): + """ + Places an object inside a site + Args: + name (str): Name of this sampler. + mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models + x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects + y_range (2-array of float): Specify the (min, max) relative y_range used to uniformly place objects + rotation (None or float or Iterable): + :`None`: Add uniform random random rotation + :`Iterable (a,b)`: Uniformly randomize rotation angle between a and b (in radians) + :`value`: Add fixed angle rotation + rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation + ensure_object_boundary_in_range (bool): + :`True`: The center of object is at position: + [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)] + :`False`: + [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)] + ensure_valid_placement (bool): If True, will check for correct (valid) object placements + reference_pos (3-array): global (x,y,z) position relative to which sampling will occur + z_offset (float): Add a small z-offset to placements. This is useful for fixed objects + that do not move (i.e. no free joint) to place them above the table. + """ + + def __init__( + self, + name, + mujoco_objects=None, + x_ranges=[(0, 0)], + y_ranges=[(0, 0)], + rotation=None, + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.0, + ): + + super().__init__( + name=name, + mujoco_objects=mujoco_objects, + ensure_object_boundary_in_range=ensure_object_boundary_in_range, + x_ranges=x_ranges, + y_ranges=y_ranges, + rotation=rotation, + rotation_axis=rotation_axis, + ensure_valid_placement=ensure_valid_placement, + reference_pos=reference_pos, + z_offset=z_offset, + ) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Add multiple rotation options + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, tuple) or isinstance(self.rotation, list): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + # multiple rotations + elif isinstance(self.rotation, dict): + quat = np.array( + [0.0, 0.0, 0.0, 1.0] + ) # \theta=0, in robosuite, quat = (x, y, z), w + for i in range(len(self.rotation.keys())): + rotation_axis = list(self.rotation.keys())[i] + rot_angle = np.random.uniform( + high=max(self.rotation[rotation_axis]), + low=min(self.rotation[rotation_axis]), + ) + + if rotation_axis == "x": + current_quat = np.array( + [np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "y": + current_quat = np.array( + [0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "z": + current_quat = np.array( + [0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)] + ) + + quat = quat_multiply(current_quat, quat) + + return quat + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "y": + return np.array([0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "z": + return np.array([0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + def sample(self, sim, fixtures=None, reference=None, site_name="", on_top=True): + """ + Uniformly sample relative to this sampler's reference_pos or @reference (if specified). + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. This corresponds to a sampled + z-offset of the current sampled object's bottom_offset + the reference object's top_offset + (if specified) + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + Raises: + RandomizationError: [Cannot place all objects] + AssertionError: [Reference object name does not exist, invalid inputs] + """ + # Standardize inputs + placed_objects = {} if fixtures is None else copy(fixtures) + if reference is None: + base_offset = self.reference_pos + elif type(reference) is str: + assert ( + reference in placed_objects + ), "Invalid reference received. Current options are: {}, requested: {}".format( + placed_objects.keys(), reference + ) + ref_pos, ref_quat, ref_obj = placed_objects[reference] + base_offset = np.array(ref_pos) + # if on_top: + # base_offset += np.array((0, 0, ref_obj.top_offset[-1])) + else: + base_offset = np.array(reference) + assert ( + base_offset.shape[0] == 3 + ), "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}".format( + base_offset + ) + + # Sample pos and quat for all objects assigned to this sampler + for obj in self.mujoco_objects: + # First make sure the currently sampled object hasn't already been sampled + assert ( + obj.name not in placed_objects + ), "Object '{}' has already been sampled!".format(obj.name) + + horizontal_radius = obj.horizontal_radius + bottom_offset = obj.bottom_offset + success = False + site_x, site_y, site_z = T.quat2mat( + T.convert_quat(ref_quat, to="xyzw") + ) @ sim.data.get_site_xpos(site_name) + for i in range(5000): # 5000 retries + self.idx = np.random.randint(self.num_ranges) + object_x = self._sample_x(0) + base_offset[0] + site_x + object_y = self._sample_y(0) + base_offset[1] + site_y + object_z = self.z_offset + base_offset[2] + site_z + if on_top: + object_z -= bottom_offset[-1] + + # objects cannot overlap + location_valid = True + if self.ensure_valid_placement: + for (x, y, z), _, other_obj in placed_objects.values(): + if ( + np.linalg.norm((object_x - x, object_y - y)) + <= other_obj.horizontal_radius + horizontal_radius + ) and ( + object_z - z <= other_obj.top_offset[-1] - bottom_offset[-1] + ): + location_valid = False + break + + if location_valid: + # random rotation + quat = self._sample_quat() + + # multiply this quat by the object's initial rotation if it has the attribute specified + if hasattr(obj, "init_quat"): + quat = quat_multiply(quat, obj.init_quat) + + # location is valid, put the object down + pos = (object_x, object_y, object_z) + placed_objects[obj.name] = (pos, quat, obj) + success = True + break + + if not success: + import pdb + + pdb.set_trace() + raise RandomizationError("Cannot place all objects ):") + + return placed_objects + + +class SiteSequentialCompositeSampler(ObjectPositionSampler): + """ + Samples position for each object sequentially. Allows chaining + multiple placement initializers together - so that object locations can + be sampled on top of other objects or relative to other object placements. + Args: + name (str): Name of this sampler. + """ + + def __init__(self, name): + # Samplers / args will be filled in later + self.samplers = collections.OrderedDict() + self.sample_args = collections.OrderedDict() + + super().__init__(name=name) + + def append_sampler(self, sampler, sample_args=None): + """ + Adds a new placement initializer with corresponding @sampler and arguments + Args: + sampler (ObjectPositionSampler): sampler to add + sample_args (None or dict): If specified, should be additional arguments to pass to @sampler's sample() + call. Should map corresponding sampler's arguments to values (excluding @fixtures argument) + Raises: + AssertionError: [Object name in samplers] + """ + # Verify that all added mujoco objects haven't already been added, and add to this sampler's objects dict + for obj in sampler.mujoco_objects: + assert ( + obj not in self.mujoco_objects + ), f"Object '{obj.name}' already has sampler associated with it!" + self.mujoco_objects.append(obj) + self.samplers[sampler.name] = sampler + self.sample_args[sampler.name] = sample_args + + def hide(self, mujoco_objects): + """ + Helper method to remove an object from the workspace. + Args: + mujoco_objects (MujocoObject or list of MujocoObject): Object(s) to hide + """ + sampler = UniformRandomSampler( + name="HideSampler", + mujoco_objects=mujoco_objects, + x_range=[-10, -20], + y_range=[-10, -20], + rotation=[0, 0], + rotation_axis="z", + z_offset=10, + ensure_object_boundary_in_range=False, + ensure_valid_placement=False, + ) + self.append_sampler(sampler=sampler) + + def add_objects(self, mujoco_objects): + """ + Override super method to make sure user doesn't call this (all objects should implicitly belong to sub-samplers) + """ + raise AttributeError( + "add_objects() should not be called for SequentialCompsiteSamplers!" + ) + + def add_objects_to_sampler(self, sampler_name, mujoco_objects): + """ + Adds specified @mujoco_objects to sub-sampler with specified @sampler_name. + Args: + sampler_name (str): Existing sub-sampler name + mujoco_objects (MujocoObject or list of MujocoObject): Object(s) to add + """ + # First verify that all mujoco objects haven't already been added, and add to this sampler's objects dict + mujoco_objects = ( + [mujoco_objects] + if isinstance(mujoco_objects, MujocoObject) + else mujoco_objects + ) + for obj in mujoco_objects: + assert ( + obj not in self.mujoco_objects + ), f"Object '{obj.name}' already has sampler associated with it!" + self.mujoco_objects.append(obj) + # Make sure sampler_name exists + assert sampler_name in self.samplers.keys(), ( + "Invalid sub-sampler specified, valid options are: {}, " + "requested: {}".format(self.samplers.keys(), sampler_name) + ) + # Add the mujoco objects to the requested sub-sampler + self.samplers[sampler_name].add_objects(mujoco_objects) + + def reset(self): + """ + Resets this sampler. In addition to base method, iterates over all sub-samplers and resets them + """ + super().reset() + for sampler in self.samplers.values(): + sampler.reset() + + def sample(self, sim, fixtures=None, reference=None, on_top=True): + """ + Sample from each placement initializer sequentially, in the order + that they were appended. + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. This will override each + sampler's @reference argument if not already specified. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. This will override each + sampler's @on_top argument if not already specified. This corresponds to a sampled + z-offset of the current sampled object's bottom_offset + the reference object's top_offset + (if specified) + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + Raises: + RandomizationError: [Cannot place all objects] + """ + # Standardize inputs + placed_objects = {} if fixtures is None else copy(fixtures) + + # Iterate through all samplers to sample + for sampler, s_args in zip(self.samplers.values(), self.sample_args.values()): + # Pre-process sampler args + if s_args is None: + s_args = {} + for arg_name, arg in zip(("reference", "on_top"), (reference, on_top)): + if arg_name not in s_args: + s_args[arg_name] = arg + # Run sampler + new_placements = sampler.sample(sim=sim, fixtures=placed_objects, **s_args) + # Update placements + placed_objects.update(new_placements) + + return placed_objects diff --git a/third_party/libero/libero/libero/envs/regions/object_property_sampler.py b/third_party/libero/libero/libero/envs/regions/object_property_sampler.py new file mode 100644 index 0000000000000000000000000000000000000000..ef3b81ec9a2128d4e8428c181d1d1f6dc6488252 --- /dev/null +++ b/third_party/libero/libero/libero/envs/regions/object_property_sampler.py @@ -0,0 +1,117 @@ +import collections +import numpy as np +import os +import robosuite +import xml.etree.ElementTree as ET + +from copy import copy + +from robosuite.models.objects import MujocoObject + + +class ObjectPropertySampler: + """ + Base class of object placement sampler. + Args: + name (str): Name of this sampler. + mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models + ensure_object_boundary_in_range (bool): If True, will ensure that the object is enclosed within a given boundary + (should be implemented by subclass) + ensure_valid_placement (bool): If True, will check for correct (valid) object placements + reference_pos (3-array): global (x,y,z) position relative to which sampling will occur + z_offset (float): Add a small z-offset to placements. This is useful for fixed objects + that do not move (i.e. no free joint) to place them above the table. + """ + + def __init__( + self, + name, + mujoco_objects=None, + ): + # Setup attributes + self.name = name + if mujoco_objects is None: + self.mujoco_objects = [] + else: + # Shallow copy the list so we don't modify the inputted list but still keep the object references + self.mujoco_objects = ( + [mujoco_objects] + if isinstance(mujoco_objects, MujocoObject) + else copy(mujoco_objects) + ) + + def add_objects(self, mujoco_objects): + """ + Add additional objects to this sampler. Checks to make sure there's no identical objects already stored. + Args: + mujoco_objects (MujocoObject or list of MujocoObject): single model or list of MJCF object models + """ + mujoco_objects = ( + [mujoco_objects] + if isinstance(mujoco_objects, MujocoObject) + else mujoco_objects + ) + for obj in mujoco_objects: + assert ( + obj not in self.mujoco_objects + ), "Object '{}' already in sampler!".format(obj.name) + self.mujoco_objects.append(obj) + + def reset(self): + """ + Resets this sampler. Removes all mujoco objects from this sampler. + """ + self.mujoco_objects = [] + + def sample(self, predicate_name=None): + """ + Uniformly sample on a surface (not necessarily table surface). + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + """ + raise NotImplementedError + + +class OpenCloseSampler(ObjectPropertySampler): + def __init__( + self, + name, + state_type, + mujoco_objects=None, + joint_ranges=(0.0, 0.0), + ): + assert state_type in ["open", "close"] + self.state_type = state_type + self.joint_ranges = joint_ranges + assert self.joint_ranges[0] <= self.joint_ranges[1] + super().__init__(name, mujoco_objects) + + def sample(self): + return np.random.uniform(high=self.joint_ranges[1], low=self.joint_ranges[0]) + + +class TurnOnOffSampler(ObjectPropertySampler): + def __init__( + self, + name, + state_type, + mujoco_objects=None, + joint_ranges=(0.0, 0.0), + ): + assert state_type in ["turnon", "turnoff"] + self.state_type = state_type + self.joint_ranges = joint_ranges + assert self.joint_ranges[0] <= self.joint_ranges[1] + super().__init__(name, mujoco_objects) + + def sample(self): + return np.random.uniform(high=self.joint_ranges[1], low=self.joint_ranges[0]) diff --git a/third_party/libero/libero/libero/envs/regions/workspace_region_sampler.py b/third_party/libero/libero/libero/envs/regions/workspace_region_sampler.py new file mode 100644 index 0000000000000000000000000000000000000000..0972ea2df251deb1fa2c4fb400d06db2882243e3 --- /dev/null +++ b/third_party/libero/libero/libero/envs/regions/workspace_region_sampler.py @@ -0,0 +1,274 @@ +import numpy as np + +from .base_region_sampler import MultiRegionRandomSampler +from robosuite.utils.transform_utils import quat_multiply + + +class TableRegionSampler(MultiRegionRandomSampler): + def __init__( + self, + object_name, + mujoco_objects=None, + x_ranges=None, + y_ranges=None, + rotation=(np.pi / 2, np.pi / 2), + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.01, + ): + name = f"table-middle-{object_name}" + super().__init__( + object_name, + mujoco_objects, + x_ranges, + y_ranges, + rotation, + rotation_axis, + ensure_object_boundary_in_range, + ensure_valid_placement, + reference_pos, + z_offset, + ) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Add multiple rotation options + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, tuple) or isinstance(self.rotation, list): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + # multiple rotations + elif isinstance(self.rotation, dict): + quat = np.array( + [0.0, 0.0, 0.0, 1.0] + ) # \theta=0, in robosuite, quat = (x, y, z), w + for i in range(len(self.rotation.keys())): + rotation_axis = list(self.rotation.keys())[i] + rot_angle = np.random.uniform( + high=max(self.rotation[rotation_axis]), + low=min(self.rotation[rotation_axis]), + ) + + if rotation_axis == "x": + current_quat = np.array( + [np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "y": + current_quat = np.array( + [0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "z": + current_quat = np.array( + [0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)] + ) + + quat = quat_multiply(current_quat, quat) + + return quat + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "y": + return np.array([0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "z": + return np.array([0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + +class Libero100TableRegionSampler(MultiRegionRandomSampler): + def __init__( + self, + object_name, + mujoco_objects=None, + x_ranges=None, + y_ranges=None, + rotation=(np.pi / 2, np.pi / 2), + rotation_axis="z", + ensure_object_boundary_in_range=False, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.01, + ): + name = f"table-middle-{object_name}" + super().__init__( + object_name, + mujoco_objects, + x_ranges, + y_ranges, + rotation, + rotation_axis, + ensure_object_boundary_in_range, + ensure_valid_placement, + reference_pos, + z_offset, + ) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Add multiple rotation options + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, tuple) or isinstance(self.rotation, list): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + # multiple rotations + elif isinstance(self.rotation, dict): + quat = np.array( + [0.0, 0.0, 0.0, 1.0] + ) # \theta=0, in robosuite, quat = (x, y, z), w + for i in range(len(self.rotation.keys())): + rotation_axis = list(self.rotation.keys())[i] + rot_angle = np.random.uniform( + high=max(self.rotation[rotation_axis]), + low=min(self.rotation[rotation_axis]), + ) + + if rotation_axis == "x": + current_quat = np.array( + [np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "y": + current_quat = np.array( + [0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "z": + current_quat = np.array( + [0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)] + ) + + quat = quat_multiply(current_quat, quat) + + return quat + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "y": + return np.array([0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "z": + return np.array([0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + +class ObjectBasedSampler(MultiRegionRandomSampler): + def __init__( + self, + object_name, + mujoco_objects=None, + x_ranges=None, + y_ranges=None, + rotation=(np.pi / 2, np.pi / 2), + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.01, + ): + name = f"table-middle-{object_name}" + super().__init__( + object_name, + mujoco_objects, + x_ranges, + y_ranges, + rotation, + rotation_axis, + ensure_object_boundary_in_range, + ensure_valid_placement, + reference_pos, + z_offset, + ) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Add multiple rotation options + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, tuple) or isinstance(self.rotation, list): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + # multiple rotations + elif isinstance(self.rotation, dict): + quat = np.array( + [0.0, 0.0, 0.0, 1.0] + ) # \theta=0, in robosuite, quat = (x, y, z), w + for i in range(len(self.rotation.keys())): + rotation_axis = list(self.rotation.keys())[i] + rot_angle = np.random.uniform( + high=max(self.rotation[rotation_axis]), + low=min(self.rotation[rotation_axis]), + ) + + if rotation_axis == "x": + current_quat = np.array( + [np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "y": + current_quat = np.array( + [0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)] + ) + elif rotation_axis == "z": + current_quat = np.array( + [0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)] + ) + + quat = quat_multiply(current_quat, quat) + + return quat + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.sin(rot_angle / 2), 0, 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "y": + return np.array([0, np.sin(rot_angle / 2), 0, np.cos(rot_angle / 2)]) + elif self.rotation_axis == "z": + return np.array([0, 0, np.sin(rot_angle / 2), np.cos(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) diff --git a/third_party/libero/libero/libero/envs/robots/__init__.py b/third_party/libero/libero/libero/envs/robots/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..41071c7516f0e29574f9e74a86c0e91c5815d556 --- /dev/null +++ b/third_party/libero/libero/libero/envs/robots/__init__.py @@ -0,0 +1,12 @@ +from .mounted_panda import MountedPanda +from .on_the_ground_panda import OnTheGroundPanda + +from robosuite.robots.single_arm import SingleArm +from robosuite.robots import ROBOT_CLASS_MAPPING + +ROBOT_CLASS_MAPPING.update( + { + "MountedPanda": SingleArm, + "OnTheGroundPanda": SingleArm, + } +) diff --git a/third_party/libero/libero/libero/envs/robots/mounted_panda.py b/third_party/libero/libero/libero/envs/robots/mounted_panda.py new file mode 100644 index 0000000000000000000000000000000000000000..6c21f872853767c1f6ea0f6995e29cf1a662f5da --- /dev/null +++ b/third_party/libero/libero/libero/envs/robots/mounted_panda.py @@ -0,0 +1,60 @@ +import numpy as np + +from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel +from robosuite.utils.mjcf_utils import xml_path_completion + + +class MountedPanda(ManipulatorModel): + """ + Panda is a sensitive single-arm robot designed by Franka. + Args: + idn (int or str): Number or some other unique identification string for this robot instance + """ + + def __init__(self, idn=0): + super().__init__(xml_path_completion("robots/panda/robot.xml"), idn=idn) + + # Set joint damping + self.set_joint_attribute( + attrib="damping", values=np.array((0.1, 0.1, 0.1, 0.1, 0.1, 0.01, 0.01)) + ) + + @property + def default_mount(self): + return "RethinkMount" + + @property + def default_gripper(self): + return "PandaGripper" + + @property + def default_controller_config(self): + return "default_panda" + + @property + def init_qpos(self): + return np.array( + [0, -1.61037389e-01, 0.00, -2.44459747e00, 0.00, 2.22675220e00, np.pi / 4] + ) + + @property + def base_xpos_offset(self): + return { + "bins": (-0.5, -0.1, 0), + "empty": (-0.6, 0, 0), + "table": lambda table_length: (-0.16 - table_length / 2, 0, 0), + "study_table": lambda table_length: (-0.25 - table_length / 2, 0, 0), + "kitchen_table": lambda table_length: (-0.16 - table_length / 2, 0, 0), + } + + @property + def top_offset(self): + return np.array((0, 0, 1.0)) + + @property + def _horizontal_radius(self): + return 0.5 + + @property + def arm_type(self): + return "single" diff --git a/third_party/libero/libero/libero/envs/robots/on_the_ground_panda.py b/third_party/libero/libero/libero/envs/robots/on_the_ground_panda.py new file mode 100644 index 0000000000000000000000000000000000000000..f7a8c55178fa647c6d4b6102d0ca4bc7f6c9aeaf --- /dev/null +++ b/third_party/libero/libero/libero/envs/robots/on_the_ground_panda.py @@ -0,0 +1,64 @@ +import numpy as np + +from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel +from robosuite.utils.mjcf_utils import xml_path_completion + + +class OnTheGroundPanda(ManipulatorModel): + """ + Panda is a sensitive single-arm robot designed by Franka. + Args: + idn (int or str): Number or some other unique identification string for this robot instance + """ + + def __init__(self, idn=0): + super().__init__(xml_path_completion("robots/panda/robot.xml"), idn=idn) + + # Set joint damping + self.set_joint_attribute( + attrib="damping", values=np.array((0.1, 0.1, 0.1, 0.1, 0.1, 0.01, 0.01)) + ) + + @property + def default_mount(self): + return None + + @property + def default_gripper(self): + return "PandaGripper" + + @property + def default_controller_config(self): + return "default_panda" + + @property + def init_qpos(self): + return np.array( + [0, -1.61037389e-01, 0.00, -2.44459747e00, 0.00, 2.22675220e00, np.pi / 4] + ) + + @property + def base_xpos_offset(self): + return { + "bins": (-0.5, -0.1, 0), + "empty": (-0.6, 0, 0), + "table": lambda table_length: (-0.16 - table_length / 2, 0, 0), + "coffee_table": lambda table_length: (-0.16 - table_length / 2, 0, 0.41), + "living_room_table": lambda table_length: ( + -0.16 - table_length / 2, + 0, + 0.42, + ), + } + + @property + def top_offset(self): + return np.array((0, 0, 1.0)) + + @property + def _horizontal_radius(self): + return 0.5 + + @property + def arm_type(self): + return "single" diff --git a/third_party/libero/libero/libero/envs/textures.py b/third_party/libero/libero/libero/envs/textures.py new file mode 100644 index 0000000000000000000000000000000000000000..de8bfdac3e89c290734055af5877c8375c456199 --- /dev/null +++ b/third_party/libero/libero/libero/envs/textures.py @@ -0,0 +1,69 @@ +import os +from libero.libero import get_libero_path + +# This is the mapping from texture name to texture file name. Currently this has some duplication with style.py. We will fix this in the future. + +TEXTURE_MAPPING = { + "Porcelain_Floor_1": "grigia_caldera_porcelain_floor.png", + "Gray_Plaster_1": "gray_plaster.png", + "Marble_Floor_1": "marble_floor.png", + "Gray_Floor_1": "gray_floor.png", + "Blue_Wall_1": "dark_blue_wall.png", + "White_Marble_Floor_1": "white_marble_floor.png", + "Gray_Plaster_2": "new_light_gray_plaster.png", + "Wood_Floor_1": "seamless_wood_planks_floor.png", + "Rustic_Floor_1": "rustic_floor.png", + "Gray_Plaster_3": "light-gray-plaster.png", + "Light_Floor_1": "light_floor.png", + "Blue_Wall_2": "canvas_sky_blue.png", + "Dark_Floor_1": "dark_floor_texture.png", + "Beige_Plaster_1": "meeka-beige-plaster.png", + "Gray_Plaster_4": "dark_gray_plaster.png", + "Stucco_Wall_1": "stucco_wall.png", + "Light_Gray_Floor_1": "light-gray-floor-tile.png", + "Wood_Table_1": "martin_novak_wood_table.png", + "Sky_Image_1": "capriccio_sky.png", + "Gray_Ceramic_Tile_1": "gray_ceramic_tile.png", + "Yellow_Linen_Wall_Texture_1": "yellow_linen_wall_texture.png", + "Gray_Floor_2": "dapper_gray_floor.png", + "Ceramic_1": "ceramic.png", + "Cream_Plaster_1": "cream-plaster.png", + "Gray_Plaster_5": "smooth_light_gray_plaster.png", + "White_Wall_1": "white_wall.png", + "Blue_Wall_3": "light_blue_wall.png", + "Porcelain_Floor_2": "tile_grigia_caldera_porcelain_floor.png", + "Brown_Ceramic_Tile_1": "brown_ceramic_tile.png", + "Gray_Wall_1": "gray_wall.png", + "Kona_Gotham_1": "kona_gotham.png", + "Gray_Plaster_6": "light_gray_plaster.png", + "Green_Plaster_Wall_1": "dark_green_plaster_wall.png", + "Gray_Plaster_7": "light_grey_plaster.png", + "Wood_Table_2": "table_light_wood.png", +} + + +def get_texture_file_list(type=None, texture_path="../"): + texture_mapping_dict = {} + path = os.path.join(texture_path, "textures") + for (key, value) in sorted(TEXTURE_MAPPING.items()): + if type.lower() == "table": + # Only those with "table" in the name or no other element name will be included + if "table" in key.lower() or ( + "wall" not in key.lower() and "floor" not in key.lower() + ): + texture_mapping_dict[key] = value + elif type.lower() == "wall": + if "wall" in key.lower() or ( + "table" not in key.lower() and "floor" not in key.lower() + ): + texture_mapping_dict[key] = value + elif type.lower() == "floor": + if "floor" in key.lower() or ( + "wall" not in key.lower() and "table" not in key.lower() + ): + texture_mapping_dict[key] = value + + texture_list = [] + for key, value in texture_mapping_dict.items(): + texture_list.append((key, os.path.join(path, value))) + return texture_list diff --git a/third_party/libero/libero/libero/envs/utils.py b/third_party/libero/libero/libero/envs/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..2a43b73a2825d60db8065db2cc0ae44fa7b5353b --- /dev/null +++ b/third_party/libero/libero/libero/envs/utils.py @@ -0,0 +1,289 @@ +import collections +import numpy as np +import os +import robosuite +import xml.etree.ElementTree as ET + +from copy import copy +from robosuite.utils.mjcf_utils import find_elements, xml_path_completion +from robosuite.utils.placement_samplers import ObjectPositionSampler + + +class MultiRegionRandomSampler(ObjectPositionSampler): + """ + Places all objects within the table uniformly random. + Args: + name (str): Name of this sampler. + mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models + x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects + y_range (2-array of float): Specify the (min, max) relative y_range used to uniformly place objects + rotation (None or float or Iterable): + :`None`: Add uniform random random rotation + :`Iterable (a,b)`: Uniformly randomize rotation angle between a and b (in radians) + :`value`: Add fixed angle rotation + rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation + ensure_object_boundary_in_range (bool): + :`True`: The center of object is at position: + [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)] + :`False`: + [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)] + ensure_valid_placement (bool): If True, will check for correct (valid) object placements + reference_pos (3-array): global (x,y,z) position relative to which sampling will occur + z_offset (float): Add a small z-offset to placements. This is useful for fixed objects + that do not move (i.e. no free joint) to place them above the table. + """ + + def __init__( + self, + name, + mujoco_objects=None, + x_ranges=[(0, 0)], + y_ranges=[(0, 0)], + rotation=None, + rotation_axis="z", + ensure_object_boundary_in_range=True, + ensure_valid_placement=True, + reference_pos=(0, 0, 0), + z_offset=0.0, + ): + self.x_ranges = x_ranges + self.y_ranges = y_ranges + assert len(self.x_ranges) == len(self.y_ranges) + self.num_ranges = len(self.x_ranges) + self.idx = 0 + self.rotation = rotation + self.rotation_axis = rotation_axis + self.idx = 0 + + super().__init__( + name=name, + mujoco_objects=mujoco_objects, + ensure_object_boundary_in_range=ensure_object_boundary_in_range, + ensure_valid_placement=ensure_valid_placement, + reference_pos=reference_pos, + z_offset=z_offset, + ) + + def _sample_x(self, object_horizontal_radius): + """ + Samples the x location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled x position + """ + minimum, maximum = self.x_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_y(self, object_horizontal_radius): + """ + Samples the y location for a given object + Args: + object_horizontal_radius (float): Radius of the object currently being sampled for + Returns: + float: sampled y position + """ + minimum, maximum = self.y_ranges[self.idx] + if self.ensure_object_boundary_in_range: + minimum += object_horizontal_radius + maximum -= object_horizontal_radius + return np.random.uniform(high=maximum, low=minimum) + + def _sample_quat(self): + """ + Samples the orientation for a given object + Returns: + np.array: sampled (r,p,y) euler angle orientation + Raises: + ValueError: [Invalid rotation axis] + """ + if self.rotation is None: + rot_angle = np.random.uniform(high=2 * np.pi, low=0) + elif isinstance(self.rotation, collections.Iterable): + rot_angle = np.random.uniform( + high=max(self.rotation), low=min(self.rotation) + ) + else: + rot_angle = self.rotation + + # Return angle based on axis requested + if self.rotation_axis == "x": + return np.array([np.cos(rot_angle / 2), np.sin(rot_angle / 2), 0, 0]) + elif self.rotation_axis == "y": + return np.array([np.cos(rot_angle / 2), 0, np.sin(rot_angle / 2), 0]) + elif self.rotation_axis == "z": + return np.array([np.cos(rot_angle / 2), 0, 0, np.sin(rot_angle / 2)]) + else: + # Invalid axis specified, raise error + raise ValueError( + "Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format( + self.rotation_axis + ) + ) + + def sample(self, fixtures=None, reference=None, on_top=True): + """ + Uniformly sample relative to this sampler's reference_pos or @reference (if specified). + Args: + fixtures (dict): dictionary of current object placements in the scene as well as any other relevant + obstacles that should not be in contact with newly sampled objects. Used to make sure newly + generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject) + reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which + corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample + relative to this sampler's `'reference_pos'` value. + on_top (bool): if True, sample placement on top of the reference object. This corresponds to a sampled + z-offset of the current sampled object's bottom_offset + the reference object's top_offset + (if specified) + Return: + dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the + placements specified in @fixtures. Note quat is in (w,x,y,z) form + Raises: + RandomizationError: [Cannot place all objects] + AssertionError: [Reference object name does not exist, invalid inputs] + """ + # Standardize inputs + placed_objects = {} if fixtures is None else copy(fixtures) + if reference is None: + base_offset = self.reference_pos + elif type(reference) is str: + assert ( + reference in placed_objects + ), "Invalid reference received. Current options are: {}, requested: {}".format( + placed_objects.keys(), reference + ) + ref_pos, _, ref_obj = placed_objects[reference] + base_offset = np.array(ref_pos) + if on_top: + base_offset += np.array((0, 0, ref_obj.top_offset[-1])) + else: + base_offset = np.array(reference) + assert ( + base_offset.shape[0] == 3 + ), "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}".format( + base_offset + ) + + # Sample pos and quat for all objects assigned to this sampler + for obj in self.mujoco_objects: + # First make sure the currently sampled object hasn't already been sampled + assert ( + obj.name not in placed_objects + ), "Object '{}' has already been sampled!".format(obj.name) + + horizontal_radius = obj.horizontal_radius + bottom_offset = obj.bottom_offset + success = False + for i in range(5000): # 5000 retries + self.idx = np.random.randint(self.num_ranges) + object_x = self._sample_x(horizontal_radius) + base_offset[0] + object_y = self._sample_y(horizontal_radius) + base_offset[1] + object_z = self.z_offset + base_offset[2] + if on_top: + object_z -= bottom_offset[-1] + + # objects cannot overlap + location_valid = True + if self.ensure_valid_placement: + for (x, y, z), _, other_obj in placed_objects.values(): + if ( + np.linalg.norm((object_x - x, object_y - y)) + <= other_obj.horizontal_radius + horizontal_radius + ) and ( + object_z - z <= other_obj.top_offset[-1] - bottom_offset[-1] + ): + location_valid = False + break + + if location_valid: + # random rotation + quat = self._sample_quat() + + # multiply this quat by the object's initial rotation if it has the attribute specified + if hasattr(obj, "init_quat"): + quat = quat_multiply(quat, obj.init_quat) + + # location is valid, put the object down + pos = (object_x, object_y, object_z) + + placed_objects[obj.name] = (pos, quat, obj) + success = True + break + + if not success: + raise RandomizationError("Cannot place all objects ):") + # print(placed_objects) + return placed_objects + + +def postprocess_model_xml(xml_str, cameras_dict={}, demo_generation=False): + """ + This function postprocesses the model.xml collected from a MuJoCo demonstration + in order to make sure that the STL files can be found. + + Args: + xml_str (str): Mujoco sim demonstration XML file as string + + Returns: + str: Post-processed xml file as string + """ + + path = os.path.split(robosuite.__file__)[0] + path_split = path.split("/") + + # replace mesh and texture file paths + tree = ET.fromstring(xml_str) + root = tree + asset = root.find("asset") + meshes = asset.findall("mesh") + textures = asset.findall("texture") + all_elements = meshes + textures + + # also replace paths for libero + libero_path = os.getcwd() + "/libero" + libero_path_split = libero_path.split("/") + + for elem in all_elements: + old_path = elem.get("file") + if old_path is None: + continue + old_path_split = old_path.split("/") + if "robosuite" in old_path_split: + ind = max( + loc for loc, val in enumerate(old_path_split) if val == "robosuite" + ) # last occurrence index + new_path_split = path_split + old_path_split[ind + 1 :] + new_path = "/".join(new_path_split) + elem.set("file", new_path) + elif "libero" in old_path_split and demo_generation: + ind = max( + loc for loc, val in enumerate(old_path_split) if val == "libero" + ) # last occurrence index + new_path_split = libero_path_split + old_path_split[ind + 1 :] + new_path = "/".join(new_path_split) + elem.set("file", new_path) + else: + continue + + # cameras = root.find("worldbody").findall("camera") + cameras = find_elements(root=tree, tags="camera", return_first=False) + for camera in cameras: + camera_name = camera.get("name") + if camera_name in cameras_dict: + camera.set("name", camera_name) + camera.set("pos", cameras_dict[camera_name]["pos"]) + camera.set("quat", cameras_dict[camera_name]["quat"]) + camera.set("mode", "fixed") + + return ET.tostring(root, encoding="utf8").decode("utf8") + + +def rectangle2xyrange(rect_ranges): + x_ranges = [] + y_ranges = [] + for rect_range in rect_ranges: + x_ranges.append([rect_range[0], rect_range[2]]) + y_ranges.append([rect_range[1], rect_range[3]]) + return x_ranges, y_ranges diff --git a/third_party/libero/libero/libero/envs/venv.py b/third_party/libero/libero/libero/envs/venv.py new file mode 100644 index 0000000000000000000000000000000000000000..ed1fd4025bef5e81fdf5dae6b4f36fd331c4bf45 --- /dev/null +++ b/third_party/libero/libero/libero/envs/venv.py @@ -0,0 +1,972 @@ +import cloudpickle +import ctypes +import gym +import numpy as np +import numpy as np +import warnings +import time + +from abc import ABC, abstractmethod +from collections import OrderedDict +from multiprocessing import Array, Pipe, connection +from multiprocessing.context import Process +from typing import Any, Callable, List, Optional, Tuple, Union + + +gym_old_venv_step_type = Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray] +gym_new_venv_step_type = Tuple[ + np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray +] +warnings.simplefilter("once", DeprecationWarning) +_NP_TO_CT = { + np.bool_: ctypes.c_bool, + np.uint8: ctypes.c_uint8, + np.uint16: ctypes.c_uint16, + np.uint32: ctypes.c_uint32, + np.uint64: ctypes.c_uint64, + np.int8: ctypes.c_int8, + np.int16: ctypes.c_int16, + np.int32: ctypes.c_int32, + np.int64: ctypes.c_int64, + np.float32: ctypes.c_float, + np.float64: ctypes.c_double, +} + + +def deprecation(msg: str) -> None: + """Deprecation warning wrapper.""" + warnings.warn(msg, category=DeprecationWarning, stacklevel=2) + + +class CloudpickleWrapper(object): + """A cloudpickle wrapper used in SubprocVectorEnv.""" + + def __init__(self, data: Any) -> None: + self.data = data + + def __getstate__(self) -> str: + return cloudpickle.dumps(self.data) + + def __setstate__(self, data: str) -> None: + self.data = cloudpickle.loads(data) + + +GYM_RESERVED_KEYS = [ + "metadata", + "reward_range", + "spec", + "action_space", + "observation_space", +] + + +################################################################################ +# +# Workers +# +################################################################################ + + +class EnvWorker(ABC): + """An abstract worker for an environment.""" + + def __init__(self, env_fn: Callable[[], gym.Env]) -> None: + self._env_fn = env_fn + self.is_closed = False + self.result: Union[ + gym_old_venv_step_type, + gym_new_venv_step_type, + Tuple[np.ndarray, dict], + np.ndarray, + ] + # self.action_space = self.get_env_attr("action_space") # noqa: B009 + self.is_reset = False + + @abstractmethod + def get_env_attr(self, key: str) -> Any: + pass + + @abstractmethod + def set_env_attr(self, key: str, value: Any) -> None: + pass + + def send(self, action: Optional[np.ndarray]) -> None: + """Send action signal to low-level worker. + + When action is None, it indicates sending "reset" signal; otherwise + it indicates "step" signal. The paired return value from "recv" + function is determined by such kind of different signal. + """ + if hasattr(self, "send_action"): + deprecation( + "send_action will soon be deprecated. " + "Please use send and recv for your own EnvWorker." + ) + if action is None: + self.is_reset = True + self.result = self.reset() + else: + self.is_reset = False + self.send_action(action) + + def recv( + self, + ) -> Union[ + gym_old_venv_step_type, + gym_new_venv_step_type, + Tuple[np.ndarray, dict], + np.ndarray, + ]: # noqa:E125 + """Receive result from low-level worker. + + If the last "send" function sends a NULL action, it only returns a + single observation; otherwise it returns a tuple of (obs, rew, done, + info) or (obs, rew, terminated, truncated, info), based on whether + the environment is using the old step API or the new one. + """ + if hasattr(self, "get_result"): + deprecation( + "get_result will soon be deprecated. " + "Please use send and recv for your own EnvWorker." + ) + if not self.is_reset: + self.result = self.get_result() + return self.result + + @abstractmethod + def reset(self, **kwargs: Any) -> Union[np.ndarray, Tuple[np.ndarray, dict]]: + pass + + def step( + self, action: np.ndarray + ) -> Union[gym_old_venv_step_type, gym_new_venv_step_type]: + """Perform one timestep of the environment's dynamic. + + "send" and "recv" are coupled in sync simulation, so users only call + "step" function. But they can be called separately in async + simulation, i.e. someone calls "send" first, and calls "recv" later. + """ + self.send(action) + return self.recv() # type: ignore + + @staticmethod + def wait( + workers: List["EnvWorker"], wait_num: int, timeout: Optional[float] = None + ) -> List["EnvWorker"]: + """Given a list of workers, return those ready ones.""" + raise NotImplementedError + + def seed(self, seed: Optional[int] = None) -> Optional[List[int]]: + # return self.action_space.seed(seed) # issue 299 + pass + + @abstractmethod + def render(self, **kwargs: Any) -> Any: + """Render the environment.""" + pass + + @abstractmethod + def close_env(self) -> None: + pass + + def close(self) -> None: + if self.is_closed: + return None + self.is_closed = True + self.close_env() + + +class ShArray: + """Wrapper of multiprocessing Array.""" + + def __init__(self, dtype: np.generic, shape: Tuple[int]) -> None: + self.arr = Array(_NP_TO_CT[dtype.type], int(np.prod(shape))) # type: ignore + self.dtype = dtype + self.shape = shape + + def save(self, ndarray: np.ndarray) -> None: + assert isinstance(ndarray, np.ndarray) + dst = self.arr.get_obj() + dst_np = np.frombuffer(dst, dtype=self.dtype).reshape( + self.shape + ) # type: ignore + np.copyto(dst_np, ndarray) + + def get(self) -> np.ndarray: + obj = self.arr.get_obj() + return np.frombuffer(obj, dtype=self.dtype).reshape(self.shape) # type: ignore + + +def _setup_buf(space: gym.Space) -> Union[dict, tuple, ShArray]: + if isinstance(space, gym.spaces.Dict): + assert isinstance(space.spaces, OrderedDict) + return {k: _setup_buf(v) for k, v in space.spaces.items()} + elif isinstance(space, gym.spaces.Tuple): + assert isinstance(space.spaces, tuple) + return tuple([_setup_buf(t) for t in space.spaces]) + else: + return ShArray(space.dtype, space.shape) # type: ignore + + +def _worker( + parent: connection.Connection, + p: connection.Connection, + env_fn_wrapper: CloudpickleWrapper, + obs_bufs: Optional[Union[dict, tuple, ShArray]] = None, +) -> None: + def _encode_obs( + obs: Union[dict, tuple, np.ndarray], buffer: Union[dict, tuple, ShArray] + ) -> None: + if isinstance(obs, np.ndarray) and isinstance(buffer, ShArray): + buffer.save(obs) + elif isinstance(obs, tuple) and isinstance(buffer, tuple): + for o, b in zip(obs, buffer): + _encode_obs(o, b) + elif isinstance(obs, dict) and isinstance(buffer, dict): + for k in obs.keys(): + _encode_obs(obs[k], buffer[k]) + return None + + parent.close() + env = env_fn_wrapper.data() + try: + while True: + try: + cmd, data = p.recv() + except EOFError: # the pipe has been closed + p.close() + break + if cmd == "step": + env_return = env.step(data) + if obs_bufs is not None: + _encode_obs(env_return[0], obs_bufs) + env_return = (None, *env_return[1:]) + p.send(env_return) + elif cmd == "reset": + retval = env.reset(**data) + reset_returns_info = ( + isinstance(retval, (tuple, list)) + and len(retval) == 2 + and isinstance(retval[1], dict) + ) + if reset_returns_info: + obs, info = retval + else: + obs = retval + if obs_bufs is not None: + _encode_obs(obs, obs_bufs) + obs = None + if reset_returns_info: + p.send((obs, info)) + else: + p.send(obs) + elif cmd == "close": + p.send(env.close()) + p.close() + break + elif cmd == "render": + p.send(env.render(**data) if hasattr(env, "render") else None) + elif cmd == "seed": + if hasattr(env, "seed"): + p.send(env.seed(data)) + else: + env.reset(seed=data) + p.send(None) + elif cmd == "getattr": + p.send(getattr(env, data) if hasattr(env, data) else None) + elif cmd == "setattr": + setattr(env.unwrapped, data["key"], data["value"]) + elif cmd == "check_success": + p.send(env.check_success()) + elif cmd == "get_segmentation_of_interest": + p.send(env.get_segmentation_of_interest(data)) + elif cmd == "get_sim_state": + p.send(env.get_sim_state()) + elif cmd == "set_init_state": + obs = env.set_init_state(data) + p.send(obs) + else: + p.close() + raise NotImplementedError + except KeyboardInterrupt: + p.close() + + +class DummyEnvWorker(EnvWorker): + """Dummy worker used in sequential vector environments.""" + + def __init__(self, env_fn: Callable[[], gym.Env]) -> None: + self.env = env_fn() + super().__init__(env_fn) + + def get_env_attr(self, key: str) -> Any: + return getattr(self.env, key) + + def set_env_attr(self, key: str, value: Any) -> None: + setattr(self.env.unwrapped, key, value) + + def reset(self, **kwargs: Any) -> Union[np.ndarray, Tuple[np.ndarray, dict]]: + if "seed" in kwargs: + super().seed(kwargs["seed"]) + return self.env.reset(**kwargs) + + @staticmethod + def wait( # type: ignore + workers: List["DummyEnvWorker"], wait_num: int, timeout: Optional[float] = None + ) -> List["DummyEnvWorker"]: + # Sequential EnvWorker objects are always ready + return workers + + def send(self, action: Optional[np.ndarray], **kwargs: Any) -> None: + if action is None: + self.result = self.env.reset(**kwargs) + else: + self.result = self.env.step(action) # type: ignore + + def seed(self, seed: Optional[int] = None) -> Optional[List[int]]: + super().seed(seed) + try: + return self.env.seed(seed) # type: ignore + except (AttributeError, NotImplementedError): + self.env.reset(seed=seed) + return [seed] # type: ignore + + def render(self, **kwargs: Any) -> Any: + return self.env.render(**kwargs) + + def close_env(self) -> None: + self.env.close() + + def check_success(self): + return self.env.check_success() + + def get_segmentation_of_interest(self, segmentation_image): + return self.env.get_segmentation_of_interest(segmentation_image) + + def get_sim_state(self): + return self.env.get_sim_state() + + def set_init_state(self, init_state): + return self.env.set_init_state(init_state) + + +class SubprocEnvWorker(EnvWorker): + """Subprocess worker used in SubprocVectorEnv and ShmemVectorEnv.""" + + def __init__( + self, env_fn: Callable[[], gym.Env], share_memory: bool = False + ) -> None: + self.parent_remote, self.child_remote = Pipe() + self.share_memory = share_memory + self.buffer: Optional[Union[dict, tuple, ShArray]] = None + if self.share_memory: + dummy = env_fn() + obs_space = dummy.observation_space + dummy.close() + del dummy + self.buffer = _setup_buf(obs_space) + args = ( + self.parent_remote, + self.child_remote, + CloudpickleWrapper(env_fn), + self.buffer, + ) + self.process = Process(target=_worker, args=args, daemon=True) + self.process.start() + self.child_remote.close() + super().__init__(env_fn) + + def get_env_attr(self, key: str) -> Any: + self.parent_remote.send(["getattr", key]) + return self.parent_remote.recv() + + def set_env_attr(self, key: str, value: Any) -> None: + self.parent_remote.send(["setattr", {"key": key, "value": value}]) + + def _decode_obs(self) -> Union[dict, tuple, np.ndarray]: + def decode_obs( + buffer: Optional[Union[dict, tuple, ShArray]] + ) -> Union[dict, tuple, np.ndarray]: + if isinstance(buffer, ShArray): + return buffer.get() + elif isinstance(buffer, tuple): + return tuple([decode_obs(b) for b in buffer]) + elif isinstance(buffer, dict): + return {k: decode_obs(v) for k, v in buffer.items()} + else: + raise NotImplementedError + + return decode_obs(self.buffer) + + @staticmethod + def wait( # type: ignore + workers: List["SubprocEnvWorker"], + wait_num: int, + timeout: Optional[float] = None, + ) -> List["SubprocEnvWorker"]: + remain_conns = conns = [x.parent_remote for x in workers] + ready_conns: List[connection.Connection] = [] + remain_time, t1 = timeout, time.time() + while len(remain_conns) > 0 and len(ready_conns) < wait_num: + if timeout: + remain_time = timeout - (time.time() - t1) + if remain_time <= 0: + break + # connection.wait hangs if the list is empty + new_ready_conns = connection.wait(remain_conns, timeout=remain_time) + ready_conns.extend(new_ready_conns) # type: ignore + remain_conns = [conn for conn in remain_conns if conn not in ready_conns] + return [workers[conns.index(con)] for con in ready_conns] + + def send(self, action: Optional[np.ndarray], **kwargs: Any) -> None: + if action is None: + if "seed" in kwargs: + super().seed(kwargs["seed"]) + self.parent_remote.send(["reset", kwargs]) + else: + self.parent_remote.send(["step", action]) + + def recv( + self, + ) -> Union[ + gym_old_venv_step_type, + gym_new_venv_step_type, + Tuple[np.ndarray, dict], + np.ndarray, + ]: # noqa:E125 + result = self.parent_remote.recv() + if isinstance(result, tuple): + if len(result) == 2: + obs, info = result + if self.share_memory: + obs = self._decode_obs() + return obs, info + obs = result[0] + if self.share_memory: + obs = self._decode_obs() + return (obs, *result[1:]) # type: ignore + else: + obs = result + if self.share_memory: + obs = self._decode_obs() + return obs + + def reset(self, **kwargs: Any) -> Union[np.ndarray, Tuple[np.ndarray, dict]]: + if "seed" in kwargs: + super().seed(kwargs["seed"]) + self.parent_remote.send(["reset", kwargs]) + + result = self.parent_remote.recv() + if isinstance(result, tuple): + obs, info = result + if self.share_memory: + obs = self._decode_obs() + return obs, info + else: + obs = result + if self.share_memory: + obs = self._decode_obs() + return obs + + def seed(self, seed: Optional[int] = None) -> Optional[List[int]]: + super().seed(seed) + self.parent_remote.send(["seed", seed]) + ret = self.parent_remote.recv() + return ret + + def render(self, **kwargs: Any) -> Any: + self.parent_remote.send(["render", kwargs]) + return self.parent_remote.recv() + + def close_env(self) -> None: + try: + self.parent_remote.send(["close", None]) + # mp may be deleted so it may raise AttributeError + self.parent_remote.recv() + self.process.join() + except (BrokenPipeError, EOFError, AttributeError): + pass + # ensure the subproc is terminated + self.process.terminate() + + def check_success(self): + self.parent_remote.send(["check_success", None]) + return self.parent_remote.recv() + + def get_segmentation_of_interest(self, segmentation_image): + self.parent_remote.send(["get_segmentation_of_interest", segmentation_image]) + return self.parent_remote.recv() + + def get_sim_state(self): + self.parent_remote.send(["get_sim_state", None]) + return self.parent_remote.recv() + + def set_init_state(self, init_state): + self.parent_remote.send(["set_init_state", init_state]) + obs = self.parent_remote.recv() + if self.share_memory: + obs = self._decode_obs() + return obs + + +################################################################################ +# +# VecEnvs +# +################################################################################ + + +class BaseVectorEnv(object): + """Base class for vectorized environments. + + Usage: + :: + + env_num = 8 + envs = DummyVectorEnv([lambda: gym.make(task) for _ in range(env_num)]) + assert len(envs) == env_num + + It accepts a list of environment generators. In other words, an environment + generator ``efn`` of a specific task means that ``efn()`` returns the + environment of the given task, for example, ``gym.make(task)``. + + All of the VectorEnv must inherit :class:`~tianshou.env.BaseVectorEnv`. + Here are some other usages: + :: + + envs.seed(2) # which is equal to the next line + envs.seed([2, 3, 4, 5, 6, 7, 8, 9]) # set specific seed for each env + obs = envs.reset() # reset all environments + obs = envs.reset([0, 5, 7]) # reset 3 specific environments + obs, rew, done, info = envs.step([1] * 8) # step synchronously + envs.render() # render all environments + envs.close() # close all environments + + .. warning:: + + If you use your own environment, please make sure the ``seed`` method + is set up properly, e.g., + :: + + def seed(self, seed): + np.random.seed(seed) + + Otherwise, the outputs of these envs may be the same with each other. + + :param env_fns: a list of callable envs, ``env_fns[i]()`` generates the i-th env. + :param worker_fn: a callable worker, ``worker_fn(env_fns[i])`` generates a + worker which contains the i-th env. + :param int wait_num: use in asynchronous simulation if the time cost of + ``env.step`` varies with time and synchronously waiting for all + environments to finish a step is time-wasting. In that case, we can + return when ``wait_num`` environments finish a step and keep on + simulation in these environments. If ``None``, asynchronous simulation + is disabled; else, ``1 <= wait_num <= env_num``. + :param float timeout: use in asynchronous simulation same as above, in each + vectorized step it only deal with those environments spending time + within ``timeout`` seconds. + """ + + def __init__( + self, + env_fns: List[Callable[[], gym.Env]], + worker_fn: Callable[[Callable[[], gym.Env]], EnvWorker], + wait_num: Optional[int] = None, + timeout: Optional[float] = None, + ) -> None: + self._env_fns = env_fns + # A VectorEnv contains a pool of EnvWorkers, which corresponds to + # interact with the given envs (one worker <-> one env). + self.workers = [worker_fn(fn) for fn in env_fns] + self.worker_class = type(self.workers[0]) + assert issubclass(self.worker_class, EnvWorker) + assert all([isinstance(w, self.worker_class) for w in self.workers]) + + self.env_num = len(env_fns) + self.wait_num = wait_num or len(env_fns) + assert ( + 1 <= self.wait_num <= len(env_fns) + ), f"wait_num should be in [1, {len(env_fns)}], but got {wait_num}" + self.timeout = timeout + assert ( + self.timeout is None or self.timeout > 0 + ), f"timeout is {timeout}, it should be positive if provided!" + self.is_async = self.wait_num != len(env_fns) or timeout is not None + self.waiting_conn: List[EnvWorker] = [] + # environments in self.ready_id is actually ready + # but environments in self.waiting_id are just waiting when checked, + # and they may be ready now, but this is not known until we check it + # in the step() function + self.waiting_id: List[int] = [] + # all environments are ready in the beginning + self.ready_id = list(range(self.env_num)) + self.is_closed = False + + def _assert_is_not_closed(self) -> None: + assert ( + not self.is_closed + ), f"Methods of {self.__class__.__name__} cannot be called after close." + + def __len__(self) -> int: + """Return len(self), which is the number of environments.""" + return self.env_num + + def __getattribute__(self, key: str) -> Any: + """Switch the attribute getter depending on the key. + + Any class who inherits ``gym.Env`` will inherit some attributes, like + ``action_space``. However, we would like the attribute lookup to go straight + into the worker (in fact, this vector env's action_space is always None). + """ + if key in GYM_RESERVED_KEYS: # reserved keys in gym.Env + return self.get_env_attr(key) + else: + return super().__getattribute__(key) + + def get_env_attr( + self, + key: str, + id: Optional[Union[int, List[int], np.ndarray]] = None, + ) -> List[Any]: + """Get an attribute from the underlying environments. + + If id is an int, retrieve the attribute denoted by key from the environment + underlying the worker at index id. The result is returned as a list with one + element. Otherwise, retrieve the attribute for all workers at indices id and + return a list that is ordered correspondingly to id. + + :param str key: The key of the desired attribute. + :param id: Indice(s) of the desired worker(s). Default to None for all env_id. + + :return list: The list of environment attributes. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if self.is_async: + self._assert_id(id) + + return [self.workers[j].get_env_attr(key) for j in id] + + def set_env_attr( + self, + key: str, + value: Any, + id: Optional[Union[int, List[int], np.ndarray]] = None, + ) -> None: + """Set an attribute in the underlying environments. + + If id is an int, set the attribute denoted by key from the environment + underlying the worker at index id to value. + Otherwise, set the attribute for all workers at indices id. + + :param str key: The key of the desired attribute. + :param Any value: The new value of the attribute. + :param id: Indice(s) of the desired worker(s). Default to None for all env_id. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if self.is_async: + self._assert_id(id) + for j in id: + self.workers[j].set_env_attr(key, value) + + def _wrap_id( + self, + id: Optional[Union[int, List[int], np.ndarray]] = None, + ) -> Union[List[int], np.ndarray]: + if id is None: + return list(range(self.env_num)) + return [id] if np.isscalar(id) else id # type: ignore + + def _assert_id(self, id: Union[List[int], np.ndarray]) -> None: + for i in id: + assert ( + i not in self.waiting_id + ), f"Cannot interact with environment {i} which is stepping now." + assert ( + i in self.ready_id + ), f"Can only interact with ready environments {self.ready_id}." + + def reset( + self, + id: Optional[Union[int, List[int], np.ndarray]] = None, + **kwargs: Any, + ) -> Union[np.ndarray, Tuple[np.ndarray, Union[dict, List[dict]]]]: + """Reset the state of some envs and return initial observations. + + If id is None, reset the state of all the environments and return + initial observations, otherwise reset the specific environments with + the given id, either an int or a list. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if self.is_async: + self._assert_id(id) + + # send(None) == reset() in worker + for i in id: + self.workers[i].send(None, **kwargs) + ret_list = [self.workers[i].recv() for i in id] + + reset_returns_info = ( + isinstance(ret_list[0], (tuple, list)) + and len(ret_list[0]) == 2 + and isinstance(ret_list[0][1], dict) + ) + if reset_returns_info: + obs_list = [r[0] for r in ret_list] + else: + obs_list = ret_list + + if isinstance(obs_list[0], tuple): + raise TypeError( + "Tuple observation space is not supported. ", + "Please change it to array or dict space", + ) + try: + obs = np.stack(obs_list) + except ValueError: # different len(obs) + obs = np.array(obs_list, dtype=object) + + if reset_returns_info: + infos = [r[1] for r in ret_list] + return obs, infos # type: ignore + else: + return obs + + def step( + self, + action: np.ndarray, + id: Optional[Union[int, List[int], np.ndarray]] = None, + ) -> Union[gym_old_venv_step_type, gym_new_venv_step_type]: + """Run one timestep of some environments' dynamics. + + If id is None, run one timestep of all the environments’ dynamics; + otherwise run one timestep for some environments with given id, either + an int or a list. When the end of episode is reached, you are + responsible for calling reset(id) to reset this environment’s state. + + Accept a batch of action and return a tuple (batch_obs, batch_rew, + batch_done, batch_info) in numpy format. + + :param numpy.ndarray action: a batch of action provided by the agent. + + :return: A tuple consisting of either: + + * ``obs`` a numpy.ndarray, the agent's observation of current environments + * ``rew`` a numpy.ndarray, the amount of rewards returned after \ + previous actions + * ``done`` a numpy.ndarray, whether these episodes have ended, in \ + which case further step() calls will return undefined results + * ``info`` a numpy.ndarray, contains auxiliary diagnostic \ + information (helpful for debugging, and sometimes learning) + + or: + + * ``obs`` a numpy.ndarray, the agent's observation of current environments + * ``rew`` a numpy.ndarray, the amount of rewards returned after \ + previous actions + * ``terminated`` a numpy.ndarray, whether these episodes have been \ + terminated + * ``truncated`` a numpy.ndarray, whether these episodes have been truncated + * ``info`` a numpy.ndarray, contains auxiliary diagnostic \ + information (helpful for debugging, and sometimes learning) + + The case distinction is made based on whether the underlying environment + uses the old step API (first case) or the new step API (second case). + + For the async simulation: + + Provide the given action to the environments. The action sequence + should correspond to the ``id`` argument, and the ``id`` argument + should be a subset of the ``env_id`` in the last returned ``info`` + (initially they are env_ids of all the environments). If action is + None, fetch unfinished step() calls instead. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if not self.is_async: + assert len(action) == len(id) + for i, j in enumerate(id): + self.workers[j].send(action[i]) + result = [] + for j in id: + env_return = self.workers[j].recv() + env_return[-1]["env_id"] = j + result.append(env_return) + else: + if action is not None: + self._assert_id(id) + assert len(action) == len(id) + for act, env_id in zip(action, id): + self.workers[env_id].send(act) + self.waiting_conn.append(self.workers[env_id]) + self.waiting_id.append(env_id) + self.ready_id = [x for x in self.ready_id if x not in id] + ready_conns: List[EnvWorker] = [] + while not ready_conns: + ready_conns = self.worker_class.wait( + self.waiting_conn, self.wait_num, self.timeout + ) + result = [] + for conn in ready_conns: + waiting_index = self.waiting_conn.index(conn) + self.waiting_conn.pop(waiting_index) + env_id = self.waiting_id.pop(waiting_index) + # env_return can be (obs, reward, done, info) or + # (obs, reward, terminated, truncated, info) + env_return = conn.recv() + env_return[-1]["env_id"] = env_id # Add `env_id` to info + result.append(env_return) + self.ready_id.append(env_id) + return_lists = tuple(zip(*result)) + obs_list = return_lists[0] + try: + obs_stack = np.stack(obs_list) + except ValueError: # different len(obs) + obs_stack = np.array(obs_list, dtype=object) + other_stacks = map(np.stack, return_lists[1:]) + return (obs_stack, *other_stacks) # type: ignore + + def seed( + self, + seed: Optional[Union[int, List[int]]] = None, + ) -> List[Optional[List[int]]]: + """Set the seed for all environments. + + Accept ``None``, an int (which will extend ``i`` to + ``[i, i + 1, i + 2, ...]``) or a list. + + :return: The list of seeds used in this env's random number generators. + The first value in the list should be the "main" seed, or the value + which a reproducer pass to "seed". + """ + self._assert_is_not_closed() + seed_list: Union[List[None], List[int]] + if seed is None: + seed_list = [seed] * self.env_num + elif isinstance(seed, int): + seed_list = [seed + i for i in range(self.env_num)] + else: + seed_list = seed + return [w.seed(s) for w, s in zip(self.workers, seed_list)] + + def render(self, **kwargs: Any) -> List[Any]: + """Render all of the environments.""" + self._assert_is_not_closed() + if self.is_async and len(self.waiting_id) > 0: + raise RuntimeError( + f"Environments {self.waiting_id} are still stepping, cannot " + "render them now." + ) + return [w.render(**kwargs) for w in self.workers] + + def close(self) -> None: + """Close all of the environments. + + This function will be called only once (if not, it will be called during + garbage collected). This way, ``close`` of all workers can be assured. + """ + self._assert_is_not_closed() + for w in self.workers: + w.close() + self.is_closed = True + + +class DummyVectorEnv(BaseVectorEnv): + """Dummy vectorized environment wrapper, implemented in for-loop. + + .. seealso:: + + Please refer to :class:`~tianshou.env.BaseVectorEnv` for other APIs' usage. + """ + + def __init__(self, env_fns: List[Callable[[], gym.Env]], **kwargs: Any) -> None: + super().__init__(env_fns, DummyEnvWorker, **kwargs) + + def check_success(self): + return [w.check_success() for w in self.workers] + + def get_segmentation_of_interest(self, segmentation_images): + return [ + w.get_segmentation_of_interest(img) + for w, img in zip(self.workers, segmentation_images) + ] + + def get_sim_state(self): + return [w.get_sim_state() for w in self.workers] + + def set_init_state( + self, + init_state: Optional[Union[int, List[int], np.ndarray]] = None, + id: Optional[Union[int, List[int], np.ndarray]] = None, + **kwargs: Any, + ) -> Union[np.ndarray, Tuple[np.ndarray, Union[dict, List[dict]]]]: + """Reset the state of some envs and return initial observations. + If id is None, reset the state of all the environments and return + initial observations, otherwise reset the specific environments with + the given id, either an int or a list. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if self.is_async: + self._assert_id(id) + + # send(None) == reset() in worker + obs_list = [] + for j, i in enumerate(id): + obs = self.workers[i].set_init_state(init_state[j]) + obs_list.append(obs) + obs = np.stack(obs_list) + return obs + + +class SubprocVectorEnv(BaseVectorEnv): + """Vectorized environment wrapper based on subprocess. + + .. seealso:: + + Please refer to :class:`~tianshou.env.BaseVectorEnv` for other APIs' usage. + """ + + def __init__(self, env_fns: List[Callable[[], gym.Env]], **kwargs: Any) -> None: + def worker_fn(fn: Callable[[], gym.Env]) -> SubprocEnvWorker: + return SubprocEnvWorker(fn, share_memory=False) + + super().__init__(env_fns, worker_fn, **kwargs) + + def check_success(self): + return [w.check_success() for w in self.workers] + + def get_segmentation_of_interest(self, segmentation_images): + return [ + w.get_segmentation_of_interest(img) + for w, img in zip(self.workers, segmentation_images) + ] + + def get_sim_state(self): + return [w.get_sim_state() for w in self.workers] + + def set_init_state( + self, + init_state: Optional[Union[int, List[int], np.ndarray]] = None, + id: Optional[Union[int, List[int], np.ndarray]] = None, + **kwargs: Any, + ) -> Union[np.ndarray, Tuple[np.ndarray, Union[dict, List[dict]]]]: + """Reset the state of some envs and return initial observations. + If id is None, reset the state of all the environments and return + initial observations, otherwise reset the specific environments with + the given id, either an int or a list. + """ + self._assert_is_not_closed() + id = self._wrap_id(id) + if self.is_async: + 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b/third_party/libero/libero/libero/init_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.pruned_init new file mode 100644 index 0000000000000000000000000000000000000000..847726c2c7cd1f3c32de485ab1238b6e29c45120 Binary files /dev/null and b/third_party/libero/libero/libero/init_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.pruned_init differ diff --git a/third_party/libero/libero/libero/utils/__init__.py b/third_party/libero/libero/libero/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..0e28b9f1efc6f75f1783faccb20dcf11e7ba1bd0 --- /dev/null +++ b/third_party/libero/libero/libero/utils/__init__.py @@ -0,0 +1,52 @@ +import os +import yaml + +# This is a default path for localizing all the benchmark related files +libero_config_path = os.environ.get( + "LIBERO_CONFIG_PATH", os.path.expanduser("~/.libero") +) +config_file = os.path.join(libero_config_path, "config.yaml") + + +def get_path_dict(root_location=os.path.dirname(os.path.abspath(__file__))): + benchmark_root_path = root_location + + # This is a default path for localizing all the default bddl files + bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files") + + # This is a default path for localizing all the default bddl files + init_states_default_path = os.path.join(benchmark_root_path, "./init_files") + + # This is a default path for localizing all the default datasets + dataset_default_path = os.path.join(benchmark_root_path, "../datasets") + + return { + "benchmark_root": benchmark_root_path, + "bddl_files": bddl_files_default_path, + "init_states": init_states_default_path, + "datasets": dataset_default_path, + } + + +def get_libero_path(key): + with open(config_file, "r") as f: + config = dict(yaml.load(f.read(), Loader=yaml.FullLoader)) + assert key in config, f"Key {key} not found in config file {config_file}" + return config[key] + + +def set_libero_path(custom_location=os.path.dirname(os.path.abspath(__file__))): + new_config = get_path_dict(custom_location) + with open(config_file, "w") as f: + yaml.dump(new_config, f) + + +if not os.path.exists(libero_config_path): + os.makedirs(libero_config_path) + +if not os.path.exists(config_file): + # Create a default config file + + # write all the paths into a yaml file + with open(config_file, "w") as f: + yaml.dump(get_path_dict(), f) diff --git a/third_party/libero/libero/libero/utils/bddl_generation_utils.py b/third_party/libero/libero/libero/utils/bddl_generation_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..be13045b12fe3108f001ef0f1fb1083c93b6696e --- /dev/null +++ b/third_party/libero/libero/libero/utils/bddl_generation_utils.py @@ -0,0 +1,480 @@ +import os +import numpy as np + +INDENT = " " + + +def print_result(result): + print("\n".join(result)) + + +def get_result(result): + return "\n".join(result) + + +def save_to_file(result, scene_name, language, folder=""): + file_name = os.path.join( + folder, + f"{scene_name}".upper() + "_" + "_".join(language.lower().split(" ")) + ".bddl", + ) + with open(file_name, "w") as f: + f.write(result) + return file_name + + +class _PDDLDefinition: + def __init__(self, func, problem_name="", domain="robosuite"): + self.func = func + self.problem_name = problem_name + self.domain = domain + + def __call__(self, *args, **kwargs): + meta_strings = [] + content_strings = [] + meta_strings.append(f"(define (problem {self.problem_name})") + content_strings.append(f"(:domain {self.domain})") + content_strings += self.func(*args, **kwargs) + content_strings = [INDENT + each_line for each_line in content_strings] + meta_strings += content_strings + meta_strings.append(")\n") + return meta_strings + + +def PDDLDefinition(func=None, problem_name=""): + if func: + return _PDDLDefinition(func) + else: + + def wrapper(func): + return _PDDLDefinition(func, problem_name) + + return wrapper + + +class Language: + def __init__(self, func): + self.func = func + + def __call__(self, *args, **kwargs): + strings = [] + language = kwargs["language"] + strings.append(f"(:language {language})") + del kwargs["language"] + strings += self.func(*args, **kwargs) + # strings = [INDENT + each_line for each_line in strings] + return strings + + +class _LogicalState: + def __init__(self, func, state_type=""): + self.func = func + self.state_type = state_type + + def __call__(self, *args, **kwargs): + strings = [] + strings.append(f"(:{self.state_type}") + strings += self.func(*args, **kwargs) + strings.append(")\n") + # strings = [INDENT + each_line for each_line in strings] + return strings + + +def LogicalState(func=None, state_type="PLACEHOLDER"): + if func: + return _LogicalState(func) + else: + + def wrapper(func): + return _LogicalState(func, state_type) + + return wrapper + + +# Region definition + + +class RegionWrapper: + def __init__(self, func): + self.func = func + + def __call__(self, *args, **kwargs): + strings = [] + strings.append("(:regions") + strings += self.func(*args, **kwargs) + strings.append(")\n") + strings = [INDENT + each_line for each_line in strings] + return strings + + +class Region: + def __init__(self, func): + self.func = func + + def __call__(self, *args, **kwargs): + assert "target" in kwargs, "target property has to be defined!" + assert "region_name" in kwargs, "region name has to be defined" + strings = [] + region_name = kwargs["region_name"] + strings.append(f"({region_name}") + del kwargs["region_name"] + strings += self.func(*args, **kwargs) + strings.append(")") + strings = [INDENT + each_line for each_line in strings] + return strings + + +# Objects +class _ObjectDict: + def __init__(self, func, object_type): + self.func = func + self.object_type = object_type + + def __call__(self, *args, **kwargs): + strings = [] + strings.append(f"(:{self.object_type}") + strings += self.func(*args, **kwargs) + strings.append(")\n") + # strings = [INDENT + each_line for each_line in strings] + return strings + + +def ObjectDict(func=None, object_type="objects"): + if func: + return _ObjectDict(func) + else: + + def wrapper(func): + return _ObjectDict(func, object_type) + + return wrapper + + +@ObjectDict(object_type="fixtures") +def get_fixtures(**kwargs): + return get_dict_string(**kwargs) + + +@ObjectDict(object_type="objects") +def get_objects(**kwargs): + return get_dict_string(**kwargs) + + +@ObjectDict(object_type="obj_of_interest") +def get_objects_of_interest(l): + return get_list_string(l) + + +def general_get_str_func(v): + if type(v) is list: + return get_list_string(v) + elif type(v) is tuple: + return get_tuple_string(v) + elif type(v) is dict: + return get_dict_string(v) + elif type(v) is int or type(v) is float: + return str(v) + elif type(v) is str: + return v + + +def get_dict_string(**kwargs): + strings = [] + for k, v in kwargs.items(): + assert type(v) is list + object_names = " ".join(v) + strings.append(f"{object_names} - {k}") + strings = [INDENT + each_line for each_line in strings] + return strings + + +def get_list_string(l): + strings = [] + assert type(l) is list + for v in l: + strings.append(general_get_str_func(v)) + strings = [INDENT + each_line for each_line in strings] + return strings + + +def get_tuple_string(t): + strings = [] + assert type(t) is tuple + return "(" + " ".join([general_get_str_func(v) for v in t]) + ")" + + +def get_logical_expression_string(l): + strings = [] + assert type(l) is list + for v in l: + strings.append(general_get_str_func(v)) + strings = [INDENT + each_line for each_line in strings] + return strings + + +def get_property_string(**kwargs): + strings = [] + for k, v in kwargs.items(): + if type(v) is str: + strings.append(f"{INDENT}(:{k} {v})") + else: + strings.append(f"{INDENT}(:{k} (") + strings += [INDENT + INDENT + new_v for new_v in general_get_str_func(v)] + strings.append(f"{INDENT}{INDENT})") + strings.append(f"{INDENT})") + strings = [INDENT + each_line for each_line in strings] + return strings + + +def get_prediate_string(predicates): + # Handle init case and goal case + assert type(predicates) + strings = [] + + +@LogicalState(state_type="init") +def get_init_state(l): + return get_logical_expression_string(l) + + +@LogicalState(state_type="goal") +def get_goal_state(l): + return get_logical_expression_string(l) + + +@Region +def get_xy_region(**kwargs): + assert "ranges" in kwargs + for v in kwargs["ranges"]: + assert len(v) == 4 + return get_property_string(**kwargs) + + +@Region +def get_object_affordance_region(**kwargs): + new_kwargs = {"target": kwargs["target"]} + return get_property_string(**new_kwargs) + + +@RegionWrapper +def region_module(xy_region_kwargs_list=None, affordance_region_kwargs_list=None): + strings = [] + if xy_region_kwargs_list is not None: + for fixture_kwargs in xy_region_kwargs_list: + strings += get_xy_region(**fixture_kwargs) + if affordance_region_kwargs_list is not None: + for fixture_kwargs in affordance_region_kwargs_list: + strings += get_object_affordance_region(**fixture_kwargs) + return strings + + +def object_naming_mapping(category_name, object_id): + if category_name == "table": + if object_id > 1: + raise ValueError("Table can only be one for the moment.") + return "main_table" + elif category_name == "kitchen_table": + if object_id > 1: + raise ValueError("Kitchen table can only be one for the moment.") + return "kitchen_table" + elif category_name == "floor": + if object_id > 1: + raise ValueError("Floor can only be one.") + return "floor" + elif category_name == "coffee_table": + if object_id > 1: + raise ValueError("Coffee table can only be one for the moment.") + return "coffee_table" + elif category_name == "living_room_table": + if object_id > 1: + raise ValueError("Living room table can only be one for the moment.") + return "living_room_table" + elif category_name == "study_table": + if object_id > 1: + raise ValueError("Study table can only be one for the moment.") + return "study_table" + else: + return f"{category_name}_{object_id}" + + +def retrieve_fixture_property(category_name): + """Retrieve fixture property""" + property_dict = {} + return property_dict + + +def get_affordance_region_kwargs_list_from_fixture_info(fixture_info_dict): + kwargs_list = [] + for k, v in fixture_info_dict.items(): + for item in v: + kwargs_list.append({"target": k, "region_name": item}) + return kwargs_list + + +def get_xy_region_kwargs_list_from_regions_info(regions_info_dict): + kwargs_list = [] + for k, v in regions_info_dict.items(): + assert type(v) is dict + kwargs = { + "region_name": k, + } + kwargs.update(v) + kwargs_list.append(kwargs) + return kwargs_list + + +def get_object_dict(objects_num_info): + """ + A dctionary of objects that has "category_name": number_of_objects + """ + object_dict = {} + for category_name, num_objects in objects_num_info.items(): + object_dict[category_name] = [] + for object_id in range(1, num_objects + 1): + object_dict[category_name].append( + object_naming_mapping(category_name, object_id) + ) + return object_dict + + +@PDDLDefinition(problem_name="LIBERO_Tabletop_Manipulation") +@Language +def tabletop_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result + + +@PDDLDefinition(problem_name="LIBERO_Kitchen_Tabletop_Manipulation") +@Language +def kitchen_table_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result + + +@PDDLDefinition(problem_name="LIBERO_Floor_Manipulation") +@Language +def floor_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result + + +@PDDLDefinition(problem_name="LIBERO_Coffee_Table_Manipulation") +@Language +def coffee_table_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result + + +@PDDLDefinition(problem_name="LIBERO_Study_Tabletop_Manipulation") +@Language +def study_table_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result + + +@PDDLDefinition(problem_name="LIBERO_Living_Room_Tabletop_Manipulation") +@Language +def living_room_table_task_suites_generator( + xy_region_kwargs_list, + affordance_region_kwargs_list, + fixture_object_dict, + movable_object_dict, + objects_of_interest, + init_states, + goal_states, +): + result = [] + result += region_module( + xy_region_kwargs_list=xy_region_kwargs_list, + affordance_region_kwargs_list=affordance_region_kwargs_list, + ) + result += get_fixtures(**fixture_object_dict) + result += get_objects(**movable_object_dict) + result += get_objects_of_interest(objects_of_interest) + result += get_init_state(init_states) + result += get_goal_state(goal_states) + return result diff --git a/third_party/libero/libero/libero/utils/dataset_utils.py b/third_party/libero/libero/libero/utils/dataset_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f2ae505ac96f80bbe604f5f483c928bf7817856d --- /dev/null +++ b/third_party/libero/libero/libero/utils/dataset_utils.py @@ -0,0 +1,102 @@ +import h5py +import numpy as np +import json + + +def get_dataset_info(dataset_path, filter_key=None, verbose=True): + # extract demonstration list from file + all_filter_keys = None + f = h5py.File(dataset_path, "r") + if filter_key is not None: + # use the demonstrations from the filter key instead + print("NOTE: using filter key {}".format(filter_key)) + demos = sorted( + [elem.decode("utf-8") for elem in np.array(f["mask/{}".format(filter_key)])] + ) + else: + # use all demonstrations + demos = sorted(list(f["data"].keys())) + + # extract filter key information + if "mask" in f: + all_filter_keys = {} + for fk in f["mask"]: + fk_demos = sorted( + [elem.decode("utf-8") for elem in np.array(f["mask/{}".format(fk)])] + ) + all_filter_keys[fk] = fk_demos + + # put demonstration list in increasing episode order + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + + # extract length of each trajectory in the file + traj_lengths = [] + action_min = np.inf + action_max = -np.inf + for ep in demos: + traj_lengths.append(f["data/{}/actions".format(ep)].shape[0]) + action_min = min(action_min, np.min(f["data/{}/actions".format(ep)][()])) + action_max = max(action_max, np.max(f["data/{}/actions".format(ep)][()])) + traj_lengths = np.array(traj_lengths) + + problem_info = json.loads(f["data"].attrs["problem_info"]) + + language_instruction = "".join(problem_info["language_instruction"]) + # report statistics on the data + print("") + print("total transitions: {}".format(np.sum(traj_lengths))) + print("total trajectories: {}".format(traj_lengths.shape[0])) + print("traj length mean: {}".format(np.mean(traj_lengths))) + print("traj length std: {}".format(np.std(traj_lengths))) + print("traj length min: {}".format(np.min(traj_lengths))) + print("traj length max: {}".format(np.max(traj_lengths))) + print("action min: {}".format(action_min)) + print("action max: {}".format(action_max)) + print("language instruction: {}".format(language_instruction.strip('"'))) + print("") + print("==== Filter Keys ====") + if all_filter_keys is not None: + for fk in all_filter_keys: + print("filter key {} with {} demos".format(fk, len(all_filter_keys[fk]))) + else: + print("no filter keys") + print("") + if verbose: + if all_filter_keys is not None: + print("==== Filter Key Contents ====") + for fk in all_filter_keys: + print( + "filter_key {} with {} demos: {}".format( + fk, len(all_filter_keys[fk]), all_filter_keys[fk] + ) + ) + print("") + env_meta = json.loads(f["data"].attrs["env_args"]) + print("==== Env Meta ====") + print(json.dumps(env_meta, indent=4)) + print("") + + print("==== Dataset Structure ====") + for ep in demos: + print( + "episode {} with {} transitions".format( + ep, f["data/{}".format(ep)].attrs["num_samples"] + ) + ) + for k in f["data/{}".format(ep)]: + if k in ["obs", "next_obs"]: + print(" key: {}".format(k)) + for obs_k in f["data/{}/{}".format(ep, k)]: + shape = f["data/{}/{}/{}".format(ep, k, obs_k)].shape + print( + " observation key {} with shape {}".format(obs_k, shape) + ) + elif isinstance(f["data/{}/{}".format(ep, k)], h5py.Dataset): + key_shape = f["data/{}/{}".format(ep, k)].shape + print(" key: {} with shape {}".format(k, key_shape)) + + if not verbose: + break + + f.close() diff --git a/third_party/libero/libero/libero/utils/download_utils.py b/third_party/libero/libero/libero/utils/download_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..cd142148bbc6f62835f202610f8676352362b5fc --- /dev/null +++ b/third_party/libero/libero/libero/utils/download_utils.py @@ -0,0 +1,185 @@ +""" +Download functionalities adapted from Mandlekar et. al.: https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/utils/file_utils.py +""" +import os +import time +from tqdm import tqdm +from termcolor import colored +from pathlib import Path +import zipfile +import io +import urllib.request +import shutil + +from libero.libero import get_libero_path + +DIR = os.path.dirname(__file__) + +DATASET_LINKS = { + "libero_object": "https://utexas.box.com/shared/static/avkklgeq0e1dgzxz52x488whpu8mgspk.zip", + "libero_goal": "https://utexas.box.com/shared/static/iv5e4dos8yy2b212pkzkpxu9wbdgjfeg.zip", + "libero_spatial": "https://utexas.box.com/shared/static/04k94hyizn4huhbv5sz4ev9p2h1p6s7f.zip", + "libero_100": "https://utexas.box.com/shared/static/cv73j8zschq8auh9npzt876fdc1akvmk.zip", +} + + +class DownloadProgressBar(tqdm): + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + + def update_to(self, b=1, bsize=1, tsize=None): + if tsize is not None: + self.total = tsize + self.update(b * bsize - self.n) + + +def url_is_alive(url): + """ + Checks that a given URL is reachable. + From https://gist.github.com/dehowell/884204. + Args: + url (str): url string + Returns: + is_alive (bool): True if url is reachable, False otherwise + """ + request = urllib.request.Request(url) + # request.get_method = lambda: 'HEAD' + + try: + urllib.request.urlopen(request) + return True + except urllib.request.HTTPError: + return False + + +def download_url(url, download_dir, check_overwrite=True, is_zipfile=True): + """ + First checks that @url is reachable, then downloads the file + at that url into the directory specified by @download_dir. + Prints a progress bar during the download using tqdm. + Modified from https://github.com/tqdm/tqdm#hooks-and-callbacks, and + https://stackoverflow.com/a/53877507. + Args: + url (str): url string + download_dir (str): path to directory where file should be downloaded + check_overwrite (bool): if True, will sanity check the download fpath to make sure a file of that name + doesn't already exist there + """ + + # check if url is reachable. We need the sleep to make sure server doesn't reject subsequent requests + assert url_is_alive(url), "@download_url got unreachable url: {}".format(url) + time.sleep(0.5) + + # infer filename from url link + fname = url.split("/")[-1] + file_to_write = os.path.join(download_dir, fname) + + # If we're checking overwrite and the path already exists, + # we ask the user to verify that they want to overwrite the file + user_response = None + if check_overwrite and os.path.exists(file_to_write): + user_response = input( + f"Warning: file {file_to_write} already exists. Overwrite? y/n\n" + ) + # assert user_response.lower() in {"yes", "y"}, f"Did not receive confirmation. Aborting download." + + if user_response is None or user_response.lower() in {"yes", "y"}: + with DownloadProgressBar( + unit="B", unit_scale=True, miniters=1, desc=fname + ) as t: + urllib.request.urlretrieve( + url, filename=file_to_write, reporthook=t.update_to + ) + if is_zipfile: + with zipfile.ZipFile(file_to_write, "r") as archive: + archive.extractall(path=download_dir) + if os.path.isfile(file_to_write): + os.remove(file_to_write) + + +def libero_dataset_download(datasets="all", download_dir=None, check_overwrite=True): + """Download libero datasets + + Args: + datasets (str, optional): Specify which datasets to save. Defaults to "all", downloading all the datasets. + download_dir (str, optional): Target location for storing datasets. Defaults to None, using the default path. + check_overwrite (bool, optional): Check if overwriting datasets. Defaults to True. + """ + + if download_dir is None: + download_dir = get_libero_path("datasets") + if not os.path.exists(download_dir): + os.makedirs(download_dir) + + assert datasets in [ + "all", + "libero_object", + "libero_goal", + "libero_spatial", + "libero_100", + ] + + for dataset_name in [ + "libero_object", + "libero_goal", + "libero_spatial", + "libero_100", + ]: + if datasets == dataset_name or datasets == "all": + print(f"Downloading {dataset_name}") + download_url( + DATASET_LINKS[dataset_name], + download_dir=download_dir, + check_overwrite=check_overwrite, + ) + + # (TODO): unzip the files + + +def check_libero_dataset(download_dir=None): + """Check the integrity of the downloaded datasets. + + Args: + download_dir (str, optional): The path where datasets are stored. Defaults to None, using the default path. + + Returns: + bool: True if the datasets are successfully downloaded, False otherwise. + """ + if download_dir is None: + download_dir = get_libero_path("datasets") + check_result = True + for dataset_name in [ + "libero_object", + "libero_goal", + "libero_spatial", + "libero_10", + "libero_90", + ]: + info_str = "" + dataset_status = False + dataset_dir = os.path.join(download_dir, dataset_name) + if os.path.exists(dataset_dir): + count = 0 + for path in Path(dataset_dir).glob("*.hdf5"): + count += 1 + if (count == 10 and dataset_name != "libero_90") or ( + count == 90 and dataset_name == "libero_90" + ): + dataset_status = True + info_str = colored( + f"[X] Dataset {dataset_name} is complete", "green", attrs=["bold"] + ) + else: + colored( + f"[?] Dataset {dataset_name} is not downloaded completely", + "yellow", + attrs=["bold"], + ) + else: + info_str = colored( + f"[ ] Dataset {dataset_name} not found!!!", "red", attrs=["bold"] + ) + + print(info_str) + check_result = check_result and dataset_status + return check_result diff --git a/third_party/libero/libero/libero/utils/log_utils.py b/third_party/libero/libero/libero/utils/log_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..e2cb5361ed0add944b9b8e520e1c7594a9433c5a --- /dev/null +++ b/third_party/libero/libero/libero/utils/log_utils.py @@ -0,0 +1,40 @@ +import logging +from termcolor import colored + + +class LiberoColorFormatter(logging.Formatter): + """This color format is for logging user's project wise information""" + + format_str = "[Project %(levelname)s] " + debug_message_str = "%(message)s (%(filename)s:%(lineno)d)" + message_str = "%(message)s" + FORMATS = { + logging.DEBUG: format_str + debug_message_str, + logging.INFO: message_str, + logging.WARNING: colored(format_str, "yellow", attrs=["bold"]) + message_str, + logging.ERROR: colored(format_str, "red", attrs=["bold"]) + message_str, + logging.CRITICAL: colored(format_str, "red", attrs=["bold", "reverse"]) + + message_str, + } + + def format(self, record): + log_fmt = self.FORMATS.get(record.levelno) + formatter = logging.Formatter(log_fmt) + return formatter.format(record) + + +class LiberoDefaultLogger: + def __init__(self, logger_config_path, project_name="libero"): + config = YamlConfig(logger_config_path).as_easydict() + config["loggers"][project_name] = config["loggers"]["project"] + os.makedirs("logs", exist_ok=True) + logging.config.dictConfig(config) + + +ProjectDefaultLogger(logger_config_path, project_name) + + +def get_project_logger(project_name="libero", logger_config_path=None): + """This function returns a logger that follows the deoxys convention""" + logger = logging.getLogger(project_name) + return logger diff --git a/third_party/libero/libero/libero/utils/mu_utils.py b/third_party/libero/libero/libero/utils/mu_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..0543f55d26b6d60ae927fd4a42545ac60324f5dc --- /dev/null +++ b/third_party/libero/libero/libero/utils/mu_utils.py @@ -0,0 +1,131 @@ +import re + +from libero.libero.envs.objects import OBJECTS_DICT +from libero.libero.utils.bddl_generation_utils import ( + get_affordance_region_kwargs_list_from_fixture_info, + get_object_dict, +) +from libero.libero.utils.object_utils import get_affordance_regions + +MU_DICT = {} + +SCENE_DICT = {} + + +def register_mu(scene_type="general"): + def _func(target_class): + """For reusing initial conditions easily, we register each pre-defined initial conditions in a dictionary.""" + key = "_".join( + re.sub(r"([A-Z])", r" \1", target_class.__name__).split() + ).lower() + MU_DICT[key.lower()] = target_class + if scene_type not in SCENE_DICT: + SCENE_DICT[scene_type.lower()] = [] + SCENE_DICT[scene_type.lower()].append(target_class) + return target_class + + return _func + + +def get_scene_dict(scene_type=None): + if scene_type is None: + return SCENE_DICT + else: + return SCENE_DICT[scene_type.lower()] + + +def get_scene_class(scene_name): + return MU_DICT[scene_name.lower()] + + +class InitialSceneTemplates: + def __init__( + self, workspace_name="main_table", fixture_num_info={}, object_num_info={} + ): + + self.workspace_name = workspace_name + # print(self.workspace_name) + + self.fixture_object_dict = get_object_dict(fixture_num_info) + self.movable_object_dict = get_object_dict(object_num_info) + + affordances = get_affordance_regions(OBJECTS_DICT) + affordance_fixture_info_dict = {} + for fixture_category_name in self.fixture_object_dict.keys(): + if ( + fixture_category_name != self.workspace_name + and fixture_category_name != "table" + and fixture_category_name != "living_room_table" + and fixture_category_name != "study_table" + and fixture_category_name != "kitchen_table" + ): + for fixture_name in self.fixture_object_dict[fixture_category_name]: + affordance_fixture_info_dict[fixture_name] = affordances[ + fixture_category_name + ] + for category_name in self.movable_object_dict.keys(): + if category_name in affordances: + for object_name in self.movable_object_dict[category_name]: + affordance_fixture_info_dict[object_name] = affordances[ + category_name + ] + # print(affordance_fixture_info_dict) + self.affordance_region_kwargs_list = ( + get_affordance_region_kwargs_list_from_fixture_info( + affordance_fixture_info_dict + ) + ) + + self.regions = {} + self.define_regions() + + @property + def possible_objects_of_interest(self): + # objects_of_interest = list(self.fixture_object_dict.keys()) + list(self.movable_object_dict.keys()) + # return objects_of_interest + objects_of_interest = [] + for category_name in self.fixture_object_dict.keys(): + objects_of_interest += self.fixture_object_dict[category_name] + for category_name in self.movable_object_dict.keys(): + objects_of_interest += self.movable_object_dict[category_name] + return objects_of_interest + + @property + def movable_objects(self): + return list(self.movable_object_dict) + + def define_regions(self): + """Override this method to define the layout of a scene.""" + raise NotImplementedError + + def get_region_dict( + self, + region_centroid_xy, + region_name, + target_name=None, + region_half_len=0.02, + yaw_rotation=(0.0, 0.0), + ): + """This is a function that creates a default region with rectangular shape.""" + if target_name is None: + target_name = self.workspace_name + region_key_value = { + region_name: { + "target": target_name, + "ranges": [ + ( + region_centroid_xy[0] - region_half_len, + region_centroid_xy[1] - region_half_len, + region_centroid_xy[0] + region_half_len, + region_centroid_xy[1] + region_half_len, + ) + ], + "yaw_rotation": [yaw_rotation], + } + } + print + return region_key_value + + @property + def init_states(self): + raise NotImplementedError diff --git a/third_party/libero/libero/libero/utils/object_utils.py b/third_party/libero/libero/libero/utils/object_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..a1a1321053395579efb5d7a0f5a70fac0d7b7767 --- /dev/null +++ b/third_party/libero/libero/libero/utils/object_utils.py @@ -0,0 +1,51 @@ +# This is a util file for various functions that retrieve object information +from xml.etree import ElementTree + +from libero.libero.envs.objects import OBJECTS_DICT, get_object_fn + +EXCEPTION_DICT = {"flat_stove": "flat_stove_burner"} + + +def update_exception_dict(object_name, site_name): + """Update EXCEPTION_DICT information. This is to handle some special case of affordance region naming. + + Args: + object_name (str): object name + site_name (str): site name + """ + EXCEPTION_DICT[object_name] = site_name + + +def get_affordance_regions(objects, verbose=False): + """_summary_ + + Args: + objects (MujocoObject): a dictionary of objects + verbose (bool, optional): Print additional debug information. Defaults to False. + + Returns: + dict: a dictionary of object names and their affordance regions. + """ + affordances = {} + for object_name in objects.keys(): + try: + obj = get_object_fn(object_name)() + # print(obj.root.findall(".//site")) + object_affordance = [] + for site in obj.root.findall(".//site"): + site_name = site.get("name") + if "site" not in site_name and ( + object_name not in EXCEPTION_DICT + or object_name in EXCEPTION_DICT + and site_name not in EXCEPTION_DICT[object_name] + ): + # print(site_name) + # object name is already added as prefix when the object is initialized. remove them for consistency in bddl files + object_affordance.append(site_name.replace(f"{object_name}_", "")) + if len(object_affordance) > 0: + affordances[object_name] = object_affordance + except: + if verbose: + print(f"Skipping {object_name}") + + return affordances diff --git a/third_party/libero/libero/libero/utils/task_generation_utils.py b/third_party/libero/libero/libero/utils/task_generation_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..a4d51f86236664ae056d255834fa9f867a3d95f8 --- /dev/null +++ b/third_party/libero/libero/libero/utils/task_generation_utils.py @@ -0,0 +1,91 @@ +import os +from collections import namedtuple + +from libero.libero.utils.mu_utils import get_scene_class +from libero.libero.utils.bddl_generation_utils import * + +TASK_INFO = {} + +TaskInfoTuple = namedtuple( + "TaskInfoTuple", "scene_name language objects_of_interest goal_states" +) + + +def register_task_info(language, scene_name, objects_of_interest=[], goal_states=[]): + + if scene_name not in TASK_INFO: + TASK_INFO[scene_name] = [] + + scene = get_scene_class(scene_name)() + possible_objects_of_interest = scene.possible_objects_of_interest + for object_name in objects_of_interest: + if object_name not in possible_objects_of_interest: + print(f"Error!! {scene_name} not having valid objects: {object_name}") + print(possible_objects_of_interest) + raise ValueError + task_goal = [("And", *goal_states)] + TASK_INFO[scene_name].append( + TaskInfoTuple(scene_name, language, objects_of_interest, task_goal) + ) + + +def get_task_info(scene_name=None): + if scene_name is None: + return TASK_INFO + else: + return TASK_INFO[scene_name] + + +def get_suite_generator_func(workspace_name): + if workspace_name == "main_table": + return tabletop_task_suites_generator + elif workspace_name == "kitchen_table": + return kitchen_table_task_suites_generator + elif workspace_name == "living_room_table": + return living_room_table_task_suites_generator + elif workspace_name == "study_table": + return study_table_task_suites_generator + elif workspace_name == "coffee_table": + return coffee_table_task_suites_generator + else: + return floor_task_suites_generator + + +def generate_bddl_from_task_info(folder="/tmp/pddl"): + results = [] + failures = [] + bddl_file_names = [] + os.makedirs(folder, exist_ok=True) + + registered_task_info_dict = get_task_info() + for scene_name in registered_task_info_dict: + for task_info_tuple in registered_task_info_dict[scene_name]: + scene_name = task_info_tuple.scene_name + language = task_info_tuple.language + objects_of_interest = task_info_tuple.objects_of_interest + goal_states = task_info_tuple.goal_states + scene = get_scene_class(scene_name)() + + try: + result = get_suite_generator_func(scene.workspace_name)( + language=language, + xy_region_kwargs_list=scene.xy_region_kwargs_list, + affordance_region_kwargs_list=scene.affordance_region_kwargs_list, + fixture_object_dict=scene.fixture_object_dict, + movable_object_dict=scene.movable_object_dict, + objects_of_interest=objects_of_interest, + init_states=scene.init_states, + goal_states=goal_states, + ) + result = get_result(result) + bddl_file_name = save_to_file( + result, scene_name=scene_name, language=language, folder=folder + ) + if bddl_file_name in bddl_file_names: + print(bddl_file_name) + bddl_file_names.append(bddl_file_name) + results.append(result) + except: + failures.append((scene_name, language)) + print(f"Succefully generated: {len(results)}") + return bddl_file_names, failures diff --git a/third_party/libero/libero/libero/utils/time_utils.py b/third_party/libero/libero/libero/utils/time_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..106888f088706349d39faf482a0c05ada107725a --- /dev/null +++ b/third_party/libero/libero/libero/utils/time_utils.py @@ -0,0 +1,14 @@ +import time + + +class Timer: + def __enter__(self): + self.start_time = time.time_ns() + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + end_time = time.time_ns() + self.value = (end_time - self.start_time) / (10**9) + + def get_elapsed_time(self): + return self.value diff --git a/third_party/libero/libero/libero/utils/utils.py b/third_party/libero/libero/libero/utils/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..1f5a990a8e16b3876370345b6962b2a4fb1903e5 --- /dev/null +++ b/third_party/libero/libero/libero/utils/utils.py @@ -0,0 +1,75 @@ +import os +import xml.etree.ElementTree as ET +import robosuite +from robosuite.utils.mjcf_utils import find_elements +import numpy as np +import json +import torch +import random +from pathlib import Path + +DIR = os.path.dirname(__file__) + + +def postprocess_model_xml(xml_str, cameras_dict={}): + """ + This function postprocesses the model.xml collected from a MuJoCo demonstration + in order to make sure that the STL files can be found. + + Args: + xml_str (str): Mujoco sim demonstration XML file as string + + Returns: + str: Post-processed xml file as string + """ + + path = os.path.split(robosuite.__file__)[0] + path_split = path.split("/") + + # replace mesh and texture file paths + tree = ET.fromstring(xml_str) + root = tree + asset = root.find("asset") + meshes = asset.findall("mesh") + textures = asset.findall("texture") + all_elements = meshes + textures + + for elem in all_elements: + old_path = elem.get("file") + if old_path is None: + continue + old_path_split = old_path.split("/") + if "robosuite" not in old_path_split: + continue + ind = max( + loc for loc, val in enumerate(old_path_split) if val == "robosuite" + ) # last occurrence index + new_path_split = path_split + old_path_split[ind + 1 :] + new_path = "/".join(new_path_split) + elem.set("file", new_path) + + # cameras = root.find("worldbody").findall("camera") + cameras = find_elements(root=tree, tags="camera", return_first=False) + for camera in cameras: + camera_name = camera.get("name") + if camera_name in cameras_dict: + camera.set("name", camera_name) + camera.set("pos", cameras_dict[camera_name]["pos"]) + camera.set("quat", cameras_dict[camera_name]["quat"]) + camera.set("mode", "fixed") + return ET.tostring(root, encoding="utf8").decode("utf8") + + +def process_image_input(img_tensor): + # return (img_tensor / 255. - 0.5) * 2. + return img_tensor / 255.0 + + +def reconstruct_image_output(img_array): + # return (img_array + 1.) / 2. * 255. + return img_array * 255.0 + + +def update_env_kwargs(env_kwargs, **kwargs): + for (k, v) in kwargs.items(): + env_kwargs[k] = v diff --git a/third_party/libero/libero/libero/utils/video_utils.py b/third_party/libero/libero/libero/utils/video_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..6518231b3e18819ecdd381e6afcc6533d20ef217 --- /dev/null +++ b/third_party/libero/libero/libero/utils/video_utils.py @@ -0,0 +1,77 @@ +import os +import imageio +import numpy as np + + +class VideoWriter: + def __init__(self, video_path, save_video=False, fps=30, single_video=True): + self.video_path = video_path + self.save_video = save_video + self.fps = fps + self.image_buffer = {} + self.last_images = {} + self.single_video = single_video + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + self.save() + + def append_image(self, img, idx=0): + """Directly append an image to the video.""" + if self.save_video: + if idx not in self.image_buffer: + self.image_buffer[idx] = [] + self.image_buffer[idx].append(img) + + def append_obs(self, obs, done, idx=0, camera_name="agentview_image"): + """Append a camera observation to the video.""" + if self.save_video: + if idx not in self.image_buffer: + self.image_buffer[idx] = [] + if idx not in self.last_images: + self.last_images[idx] = None + if not done: + self.image_buffer[idx].append(obs[camera_name][::-1]) + else: + if self.last_images[idx] is None: + self.last_images[idx] = obs[camera_name][::-1] + original_image = np.copy(self.last_images[idx]) + blank_image = np.ones_like(original_image) * 128 + blank_image[:, :, 0] = 0 + blank_image[:, :, -1] = 0 + transparency = 0.7 + original_image = ( + original_image * (1 - transparency) + blank_image * transparency + ) + + self.image_buffer[idx].append(original_image.astype(np.uint8)) + + def reset(self): + if self.save_video: + self.last_images = {} + + def append_vector_obs(self, obs, dones, camera_name="agentview_image"): + if self.save_video: + for i in range(len(obs)): + self.append_obs(obs[i], dones[i], i, camera_name) + + def save(self): + if self.save_video: + os.makedirs(self.video_path, exist_ok=True) + if self.single_video: + video_name = os.path.join(self.video_path, f"video.mp4") + video_writer = imageio.get_writer(video_name, fps=self.fps) + for idx in self.image_buffer.keys(): + for im in self.image_buffer[idx]: + video_writer.append_data(im) + video_writer.close() + else: + for idx in self.image_buffer.keys(): + video_name = os.path.join(self.video_path, f"{idx}.mp4") + video_writer = imageio.get_writer(video_name, fps=self.fps) + for im in self.image_buffer[idx]: + video_writer.append_data(im) + video_writer.close() + print(f"Saved videos to {self.video_path}.") diff --git a/third_party/libero/libero/lifelong/__init__.py b/third_party/libero/libero/lifelong/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/third_party/libero/libero/lifelong/algos/__init__.py b/third_party/libero/libero/lifelong/algos/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..6825bbf422433888130ba762c3352dfd4ed488c7 --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/__init__.py @@ -0,0 +1,7 @@ +from libero.lifelong.algos.base import Sequential, get_algo_class, get_algo_list +from libero.lifelong.algos.multitask import Multitask +from libero.lifelong.algos.er import ER +from libero.lifelong.algos.agem import AGEM +from libero.lifelong.algos.ewc import EWC +from libero.lifelong.algos.packnet import PackNet +from libero.lifelong.algos.single_task import SingleTask diff --git a/third_party/libero/libero/lifelong/algos/agem.py b/third_party/libero/libero/lifelong/algos/agem.py new file mode 100644 index 0000000000000000000000000000000000000000..25016de2da4e50c836b6c6a9d1e9a2c20791de9d --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/agem.py @@ -0,0 +1,113 @@ +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +import torch.nn.functional as F + +from libero.lifelong.algos.er import ER +from libero.lifelong.utils import * + + +def project(gxy: torch.Tensor, ger: torch.Tensor) -> torch.Tensor: + corr = torch.dot(gxy, ger) / torch.dot(ger, ger) + return gxy - corr * ger + + +def store_grad(params, grads, grad_dims): + """ + This stores parameter gradients of past tasks. + pp: parameters + grads: gradients + grad_dims: list with number of parameters per layers + """ + # store the gradients + grads.fill_(0.0) + count = 0 + for param in params(): + if param.grad is not None: + begin = 0 if count == 0 else sum(grad_dims[:count]) + end = np.sum(grad_dims[: count + 1]) + grads[begin:end].copy_(param.grad.data.view(-1)) + count += 1 + + +def store_grad(params, grads, grad_dims): + """ + This stores parameter gradients of past tasks. + pp: parameters + grads: gradients + grad_dims: list with number of parameters per layers + """ + # store the gradients + grads.fill_(0.0) + count = 0 + for param in params(): + if param.grad is not None: + begin = 0 if count == 0 else sum(grad_dims[:count]) + end = np.sum(grad_dims[: count + 1]) + grads[begin:end].copy_(param.grad.data.view(-1)) + count += 1 + + +def overwrite_grad(params, newgrad, grad_dims): + """ + This is used to overwrite the gradients with a new gradient + vector, whenever violations occur. + pp: parameters + newgrad: corrected gradient + grad_dims: list storing number of parameters at each layer + """ + count = 0 + for param in params(): + if param.grad is not None: + begin = 0 if count == 0 else sum(grad_dims[:count]) + end = sum(grad_dims[: count + 1]) + this_grad = newgrad[begin:end].contiguous().view(param.grad.data.size()) + param.grad.data.copy_(this_grad) + count += 1 + + +class AGEM(ER): + """ + The Avaraged Gradient Episodic Memory algorithm. + See https://openreview.net/forum?id=Hkf2_sC5FX + """ + + def __init__(self, n_tasks, cfg, **policy_kwargs): + super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs) + + self.grad_dims = [] + for pp in self.policy.parameters(): + self.grad_dims.append(pp.data.numel()) + self.grad_xy = torch.Tensor(np.sum(self.grad_dims)).to(self.cfg.device) + self.grad_er = torch.Tensor(np.sum(self.grad_dims)).to(self.cfg.device) + + def observe(self, data): + data = self.map_tensor_to_device(data) + self.optimizer.zero_grad() + loss = self.policy.compute_loss(data) + (loss * self.loss_scale).backward() + + if self.buffer is not None: + store_grad(self.policy.parameters, self.grad_xy, self.grad_dims) + buf_data = next(self.buffer) + self.policy.zero_grad() + + buf_data = self.map_tensor_to_device(buf_data) + buf_loss = self.policy.compute_loss(buf_data) + buf_loss.backward() + store_grad(self.policy.parameters, self.grad_er, self.grad_dims) + + dot_prod = torch.dot(self.grad_xy, self.grad_er) + if dot_prod.item() < 0: + g_tilde = project(gxy=self.grad_xy, ger=self.grad_er) + overwrite_grad(self.policy.parameters, g_tilde, self.grad_dims) + else: + overwrite_grad(self.policy.parameters, self.grad_xy, self.grad_dims) + + if self.cfg.train.grad_clip is not None: + grad_norm = nn.utils.clip_grad_norm_( + self.policy.parameters(), self.cfg.train.grad_clip + ) + self.optimizer.step() + return loss.item() diff --git a/third_party/libero/libero/lifelong/algos/base.py b/third_party/libero/libero/lifelong/algos/base.py new file mode 100644 index 0000000000000000000000000000000000000000..90d1cff8b5266bb48ba9733e0dfab975ae5e4be8 --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/base.py @@ -0,0 +1,257 @@ +import os +import time + +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.utils.data import DataLoader, RandomSampler + +from libero.lifelong.metric import * +from libero.lifelong.models import * +from libero.lifelong.utils import * + +REGISTERED_ALGOS = {} + + +def register_algo(policy_class): + """Register a policy class with the registry.""" + policy_name = policy_class.__name__.lower() + if policy_name in REGISTERED_ALGOS: + raise ValueError("Cannot register duplicate policy ({})".format(policy_name)) + + REGISTERED_ALGOS[policy_name] = policy_class + + +def get_algo_class(algo_name): + """Get the policy class from the registry.""" + if algo_name.lower() not in REGISTERED_ALGOS: + raise ValueError( + "Policy class with name {} not found in registry".format(algo_name) + ) + return REGISTERED_ALGOS[algo_name.lower()] + + +def get_algo_list(): + return REGISTERED_ALGOS + + +class AlgoMeta(type): + """Metaclass for registering environments""" + + def __new__(meta, name, bases, class_dict): + cls = super().__new__(meta, name, bases, class_dict) + + # List all algorithms that should not be registered here. + _unregistered_algos = [] + + if cls.__name__ not in _unregistered_algos: + register_algo(cls) + return cls + + +class Sequential(nn.Module, metaclass=AlgoMeta): + """ + The sequential finetuning BC baseline, also the superclass of all lifelong + learning algorithms. + """ + + def __init__(self, n_tasks, cfg): + super().__init__() + self.cfg = cfg + self.loss_scale = cfg.train.loss_scale + self.n_tasks = n_tasks + if not hasattr(cfg, "experiment_dir"): + create_experiment_dir(cfg) + print( + f"[info] Experiment directory not specified. Creating a default one: {cfg.experiment_dir}" + ) + self.experiment_dir = cfg.experiment_dir + self.algo = cfg.lifelong.algo + + self.policy = get_policy_class(cfg.policy.policy_type)(cfg, cfg.shape_meta) + self.current_task = -1 + + def end_task(self, dataset, task_id, benchmark, env=None): + """ + What the algorithm does at the end of learning each lifelong task. + """ + pass + + def start_task(self, task): + """ + What the algorithm does at the beginning of learning each lifelong task. + """ + self.current_task = task + + # initialize the optimizer and scheduler + self.optimizer = eval(self.cfg.train.optimizer.name)( + self.policy.parameters(), **self.cfg.train.optimizer.kwargs + ) + + self.scheduler = None + if self.cfg.train.scheduler is not None: + self.scheduler = eval(self.cfg.train.scheduler.name)( + self.optimizer, + T_max=self.cfg.train.n_epochs, + **self.cfg.train.scheduler.kwargs, + ) + + def map_tensor_to_device(self, data): + """Move data to the device specified by self.cfg.device.""" + return TensorUtils.map_tensor( + data, lambda x: safe_device(x, device=self.cfg.device) + ) + + def observe(self, data): + """ + How the algorithm learns on each data point. + """ + data = self.map_tensor_to_device(data) + self.optimizer.zero_grad() + loss = self.policy.compute_loss(data) + (self.loss_scale * loss).backward() + if self.cfg.train.grad_clip is not None: + grad_norm = nn.utils.clip_grad_norm_( + self.policy.parameters(), self.cfg.train.grad_clip + ) + self.optimizer.step() + return loss.item() + + def eval_observe(self, data): + data = self.map_tensor_to_device(data) + with torch.no_grad(): + loss = self.policy.compute_loss(data) + return loss.item() + + def learn_one_task(self, dataset, task_id, benchmark, result_summary): + + self.start_task(task_id) + + # recover the corresponding manipulation task ids + gsz = self.cfg.data.task_group_size + manip_task_ids = list(range(task_id * gsz, (task_id + 1) * gsz)) + + model_checkpoint_name = os.path.join( + self.experiment_dir, f"task{task_id}_model.pth" + ) + + train_dataloader = DataLoader( + dataset, + batch_size=self.cfg.train.batch_size, + num_workers=self.cfg.train.num_workers, + sampler=RandomSampler(dataset), + persistent_workers=True, + ) + + prev_success_rate = -1.0 + best_state_dict = self.policy.state_dict() # currently save the best model + + # for evaluate how fast the agent learns on current task, this corresponds + # to the area under success rate curve on the new task. + cumulated_counter = 0.0 + idx_at_best_succ = 0 + successes = [] + losses = [] + + task = benchmark.get_task(task_id) + task_emb = benchmark.get_task_emb(task_id) + + # start training + for epoch in range(0, self.cfg.train.n_epochs + 1): + + t0 = time.time() + + if epoch > 0: # update + self.policy.train() + training_loss = 0.0 + for (idx, data) in enumerate(train_dataloader): + loss = self.observe(data) + training_loss += loss + training_loss /= len(train_dataloader) + else: # just evaluate the zero-shot performance on 0-th epoch + training_loss = 0.0 + for (idx, data) in enumerate(train_dataloader): + loss = self.eval_observe(data) + training_loss += loss + training_loss /= len(train_dataloader) + t1 = time.time() + + print( + f"[info] Epoch: {epoch:3d} | train loss: {training_loss:5.2f} | time: {(t1-t0)/60:4.2f}" + ) + + if epoch % self.cfg.eval.eval_every == 0: # evaluate BC loss + # every eval_every epoch, we evaluate the agent on the current task, + # then we pick the best performant agent on the current task as + # if it stops learning after that specific epoch. So the stopping + # criterion for learning a new task is achieving the peak performance + # on the new task. Future work can explore how to decide this stopping + # epoch by also considering the agent's performance on old tasks. + losses.append(training_loss) + + t0 = time.time() + + task_str = f"k{task_id}_e{epoch//self.cfg.eval.eval_every}" + sim_states = ( + result_summary[task_str] if self.cfg.eval.save_sim_states else None + ) + success_rate = evaluate_one_task_success( + cfg=self.cfg, + algo=self, + task=task, + task_emb=task_emb, + task_id=task_id, + sim_states=sim_states, + task_str="", + ) + successes.append(success_rate) + + if prev_success_rate < success_rate: + torch_save_model(self.policy, model_checkpoint_name, cfg=self.cfg) + prev_success_rate = success_rate + idx_at_best_succ = len(losses) - 1 + + t1 = time.time() + + cumulated_counter += 1.0 + ci = confidence_interval(success_rate, self.cfg.eval.n_eval) + tmp_successes = np.array(successes) + tmp_successes[idx_at_best_succ:] = successes[idx_at_best_succ] + print( + f"[info] Epoch: {epoch:3d} | succ: {success_rate:4.2f} ± {ci:4.2f} | best succ: {prev_success_rate} " + + f"| succ. AoC {tmp_successes.sum()/cumulated_counter:4.2f} | time: {(t1-t0)/60:4.2f}", + flush=True, + ) + + if self.scheduler is not None and epoch > 0: + self.scheduler.step() + + # load the best performance agent on the current task + self.policy.load_state_dict(torch_load_model(model_checkpoint_name)[0]) + + # end learning the current task, some algorithms need post-processing + self.end_task(dataset, task_id, benchmark) + + # return the metrics regarding forward transfer + losses = np.array(losses) + successes = np.array(successes) + auc_checkpoint_name = os.path.join( + self.experiment_dir, f"task{task_id}_auc.log" + ) + torch.save( + { + "success": successes, + "loss": losses, + }, + auc_checkpoint_name, + ) + + # pretend that the agent stops learning once it reaches the peak performance + losses[idx_at_best_succ:] = losses[idx_at_best_succ] + successes[idx_at_best_succ:] = successes[idx_at_best_succ] + return successes.sum() / cumulated_counter, losses.sum() / cumulated_counter + + def reset(self): + self.policy.reset() diff --git a/third_party/libero/libero/lifelong/algos/er.py b/third_party/libero/libero/lifelong/algos/er.py new file mode 100644 index 0000000000000000000000000000000000000000..b02dcf92cdc55e24ba88bc7ff7cd1fee0219d0d9 --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/er.py @@ -0,0 +1,86 @@ +import collections + +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.utils.data import ConcatDataset, RandomSampler + +from libero.lifelong.algos.base import Sequential +from libero.lifelong.datasets import TruncatedSequenceDataset +from libero.lifelong.utils import * + + +def cycle(dl): + while True: + for data in dl: + yield data + + +def merge_datas(x, y): + if isinstance(x, (dict, collections.OrderedDict)): + if isinstance(x, dict): + new_x = dict() + else: + new_x = collections.OrderedDict() + + for k in x.keys(): + new_x[k] = merge_datas(x[k], y[k]) + return new_x + elif isinstance(x, torch.FloatTensor) or isinstance(x, torch.LongTensor): + return torch.cat([x, y], 0) + + +class ER(Sequential): + """ + The experience replay policy. + """ + + def __init__(self, n_tasks, cfg, **policy_kwargs): + super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs) + # we truncate each sequence dataset to a buffer, when replay is used, + # concate all buffers to form a single replay buffer for replay. + self.datasets = [] + self.descriptions = [] + self.buffer = None + + def start_task(self, task): + super().start_task(task) + if self.current_task > 0: + # WARNING: currently we have a fixed size memory for each task. + buffers = [ + TruncatedSequenceDataset(dataset, self.cfg.lifelong.n_memories) + for dataset in self.datasets + ] + + buf = ConcatDataset(buffers) + self.buffer = cycle( + DataLoader( + buf, + batch_size=self.cfg.train.batch_size, + num_workers=self.cfg.train.num_workers, + sampler=RandomSampler(buf), + persistent_workers=True, + ) + ) + + def end_task(self, dataset, task_id, benchmark): + self.datasets.append(dataset) + + def observe(self, data): + if self.buffer is not None: + buf_data = next(self.buffer) + data = merge_datas(data, buf_data) + + data = self.map_tensor_to_device(data) + + self.optimizer.zero_grad() + loss = self.policy.compute_loss(data) + (self.loss_scale * loss).backward() + if self.cfg.train.grad_clip is not None: + grad_norm = nn.utils.clip_grad_norm_( + self.policy.parameters(), self.cfg.train.grad_clip + ) + self.optimizer.step() + return loss.item() diff --git a/third_party/libero/libero/lifelong/algos/ewc.py b/third_party/libero/libero/lifelong/algos/ewc.py new file mode 100644 index 0000000000000000000000000000000000000000..80890be716030a9bcc999a5ae417649daa578969 --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/ewc.py @@ -0,0 +1,87 @@ +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.utils.data import DataLoader + +from libero.lifelong.algos.base import Sequential +from libero.lifelong.utils import * + + +class EWC(Sequential): + """ + The Elastic Weight Consolidation policy. + """ + + def __init__(self, n_tasks, cfg, **policy_kwargs): + super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs) + self.checkpoint = None + self.fish = None + + def get_params(self): + return torch.cat([p.reshape(-1) for p in self.policy.parameters()]) + + def get_grads(self): + return torch.cat( + [ + p.grad.reshape(-1) + if p.grad is not None + else torch.zeros_like(p).reshape(-1) + for p in self.policy.parameters() + ] + ) + + def penalty(self): + if self.checkpoint is None: + return safe_device(torch.tensor(0.0), self.cfg.device) + else: + penalty = (self.fish * ((self.get_params() - self.checkpoint) ** 2)).sum() + return penalty + + def end_task(self, dataset, task_id, benchmark): + self.policy.train() + fish = torch.zeros_like(self.get_params()) + + dataloader = DataLoader( + dataset, + batch_size=self.cfg.train.batch_size, + shuffle=True, + num_workers=self.cfg.train.num_workers, + ) + + for data in dataloader: + data = TensorUtils.map_tensor( + data, lambda x: safe_device(x, device=self.cfg.device) + ) + self.policy.zero_grad() + nll = self.policy.compute_loss(data, reduction="none") + (-nll).mean().backward() + grads = self.get_grads() + fish += grads**2 + + fish /= len(dataloader) + + if self.fish is None: + self.fish = fish + else: + self.fish *= self.cfg.lifelong.gamma + self.fish += fish + + self.checkpoint = self.get_params().data.clone() + + def observe(self, data): + data = self.map_tensor_to_device(data) + self.optimizer.zero_grad() + loss = self.policy.compute_loss(data) + forward_loss = loss.item() + if self.current_task > 0: + loss += self.cfg.lifelong.e_lambda * self.penalty() + assert not torch.isnan(loss) + (loss * self.loss_scale).backward() + if self.cfg.train.grad_clip is not None: + grad_norm = nn.utils.clip_grad_norm_( + self.policy.parameters(), self.cfg.train.grad_clip + ) + self.optimizer.step() + return forward_loss diff --git a/third_party/libero/libero/lifelong/algos/multitask.py b/third_party/libero/libero/lifelong/algos/multitask.py new file mode 100644 index 0000000000000000000000000000000000000000..e478c1f25748ffa5531ded2bc768fb4f62e17752 --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/multitask.py @@ -0,0 +1,143 @@ +import os + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.utils.data import ConcatDataset, DataLoader, RandomSampler + +from libero.lifelong.algos.base import Sequential +from libero.lifelong.metric import * +from libero.lifelong.models import * +from libero.lifelong.utils import * + + +class Multitask(Sequential): + """ + The multitask learning baseline/upperbound. + """ + + def __init__(self, n_tasks, cfg, **policy_kwargs): + super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs) + + def learn_all_tasks(self, datasets, benchmark, result_summary): + self.start_task(-1) + concat_dataset = ConcatDataset(datasets) + + # learn on all tasks, only used in multitask learning + model_checkpoint_name = os.path.join( + self.experiment_dir, f"multitask_model.pth" + ) + all_tasks = list(range(benchmark.n_tasks)) + + train_dataloader = DataLoader( + concat_dataset, + batch_size=self.cfg.train.batch_size, + num_workers=self.cfg.train.num_workers, + sampler=RandomSampler(concat_dataset), + persistent_workers=True, + ) + + prev_success_rate = -1.0 + best_state_dict = self.policy.state_dict() # currently save the best model + + # for evaluate how fast the agent learns on current task, this corresponds + # to the area under success rate curve on the new task. + cumulated_counter = 0.0 + idx_at_best_succ = 0 + successes = [] + losses = [] + + # start training + for epoch in range(0, self.cfg.train.n_epochs + 1): + + t0 = time.time() + if epoch > 0 or (self.cfg.pretrain): # update + self.policy.train() + training_loss = 0.0 + for (idx, data) in enumerate(train_dataloader): + loss = self.observe(data) + training_loss += loss + training_loss /= len(train_dataloader) + else: # just evaluate the zero-shot performance on 0-th epoch + training_loss = 0.0 + for (idx, data) in enumerate(train_dataloader): + loss = self.eval_observe(data) + training_loss += loss + training_loss /= len(train_dataloader) + t1 = time.time() + + print( + f"[info] Epoch: {epoch:3d} | train loss: {training_loss:5.2f} | time: {(t1-t0)/60:4.2f}" + ) + + if epoch % self.cfg.eval.eval_every == 0: # evaluate BC loss + t0 = time.time() + self.policy.eval() + + model_checkpoint_name_ep = os.path.join( + self.experiment_dir, f"multitask_model_ep{epoch}.pth" + ) + torch_save_model(self.policy, model_checkpoint_name_ep, cfg=self.cfg) + losses.append(training_loss) + + # for multitask learning, we provide an option whether to evaluate + # the agent once every eval_every epochs on all tasks, note that + # this can be quite computationally expensive. Nevertheless, we + # save the checkpoints, so users can always evaluate afterwards. + if self.cfg.lifelong.eval_in_train: + success_rates = evaluate_multitask_training_success( + self.cfg, self, benchmark, all_tasks + ) + success_rate = np.mean(success_rates) + else: + success_rate = 0.0 + successes.append(success_rate) + + if prev_success_rate < success_rate and (not self.cfg.pretrain): + torch_save_model(self.policy, model_checkpoint_name, cfg=self.cfg) + prev_success_rate = success_rate + idx_at_best_succ = len(losses) - 1 + + t1 = time.time() + + cumulated_counter += 1.0 + ci = confidence_interval(success_rate, self.cfg.eval.n_eval) + tmp_successes = np.array(successes) + tmp_successes[idx_at_best_succ:] = successes[idx_at_best_succ] + + if self.cfg.lifelong.eval_in_train: + print( + f"[info] Epoch: {epoch:3d} | succ: {success_rate:4.2f} ± {ci:4.2f} | best succ: {prev_success_rate} " + + f"| succ. AoC {tmp_successes.sum()/cumulated_counter:4.2f} | time: {(t1-t0)/60:4.2f}", + flush=True, + ) + + if self.scheduler is not None and epoch > 0: + self.scheduler.step() + + # load the best policy if there is any + if self.cfg.lifelong.eval_in_train: + self.policy.load_state_dict(torch_load_model(model_checkpoint_name)[0]) + self.end_task(concat_dataset, -1, benchmark) + + # return the metrics regarding forward transfer + losses = np.array(losses) + successes = np.array(successes) + auc_checkpoint_name = os.path.join( + self.experiment_dir, f"multitask_auc.log" + ) + torch.save( + { + "success": successes, + "loss": losses, + }, + auc_checkpoint_name, + ) + + if self.cfg.lifelong.eval_in_train: + loss_at_best_succ = losses[idx_at_best_succ] + success_at_best_succ = successes[idx_at_best_succ] + losses[idx_at_best_succ:] = loss_at_best_succ + successes[idx_at_best_succ:] = success_at_best_succ + return successes.sum() / cumulated_counter, losses.sum() / cumulated_counter diff --git a/third_party/libero/libero/lifelong/algos/packnet.py b/third_party/libero/libero/lifelong/algos/packnet.py new file mode 100644 index 0000000000000000000000000000000000000000..0a4b8642169125138379b94f4ad53ca2e771eade --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/packnet.py @@ -0,0 +1,288 @@ +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.utils.data import DataLoader + +from libero.libero.benchmark import * +from libero.lifelong.algos.base import Sequential +from libero.lifelong.metric import * +from libero.lifelong.utils import * + + +class PackNet(Sequential): + """ + The PackNet policy. + """ + + def __init__(self, n_tasks, cfg, **policy_kwargs): + super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs) + self.cfg = cfg + previous_masks = {} + for module_idx, module in enumerate(self.policy.modules()): + if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear): + mask = torch.ByteTensor(module.weight.data.size()).fill_(0) + if "cuda" in module.weight.data.type(): + mask = mask.to(self.cfg.device) + previous_masks[module_idx] = mask + self.previous_masks = previous_masks + + def pruning_mask(self, weights, previous_mask, layer_idx): + """ + Ranks weights by magnitude. Sets all below kth to 0. + Returns pruned mask. + """ + # Select all prunable weights, ie. belonging to current dataset. + previous_mask = previous_mask.to(self.cfg.device) + tensor = weights[ + previous_mask.eq(self.current_task + 1) + ] # current_task starts from 0, so we add 1 + abs_tensor = tensor.abs() + cutoff_rank = round(self.cfg.lifelong.prune_perc * tensor.numel()) + cutoff_value = abs_tensor.view(-1).cpu().kthvalue(cutoff_rank)[0] + + # Remove those weights which are below cutoff and belong to current + # dataset that we are training for. + remove_mask = weights.abs().le(cutoff_value) * previous_mask.eq( + self.current_task + 1 + ) + + # mask is 1 - remove_mask + previous_mask[remove_mask.eq(1)] = 0 + mask = previous_mask + print( + "Layer #%d, pruned %d/%d (%.2f%%) (Total in layer: %d)" + % ( + layer_idx, + mask.eq(0).sum(), + tensor.numel(), + 100 * mask.eq(0).sum() / tensor.numel(), + weights.numel(), + ) + ) + return mask + + def prune(self): + """ + Gets pruning mask for each layer, based on previous_masks. + Sets the self.current_masks to the computed pruning masks. + """ + self.current_masks = {} + print( + "[info] pruning each layer by removing %.2f%% of values" + % (100 * self.cfg.lifelong.prune_perc) + ) + + for module_idx, module in enumerate(self.policy.modules()): + if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear): + mask = self.pruning_mask( + module.weight.data, self.previous_masks[module_idx], module_idx + ) + self.current_masks[module_idx] = mask.to(self.cfg.device) + + # Set pruned weights to 0. + weight = module.weight.data + weight[self.current_masks[module_idx].eq(0)] = 0.0 + self.previous_masks = self.current_masks + + def make_grads_zero(self): + """ + Sets grads of fixed weights and Norm layers to 0. + """ + assert self.current_masks + + for module_idx, module in enumerate(self.policy.modules()): + if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear): + layer_mask = self.current_masks[module_idx] + + # Set grads of all weights not belonging to current dataset to 0. + if module.weight.grad is not None: + module.weight.grad.data[layer_mask.ne(self.current_task + 1)] = 0 + # Biases are fixed. + if module.bias is not None: + module.bias.grad.data.fill_(0) + elif "BatchNorm" in str(type(module)) or "LayerNorm" in str(type(module)): + # Set grads of batchnorm params to 0. + module.weight.grad.data.fill_(0) + module.bias.grad.data.fill_(0) + + def start_task(self, task): + """ + Turns previously pruned weights into trainable weights for current dataset. + """ + super().start_task(task) + assert self.previous_masks + for module_idx, module in enumerate(self.policy.modules()): + if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear): + mask = self.previous_masks[module_idx] + # since current_task starts from 0, we add 1 + mask[mask.eq(0)] = self.current_task + 1 + # we never train norm layers + elif "BatchNorm" in str(type(module)) or "LayerNorm" in str(type(module)): + module.eval() + + self.current_masks = self.previous_masks + + def observe(self, data): + # make norm layer to eval + for module_idx, module in enumerate(self.policy.modules()): + if "BatchNorm" in str(type(module)) or "LayerNorm" in str(type(module)): + module.eval() + data = self.map_tensor_to_device(data) + + self.optimizer.zero_grad() + loss = self.policy.compute_loss(data) + (loss * self.loss_scale).backward() + if self.cfg.train.grad_clip is not None: + grad_norm = nn.utils.clip_grad_norm_( + self.policy.parameters(), self.cfg.train.grad_clip + ) + + # Set fixed param grads to 0. + self.make_grads_zero() + self.optimizer.step() + return loss.item() + + def end_task(self, dataset, task_id, benchmark): + # prune + post_finetune + # for fair comparisons with other lifelong learning algorithms, + # we do not use the success rates in the post_finetune epochs to AUC + self.prune() + + # Do final finetuning to improve results on pruned network. + if self.cfg.lifelong.post_prune_epochs: + print("[info] start finetuning after pruning ...") + # Note: here we do not apply start_task() to keep the 0 value in the + # mask stay 0 and only update the param where mask=current_task+1 + # re-initialize the optimizer and scheduler + self.optimizer = eval(self.cfg.train.optimizer.name)( + self.policy.parameters(), **self.cfg.train.optimizer.kwargs + ) + + self.scheduler = None + if self.cfg.train.scheduler is not None: + self.scheduler = eval(self.cfg.train.scheduler.name)( + self.optimizer, + T_max=self.cfg.train.n_epochs, + **self.cfg.train.scheduler.kwargs, + ) + + model_checkpoint_name = os.path.join( + self.experiment_dir, f"task{task_id}_model.pth" + ) + + train_dataloader = DataLoader( + dataset, + batch_size=self.cfg.train.batch_size, + num_workers=self.cfg.train.num_workers, + shuffle=True, + ) + + prev_success_rate = -1.0 + best_state_dict = self.policy.state_dict() # currently save the best model + torch_save_model( + self.policy, + model_checkpoint_name, + cfg=self.cfg, + previous_masks=self.previous_masks, + ) + + # this is just a fake summary object that works for placeholders + sim_states = [[] for _ in range(self.cfg.eval.n_eval)] + for epoch in range(0, self.cfg.lifelong.post_prune_epochs + 1): + t0 = time.time() + self.policy.train() + training_loss = 0.0 + for (idx, data) in enumerate(train_dataloader): + loss = self.observe(data) + training_loss += loss + training_loss /= len(train_dataloader) + t1 = time.time() + + print( + f"[info] Post epoch: {epoch:3d} | train loss: {training_loss:5.2f} | time: {(t1-t0)/60:4.2f}" + ) + time.sleep(0.1) + + if epoch % self.cfg.lifelong.post_eval_every == 0: # evaluate BC loss + self.policy.eval() + + t0 = time.time() + task = benchmark.get_task(task_id) + task_emb = benchmark.get_task_emb(task_id) + task_str = f"k{task_id}_e{epoch//self.cfg.lifelong.post_eval_every}" + + success_rate = evaluate_one_task_success( + self.cfg, + self, + task, + task_emb, + task_id, + sim_states=sim_states, + task_str="", + ) + + if prev_success_rate < success_rate: + # we do not record the success rate + torch_save_model( + self.policy, + model_checkpoint_name, + cfg=self.cfg, + previous_masks=self.previous_masks, + ) + prev_success_rate = success_rate + + t1 = time.time() + + ci = confidence_interval(success_rate, self.cfg.eval.n_eval) + print( + f"[info] Epoch: {epoch:3d} | succ: {success_rate:4.2f} ± {ci:4.2f}" + + f"best succ: {prev_success_rate} " + + f"| time: {(t1-t0)/60:4.2f}" + ) + + if self.scheduler is not None: + self.scheduler.step() + + self.policy.load_state_dict(torch_load_model(model_checkpoint_name)[0]) + + def get_eval_algo(self, task_id): + # TODO: find a better way to do this + # save and load a new model and set all params where mask > current_task + 1 to 0 + torch_save_model( + self.policy, + os.path.join(self.experiment_dir, "tmp_model.pth"), + cfg=self.cfg, + ) + eval_algo = safe_device( + eval(self.cfg.lifelong.algo)( + eval(self.cfg.benchmark_name)().n_tasks, self.cfg + ), + self.cfg.device, + ) + model_state_dict, _, _ = torch_load_model( + os.path.join(self.experiment_dir, "tmp_model.pth") + ) + eval_algo.policy.load_state_dict(model_state_dict) + + eval_algo.previous_masks = self.previous_masks + eval_algo.pruning_mask = self.pruning_mask + eval_algo.current_masks = self.current_masks + eval_algo.current_task = self.current_task + eval_algo.optimizer = self.optimizer + eval_algo.scheduler = self.scheduler + eval_algo.experiment_dir = self.experiment_dir + + eval_algo.eval() + + for module_idx, module in enumerate(eval_algo.policy.modules()): + if isinstance(module, nn.Conv2d) or isinstance(module, nn.Linear): + weight = module.weight.data + mask = eval_algo.previous_masks[module_idx].to(self.cfg.device) + weight[mask.eq(0)] = 0.0 + weight[mask.gt(task_id + 1)] = 0.0 + # we never train norm layers + elif "BatchNorm" in str(type(module)) or "LayerNorm" in str(type(module)): + module.eval() + return eval_algo diff --git a/third_party/libero/libero/lifelong/algos/single_task.py b/third_party/libero/libero/lifelong/algos/single_task.py new file mode 100644 index 0000000000000000000000000000000000000000..be6928b14ee41c48732e8c1522fdb1e73383985f --- /dev/null +++ b/third_party/libero/libero/lifelong/algos/single_task.py @@ -0,0 +1,18 @@ +import copy + +from libero.lifelong.algos.base import Sequential + + +class SingleTask(Sequential): + """ + The sequential BC baseline. + """ + + def __init__(self, n_tasks, cfg): + super().__init__(n_tasks, cfg) + self.init_pi = copy.deepcopy(self.policy) + + def start_task(self, task): + # re-initialize every new task + self.policy = copy.deepcopy(self.init_pi) + super().start_task(task) diff --git a/third_party/libero/libero/lifelong/datasets.py b/third_party/libero/libero/lifelong/datasets.py new file mode 100644 index 0000000000000000000000000000000000000000..f0b5a1c1d2dd18abff811836ea11de046a756058 --- /dev/null +++ b/third_party/libero/libero/lifelong/datasets.py @@ -0,0 +1,139 @@ +import copy + +import numpy as np +import robomimic.utils.file_utils as FileUtils +import robomimic.utils.obs_utils as ObsUtils +from PIL import Image +from robomimic.utils.dataset import SequenceDataset +from torch.utils.data import Dataset + +""" + Helper function from Robomimic to read hdf5 demonstrations into sequence dataset + + ISSUE: robomimic's SequenceDataset has two properties: seq_len and frame_stack, + we should in principle use seq_len, but the paddings of the two are different. + So that's why we currently use frame_stack instead of seq_len. +""" + + +def get_dataset( + dataset_path, + obs_modality, + initialize_obs_utils=True, + seq_len=1, + frame_stack=1, + filter_key=None, + hdf5_cache_mode="low_dim", + *args, + **kwargs +): + + if initialize_obs_utils: + ObsUtils.initialize_obs_utils_with_obs_specs({"obs": obs_modality}) + + all_obs_keys = [] + for modality_name, modality_list in obs_modality.items(): + all_obs_keys += modality_list + shape_meta = FileUtils.get_shape_metadata_from_dataset( + dataset_path=dataset_path, all_obs_keys=all_obs_keys, verbose=False + ) + + seq_len = seq_len + filter_key = filter_key + dataset = SequenceDataset( + hdf5_path=dataset_path, + obs_keys=shape_meta["all_obs_keys"], + dataset_keys=["actions"], + load_next_obs=False, + frame_stack=frame_stack, + seq_length=seq_len, # length-10 temporal sequences + pad_frame_stack=True, + pad_seq_length=True, # pad last obs per trajectory to ensure all sequences are sampled + get_pad_mask=False, + goal_mode=None, + hdf5_cache_mode=hdf5_cache_mode, # cache dataset in memory to avoid repeated file i/o + hdf5_use_swmr=False, + hdf5_normalize_obs=None, + filter_by_attribute=filter_key, # can optionally provide a filter key here + ) + return dataset, shape_meta + + +class SequenceVLDataset(Dataset): + def __init__(self, sequence_dataset, task_emb): + self.sequence_dataset = sequence_dataset + self.task_emb = task_emb + self.n_demos = self.sequence_dataset.n_demos + self.total_num_sequences = self.sequence_dataset.total_num_sequences + + def __len__(self): + return len(self.sequence_dataset) + + def __getitem__(self, idx): + return_dict = self.sequence_dataset.__getitem__(idx) + return_dict["task_emb"] = self.task_emb + return return_dict + + +class GroupedTaskDataset(Dataset): + def __init__(self, sequence_datasets, task_embs): + self.sequence_datasets = sequence_datasets + self.task_embs = task_embs + self.group_size = len(sequence_datasets) + self.n_demos = sum([x.n_demos for x in self.sequence_datasets]) + self.total_num_sequences = sum( + [x.total_num_sequences for x in self.sequence_datasets] + ) + self.lengths = [len(x) for x in self.sequence_datasets] + self.task_group_size = len(self.sequence_datasets) + + # create a map that maps the current idx of dataloader to original task data idx + # imagine we have task 1,2,3, with sizes 3,5,4, then the idx looks like + # task-1 task-2 task-3 + # 0 1 2 + # 3 4 5 + # 6 7 8 + # 9 10 + # 11 + # by doing so, when we concat the dataset, every task will have equal number of demos + self.map_dict = {} + sizes = np.array(self.lengths) + row = 0 + col = 0 + for i in range(sum(sizes)): + while sizes[col] == 0: + col = col + 1 + if col >= self.task_group_size: + col -= self.task_group_size + row += 1 + self.map_dict[i] = (row, col) + sizes[col] -= 1 + col += 1 + if col >= self.task_group_size: + col -= self.task_group_size + row += 1 + self.n_total = sum(self.lengths) + + def __len__(self): + return self.n_total + + def __get_original_task_idx(self, idx): + return self.map_dict[idx] + + def __getitem__(self, idx): + oi, oti = self.__get_original_task_idx(idx) + return_dict = self.sequence_datasets[oti].__getitem__(oi) + return_dict["task_emb"] = self.task_embs[oti] + return return_dict + + +class TruncatedSequenceDataset(Dataset): + def __init__(self, sequence_dataset, buffer_size): + self.sequence_dataset = sequence_dataset + self.buffer_size = buffer_size + + def __len__(self): + return self.buffer_size + + def __getitem__(self, idx): + return self.sequence_dataset.__getitem__(idx) diff --git a/third_party/libero/libero/lifelong/evaluate.py b/third_party/libero/libero/lifelong/evaluate.py new file mode 100644 index 0000000000000000000000000000000000000000..d4db4dd93ae01f31cc9886d0a52bbf86a1cebd69 --- /dev/null +++ b/third_party/libero/libero/lifelong/evaluate.py @@ -0,0 +1,305 @@ +import argparse +import sys +import os + +# TODO: find a better way for this? +os.environ["TOKENIZERS_PARALLELISM"] = "false" +import hydra +import json +import numpy as np +import pprint +import time +import torch +import wandb +import yaml +from easydict import EasyDict +from hydra.utils import get_original_cwd, to_absolute_path +from omegaconf import DictConfig, OmegaConf +from torch.utils.data import DataLoader +from transformers import AutoModel, pipeline, AutoTokenizer, logging +from pathlib import Path + +from libero.libero import get_libero_path +from libero.libero.benchmark import get_benchmark +from libero.libero.envs import OffScreenRenderEnv, SubprocVectorEnv +from libero.libero.utils.time_utils import Timer +from libero.libero.utils.video_utils import VideoWriter +from libero.lifelong.algos import * +from libero.lifelong.datasets import get_dataset, SequenceVLDataset, GroupedTaskDataset +from libero.lifelong.metric import ( + evaluate_loss, + evaluate_success, + raw_obs_to_tensor_obs, +) +from libero.lifelong.utils import ( + control_seed, + safe_device, + torch_load_model, + NpEncoder, + compute_flops, +) + +from libero.lifelong.main import get_task_embs + +import robomimic.utils.obs_utils as ObsUtils +import robomimic.utils.tensor_utils as TensorUtils + +import time + + +benchmark_map = { + "libero_10": "LIBERO_10", + "libero_spatial": "LIBERO_SPATIAL", + "libero_object": "LIBERO_OBJECT", + "libero_goal": "LIBERO_GOAL", +} + +algo_map = { + "base": "Sequential", + "er": "ER", + "ewc": "EWC", + "packnet": "PackNet", + "multitask": "Multitask", +} + +policy_map = { + "bc_rnn_policy": "BCRNNPolicy", + "bc_transformer_policy": "BCTransformerPolicy", + "bc_vilt_policy": "BCViLTPolicy", +} + + +def parse_args(): + parser = argparse.ArgumentParser(description="Evaluation Script") + parser.add_argument("--experiment_dir", type=str, default="experiments") + # for which task suite + parser.add_argument( + "--benchmark", + type=str, + required=True, + choices=["libero_10", "libero_spatial", "libero_object", "libero_goal"], + ) + parser.add_argument("--task_id", type=int, required=True) + # method detail + parser.add_argument( + "--algo", + type=str, + required=True, + choices=["base", "er", "ewc", "packnet", "multitask"], + ) + parser.add_argument( + "--policy", + type=str, + required=True, + choices=["bc_rnn_policy", "bc_transformer_policy", "bc_vilt_policy"], + ) + parser.add_argument("--seed", type=int, required=True) + parser.add_argument("--ep", type=int) + parser.add_argument("--load_task", type=int) + parser.add_argument("--device_id", type=int) + parser.add_argument("--save-videos", action="store_true") + # parser.add_argument('--save_dir', type=str, required=True) + args = parser.parse_args() + args.device_id = "cuda:" + str(args.device_id) + args.save_dir = f"{args.experiment_dir}_saved" + + if args.algo == "multitask": + assert args.ep in list( + range(0, 50, 5) + ), "[error] ep should be in [0, 5, ..., 50]" + else: + assert args.load_task in list( + range(10) + ), "[error] load_task should be in [0, ..., 9]" + return args + + +def main(): + args = parse_args() + # e.g., experiments/LIBERO_SPATIAL/Multitask/BCRNNPolicy_seed100/ + + experiment_dir = os.path.join( + args.experiment_dir, + f"{benchmark_map[args.benchmark]}/" + + f"{algo_map[args.algo]}/" + + f"{policy_map[args.policy]}_seed{args.seed}", + ) + + # find the checkpoint + experiment_id = 0 + for path in Path(experiment_dir).glob("run_*"): + if not path.is_dir(): + continue + try: + folder_id = int(str(path).split("run_")[-1]) + if folder_id > experiment_id: + experiment_id = folder_id + except BaseException: + pass + if experiment_id == 0: + print(f"[error] cannot find the checkpoint under {experiment_dir}") + sys.exit(0) + + run_folder = os.path.join(experiment_dir, f"run_{experiment_id:03d}") + try: + if args.algo == "multitask": + model_path = os.path.join(run_folder, f"multitask_model_ep{args.ep}.pth") + sd, cfg, previous_mask = torch_load_model( + model_path, map_location=args.device_id + ) + else: + model_path = os.path.join(run_folder, f"task{args.load_task}_model.pth") + sd, cfg, previous_mask = torch_load_model( + model_path, map_location=args.device_id + ) + except: + print(f"[error] cannot find the checkpoint at {str(model_path)}") + sys.exit(0) + + cfg.folder = get_libero_path("datasets") + cfg.bddl_folder = get_libero_path("bddl_files") + cfg.init_states_folder = get_libero_path("init_states") + + cfg.device = args.device_id + algo = safe_device(eval(algo_map[args.algo])(10, cfg), cfg.device) + algo.policy.previous_mask = previous_mask + + if cfg.lifelong.algo == "PackNet": + algo.eval() + for module_idx, module in enumerate(algo.policy.modules()): + if isinstance(module, torch.nn.Conv2d) or isinstance(module, torch.nn.Linear): + weight = module.weight.data + mask = algo.previous_masks[module_idx].to(cfg.device) + weight[mask.eq(0)] = 0.0 + weight[mask.gt(args.task_id + 1)] = 0.0 + # we never train norm layers + if "BatchNorm" in str(type(module)) or "LayerNorm" in str(type(module)): + module.eval() + + algo.policy.load_state_dict(sd) + + if not hasattr(cfg.data, "task_order_index"): + cfg.data.task_order_index = 0 + + # get the benchmark the task belongs to + benchmark = get_benchmark(cfg.benchmark_name)(cfg.data.task_order_index) + descriptions = [benchmark.get_task(i).language for i in range(10)] + task_embs = get_task_embs(cfg, descriptions) + benchmark.set_task_embs(task_embs) + + task = benchmark.get_task(args.task_id) + + ### ======================= start evaluation ============================ + + # 1. evaluate dataset loss + try: + dataset, shape_meta = get_dataset( + dataset_path=os.path.join( + cfg.folder, benchmark.get_task_demonstration(args.task_id) + ), + obs_modality=cfg.data.obs.modality, + initialize_obs_utils=True, + seq_len=cfg.data.seq_len, + ) + dataset = GroupedTaskDataset( + [dataset], task_embs[args.task_id : args.task_id + 1] + ) + except: + print( + f"[error] failed to load task {args.task_id} name {benchmark.get_task_names()[args.task_id]}" + ) + sys.exit(0) + + algo.eval() + + test_loss = 0.0 + + # 2. evaluate success rate + if args.algo == "multitask": + save_folder = os.path.join( + args.save_dir, + f"{args.benchmark}_{args.algo}_{args.policy}_{args.seed}_ep{args.ep}_on{args.task_id}.stats", + ) + else: + save_folder = os.path.join( + args.save_dir, + f"{args.benchmark}_{args.algo}_{args.policy}_{args.seed}_load{args.load_task}_on{args.task_id}.stats", + ) + + video_folder = os.path.join( + args.save_dir, + f"{args.benchmark}_{args.algo}_{args.policy}_{args.seed}_load{args.load_task}_on{args.task_id}_videos", + ) + + with Timer() as t, VideoWriter(video_folder, args.save_videos) as video_writer: + env_args = { + "bddl_file_name": os.path.join( + cfg.bddl_folder, task.problem_folder, task.bddl_file + ), + "camera_heights": cfg.data.img_h, + "camera_widths": cfg.data.img_w, + } + + env_num = 20 + env = SubprocVectorEnv( + [lambda: OffScreenRenderEnv(**env_args) for _ in range(env_num)] + ) + env.reset() + env.seed(cfg.seed) + algo.reset() + + init_states_path = os.path.join( + cfg.init_states_folder, task.problem_folder, task.init_states_file + ) + init_states = torch.load(init_states_path) + indices = np.arange(env_num) % init_states.shape[0] + init_states_ = init_states[indices] + + dones = [False] * env_num + steps = 0 + obs = env.set_init_state(init_states_) + task_emb = benchmark.get_task_emb(args.task_id) + + num_success = 0 + for _ in range(5): # simulate the physics without any actions + env.step(np.zeros((env_num, 7))) + + with torch.no_grad(): + while steps < cfg.eval.max_steps: + steps += 1 + + data = raw_obs_to_tensor_obs(obs, task_emb, cfg) + actions = algo.policy.get_action(data) + obs, reward, done, info = env.step(actions) + video_writer.append_vector_obs( + obs, dones, camera_name="agentview_image" + ) + + # check whether succeed + for k in range(env_num): + dones[k] = dones[k] or done[k] + if all(dones): + break + + for k in range(env_num): + num_success += int(dones[k]) + + success_rate = num_success / env_num + env.close() + + eval_stats = { + "loss": test_loss, + "success_rate": success_rate, + } + + os.system(f"mkdir -p {args.save_dir}") + torch.save(eval_stats, save_folder) + print( + f"[info] finish for ckpt at {run_folder} in {t.get_elapsed_time()} sec for rollouts" + ) + print(f"Results are saved at {save_folder}") + print(test_loss, success_rate) + + +if __name__ == "__main__": + main() diff --git a/third_party/libero/libero/lifelong/init_path.py b/third_party/libero/libero/lifelong/init_path.py new file mode 100644 index 0000000000000000000000000000000000000000..4daefe14d45cbeaebf3b406bf04881bc30bc0033 --- /dev/null +++ b/third_party/libero/libero/lifelong/init_path.py @@ -0,0 +1,5 @@ +import sys +import os + +path = os.path.dirname(os.path.realpath(__file__)) +sys.path.insert(0, os.path.join(path, "../")) diff --git a/third_party/libero/libero/lifelong/main.py b/third_party/libero/libero/lifelong/main.py new file mode 100644 index 0000000000000000000000000000000000000000..7ea868535de60075b1058e065d7693ca26e6d01f --- /dev/null +++ b/third_party/libero/libero/lifelong/main.py @@ -0,0 +1,272 @@ +import os + +os.environ["TOKENIZERS_PARALLELISM"] = "false" +import sys +import json +import multiprocessing +import pprint +import time +from pathlib import Path + +import hydra +import numpy as np +import wandb +import yaml +import torch +from easydict import EasyDict +from hydra.utils import to_absolute_path +from omegaconf import OmegaConf + +from libero.libero import get_libero_path +from libero.libero.benchmark import get_benchmark +from libero.lifelong.algos import get_algo_class, get_algo_list +from libero.lifelong.models import get_policy_list +from libero.lifelong.datasets import GroupedTaskDataset, SequenceVLDataset, get_dataset +from libero.lifelong.metric import evaluate_loss, evaluate_success +from libero.lifelong.utils import ( + NpEncoder, + compute_flops, + control_seed, + safe_device, + torch_load_model, + create_experiment_dir, + get_task_embs, +) + + +@hydra.main(config_path="../configs", config_name="config", version_base=None) +def main(hydra_cfg): + # preprocessing + yaml_config = OmegaConf.to_yaml(hydra_cfg) + cfg = EasyDict(yaml.safe_load(yaml_config)) + + # print configs to terminal + pp = pprint.PrettyPrinter(indent=2) + pp.pprint(cfg) + + pp.pprint("Available algorithms:") + pp.pprint(get_algo_list()) + + pp.pprint("Available policies:") + pp.pprint(get_policy_list()) + + # control seed + control_seed(cfg.seed) + + # prepare lifelong learning + cfg.folder = cfg.folder or get_libero_path("datasets") + cfg.bddl_folder = cfg.bddl_folder or get_libero_path("bddl_files") + cfg.init_states_folder = cfg.init_states_folder or get_libero_path("init_states") + + benchmark = get_benchmark(cfg.benchmark_name)(cfg.data.task_order_index) + n_manip_tasks = benchmark.n_tasks + + # prepare datasets from the benchmark + manip_datasets = [] + descriptions = [] + shape_meta = None + + for i in range(n_manip_tasks): + # currently we assume tasks from same benchmark have the same shape_meta + try: + task_i_dataset, shape_meta = get_dataset( + dataset_path=os.path.join( + cfg.folder, benchmark.get_task_demonstration(i) + ), + obs_modality=cfg.data.obs.modality, + initialize_obs_utils=(i == 0), + seq_len=cfg.data.seq_len, + ) + except Exception as e: + print( + f"[error] failed to load task {i} name {benchmark.get_task_names()[i]}" + ) + print(f"[error] {e}") + print(os.path.join(cfg.folder, benchmark.get_task_demonstration(i))) + # add language to the vision dataset, hence we call vl_dataset + task_description = benchmark.get_task(i).language + descriptions.append(task_description) + manip_datasets.append(task_i_dataset) + + task_embs = get_task_embs(cfg, descriptions) + benchmark.set_task_embs(task_embs) + + gsz = cfg.data.task_group_size + if gsz == 1: # each manipulation task is its own lifelong learning task + datasets = [ + SequenceVLDataset(ds, emb) for (ds, emb) in zip(manip_datasets, task_embs) + ] + n_demos = [data.n_demos for data in datasets] + n_sequences = [data.total_num_sequences for data in datasets] + else: # group gsz manipulation tasks into a lifelong task, currently not used + assert ( + n_manip_tasks % gsz == 0 + ), f"[error] task_group_size does not divide n_tasks" + datasets = [] + n_demos = [] + n_sequences = [] + for i in range(0, n_manip_tasks, gsz): + dataset = GroupedTaskDataset( + manip_datasets[i : i + gsz], task_embs[i : i + gsz] + ) + datasets.append(dataset) + n_demos.extend([x.n_demos for x in dataset.sequence_datasets]) + n_sequences.extend( + [x.total_num_sequences for x in dataset.sequence_datasets] + ) + + n_tasks = n_manip_tasks // gsz # number of lifelong learning tasks + print("\n=================== Lifelong Benchmark Information ===================") + print(f" Name: {benchmark.name}") + print(f" # Tasks: {n_manip_tasks // gsz}") + for i in range(n_tasks): + print(f" - Task {i+1}:") + for j in range(gsz): + print(f" {benchmark.get_task(i*gsz+j).language}") + print(" # demonstrations: " + " ".join(f"({x})" for x in n_demos)) + print(" # sequences: " + " ".join(f"({x})" for x in n_sequences)) + print("=======================================================================\n") + + # prepare experiment and update the config + create_experiment_dir(cfg) + cfg.shape_meta = shape_meta + + if cfg.use_wandb: + wandb.init(project="libero", config=cfg) + wandb.run.name = cfg.experiment_name + + result_summary = { + "L_conf_mat": np.zeros((n_manip_tasks, n_manip_tasks)), # loss confusion matrix + "S_conf_mat": np.zeros((n_manip_tasks, n_manip_tasks)), # success confusion matrix + "L_fwd": np.zeros((n_manip_tasks,)), # loss AUC, how fast the agent learns + "S_fwd": np.zeros((n_manip_tasks,)), # success AUC, how fast the agent succeeds + } + + if cfg.eval.save_sim_states: + # for saving the evaluate simulation states, so we can replay them later + for k in range(n_manip_tasks): + for p in range(k + 1): # for testing task p when the agent learns to task k + result_summary[f"k{k}_p{p}"] = [[] for _ in range(cfg.eval.n_eval)] + for e in range( + cfg.train.n_epochs + 1 + ): # for testing task k at the e-th epoch when the agent learns on task k + if e % cfg.eval.eval_every == 0: + result_summary[f"k{k}_e{e//cfg.eval.eval_every}"] = [ + [] for _ in range(cfg.eval.n_eval) + ] + + # define lifelong algorithm + algo = safe_device(get_algo_class(cfg.lifelong.algo)(n_tasks, cfg), cfg.device) + if cfg.pretrain_model_path != "": # load a pretrained model if there is any + try: + algo.policy.load_state_dict(torch_load_model(cfg.pretrain_model_path)[0]) + except: + print( + f"[error] cannot load pretrained model from {cfg.pretrain_model_path}" + ) + sys.exit(0) + + print(f"[info] start lifelong learning with algo {cfg.lifelong.algo}") + GFLOPs, MParams = compute_flops(algo, datasets[0], cfg) + print(f"[info] policy has {GFLOPs:.1f} GFLOPs and {MParams:.1f} MParams\n") + + # save the experiment config file, so we can resume or replay later + with open(os.path.join(cfg.experiment_dir, "config.json"), "w") as f: + json.dump(cfg, f, cls=NpEncoder, indent=4) + + if cfg.lifelong.algo == "Multitask": + + algo.train() + s_fwd, l_fwd = algo.learn_all_tasks(datasets, benchmark, result_summary) + result_summary["L_fwd"][-1] = l_fwd + result_summary["S_fwd"][-1] = s_fwd + + # evalute on all seen tasks at the end if eval.eval is true + if cfg.eval.eval: + L = evaluate_loss(cfg, algo, benchmark, datasets) + S = evaluate_success( + cfg=cfg, + algo=algo, + benchmark=benchmark, + task_ids=list(range(n_manip_tasks)), + result_summary=result_summary if cfg.eval.save_sim_states else None, + ) + + result_summary["L_conf_mat"][-1] = L + result_summary["S_conf_mat"][-1] = S + + if cfg.use_wandb: + wandb.run.summary["success_confusion_matrix"] = result_summary[ + "S_conf_mat" + ] + wandb.run.summary["loss_confusion_matrix"] = result_summary[ + "L_conf_mat" + ] + wandb.run.summary["fwd_transfer_success"] = result_summary["S_fwd"] + wandb.run.summary["fwd_transfer_loss"] = result_summary["L_fwd"] + wandb.run.summary.update() + + print(("[All task loss ] " + " %4.2f |" * n_tasks) % tuple(L)) + print(("[All task succ.] " + " %4.2f |" * n_tasks) % tuple(S)) + + torch.save(result_summary, os.path.join(cfg.experiment_dir, f"result.pt")) + else: + for i in range(n_tasks): + print(f"[info] start training on task {i}") + algo.train() + + t0 = time.time() + s_fwd, l_fwd = algo.learn_one_task( + datasets[i], i, benchmark, result_summary + ) + result_summary["S_fwd"][i] = s_fwd + result_summary["L_fwd"][i] = l_fwd + t1 = time.time() + + # evalute on all seen tasks at the end of learning each task + if cfg.eval.eval: + L = evaluate_loss(cfg, algo, benchmark, datasets[: i + 1]) + t2 = time.time() + S = evaluate_success( + cfg=cfg, + algo=algo, + benchmark=benchmark, + task_ids=list(range((i + 1) * gsz)), + result_summary=result_summary if cfg.eval.save_sim_states else None, + ) + t3 = time.time() + result_summary["L_conf_mat"][i][: i + 1] = L + result_summary["S_conf_mat"][i][: i + 1] = S + + if cfg.use_wandb: + wandb.run.summary["success_confusion_matrix"] = result_summary[ + "S_conf_mat" + ] + wandb.run.summary["loss_confusion_matrix"] = result_summary[ + "L_conf_mat" + ] + wandb.run.summary["fwd_transfer_success"] = result_summary["S_fwd"] + wandb.run.summary["fwd_transfer_loss"] = result_summary["L_fwd"] + wandb.run.summary.update() + + print( + f"[info] train time (min) {(t1-t0)/60:.1f} " + + f"eval loss time {(t2-t1)/60:.1f} " + + f"eval success time {(t3-t2)/60:.1f}" + ) + print(("[Task %2d loss ] " + " %4.2f |" * (i + 1)) % (i, *L)) + print(("[Task %2d succ.] " + " %4.2f |" * (i + 1)) % (i, *S)) + torch.save( + result_summary, os.path.join(cfg.experiment_dir, f"result.pt") + ) + + print("[info] finished learning\n") + if cfg.use_wandb: + wandb.finish() + + +if __name__ == "__main__": + # Set the multiprocessing start method to 'spawn' + if multiprocessing.get_start_method(allow_none=True) != "spawn": + multiprocessing.set_start_method("spawn", force=True) + main() diff --git a/third_party/libero/libero/lifelong/metric.py b/third_party/libero/libero/lifelong/metric.py new file mode 100644 index 0000000000000000000000000000000000000000..9777577d67818786e5955596220fc9dbca1bae00 --- /dev/null +++ b/third_party/libero/libero/lifelong/metric.py @@ -0,0 +1,222 @@ +import copy +import gc +import numpy as np +import os +import robomimic.utils.obs_utils as ObsUtils +import robomimic.utils.tensor_utils as TensorUtils +import time +import torch +import torch.multiprocessing as mp +import torch.nn.functional as F +from torch.utils.data import DataLoader + +from libero.libero.envs import OffScreenRenderEnv, SubprocVectorEnv, DummyVectorEnv +from libero.libero.utils.time_utils import Timer +from libero.libero.utils.video_utils import VideoWriter +from libero.lifelong.utils import * + + +def raw_obs_to_tensor_obs(obs, task_emb, cfg): + """ + Prepare the tensor observations as input for the algorithm. + """ + env_num = len(obs) + + data = { + "obs": {}, + "task_emb": task_emb.repeat(env_num, 1), + } + + all_obs_keys = [] + for modality_name, modality_list in cfg.data.obs.modality.items(): + for obs_name in modality_list: + data["obs"][obs_name] = [] + all_obs_keys += modality_list + + for k in range(env_num): + for obs_name in all_obs_keys: + data["obs"][obs_name].append( + ObsUtils.process_obs( + torch.from_numpy(obs[k][cfg.data.obs_key_mapping[obs_name]]), + obs_key=obs_name, + ).float() + ) + + for key in data["obs"]: + data["obs"][key] = torch.stack(data["obs"][key]) + + data = TensorUtils.map_tensor(data, lambda x: safe_device(x, device=cfg.device)) + return data + + +def evaluate_one_task_success( + cfg, algo, task, task_emb, task_id, sim_states=None, task_str="" +): + """ + Evaluate a single task's success rate + sim_states: if not None, will keep track of all simulated states during + evaluation, mainly for visualization and debugging purpose + task_str: the key to access sim_states dictionary + """ + with Timer() as t: + if cfg.lifelong.algo == "PackNet": # need preprocess weights for PackNet + algo = algo.get_eval_algo(task_id) + + algo.eval() + env_num = min(cfg.eval.num_procs, cfg.eval.n_eval) if cfg.eval.use_mp else 1 + eval_loop_num = (cfg.eval.n_eval + env_num - 1) // env_num + + # initiate evaluation envs + env_args = { + "bddl_file_name": os.path.join( + cfg.bddl_folder, task.problem_folder, task.bddl_file + ), + "camera_heights": cfg.data.img_h, + "camera_widths": cfg.data.img_w, + } + + env_num = min(cfg.eval.num_procs, cfg.eval.n_eval) if cfg.eval.use_mp else 1 + eval_loop_num = (cfg.eval.n_eval + env_num - 1) // env_num + + # Try to handle the frame buffer issue + env_creation = False + + count = 0 + while not env_creation and count < 5: + try: + if env_num == 1: + env = DummyVectorEnv( + [lambda: OffScreenRenderEnv(**env_args) for _ in range(env_num)] + ) + else: + env = SubprocVectorEnv( + [lambda: OffScreenRenderEnv(**env_args) for _ in range(env_num)] + ) + env_creation = True + except: + time.sleep(5) + count += 1 + if count >= 5: + raise Exception("Failed to create environment") + + ### Evaluation loop + # get fixed init states to control the experiment randomness + init_states_path = os.path.join( + cfg.init_states_folder, task.problem_folder, task.init_states_file + ) + init_states = torch.load(init_states_path) + num_success = 0 + for i in range(eval_loop_num): + env.reset() + indices = np.arange(i * env_num, (i + 1) * env_num) % init_states.shape[0] + init_states_ = init_states[indices] + + dones = [False] * env_num + steps = 0 + algo.reset() + obs = env.set_init_state(init_states_) + + # dummy actions [env_num, 7] all zeros for initial physics simulation + dummy = np.zeros((env_num, 7)) + for _ in range(5): + obs, _, _, _ = env.step(dummy) + + if task_str != "": + sim_state = env.get_sim_state() + for k in range(env_num): + if i * env_num + k < cfg.eval.n_eval and sim_states is not None: + sim_states[i * env_num + k].append(sim_state[k]) + + while steps < cfg.eval.max_steps: + steps += 1 + + data = raw_obs_to_tensor_obs(obs, task_emb, cfg) + actions = algo.policy.get_action(data) + + obs, reward, done, info = env.step(actions) + + # record the sim states for replay purpose + if task_str != "": + sim_state = env.get_sim_state() + for k in range(env_num): + if i * env_num + k < cfg.eval.n_eval and sim_states is not None: + sim_states[i * env_num + k].append(sim_state[k]) + + # check whether succeed + for k in range(env_num): + dones[k] = dones[k] or done[k] + + if all(dones): + break + + # a new form of success record + for k in range(env_num): + if i * env_num + k < cfg.eval.n_eval: + num_success += int(dones[k]) + + success_rate = num_success / cfg.eval.n_eval + env.close() + gc.collect() + print(f"[info] evaluate task {task_id} takes {t.get_elapsed_time():.1f} seconds") + return success_rate + + +def evaluate_success(cfg, algo, benchmark, task_ids, result_summary=None): + """ + Evaluate the success rate for all task in task_ids. + """ + algo.eval() + successes = [] + for i in task_ids: + task_i = benchmark.get_task(i) + task_emb = benchmark.get_task_emb(i) + task_str = f"k{task_ids[-1]}_p{i}" + curr_summary = result_summary[task_str] if result_summary is not None else None + success_rate = evaluate_one_task_success( + cfg, algo, task_i, task_emb, i, sim_states=curr_summary, task_str=task_str + ) + successes.append(success_rate) + return np.array(successes) + + +def evaluate_multitask_training_success(cfg, algo, benchmark, task_ids): + """ + Evaluate the success rate for all task in task_ids. + """ + algo.eval() + successes = [] + for i in task_ids: + task_i = benchmark.get_task(i) + task_emb = benchmark.get_task_emb(i) + success_rate = evaluate_one_task_success(cfg, algo, task_i, task_emb, i) + successes.append(success_rate) + return np.array(successes) + + +@torch.no_grad() +def evaluate_loss(cfg, algo, benchmark, datasets): + """ + Evaluate the loss on all datasets. + """ + algo.eval() + losses = [] + for i, dataset in enumerate(datasets): + if cfg.lifelong.algo == "PackNet": # need preprocess weights for PackNet + algo = algo.get_eval_algo(task_id=i) + + dataloader = DataLoader( + dataset, + batch_size=cfg.eval.batch_size, + num_workers=cfg.eval.num_workers, + shuffle=False, + ) + test_loss = 0 + for data in dataloader: + data = TensorUtils.map_tensor( + data, lambda x: safe_device(x, device=cfg.device) + ) + loss = algo.policy.compute_loss(data) + test_loss += loss.item() + test_loss /= len(dataloader) + losses.append(test_loss) + return np.array(losses) diff --git a/third_party/libero/libero/lifelong/models/__init__.py b/third_party/libero/libero/lifelong/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..4d7d69f14b6647490deac326f075f92853900333 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/__init__.py @@ -0,0 +1,5 @@ +from libero.lifelong.models.bc_rnn_policy import BCRNNPolicy +from libero.lifelong.models.bc_transformer_policy import BCTransformerPolicy +from libero.lifelong.models.bc_vilt_policy import BCViLTPolicy + +from libero.lifelong.models.base_policy import get_policy_class, get_policy_list diff --git a/third_party/libero/libero/lifelong/models/base_policy.py b/third_party/libero/libero/lifelong/models/base_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..16bdcc3e80f2d86a8831596ffff349630a271f30 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/base_policy.py @@ -0,0 +1,125 @@ +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn + +from libero.lifelong.models.modules.data_augmentation import ( + IdentityAug, + TranslationAug, + ImgColorJitterAug, + ImgColorJitterGroupAug, + BatchWiseImgColorJitterAug, + DataAugGroup, +) + +REGISTERED_POLICIES = {} + + +def register_policy(policy_class): + """Register a policy class with the registry.""" + policy_name = policy_class.__name__.lower() + if policy_name in REGISTERED_POLICIES: + raise ValueError("Cannot register duplicate policy ({})".format(policy_name)) + + REGISTERED_POLICIES[policy_name] = policy_class + + +def get_policy_class(policy_name): + """Get the policy class from the registry.""" + if policy_name.lower() not in REGISTERED_POLICIES: + raise ValueError( + "Policy class with name {} not found in registry".format(policy_name) + ) + return REGISTERED_POLICIES[policy_name.lower()] + + +def get_policy_list(): + return REGISTERED_POLICIES + + +class PolicyMeta(type): + """Metaclass for registering environments""" + + def __new__(meta, name, bases, class_dict): + cls = super().__new__(meta, name, bases, class_dict) + + # List all policies that should not be registered here. + _unregistered_policies = ["BasePolicy"] + + if cls.__name__ not in _unregistered_policies: + register_policy(cls) + return cls + + +class BasePolicy(nn.Module, metaclass=PolicyMeta): + def __init__(self, cfg, shape_meta): + super().__init__() + self.cfg = cfg + self.device = cfg.device + self.shape_meta = shape_meta + + policy_cfg = cfg.policy + + # add data augmentation for rgb inputs + color_aug = eval(policy_cfg.color_aug.network)( + **policy_cfg.color_aug.network_kwargs + ) + + policy_cfg.translation_aug.network_kwargs["input_shape"] = shape_meta[ + "all_shapes" + ][cfg.data.obs.modality.rgb[0]] + translation_aug = eval(policy_cfg.translation_aug.network)( + **policy_cfg.translation_aug.network_kwargs + ) + self.img_aug = DataAugGroup((color_aug, translation_aug)) + + def forward(self, data): + """ + The forward function for training. + """ + raise NotImplementedError + + def get_action(self, data): + """ + The api to get policy's action. + """ + raise NotImplementedError + + def _get_img_tuple(self, data): + img_tuple = tuple( + [data["obs"][img_name] for img_name in self.image_encoders.keys()] + ) + return img_tuple + + def _get_aug_output_dict(self, out): + img_dict = { + img_name: out[idx] + for idx, img_name in enumerate(self.image_encoders.keys()) + } + return img_dict + + def preprocess_input(self, data, train_mode=True): + if train_mode: # apply augmentation + if self.cfg.train.use_augmentation: + img_tuple = self._get_img_tuple(data) + aug_out = self._get_aug_output_dict(self.img_aug(img_tuple)) + for img_name in self.image_encoders.keys(): + data["obs"][img_name] = aug_out[img_name] + return data + else: + data = TensorUtils.recursive_dict_list_tuple_apply( + data, {torch.Tensor: lambda x: x.unsqueeze(dim=1)} # add time dimension + ) + data["task_emb"] = data["task_emb"].squeeze(1) + return data + + def compute_loss(self, data, reduction="mean"): + data = self.preprocess_input(data, train_mode=True) + dist = self.forward(data) + loss = self.policy_head.loss_fn(dist, data["actions"], reduction) + return loss + + def reset(self): + """ + Clear all "history" of the policy if there exists any. + """ + pass diff --git a/third_party/libero/libero/lifelong/models/bc_rnn_policy.py b/third_party/libero/libero/lifelong/models/bc_rnn_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..0a2131b6410bee7797e0596990291b28f00ca567 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/bc_rnn_policy.py @@ -0,0 +1,211 @@ +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn + +from einops import rearrange, repeat +from libero.lifelong.models.modules.rgb_modules import * +from libero.lifelong.models.modules.language_modules import * +from libero.lifelong.models.base_policy import BasePolicy +from libero.lifelong.models.policy_head import * + + +############################################################################### +# +# A model handling extra input modalities besides images at time t. +# +############################################################################### + + +class ExtraModalities: + def __init__( + self, + use_joint=False, + use_gripper=False, + use_ee=False, + extra_hidden_size=64, + extra_embedding_size=32, + ): + + self.use_joint = use_joint + self.use_gripper = use_gripper + self.use_ee = use_ee + self.extra_embedding_size = extra_embedding_size + + joint_states_dim = 7 + gripper_states_dim = 2 + ee_dim = 3 + + self.extra_low_level_feature_dim = ( + int(use_joint) * joint_states_dim + + int(use_gripper) * gripper_states_dim + + int(use_ee) * ee_dim + ) + assert self.extra_low_level_feature_dim > 0, "[error] no extra information" + + def __call__(self, obs_dict): + """ + obs_dict: { + (optional) joint_stats: (B, T, 7), + (optional) gripper_states: (B, T, 2), + (optional) ee: (B, T, 3) + } + map above to a latent vector of shape (B, T, H) + """ + tensor_list = [] + if self.use_joint: + tensor_list.append(obs_dict["joint_states"]) + if self.use_gripper: + tensor_list.append(obs_dict["gripper_states"]) + if self.use_ee: + tensor_list.append(obs_dict["ee_states"]) + x = torch.cat(tensor_list, dim=-1) + return x + + def output_shape(self, input_shape, shape_meta): + return (self.extra_low_level_feature_dim,) + + +############################################################################### +# +# A RNN policy +# +############################################################################### + + +class BCRNNPolicy(BasePolicy): + """ + Input: (o_{t-H}, ... , o_t) + Output: a_t or distribution of a_t + """ + + def __init__(self, cfg, shape_meta): + super().__init__(cfg, shape_meta) + policy_cfg = cfg.policy + + ### 1. encode image + rnn_input_size = 0 + image_embed_size = policy_cfg.image_embed_size + self.image_encoders = {} + for name in shape_meta["all_shapes"].keys(): + if "rgb" in name or "depth" in name: + kwargs = policy_cfg.image_encoder.network_kwargs + kwargs.input_shape = shape_meta["all_shapes"][name] + kwargs.output_size = image_embed_size + kwargs.language_dim = ( + policy_cfg.language_encoder.network_kwargs.input_size + ) + self.image_encoders[name] = { + "input_shape": shape_meta["all_shapes"][name], + "encoder": eval(policy_cfg.image_encoder.network)(**kwargs), + } + rnn_input_size += image_embed_size + self.encoders = nn.ModuleList( + [x["encoder"] for x in self.image_encoders.values()] + ) + + ### 2. encode language + text_embed_size = policy_cfg.text_embed_size + policy_cfg.language_encoder.network_kwargs.output_size = text_embed_size + self.language_encoder = eval(policy_cfg.language_encoder.network)( + **policy_cfg.language_encoder.network_kwargs + ) + rnn_input_size += text_embed_size + + ### 3. encode extra information (e.g. gripper, joint_state) + self.extra_encoder = ExtraModalities( + use_joint=cfg.data.use_joint, + use_gripper=cfg.data.use_gripper, + use_ee=cfg.data.use_ee, + ) + rnn_input_size += self.extra_encoder.extra_low_level_feature_dim + + self.rnn = nn.LSTM( + input_size=rnn_input_size, + hidden_size=policy_cfg.rnn_hidden_size, + num_layers=policy_cfg.rnn_num_layers, + batch_first=True, + dropout=policy_cfg.rnn_dropout, + bidirectional=policy_cfg.rnn_bidirectional, + ) + + ### 4. use policy head to output action + self.D = 2 if policy_cfg.rnn_bidirectional else 1 + policy_head_kwargs = policy_cfg.policy_head.network_kwargs + policy_head_kwargs.input_size = self.D * policy_cfg.rnn_hidden_size + policy_head_kwargs.output_size = shape_meta["ac_dim"] + + self.policy_head = eval(policy_cfg.policy_head.network)( + **policy_cfg.policy_head.loss_kwargs, + **policy_cfg.policy_head.network_kwargs + ) + self.eval_h0 = None + self.eval_c0 = None + + def forward(self, data, train_mode=True): + # 1. encode image + encoded = [] + for img_name in self.image_encoders.keys(): + x = data["obs"][img_name] + B, T, C, H, W = x.shape + e = self.image_encoders[img_name]["encoder"]( + x.reshape(B * T, C, H, W), + langs=data["task_emb"] + .reshape(B, 1, -1) + .repeat(1, T, 1) + .reshape(B * T, -1), + ).view(B, T, -1) + encoded.append(e) + + # 2. add joint states, gripper info, etc. + encoded.append(self.extra_encoder(data["obs"])) # add (B, T, H_extra) + encoded = torch.cat(encoded, -1) # (B, T, H_all) + + # 3. language encoding + lang_h = self.language_encoder(data) # (B, H) + encoded = torch.cat( + [encoded, lang_h.unsqueeze(1).expand(-1, encoded.shape[1], -1)], dim=-1 + ) + + # 4. apply temporal rnn + if train_mode: + h0 = torch.zeros( + self.D * self.cfg.policy.rnn_num_layers, + encoded.shape[0], + self.cfg.policy.rnn_hidden_size, + ).to(self.device) + c0 = torch.zeros( + self.D * self.cfg.policy.rnn_num_layers, + encoded.shape[0], + self.cfg.policy.rnn_hidden_size, + ).to(self.device) + output, (hn, cn) = self.rnn(encoded, (h0, c0)) + else: + if self.eval_h0 is None: + self.eval_h0 = torch.zeros( + self.D * self.cfg.policy.rnn_num_layers, + encoded.shape[0], + self.cfg.policy.rnn_hidden_size, + ).to(self.device) + self.eval_c0 = torch.zeros( + self.D * self.cfg.policy.rnn_num_layers, + encoded.shape[0], + self.cfg.policy.rnn_hidden_size, + ).to(self.device) + output, (h1, c1) = self.rnn(encoded, (self.eval_h0, self.eval_c0)) + self.eval_h0 = h1.detach() + self.eval_c0 = c1.detach() + + dist = self.policy_head(output) + return dist + + def get_action(self, data): + self.eval() + data = self.preprocess_input(data, train_mode=False) + with torch.no_grad(): + dist = self.forward(data) + action = dist.sample().detach().cpu() + return action.view(action.shape[0], -1).numpy() + + def reset(self): + self.eval_h0 = None + self.eval_c0 = None diff --git a/third_party/libero/libero/lifelong/models/bc_transformer_policy.py b/third_party/libero/libero/lifelong/models/bc_transformer_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..e9c8c3dbe946850bc32518fe028a508f668032ca --- /dev/null +++ b/third_party/libero/libero/lifelong/models/bc_transformer_policy.py @@ -0,0 +1,304 @@ +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn + +from libero.lifelong.models.modules.rgb_modules import * +from libero.lifelong.models.modules.language_modules import * +from libero.lifelong.models.modules.transformer_modules import * +from libero.lifelong.models.base_policy import BasePolicy +from libero.lifelong.models.policy_head import * + + +############################################################################### +# +# A model handling extra input modalities besides images at time t. +# +############################################################################### + + +class ExtraModalityTokens(nn.Module): + def __init__( + self, + use_joint=False, + use_gripper=False, + use_ee=False, + extra_num_layers=0, + extra_hidden_size=64, + extra_embedding_size=32, + ): + """ + This is a class that maps all extra modality inputs into tokens of the same size + """ + super().__init__() + self.use_joint = use_joint + self.use_gripper = use_gripper + self.use_ee = use_ee + self.extra_embedding_size = extra_embedding_size + + joint_states_dim = 7 + gripper_states_dim = 2 + ee_dim = 3 + + self.num_extra = int(use_joint) + int(use_gripper) + int(use_ee) + + extra_low_level_feature_dim = ( + int(use_joint) * joint_states_dim + + int(use_gripper) * gripper_states_dim + + int(use_ee) * ee_dim + ) + + assert extra_low_level_feature_dim > 0, "[error] no extra information" + + self.extra_encoders = {} + + def generate_proprio_mlp_fn(modality_name, extra_low_level_feature_dim): + assert extra_low_level_feature_dim > 0 # we indeed have extra information + if extra_num_layers > 0: + layers = [nn.Linear(extra_low_level_feature_dim, extra_hidden_size)] + for i in range(1, extra_num_layers): + layers += [ + nn.Linear(extra_hidden_size, extra_hidden_size), + nn.ReLU(inplace=True), + ] + layers += [nn.Linear(extra_hidden_size, extra_embedding_size)] + else: + layers = [nn.Linear(extra_low_level_feature_dim, extra_embedding_size)] + + self.proprio_mlp = nn.Sequential(*layers) + self.extra_encoders[modality_name] = {"encoder": self.proprio_mlp} + + for (proprio_dim, use_modality, modality_name) in [ + (joint_states_dim, self.use_joint, "joint_states"), + (gripper_states_dim, self.use_gripper, "gripper_states"), + (ee_dim, self.use_ee, "ee_states"), + ]: + + if use_modality: + generate_proprio_mlp_fn(modality_name, proprio_dim) + + self.encoders = nn.ModuleList( + [x["encoder"] for x in self.extra_encoders.values()] + ) + + def forward(self, obs_dict): + """ + obs_dict: { + (optional) joint_stats: (B, T, 7), + (optional) gripper_states: (B, T, 2), + (optional) ee: (B, T, 3) + } + map above to a latent vector of shape (B, T, H) + """ + tensor_list = [] + + for (use_modality, modality_name) in [ + (self.use_joint, "joint_states"), + (self.use_gripper, "gripper_states"), + (self.use_ee, "ee_states"), + ]: + + if use_modality: + tensor_list.append( + self.extra_encoders[modality_name]["encoder"]( + obs_dict[modality_name] + ) + ) + + x = torch.stack(tensor_list, dim=-2) + return x + + +class PerturbationAttention: + """ + See https://arxiv.org/pdf/1711.00138.pdf for perturbation-based visualization + for understanding a control agent. + """ + + def __init__(self, model, image_size=[128, 128], patch_size=[16, 16], device="cpu"): + + self.model = model + self.patch_size = patch_size + H, W = image_size + num_patches = (H * W) // np.prod(patch_size) + # pre-compute mask + h, w = patch_size + nh, nw = H // h, W // w + mask = ( + torch.eye(num_patches) + .view(num_patches, num_patches, 1, 1) + .repeat(1, 1, patch_size[0], patch_size[1]) + ) # (np, np, h, w) + mask = rearrange( + mask.view(num_patches, nh, nw, h, w), "a b c d e -> a (b d) (c e)" + ) # (np, H, W) + self.mask = mask.to(device).view(1, num_patches, 1, H, W) + self.num_patches = num_patches + self.H, self.W = H, W + self.nh, self.nw = nh, nw + + def __call__(self, data): + rgb = data["obs"]["agentview_rgb"] # (B, C, H, W) + B, C, H, W = rgb.shape + + rgb_ = rgb.unsqueeze(1).repeat(1, self.num_patches, 1, 1, 1) # (B, np, C, H, W) + rgb_mean = rgb.mean([2, 3], keepdims=True).unsqueeze(1) # (B, 1, C, 1, 1) + rgb_new = (rgb_mean * self.mask) + (1 - self.mask) * rgb_ # (B, np, C, H, W) + rgb_stack = torch.cat([rgb.unsqueeze(1), rgb_new], 1) # (B, 1+np, C, H, W) + + rgb_stack = rearrange(rgb_stack, "b n c h w -> (b n) c h w") + res = self.model(rgb_stack).view(B, self.num_patches + 1, -1) # (B, 1+np, E) + base = res[:, 0].view(B, 1, -1) + others = res[:, 1:].view(B, self.num_patches, -1) + + attn = F.softmax(1e5 * (others - base).pow(2).sum(-1), -1) # (B, num_patches) + attn_ = attn.view(B, 1, self.nh, self.nw) + attn_ = ( + F.interpolate(attn_, size=(self.H, self.W), mode="bilinear") + .detach() + .cpu() + .numpy() + ) + return attn_ + + +############################################################################### +# +# A Transformer Policy +# +############################################################################### + + +class BCTransformerPolicy(BasePolicy): + """ + Input: (o_{t-H}, ... , o_t) + Output: a_t or distribution of a_t + """ + + def __init__(self, cfg, shape_meta): + super().__init__(cfg, shape_meta) + policy_cfg = cfg.policy + + ### 1. encode image + embed_size = policy_cfg.embed_size + transformer_input_sizes = [] + self.image_encoders = {} + for name in shape_meta["all_shapes"].keys(): + if "rgb" in name or "depth" in name: + kwargs = policy_cfg.image_encoder.network_kwargs + kwargs.input_shape = shape_meta["all_shapes"][name] + kwargs.output_size = embed_size + kwargs.language_dim = ( + policy_cfg.language_encoder.network_kwargs.input_size + ) + self.image_encoders[name] = { + "input_shape": shape_meta["all_shapes"][name], + "encoder": eval(policy_cfg.image_encoder.network)(**kwargs), + } + + self.encoders = nn.ModuleList( + [x["encoder"] for x in self.image_encoders.values()] + ) + + ### 2. encode language + policy_cfg.language_encoder.network_kwargs.output_size = embed_size + self.language_encoder = eval(policy_cfg.language_encoder.network)( + **policy_cfg.language_encoder.network_kwargs + ) + + ### 3. encode extra information (e.g. gripper, joint_state) + self.extra_encoder = ExtraModalityTokens( + use_joint=cfg.data.use_joint, + use_gripper=cfg.data.use_gripper, + use_ee=cfg.data.use_ee, + extra_num_layers=policy_cfg.extra_num_layers, + extra_hidden_size=policy_cfg.extra_hidden_size, + extra_embedding_size=embed_size, + ) + + ### 4. define temporal transformer + policy_cfg.temporal_position_encoding.network_kwargs.input_size = embed_size + self.temporal_position_encoding_fn = eval( + policy_cfg.temporal_position_encoding.network + )(**policy_cfg.temporal_position_encoding.network_kwargs) + + self.temporal_transformer = TransformerDecoder( + input_size=embed_size, + num_layers=policy_cfg.transformer_num_layers, + num_heads=policy_cfg.transformer_num_heads, + head_output_size=policy_cfg.transformer_head_output_size, + mlp_hidden_size=policy_cfg.transformer_mlp_hidden_size, + dropout=policy_cfg.transformer_dropout, + ) + + policy_head_kwargs = policy_cfg.policy_head.network_kwargs + policy_head_kwargs.input_size = embed_size + policy_head_kwargs.output_size = shape_meta["ac_dim"] + + self.policy_head = eval(policy_cfg.policy_head.network)( + **policy_cfg.policy_head.loss_kwargs, + **policy_cfg.policy_head.network_kwargs + ) + + self.latent_queue = [] + self.max_seq_len = policy_cfg.transformer_max_seq_len + + def temporal_encode(self, x): + pos_emb = self.temporal_position_encoding_fn(x) + x = x + pos_emb.unsqueeze(1) # (B, T, num_modality, E) + sh = x.shape + self.temporal_transformer.compute_mask(x.shape) + + x = TensorUtils.join_dimensions(x, 1, 2) # (B, T*num_modality, E) + x = self.temporal_transformer(x) + x = x.reshape(*sh) + return x[:, :, 0] # (B, T, E) + + def spatial_encode(self, data): + # 1. encode extra + extra = self.extra_encoder(data["obs"]) # (B, T, num_extra, E) + + # 2. encode language, treat it as action token + B, T = extra.shape[:2] + text_encoded = self.language_encoder(data) # (B, E) + text_encoded = text_encoded.view(B, 1, 1, -1).expand( + -1, T, -1, -1 + ) # (B, T, 1, E) + encoded = [text_encoded, extra] + + # 3. encode image + for img_name in self.image_encoders.keys(): + x = data["obs"][img_name] + B, T, C, H, W = x.shape + img_encoded = self.image_encoders[img_name]["encoder"]( + x.reshape(B * T, C, H, W), + langs=data["task_emb"] + .reshape(B, 1, -1) + .repeat(1, T, 1) + .reshape(B * T, -1), + ).view(B, T, 1, -1) + encoded.append(img_encoded) + encoded = torch.cat(encoded, -2) # (B, T, num_modalities, E) + return encoded + + def forward(self, data): + x = self.spatial_encode(data) + x = self.temporal_encode(x) + dist = self.policy_head(x) + return dist + + def get_action(self, data): + self.eval() + with torch.no_grad(): + data = self.preprocess_input(data, train_mode=False) + x = self.spatial_encode(data) + self.latent_queue.append(x) + if len(self.latent_queue) > self.max_seq_len: + self.latent_queue.pop(0) + x = torch.cat(self.latent_queue, dim=1) # (B, T, H_all) + x = self.temporal_encode(x) + dist = self.policy_head(x[:, -1]) + action = dist.sample().detach().cpu() + return action.view(action.shape[0], -1).numpy() + + def reset(self): + self.latent_queue = [] diff --git a/third_party/libero/libero/lifelong/models/bc_vilt_policy.py b/third_party/libero/libero/lifelong/models/bc_vilt_policy.py new file mode 100644 index 0000000000000000000000000000000000000000..d70c8b822a190999ce9b747fff2ea620203be574 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/bc_vilt_policy.py @@ -0,0 +1,233 @@ +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn + +from einops import rearrange, repeat +from libero.lifelong.models.modules.rgb_modules import * +from libero.lifelong.models.modules.language_modules import * +from libero.lifelong.models.modules.transformer_modules import * +from libero.lifelong.models.base_policy import BasePolicy +from libero.lifelong.models.policy_head import * +from libero.lifelong.models.bc_transformer_policy import ExtraModalityTokens + + +############################################################################### +# +# A ViLT Policy +# +############################################################################### + + +def reshape_transform(tensor, h, w): + B, _, E = tensor.shape + result = tensor[:, 1 : 1 + h * w, :].reshape(B, h, w, E) + return result.permute(0, 3, 1, 2) + + +class BCViLTPolicy(BasePolicy): + """ + Input: (o_{t-H}, ... , o_t) + Output: a_t or distribution of a_t + """ + + def __init__(self, cfg, shape_meta): + super().__init__(cfg, shape_meta) + policy_cfg = cfg.policy + + ### 1. encode image + embed_size = policy_cfg.embed_size + + transformer_input_sizes = [] + self.image_encoders = {} + + for name in shape_meta["all_shapes"].keys(): + if "rgb" in name or "depth" in name: + kwargs = policy_cfg.image_encoder.network_kwargs + kwargs.input_shape = shape_meta["all_shapes"][name] + kwargs.embed_size = embed_size + self.image_encoders[name] = { + "input_shape": shape_meta["all_shapes"][name], + "encoder": eval(policy_cfg.image_encoder.network)(**kwargs), + } + self.encoders = nn.ModuleList( + [x["encoder"] for x in self.image_encoders.values()] + ) + num_patches = sum([x.num_patches for x in self.encoders]) + + ### 2. encode language (spatial) + policy_cfg.language_encoder.network_kwargs.output_size = embed_size + self.language_encoder_spatial = eval(policy_cfg.language_encoder.network)( + **policy_cfg.language_encoder.network_kwargs + ) + + ### 3. define positional embeddings, modality embeddings, and spatial token for summary + spatial_token = nn.Parameter(torch.randn(1, 1, embed_size)) # SPATIAL_TOKEN + patch_pos_embed = nn.Parameter(torch.randn(1, num_patches, embed_size)) + modality_embed = nn.Parameter( + torch.randn(1, len(self.encoders) + 1, embed_size) + ) # PATCH_TOKENS + SENTENCE_TOKEN + + self.register_parameter("spatial_token", spatial_token) + self.register_parameter("patch_pos_embed", patch_pos_embed) + self.register_parameter("modality_embed", modality_embed) + + # for selecting modality embed + modality_idx = [] + for i, x in enumerate(self.encoders): + modality_idx += [i] * x.num_patches + modality_idx += [modality_idx[-1] + 1] # for sentence embedding + self.modality_idx = torch.LongTensor(modality_idx).to(cfg.device) + + ### 4. define spatial transformer + self.spatial_transformer = TransformerDecoder( + input_size=embed_size, + num_layers=policy_cfg.spatial_transformer_num_layers, + num_heads=policy_cfg.spatial_transformer_num_heads, + head_output_size=policy_cfg.spatial_transformer_head_output_size, + mlp_hidden_size=policy_cfg.spatial_transformer_mlp_hidden_size, + dropout=policy_cfg.spatial_transformer_dropout, + ) + + if policy_cfg.spatial_down_sample: + temporal_embed_size = policy_cfg.spatial_down_sample_embed_size + self.spatial_down_sample = nn.Linear(embed_size, temporal_embed_size) + else: + temporal_embed_size = embed_size + + ### 5. encode extra information (e.g. gripper, joint_state) + self.extra_encoder = ExtraModalityTokens( + use_joint=cfg.data.use_joint, + use_gripper=cfg.data.use_gripper, + use_ee=cfg.data.use_ee, + extra_num_layers=policy_cfg.extra_num_layers, + extra_hidden_size=policy_cfg.extra_hidden_size, + extra_embedding_size=temporal_embed_size, + ) + num_extra = self.extra_encoder.num_extra + + ### 6. encode language (temporal), this will also act as the TEMPORAL_TOKEN + policy_cfg.language_encoder.network_kwargs.output_size = temporal_embed_size + self.language_encoder_temporal = eval(policy_cfg.language_encoder.network)( + **policy_cfg.language_encoder.network_kwargs + ) + + ### 7. define temporal transformer + policy_cfg.temporal_position_encoding.network_kwargs.input_size = ( + temporal_embed_size + ) + self.temporal_position_encoding_fn = eval( + policy_cfg.temporal_position_encoding.network + )(**policy_cfg.temporal_position_encoding.network_kwargs) + + self.temporal_transformer = TransformerDecoder( + input_size=temporal_embed_size, + num_layers=policy_cfg.transformer_num_layers, + num_heads=policy_cfg.transformer_num_heads, + head_output_size=policy_cfg.transformer_head_output_size, + mlp_hidden_size=policy_cfg.transformer_mlp_hidden_size, + dropout=policy_cfg.transformer_dropout, + ) + + policy_head_kwargs = policy_cfg.policy_head.network_kwargs + policy_head_kwargs.input_size = temporal_embed_size + policy_head_kwargs.output_size = shape_meta["ac_dim"] + + self.policy_head = eval(policy_cfg.policy_head.network)( + **policy_cfg.policy_head.loss_kwargs, + **policy_cfg.policy_head.network_kwargs + ) + + self.latent_queue = [] + self.max_seq_len = policy_cfg.transformer_max_seq_len + + ### 8. reshape transform for attention visualization + self.reshape_transform = lambda x: reshape_transform( + x, self.encoders[0].h, self.encoders[1].w + ) + + def spatial_encode(self, data): + # 1. encode image + img_encoded = [] + for img_name in self.image_encoders.keys(): + img_encoded.append( + rearrange( + TensorUtils.time_distributed( + data["obs"][img_name], self.image_encoders[img_name]["encoder"] + ), + "b t c h w -> b t (h w) c", + ) + ) # add img_h: (B, T, num_patches, E) + img_encoded = torch.cat(img_encoded, -2) # (B, T, 2*num_patches, E) + img_encoded += self.patch_pos_embed.unsqueeze(0) # (B, T, 2*num_patches, E) + B, T = img_encoded.shape[:2] + + # 2. encode task_emb + text_encoded = self.language_encoder_spatial(data) # (B, E) + text_encoded = text_encoded.view(B, 1, 1, -1).expand( + -1, T, -1, -1 + ) # (B, T, 1, E) + + # 3. concat img + text embs then add modality embeddings + img_text_encoded = torch.cat( + [img_encoded, text_encoded], -2 + ) # (B, T, 2*num_patches+1, E) + img_text_encoded += self.modality_embed[ + None, :, self.modality_idx, : + ] # same as above + + # 4. add spatial token + spatial_token = self.spatial_token.unsqueeze(0).expand( + B, T, -1, -1 + ) # (B, T, 1, E) + encoded = torch.cat([spatial_token, img_text_encoded], -2) # (B, T, :, E) + + # 5. pass through transformer + encoded = rearrange(encoded, "b t n e -> (b t) n e") # (B*T, :, E) + out = self.spatial_transformer(encoded) + out = out[:, 0] # extract spatial token as summary at o_t + out = self.spatial_down_sample(out).view(B, T, 1, -1) # (B, T, 1, E') + + # 6. encode extra + extra = self.extra_encoder(data["obs"]) # (B, T, num_extra, E') + + # 7. encode language, treat it as action token + text_encoded_ = self.language_encoder_temporal(data) # (B, E') + text_encoded_ = text_encoded_.view(B, 1, 1, -1).expand( + -1, T, -1, -1 + ) # (B, T, 1, E') + out = torch.cat([text_encoded_, out, extra], -2) # (B, T, :, E') + return out + + def temporal_encode(self, x): + pos_emb = self.temporal_position_encoding_fn(x) + x = x + pos_emb.unsqueeze(1) # (B, T, num_modality, E) + sh = x.shape + self.temporal_transformer.compute_mask(x.shape) + + x = TensorUtils.join_dimensions(x, 1, 2) # (B, T*num_modality, E) + x = self.temporal_transformer(x) + x = x.reshape(*sh) + return x[:, :, 0] # (B, T, E) + + def forward(self, data): + x = self.spatial_encode(data) # (B, T, E) + x = self.temporal_encode(x) # (B, T, E) + dist = self.policy_head(x) + return dist + + def get_action(self, data): + self.eval() + with torch.no_grad(): + data = self.preprocess_input(data, train_mode=False) + x = self.spatial_encode(data) + self.latent_queue.append(x) + if len(self.latent_queue) > self.max_seq_len: + self.latent_queue.pop(0) + x = torch.cat(self.latent_queue, dim=1) # (B, T, H_all) + x = self.temporal_encode(x) + dist = self.policy_head(x[:, -1]) + action = dist.sample().detach().cpu() + return action.view(action.shape[0], -1).numpy() + + def reset(self): + self.latent_queue = [] diff --git a/third_party/libero/libero/lifelong/models/modules/data_augmentation.py b/third_party/libero/libero/lifelong/models/modules/data_augmentation.py new file mode 100644 index 0000000000000000000000000000000000000000..667e08c9d3e9f63b3e0341ceab416cf3ccaa9898 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/modules/data_augmentation.py @@ -0,0 +1,179 @@ +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +import torchvision + +from robomimic.models.base_nets import CropRandomizer + + +class IdentityAug(nn.Module): + def __init__(self, input_shape=None, *args, **kwargs): + super().__init__() + + def forward(self, x): + return x + + def output_shape(self, input_shape): + return input_shape + + +class TranslationAug(nn.Module): + """ + Utilize the random crop from robomimic. + """ + + def __init__( + self, + input_shape, + translation, + ): + super().__init__() + + self.pad_translation = translation // 2 + pad_output_shape = ( + input_shape[0], + input_shape[1] + translation, + input_shape[2] + translation, + ) + + self.crop_randomizer = CropRandomizer( + input_shape=pad_output_shape, + crop_height=input_shape[1], + crop_width=input_shape[2], + ) + + def forward(self, x): + if self.training: + batch_size, temporal_len, img_c, img_h, img_w = x.shape + x = x.reshape(batch_size, temporal_len * img_c, img_h, img_w) + out = F.pad(x, pad=(self.pad_translation,) * 4, mode="replicate") + out = self.crop_randomizer.forward_in(out) + out = out.reshape(batch_size, temporal_len, img_c, img_h, img_w) + else: + out = x + return out + + def output_shape(self, input_shape): + return input_shape + + +class ImgColorJitterAug(torch.nn.Module): + """ + Conduct color jittering augmentation outside of proposal boxes + """ + + def __init__( + self, + input_shape, + brightness=0.3, + contrast=0.3, + saturation=0.3, + hue=0.3, + epsilon=0.05, + ): + super().__init__() + self.color_jitter = torchvision.transforms.ColorJitter( + brightness=brightness, contrast=contrast, saturation=saturation, hue=hue + ) + self.epsilon = epsilon + + def forward(self, x): + if self.training and np.random.rand() > self.epsilon: + out = self.color_jitter(x) + else: + out = x + return out + + def output_shape(self, input_shape): + return input_shape + + +class ImgColorJitterGroupAug(torch.nn.Module): + """ + Conduct color jittering augmentation outside of proposal boxes + """ + + def __init__( + self, + input_shape, + brightness=0.3, + contrast=0.3, + saturation=0.3, + hue=0.3, + epsilon=0.05, + ): + super().__init__() + self.color_jitter = torchvision.transforms.ColorJitter( + brightness=brightness, contrast=contrast, saturation=saturation, hue=hue + ) + self.epsilon = epsilon + + def forward(self, x): + raise NotImplementedError + if self.training and np.random.rand() > self.epsilon: + out = self.color_jitter(x) + else: + out = x + return out + + def output_shape(self, input_shape): + return input_shape + + +class BatchWiseImgColorJitterAug(torch.nn.Module): + """ + Color jittering augmentation to individual batch. + This is to create variation in training data to combat + BatchNorm in convolution network. + """ + + def __init__( + self, + input_shape, + brightness=0.3, + contrast=0.3, + saturation=0.3, + hue=0.3, + epsilon=0.1, + ): + super().__init__() + self.color_jitter = torchvision.transforms.ColorJitter( + brightness=brightness, contrast=contrast, saturation=saturation, hue=hue + ) + self.epsilon = epsilon + + def forward(self, x): + out = [] + for x_i in torch.split(x, 1): + if self.training and np.random.rand() > self.epsilon: + out.append(self.color_jitter(x_i)) + else: + out.append(x_i) + return torch.cat(out, dim=0) + + def output_shape(self, input_shape): + return input_shape + + +class DataAugGroup(nn.Module): + """ + Add augmentation to multiple inputs + """ + + def __init__(self, aug_list): + super().__init__() + self.aug_layer = nn.Sequential(*aug_list) + + def forward(self, x_groups): + split_channels = [] + for i in range(len(x_groups)): + split_channels.append(x_groups[i].shape[1]) + if self.training: + x = torch.cat(x_groups, dim=1) + out = self.aug_layer(x) + out = torch.split(out, split_channels, dim=1) + return out + else: + out = x_groups + return out diff --git a/third_party/libero/libero/lifelong/models/modules/language_modules.py b/third_party/libero/libero/lifelong/models/modules/language_modules.py new file mode 100644 index 0000000000000000000000000000000000000000..5d2a4129b38cf3fdd822b3ecc407cb087a901c61 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/modules/language_modules.py @@ -0,0 +1,50 @@ +""" +This file contains modules that encode language task embeddings. +""" +import torch.nn as nn + + +class IdentityEncoder(nn.Module): + """ + Dummy encoder that directly outputs the pretrained task embedding + """ + + def __init__(self, dummy=True): + super().__init__() + + def forward(self, data): + """ + data: + task_emb: (B, E) + """ + h = data["task_emb"] # (B, L, H) + return h + + +class MLPEncoder(nn.Module): + """ + Encode task embedding + + h = f(e), where + e: pretrained task embedding from large model + h: latent embedding (B, H) + """ + + def __init__(self, input_size, hidden_size, output_size, num_layers): + super().__init__() + assert num_layers >= 1, "[error] num_layers < 1" + sizes = [input_size] + [hidden_size] * (num_layers - 1) + [output_size] + layers = [] + for i in range(num_layers - 1): + layers.append(nn.Linear(sizes[i], sizes[i + 1])) + layers.append(nn.ReLU(inplace=True)) + layers.append(nn.Linear(sizes[-2], sizes[-1])) + self.projection = nn.Sequential(*layers) + + def forward(self, data): + """ + data: + task_emb: (B, E) + """ + h = self.projection(data["task_emb"]) # (B, H) + return h diff --git a/third_party/libero/libero/lifelong/models/modules/rgb_modules.py b/third_party/libero/libero/lifelong/models/modules/rgb_modules.py new file mode 100644 index 0000000000000000000000000000000000000000..981a1d81986d95418cb26923e82fb57da34de58a --- /dev/null +++ b/third_party/libero/libero/lifelong/models/modules/rgb_modules.py @@ -0,0 +1,263 @@ +""" +This file contains all neural modules related to encoding the spatial +information of obs_t, i.e., the abstracted knowledge of the current visual +input conditioned on the language. +""" +import torch +import torch.nn as nn +import torch.nn.functional as F +import torchvision + + +############################################################################### +# +# Modules related to encoding visual information (can conditioned on language) +# +############################################################################### + + +class PatchEncoder(nn.Module): + """ + A patch encoder that does a linear projection of patches in a RGB image. + """ + + def __init__( + self, input_shape, patch_size=[16, 16], embed_size=64, no_patch_embed_bias=False + ): + super().__init__() + C, H, W = input_shape + num_patches = (H // patch_size[0] // 2) * (W // patch_size[1] // 2) + self.img_size = (H, W) + self.patch_size = patch_size + self.num_patches = num_patches + self.h, self.w = H // patch_size[0] // 2, W // patch_size[1] // 2 + + self.conv = nn.Sequential( + nn.Conv2d( + C, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False + ), + nn.BatchNorm2d( + 64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True + ), + nn.ReLU(inplace=True), + ) + self.proj = nn.Conv2d( + 64, + embed_size, + kernel_size=patch_size, + stride=patch_size, + bias=False if no_patch_embed_bias else True, + ) + self.bn = nn.BatchNorm2d(embed_size) + + def forward(self, x): + B, C, H, W = x.shape + x = self.conv(x) + x = self.proj(x) + x = self.bn(x) + return x + + +class SpatialSoftmax(nn.Module): + """ + The spatial softmax layer (https://rll.berkeley.edu/dsae/dsae.pdf) + """ + + def __init__(self, in_c, in_h, in_w, num_kp=None): + super().__init__() + self._spatial_conv = nn.Conv2d(in_c, num_kp, kernel_size=1) + + pos_x, pos_y = torch.meshgrid( + torch.linspace(-1, 1, in_w).float(), + torch.linspace(-1, 1, in_h).float(), + ) + + pos_x = pos_x.reshape(1, in_w * in_h) + pos_y = pos_y.reshape(1, in_w * in_h) + self.register_buffer("pos_x", pos_x) + self.register_buffer("pos_y", pos_y) + + if num_kp is None: + self._num_kp = in_c + else: + self._num_kp = num_kp + + self._in_c = in_c + self._in_w = in_w + self._in_h = in_h + + def forward(self, x): + assert x.shape[1] == self._in_c + assert x.shape[2] == self._in_h + assert x.shape[3] == self._in_w + + h = x + if self._num_kp != self._in_c: + h = self._spatial_conv(h) + h = h.contiguous().view(-1, self._in_h * self._in_w) + + attention = F.softmax(h, dim=-1) + keypoint_x = ( + (self.pos_x * attention).sum(1, keepdims=True).view(-1, self._num_kp) + ) + keypoint_y = ( + (self.pos_y * attention).sum(1, keepdims=True).view(-1, self._num_kp) + ) + keypoints = torch.cat([keypoint_x, keypoint_y], dim=1) + return keypoints + + +class SpatialProjection(nn.Module): + def __init__(self, input_shape, out_dim): + super().__init__() + + assert ( + len(input_shape) == 3 + ), "[error] spatial projection: input shape is not a 3-tuple" + in_c, in_h, in_w = input_shape + num_kp = out_dim // 2 + self.out_dim = out_dim + self.spatial_softmax = SpatialSoftmax(in_c, in_h, in_w, num_kp=num_kp) + self.projection = nn.Linear(num_kp * 2, out_dim) + + def forward(self, x): + out = self.spatial_softmax(x) + out = self.projection(out) + return out + + def output_shape(self, input_shape): + return input_shape[:-3] + (self.out_dim,) + + +class ResnetEncoder(nn.Module): + """ + A Resnet-18-based encoder for mapping an image to a latent vector + + Encode (f) an image into a latent vector. + + y = f(x), where + x: (B, C, H, W) + y: (B, H_out) + + Args: + input_shape: (C, H, W), the shape of the image + output_size: H_out, the latent vector size + pretrained: whether use pretrained resnet + freeze: whether freeze the pretrained resnet + remove_layer_num: remove the top # layers + no_stride: do not use striding + """ + + def __init__( + self, + input_shape, + output_size, + pretrained=False, + freeze=False, + remove_layer_num=2, + no_stride=False, + language_dim=768, + language_fusion="film", + ): + + super().__init__() + + ### 1. encode input (images) using convolutional layers + assert remove_layer_num <= 5, "[error] please only remove <=5 layers" + layers = list(torchvision.models.resnet18(pretrained=pretrained).children())[ + :-remove_layer_num + ] + self.remove_layer_num = remove_layer_num + + assert ( + len(input_shape) == 3 + ), "[error] input shape of resnet should be (C, H, W)" + + in_channels = input_shape[0] + if in_channels != 3: # has eye_in_hand, increase channel size + conv0 = nn.Conv2d( + in_channels=in_channels, + out_channels=64, + kernel_size=(7, 7), + stride=(2, 2), + padding=(3, 3), + bias=False, + ) + layers[0] = conv0 + + self.no_stride = no_stride + if self.no_stride: + layers[0].stride = (1, 1) + layers[3].stride = 1 + + self.resnet18_base = nn.Sequential(*layers[:4]) + self.block_1 = layers[4][0] + self.block_2 = layers[4][1] + self.block_3 = layers[5][0] + self.block_4 = layers[5][1] + + self.language_fusion = language_fusion + if language_fusion != "none": + self.lang_proj1 = nn.Linear(language_dim, 64 * 2) + self.lang_proj2 = nn.Linear(language_dim, 64 * 2) + self.lang_proj3 = nn.Linear(language_dim, 128 * 2) + self.lang_proj4 = nn.Linear(language_dim, 128 * 2) + + if freeze: + if in_channels != 3: + raise Exception( + "[error] cannot freeze pretrained " + + "resnet with the extra eye_in_hand input" + ) + for param in self.resnet18_embeddings.parameters(): + param.requires_grad = False + + ### 2. project the encoded input to a latent space + x = torch.zeros(1, *input_shape) + y = self.block_4( + self.block_3(self.block_2(self.block_1(self.resnet18_base(x)))) + ) + output_shape = y.shape # compute the out dim + self.projection_layer = SpatialProjection(output_shape[1:], output_size) + self.output_shape = self.projection_layer(y).shape + + def forward(self, x, langs=None): + h = self.resnet18_base(x) + + h = self.block_1(h) + if langs is not None and self.language_fusion != "none": # FiLM layer + B, C, H, W = h.shape + beta, gamma = torch.split( + self.lang_proj1(langs).reshape(B, C * 2, 1, 1), [C, C], 1 + ) + h = (1 + gamma) * h + beta + + h = self.block_2(h) + if langs is not None and self.language_fusion != "none": # FiLM layer + B, C, H, W = h.shape + beta, gamma = torch.split( + self.lang_proj2(langs).reshape(B, C * 2, 1, 1), [C, C], 1 + ) + h = (1 + gamma) * h + beta + + h = self.block_3(h) + if langs is not None and self.language_fusion != "none": # FiLM layer + B, C, H, W = h.shape + beta, gamma = torch.split( + self.lang_proj3(langs).reshape(B, C * 2, 1, 1), [C, C], 1 + ) + h = (1 + gamma) * h + beta + + h = self.block_4(h) + if langs is not None and self.language_fusion != "none": # FiLM layer + B, C, H, W = h.shape + beta, gamma = torch.split( + self.lang_proj4(langs).reshape(B, C * 2, 1, 1), [C, C], 1 + ) + h = (1 + gamma) * h + beta + + h = self.projection_layer(h) + return h + + def output_shape(self, input_shape, shape_meta): + return self.output_shape diff --git a/third_party/libero/libero/lifelong/models/modules/transformer_modules.py b/third_party/libero/libero/lifelong/models/modules/transformer_modules.py new file mode 100644 index 0000000000000000000000000000000000000000..32f03de98af8f635ea1cbd54c10b889efb241a6c --- /dev/null +++ b/third_party/libero/libero/lifelong/models/modules/transformer_modules.py @@ -0,0 +1,240 @@ +import math +import numpy as np +from torch import nn +import torch +import torchvision +import torch.nn.functional as F + +from einops import rearrange, repeat +from einops.layers.torch import Rearrange + + +############################################################################### +# +# Building blocks for transformers +# +############################################################################### + + +class Norm(nn.Module): + def __init__(self, dim): + super().__init__() + self.norm = nn.LayerNorm(dim) + + def forward(self, x): + return self.norm(x) + + +class Attention(nn.Module): + def __init__(self, dim, num_heads=8, head_output_size=64, dropout=0.0): + super().__init__() + + self.num_heads = num_heads + # \sqrt{d_{k}} + self.att_scale = head_output_size ** (-0.5) + self.qkv = nn.Linear(dim, num_heads * head_output_size * 3, bias=False) + + # We need to combine the output from all heads + self.output_layer = nn.Sequential( + nn.Linear(num_heads * head_output_size, dim), nn.Dropout(dropout) + ) + + def forward(self, x, mask=None): + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, -1).permute(2, 0, 3, 1, 4) + q, k, v = (qkv[0], qkv[1], qkv[2]) + + # q.dot(k.transpose) + attn = (q @ k.transpose(-2, -1)) * self.att_scale + if mask is not None: + mask = mask.bool() + if len(mask.shape) == 2: # (B, N) + attn = attn.masked_fill(~mask[:, None, None, :], float("-inf")) + elif len(mask.shape) == 3 and mask.shape[0] == 1: # (1, N, N) + attn = attn.masked_fill(~mask[None, :, :, :], float("-inf")) + elif ( + len(mask.shape) == 3 + ): # Consider the case where each batch has different causal mask, typically useful for MAE implementation + attn = attn.masked_fill( + ~mask[:, None, :, :].repeat(1, self.num_heads, 1, 1), float("-inf") + ) + else: + raise Exception("mask shape is not correct for attention") + attn = attn.softmax(dim=-1) + self.att_weights = attn + + # (..., num_heads, seq_len, head_output_size) + out = rearrange(torch.matmul(attn, v), "b h n d -> b n (h d)") + return self.output_layer(out) + + +class TransformerFeedForwardNN(nn.Module): + def __init__(self, dim, hidden_dim, dropout=0.0): + super().__init__() + # Remember the residual connection + layers = [ + nn.Linear(dim, hidden_dim), + nn.GELU(), + nn.Dropout(dropout), + nn.Linear(hidden_dim, dim), + nn.Dropout(dropout), + ] + self.net = nn.Sequential(*layers) + + def forward(self, x): + return self.net(x) + + +def drop_path( + x, drop_prob: float = 0.0, training: bool = False, scale_by_keep: bool = True +): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks). + This is the same as the DropConnect impl I created for EfficientNet, etc networks, however, + the original name is misleading as 'Drop Connect' is a different form of dropout in a separate paper... + See discussion: https://github.com/tensorflow/tpu/issues/494#issuecomment-532968956 ... I've opted for + changing the layer and argument names to 'drop path' rather than mix DropConnect as a layer name and use + 'survival rate' as the argument. + """ + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * ( + x.ndim - 1 + ) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0 and scale_by_keep: + random_tensor.div_(keep_prob) + return x * random_tensor + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None, scale_by_keep=True): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + self.scale_by_keep = scale_by_keep + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training, self.scale_by_keep) + + +class SinusoidalPositionEncoding(nn.Module): + def __init__(self, input_size, inv_freq_factor=10, factor_ratio=None): + super().__init__() + self.input_size = input_size + self.inv_freq_factor = inv_freq_factor + channels = self.input_size + channels = int(np.ceil(channels / 2) * 2) + + inv_freq = 1.0 / ( + self.inv_freq_factor ** (torch.arange(0, channels, 2).float() / channels) + ) + self.channels = channels + self.register_buffer("inv_freq", inv_freq) + + if factor_ratio is None: + self.factor = 1.0 + else: + factor = nn.Parameter(torch.ones(1) * factor_ratio) + self.register_parameter("factor", factor) + + def forward(self, x): + pos_x = torch.arange(x.shape[1], device=x.device).type(self.inv_freq.type()) + sin_inp_x = torch.einsum("i,j->ij", pos_x, self.inv_freq) + emb_x = torch.cat((sin_inp_x.sin(), sin_inp_x.cos()), dim=-1) + return emb_x * self.factor + + def output_shape(self, input_shape): + return input_shape + + def output_size(self, input_size): + return input_size + + +############################################################################### +# +# Transformer Decoder (we only use transformer decoder for our policies) +# +############################################################################### + + +class TransformerDecoder(nn.Module): + def __init__( + self, + input_size, + num_layers, + num_heads, + head_output_size, + mlp_hidden_size, + dropout, + **kwargs + ): + super().__init__() + + self.layers = nn.ModuleList([]) + self.drop_path = DropPath(dropout) if dropout > 0.0 else nn.Identity() + + self.attention_output = {} + + for _ in range(num_layers): + self.layers.append( + nn.ModuleList( + [ + Norm(input_size), + Attention( + input_size, + num_heads=num_heads, + head_output_size=head_output_size, + dropout=dropout, + ), + Norm(input_size), + TransformerFeedForwardNN( + input_size, mlp_hidden_size, dropout=dropout + ), + ] + ) + ) + + self.attention_output[_] = None + self.seq_len = None + self.num_elements = None + self.mask = None + + def compute_mask(self, input_shape): + # input_shape = (:, seq_len, num_elements) + if ( + (self.num_elements is None) + or (self.seq_len is None) + or (self.num_elements != input_shape[2]) + or (self.seq_len != input_shape[1]) + ): + + self.seq_len = input_shape[1] + self.num_elements = input_shape[2] + self.original_mask = ( + torch.triu(torch.ones(self.seq_len, self.seq_len)) + - torch.eye(self.seq_len, self.seq_len) + ).to(self.device) + self.mask = 1 - self.original_mask.repeat_interleave( + self.num_elements, dim=-1 + ).repeat_interleave(self.num_elements, dim=-2).unsqueeze(0) + # (1, N, N), N = seq_len * num_elements + + def forward(self, x, mask=None): + for layer_idx, (att_norm, att, ff_norm, ff) in enumerate(self.layers): + if mask is not None: + x = x + drop_path(att(att_norm(x), mask)) + elif self.mask is not None: + x = x + drop_path(att(att_norm(x), self.mask)) + else: # no masking, just use full attention + x = x + drop_path(att(att_norm(x))) + + if not self.training: + self.attention_output[layer_idx] = att.att_weights + x = x + self.drop_path(ff(ff_norm(x))) + return x + + @property + def device(self): + return next(self.parameters()).device diff --git a/third_party/libero/libero/lifelong/models/policy_head.py b/third_party/libero/libero/lifelong/models/policy_head.py new file mode 100644 index 0000000000000000000000000000000000000000..c503d4b46c93e8cac24138aa8542a7851c0adaa5 --- /dev/null +++ b/third_party/libero/libero/lifelong/models/policy_head.py @@ -0,0 +1,110 @@ +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.distributions as D +import torch.nn as nn +import torch.nn.functional as F + + +class DeterministicHead(nn.Module): + def __init__(self, input_size, output_size, hidden_size=1024, num_layers=2): + + super().__init__() + sizes = [input_size] + [hidden_size] * num_layers + [output_size] + layers = [] + for i in range(num_layers): + layers += [nn.Linear(sizes[i], sizes[i + 1]), nn.ReLU()] + layers += [nn.Linear(sizes[-2], sizes[-1])] + + if self.action_squash: + layers += [nn.Tanh()] + + self.net = nn.Sequential(*layers) + + def forward(self, x): + y = self.net(x) + return y + + +class GMMHead(nn.Module): + def __init__( + self, + # network_kwargs + input_size, + output_size, + hidden_size=1024, + num_layers=2, + min_std=0.0001, + num_modes=5, + activation="softplus", + low_eval_noise=False, + # loss_kwargs + loss_coef=1.0, + ): + super().__init__() + self.num_modes = num_modes + self.output_size = output_size + self.min_std = min_std + + if num_layers > 0: + sizes = [input_size] + [hidden_size] * num_layers + layers = [] + for i in range(num_layers): + layers += [nn.Linear(sizes[i], sizes[i + 1]), nn.ReLU()] + layers += [nn.Linear(sizes[-2], sizes[-1])] + self.share = nn.Sequential(*layers) + else: + self.share = nn.Identity() + + self.mean_layer = nn.Linear(hidden_size, output_size * num_modes) + self.logstd_layer = nn.Linear(hidden_size, output_size * num_modes) + self.logits_layer = nn.Linear(hidden_size, num_modes) + + self.low_eval_noise = low_eval_noise + self.loss_coef = loss_coef + + if activation == "softplus": + self.actv = F.softplus + else: + self.actv = torch.exp + + def forward_fn(self, x): + # x: (B, input_size) + share = self.share(x) + means = self.mean_layer(share).view(-1, self.num_modes, self.output_size) + means = torch.tanh(means) + logits = self.logits_layer(share) + + if self.training or not self.low_eval_noise: + logstds = self.logstd_layer(share).view( + -1, self.num_modes, self.output_size + ) + stds = self.actv(logstds) + self.min_std + else: + stds = torch.ones_like(means) * 1e-4 + return means, stds, logits + + def forward(self, x): + if x.ndim == 3: + means, scales, logits = TensorUtils.time_distributed(x, self.forward_fn) + elif x.ndim < 3: + means, scales, logits = self.forward_fn(x) + + compo = D.Normal(loc=means, scale=scales) + compo = D.Independent(compo, 1) + mix = D.Categorical(logits=logits) + gmm = D.MixtureSameFamily( + mixture_distribution=mix, component_distribution=compo + ) + return gmm + + def loss_fn(self, gmm, target, reduction="mean"): + log_probs = gmm.log_prob(target) + loss = -log_probs + if reduction == "mean": + return loss.mean() * self.loss_coef + elif reduction == "none": + return loss * self.loss_coef + elif reduction == "sum": + return loss.sum() * self.loss_coef + else: + raise NotImplementedError diff --git a/third_party/libero/libero/lifelong/utils.py b/third_party/libero/libero/lifelong/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..c0c3f10e7597a847fb3a4a405e08bcab902dda67 --- /dev/null +++ b/third_party/libero/libero/lifelong/utils.py @@ -0,0 +1,220 @@ +import copy +import json +import os +import random +from pathlib import Path + +import numpy as np +import robomimic.utils.tensor_utils as TensorUtils +import torch +import torch.nn as nn +from hydra.utils import to_absolute_path +from thop import profile +from torch.utils.data import DataLoader +from transformers import AutoModel, AutoTokenizer, logging + + +def control_seed(seed): + random.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + torch.backends.cudnn.deterministic = True + + +def safe_device(x, device="cpu"): + if device == "cpu": + return x.cpu() + elif "cuda" in device: + if torch.cuda.is_available(): + return x.to(device) + else: + return x.cpu() + + +class NpEncoder(json.JSONEncoder): + def default(self, obj): + if isinstance(obj, np.integer): + return int(obj) + elif isinstance(obj, np.floating): + return float(obj) + elif isinstance(obj, np.ndarray): + return obj.tolist() + else: + return super(NpEncoder, self).default(obj) + + +def torch_save_model(model, model_path, cfg=None, previous_masks=None): + torch.save( + { + "state_dict": model.state_dict(), + "cfg": cfg, + "previous_masks": previous_masks, + }, + model_path, + ) + + +def torch_load_model(model_path, map_location=None): + model_dict = torch.load(model_path, map_location=map_location) + cfg = None + if "cfg" in model_dict: + cfg = model_dict["cfg"] + if "previous_masks" in model_dict: + previous_masks = model_dict["previous_masks"] + return model_dict["state_dict"], cfg, previous_masks + + +def get_train_test_loader( + dataset, train_ratio, train_batch_size, test_batch_size, num_workers=(0, 0) +): + + train_size = int(len(dataset) * train_ratio) + test_size = len(dataset) - train_size + train_dataset, test_dataset = torch.utils.data.random_split( + dataset, [train_size, test_size] + ) + + train_dataloader = DataLoader( + train_dataset, + batch_size=train_batch_size, + num_workers=num_workers[0], + shuffle=True, + ) + test_dataloader = DataLoader( + test_dataset, + batch_size=test_batch_size, + num_workers=num_workers[1], + shuffle=False, + ) + return train_dataloader, test_dataloader + + +def confidence_interval(p, n): + return 1.96 * np.sqrt(p * (1 - p) / n) + + +def compute_flops(algo, dataset, cfg): + model = copy.deepcopy(algo.policy) + tmp_loader = DataLoader(dataset, batch_size=1, num_workers=0, shuffle=True) + data = next(iter(tmp_loader)) + data = TensorUtils.map_tensor(data, lambda x: safe_device(x, device=cfg.device)) + macs, params = profile(model, inputs=(data,), verbose=False) + GFLOPs = macs * 2 / 1e9 + MParams = params / 1e6 + del model + return GFLOPs, MParams + + +def create_experiment_dir(cfg): + prefix = "experiments" + if cfg.pretrain_model_path != "": + prefix += "_finetune" + if cfg.data.task_order_index > 0: + prefix += f"_permute{cfg.data.task_order_index}" + if cfg.task_embedding_format == "one-hot": + prefix += f"_onehot" + if cfg.task_embedding_format == "clip": + prefix += f"_clip" + if cfg.task_embedding_format == "gpt2": + prefix += f"_gpt2" + if cfg.task_embedding_format == "roberta": + prefix += f"_roberta" + + experiment_dir = ( + f"./{prefix}/{cfg.benchmark_name}/{cfg.lifelong.algo}/" + + f"{cfg.policy.policy_type}_seed{cfg.seed}" + ) + + if not os.path.exists(experiment_dir): + os.makedirs(experiment_dir) + + # look for the most recent run + experiment_id = 0 + for path in Path(experiment_dir).glob("run_*"): + if not path.is_dir(): + continue + try: + folder_id = int(str(path).split("run_")[-1]) + if folder_id > experiment_id: + experiment_id = folder_id + except BaseException: + pass + experiment_id += 1 + + experiment_dir += f"/run_{experiment_id:03d}" + cfg.experiment_dir = experiment_dir + cfg.experiment_name = "_".join(cfg.experiment_dir.split("/")[2:]) + os.makedirs(cfg.experiment_dir, exist_ok=True) + return True + + +def get_task_embs(cfg, descriptions): + logging.set_verbosity_error() + + if cfg.task_embedding_format == "one-hot": + # offset defaults to 1, if we have pretrained another model, this offset + # starts from the pretrained number of tasks + 1 + offset = cfg.task_embedding_one_hot_offset + descriptions = [f"Task {i+offset}" for i in range(len(descriptions))] + + if cfg.task_embedding_format == "bert" or cfg.task_embedding_format == "one-hot": + tz = AutoTokenizer.from_pretrained( + "bert-base-cased", cache_dir=to_absolute_path("./bert") + ) + model = AutoModel.from_pretrained( + "bert-base-cased", cache_dir=to_absolute_path("./bert") + ) + tokens = tz( + text=descriptions, # the sentence to be encoded + add_special_tokens=True, # Add [CLS] and [SEP] + max_length=cfg.data.max_word_len, # maximum length of a sentence + padding="max_length", + return_attention_mask=True, # Generate the attention mask + return_tensors="pt", # ask the function to return PyTorch tensors + ) + masks = tokens["attention_mask"] + input_ids = tokens["input_ids"] + task_embs = model(tokens["input_ids"], tokens["attention_mask"])[ + "pooler_output" + ].detach() + elif cfg.task_embedding_format == "gpt2": + tz = AutoTokenizer.from_pretrained("gpt2") + tz.pad_token = tz.eos_token + model = AutoModel.from_pretrained("gpt2") + tokens = tz( + text=descriptions, # the sentence to be encoded + add_special_tokens=True, # Add [CLS] and [SEP] + max_length=cfg.data.max_word_len, # maximum length of a sentence + padding="max_length", + return_attention_mask=True, # Generate the attention mask + return_tensors="pt", # ask the function to return PyTorch tensors + ) + task_embs = model(**tokens)["last_hidden_state"].detach()[:, -1] + elif cfg.task_embedding_format == "clip": + tz = AutoTokenizer.from_pretrained("openai/clip-vit-base-patch32") + model = AutoModel.from_pretrained("openai/clip-vit-base-patch32") + tokens = tz( + text=descriptions, # the sentence to be encoded + add_special_tokens=True, # Add [CLS] and [SEP] + max_length=cfg.data.max_word_len, # maximum length of a sentence + padding="max_length", + return_attention_mask=True, # Generate the attention mask + return_tensors="pt", # ask the function to return PyTorch tensors + ) + task_embs = model.get_text_features(**tokens).detach() + elif cfg.task_embedding_format == "roberta": + tz = AutoTokenizer.from_pretrained("roberta-base") + tz.pad_token = tz.eos_token + model = AutoModel.from_pretrained("roberta-base") + tokens = tz( + text=descriptions, # the sentence to be encoded + add_special_tokens=True, # Add [CLS] and [SEP] + max_length=cfg.data.max_word_len, # maximum length of a sentence + padding="max_length", + return_attention_mask=True, # Generate the attention mask + return_tensors="pt", # ask the function to return PyTorch tensors + ) + task_embs = model(**tokens)["pooler_output"].detach() + cfg.policy.language_encoder.network_kwargs.input_size = task_embs.shape[-1] + return task_embs diff --git a/third_party/libero/notebooks/custom_assets/libero_mug/libero_mug.obj b/third_party/libero/notebooks/custom_assets/libero_mug/libero_mug.obj new file mode 100644 index 0000000000000000000000000000000000000000..fb8fe462e8610141cc8b5a796f2f6a92d6307532 --- /dev/null +++ b/third_party/libero/notebooks/custom_assets/libero_mug/libero_mug.obj @@ -0,0 +1,63742 @@ +# Blender 3.4.1 +# www.blender.org +mtllib libero_mug_black.mtl +o mug +v -3.615716 6.903107 -2.626972 +v -2.990525 6.903107 -3.321316 +v -4.508169 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"execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mNo private macro file found! (__init__.py:7)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mIt is recommended to use a private macro file (__init__.py:8)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mTo setup, run: python /home/yifengz/workspace/robosuite-master/robosuite/scripts/setup_macros.py (__init__.py:9)\n" + ] + } + ], + "source": [ + "import os\n", + "import re\n", + "import numpy as np\n", + "\n", + "from robosuite.models.objects import MujocoXMLObject\n", + "from robosuite.utils.mjcf_utils import xml_path_completion\n", + "\n", + "from libero.libero.envs.base_object import register_object\n", + "\n", + "import pathlib\n", + "\n", + "from libero.libero.envs.base_object import (\n", + " register_visual_change_object,\n", + " register_object,\n", + ")\n", + "from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates\n", + "from libero.libero.utils.task_generation_utils import register_task_info, get_task_info, generate_bddl_from_task_info\n" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Define your own objects\n", + "You may want to include more object meshes of yours in the procedural generation pipeline. One option is to include your assets and define your object directly inside the LIBERO codebase. But this can make the whole thing messy. \n", + "\n", + "Alternatively, you can define the objects inside your custom project repo folder, and define the object classes accordingly. Note that you need to import your defined object classes whenever you run your own stuff. Libero codebase cannot automatically import those that are defined outside its repo.\n", + "\n", + "In the next, we provide an example, assuming you have object meses defined in `custom_assets`. In this example, we assume the generated pddl file will be saved in `custom_pddl`." + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "class CustomObjects(MujocoXMLObject):\n", + " def __init__(self, custom_path, name, obj_name, joints=[dict(type=\"free\", damping=\"0.0005\")]):\n", + " # make sure custom path is an absolute path\n", + " assert(os.path.isabs(custom_path)), \"Custom path must be an absolute path\"\n", + " # make sure the custom path is also an xml file\n", + " assert(custom_path.endswith(\".xml\")), \"Custom path must be an xml file\"\n", + " super().__init__(\n", + " custom_path,\n", + " name=name,\n", + " joints=joints,\n", + " obj_type=\"all\",\n", + " duplicate_collision_geoms=False,\n", + " )\n", + " self.category_name = \"_\".join(\n", + " re.sub(r\"([A-Z])\", r\" \\1\", self.__class__.__name__).split()\n", + " ).lower()\n", + " self.object_properties = {\"vis_site_names\": {}}\n", + "\n", + "@register_object\n", + "class LiberoMug(CustomObjects):\n", + " def __init__(self,\n", + " name=\"libero_mug\",\n", + " obj_name=\"libero_mug\",\n", + " ):\n", + " super().__init__(\n", + " custom_path=os.path.abspath(os.path.join(\n", + " \"./\", \"custom_assets\", \"libero_mug\", \"libero_mug.xml\"\n", + " )),\n", + " name=name,\n", + " obj_name=obj_name,\n", + " )\n", + "\n", + " self.rotation = {\n", + " \"x\": (-np.pi/2, -np.pi/2),\n", + " \"y\": (-np.pi, -np.pi),\n", + " \"z\": (np.pi, np.pi),\n", + " }\n", + " self.rotation_axis = None\n", + "\n", + "@register_object\n", + "class LiberoMugYellow(CustomObjects):\n", + " def __init__(self,\n", + " name=\"libero_mug\",\n", + " obj_name=\"libero_mug\",\n", + " ):\n", + " super().__init__(\n", + " custom_path=os.path.abspath(os.path.join(\n", + " \"./\", \"custom_assets\", \"libero_mug_yellow\", \"libero_mug_yellow.xml\"\n", + " )),\n", + " name=name,\n", + " obj_name=obj_name,\n", + " )\n", + "\n", + " self.rotation = {\n", + " \"x\": (-np.pi/2, -np.pi/2),\n", + " \"y\": (-np.pi, -np.pi),\n", + " \"z\": (np.pi, np.pi),\n", + " }\n", + " self.rotation_axis = None\n" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Define the scene\n", + "Now we define the scene to load the previously defined objects. For more information about the scene genration, please look at `procedural_creation_walkthrough.ipynb`. " + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "import re\n", + "from libero.libero.envs import objects\n", + "from libero.libero.utils.bddl_generation_utils import *\n", + "from libero.libero.envs.objects import OBJECTS_DICT\n", + "from libero.libero.utils.object_utils import get_affordance_regions\n", + "\n", + "from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates\n", + "\n", + "@register_mu(scene_type=\"kitchen\")\n", + "class KitchenDemoScene(InitialSceneTemplates):\n", + " def __init__(self):\n", + "\n", + " fixture_num_info = {\n", + " \"kitchen_table\": 1,\n", + " \"wooden_cabinet\": 1,\n", + " }\n", + "\n", + " object_num_info = {\n", + " \"libero_mug\": 1,\n", + " \"libero_mug_yellow\": 1,\n", + " }\n", + "\n", + " super().__init__(\n", + " workspace_name=\"kitchen_table\",\n", + " fixture_num_info=fixture_num_info,\n", + " object_num_info=object_num_info,\n", + " )\n", + "\n", + " def define_regions(self):\n", + " self.regions.update(\n", + " self.get_region_dict(\n", + " region_centroid_xy=[0.0, -0.30],\n", + " region_name=\"wooden_cabinet_init_region\",\n", + " target_name=self.workspace_name,\n", + " region_half_len=0.01,\n", + " yaw_rotation=(np.pi, np.pi),\n", + " )\n", + " )\n", + "\n", + " self.regions.update(\n", + " self.get_region_dict(\n", + " region_centroid_xy=[0.0, 0.0],\n", + " region_name=\"libero_mug_init_region\",\n", + " target_name=self.workspace_name,\n", + " region_half_len=0.025,\n", + " )\n", + " )\n", + "\n", + " self.regions.update(\n", + " self.get_region_dict(\n", + " region_centroid_xy=[-0.1, 0.15],\n", + " region_name=\"libero_mug_yellow_init_region\",\n", + " target_name=self.workspace_name,\n", + " region_half_len=0.025,\n", + " )\n", + " )\n", + " self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(\n", + " self.regions\n", + " )\n", + "\n", + " @property\n", + " def init_states(self):\n", + " states = [\n", + " (\"On\", \"libero_mug_1\", \"kitchen_table_libero_mug_init_region\"),\n", + " (\"On\", \"libero_mug_yellow_1\", \"kitchen_table_libero_mug_yellow_init_region\"),\n", + " (\"On\", \"wooden_cabinet_1\", \"kitchen_table_wooden_cabinet_init_region\"),\n", + " ]\n", + " return states" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Succefully generated: 1\n", + "['./custom_pddl/KITCHEN_DEMO_SCENE_libero_demo_behaviors.bddl']\n", + "Encountered some failures: []\n", + "(define (problem LIBERO_Kitchen_Tabletop_Manipulation)\n", + " (:domain robosuite)\n", + " (:language libero demo behaviors)\n", + " (:regions\n", + " (wooden_cabinet_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.01 -0.31 0.01 -0.29)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (3.141592653589793 3.141592653589793)\n", + " )\n", + " )\n", + " )\n", + " (libero_mug_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.025 -0.025 0.025 0.025)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (0.0 0.0)\n", + " )\n", + " )\n", + " )\n", + " (libero_mug_yellow_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.125 0.125 -0.07500000000000001 0.175)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (0.0 0.0)\n", + " )\n", + " )\n", + " )\n", + " (top_side\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (top_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (middle_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (bottom_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " )\n", + "\n", + " (:fixtures\n", + " kitchen_table - kitchen_table\n", + " wooden_cabinet_1 - wooden_cabinet\n", + " )\n", + "\n", + " (:objects\n", + " libero_mug_1 - libero_mug\n", + " libero_mug_yellow_1 - libero_mug_yellow\n", + " )\n", + "\n", + " (:obj_of_interest\n", + " )\n", + "\n", + " (:init\n", + " (On libero_mug_1 kitchen_table_libero_mug_init_region)\n", + " (On libero_mug_yellow_1 kitchen_table_libero_mug_yellow_init_region)\n", + " (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)\n", + " )\n", + "\n", + " (:goal\n", + " (And (Open wooden_cabinet_1_top_region) (In libero_mug_yellow_1 wooden_cabinet_1_top_region))\n", + " )\n", + "\n", + ")\n", + "\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "scene_name = \"kitchen_demo_scene\"\n", + "language = \"libero demo behaviors\"\n", + "register_task_info(language,\n", + " scene_name=scene_name,\n", + " objects_of_interest=[],\n", + " goal_states=[\n", + " (\"Open\", \"wooden_cabinet_1_top_region\"),\n", + " (\"In\", \"libero_mug_yellow_1\", \"wooden_cabinet_1_top_region\"),\n", + " ],\n", + ")\n", + "\n", + "YOUR_BDDL_FILE_PATH = \"./custom_pddl\"\n", + "bddl_file_names, failures = generate_bddl_from_task_info(folder=YOUR_BDDL_FILE_PATH)\n", + "print(bddl_file_names)\n", + "\n", + "print(\"Encountered some failures: \", failures)\n", + "\n", + "with open(bddl_file_names[0], \"r\") as f:\n", + " print(f.read())\n", + "\n", + "from libero.libero.envs import OffScreenRenderEnv\n", + "from IPython.display import display\n", + "from PIL import Image\n", + "\n", + "import torch\n", + "import torchvision\n", + "\n", + "\n", + "env_args = {\n", + " \"bddl_file_name\": bddl_file_names[0],\n", + " \"camera_heights\": 256,\n", + " \"camera_widths\": 256\n", + "}\n", + "\n", + "env = OffScreenRenderEnv(**env_args)\n", + "obs = env.reset()\n", + "display(Image.fromarray(obs[\"agentview_image\"][::-1]))" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "new-continual-learning", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.5" + }, + "orig_nbformat": 4 + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/third_party/libero/notebooks/procedural_creation_walkthrough.ipynb b/third_party/libero/notebooks/procedural_creation_walkthrough.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..1c64328c0488798fa2e5d16c6e5d93a68cf10694 --- /dev/null +++ b/third_party/libero/notebooks/procedural_creation_walkthrough.ipynb @@ -0,0 +1,389 @@ +{ + "cells": [ + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Overview\n", + "\n", + "In this notebook, we will go through the task generation pipeline in LIBERO. We will cover the following contents:\n", + "\n", + "1. Retrieve a list of available objects, predicates\n", + " in the codebase\n", + "2. Define your own initial state distribution\n", + "3. Define your own task goal\n", + "4. Generate the pddl file for the task\n", + "\n", + "Now, let's get started!" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 1. Retrieve a list of objects available\n", + "\n", + "In order for the sucess in task generation, we need to make sure that the objects and the predicates (object relations) specified are available in the codebase." + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mNo private macro file found! (__init__.py:7)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mIt is recommended to use a private macro file (__init__.py:8)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mTo setup, run: python /Users/yifengz/workspace/robosuite-master/robosuite/scripts/setup_macros.py (__init__.py:9)\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'alphabet_soup': , 'bbq_sauce': , 'butter': , 'cherries': , 'chocolate_pudding': , 'cookies': , 'corn': , 'cream_cheese': , 'ketchup': , 'macaroni_and_cheese': , 'mayo': , 'milk': , 'orange_juice': , 'popcorn': , 'salad_dressing': , 'new_salad_dressing': , 'tomato_sauce': , 'rack': , 'white_bowl': , 'akita_black_bowl': , 'plate': , 'basket': , 'chefmate_8_frypan': , 'glazed_rim_porcelain_ramekin': , 'microwave': , 'slide_cabinet': , 'window': , 'faucet': , 'basin_faucet': , 'short_cabinet': , 'short_fridge': , 'wooden_cabinet': , 'white_cabinet': , 'flat_stove': , 'wooden_tray': , 'white_storage_box': , 'wooden_shelf': , 'wooden_two_layer_shelf': , 'wine_rack': , 'wine_bottle': , 'dining_set_group': , 'bowl_drainer': , 'moka_pot': , 'black_book': , 'yellow_book': , 'red_coffee_mug': , 'desk_caddy': , 'porcelain_mug': , 'white_yellow_mug': , 'target_zone': }\n" + ] + } + ], + "source": [ + "from libero.libero.envs.objects import get_object_dict, get_object_fn\n", + "\n", + "# Get a dictionary of all the objects\n", + "object_dict = get_object_dict()\n", + "print(object_dict)" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Now you can see all the available objects, you can retrieve the object class by specifying their categories (which are the keys in the dictionary)" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "moka_pot : defined in the class \n" + ] + } + ], + "source": [ + "category_name = \"moka_pot\"\n", + "object_cls = get_object_fn(category_name)\n", + "print(category_name, \": defined in the class \", object_cls)" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Similarly, you can retrieve the information about predicates." + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'true': , 'false': , 'in': , 'on': , 'up': , 'printjointstate': , 'open': , 'close': , 'turnon': , 'turnoff': }\n", + "=============\n", + "\n" + ] + } + ], + "source": [ + "from libero.libero.envs.predicates import get_predicate_fn_dict, get_predicate_fn\n", + "\n", + "predicate_dict = get_predicate_fn_dict()\n", + "print(predicate_dict)\n", + "print(\"=============\")\n", + "predicate_name = \"on\"\n", + "print(get_predicate_fn(predicate_name))\n" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 2. Define your own initial state distribution" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [], + "source": [ + "import numpy as np\n", + "from libero.libero.utils.bddl_generation_utils import get_xy_region_kwargs_list_from_regions_info\n", + "from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates\n", + "from libero.libero.utils.task_generation_utils import register_task_info, get_task_info, generate_bddl_from_task_info\n", + "\n", + "@register_mu(scene_type=\"kitchen\")\n", + "class KitchenScene1(InitialSceneTemplates):\n", + " def __init__(self):\n", + "\n", + " fixture_num_info = {\n", + " \"kitchen_table\": 1,\n", + " \"wooden_cabinet\": 1,\n", + " }\n", + "\n", + " object_num_info = {\n", + " \"akita_black_bowl\": 1,\n", + " \"plate\": 1,\n", + " }\n", + "\n", + " super().__init__(\n", + " workspace_name=\"kitchen_table\",\n", + " fixture_num_info=fixture_num_info,\n", + " object_num_info=object_num_info\n", + " )\n", + "\n", + " def define_regions(self):\n", + " self.regions.update(\n", + " self.get_region_dict(region_centroid_xy=[0.0, -0.30], \n", + " region_name=\"wooden_cabinet_init_region\", \n", + " target_name=self.workspace_name, \n", + " region_half_len=0.01,\n", + " yaw_rotation=(np.pi, np.pi))\n", + " )\n", + "\n", + " self.regions.update(\n", + " self.get_region_dict(region_centroid_xy=[0., 0.0], \n", + " region_name=\"akita_black_bowl_init_region\", \n", + " target_name=self.workspace_name, \n", + " region_half_len=0.025)\n", + " )\n", + "\n", + " self.regions.update(\n", + " self.get_region_dict(region_centroid_xy=[0.0, 0.25], \n", + " region_name=\"plate_init_region\", \n", + " target_name=self.workspace_name, \n", + " region_half_len=0.025)\n", + " )\n", + " self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(self.regions)\n", + "\n", + " @property\n", + " def init_states(self):\n", + " states = [\n", + " (\"On\", \"akita_black_bowl_1\", \"kitchen_table_akita_black_bowl_init_region\"),\n", + " (\"On\", \"plate_1\", \"kitchen_table_plate_init_region\"),\n", + " (\"On\", \"wooden_cabinet_1\", \"kitchen_table_wooden_cabinet_init_region\")]\n", + " return states" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 3. Define your own task goal\n", + "\n", + "Now that you've defined the initial state distributions, you can specify a task goal based on the available objects and the potential goals it can acehive." + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [], + "source": [ + "scene_name = \"kitchen_scene1\"\n", + "language = \"Your Language 1\"\n", + "register_task_info(language,\n", + " scene_name=scene_name,\n", + " objects_of_interest=[\"wooden_cabinet_1\", \"akita_black_bowl_1\"],\n", + " goal_states=[(\"Open\", \"wooden_cabinet_1_top_region\"), (\"In\", \"akita_black_bowl_1\", \"wooden_cabinet_1_top_region\")]\n", + ")\n", + "\n", + "# Create another task with the same scene layout\n", + "scene_name = \"kitchen_scene1\"\n", + "language = \"Your Language 2\"\n", + "register_task_info(language,\n", + " scene_name=scene_name,\n", + " objects_of_interest=[\"wooden_cabinet_1\", \"akita_black_bowl_1\"],\n", + " goal_states=[(\"Open\", \"wooden_cabinet_1_top_region\"), (\"In\", \"akita_black_bowl_1\", \"wooden_cabinet_1_bottom_region\")]\n", + ")" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The task goals will be temporarily saved in the variable `libero.libero.utils.task_generation_utils.TASK_INFO` in the format of namedtuple `libero.libero.utils.task_generation_utils.TaskInfoTuple`. This design aims to make it easy for batch creation of tasks." + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Succefully generated: 2\n", + "['tmp/pddl_files/KITCHEN_SCENE1_your_language_1.bddl', 'tmp/pddl_files/KITCHEN_SCENE1_your_language_2.bddl']\n", + "Encountered some failures: []\n" + ] + } + ], + "source": [ + "# This is the default path to store all the pddl scene files. Here we store the files in the temporary folder. If you want to directly add files into the libero codebase, get the default path use the following commented lines:\n", + "# from libero.libero import get_libero_path\n", + "# YOUR_BDDL_FILE_PATH = get_libero_path(\"bddl_files\")\n", + "\n", + "YOUR_BDDL_FILE_PATH = \"tmp/pddl_files\"\n", + "bddl_file_names, failures = generate_bddl_from_task_info(folder=YOUR_BDDL_FILE_PATH)\n", + "\n", + "print(bddl_file_names)\n", + "\n", + "print(\"Encountered some failures: \", failures)\n" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Now you can see the content of the pddl file name. (Notice that we named our variable with bddl, since we are actually using the bddl package from Behavior. However, bddl is a subset of pddl, so we stick to the word PDDL for consistency in our paper writing and avoid confusion to the community.)" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "(define (problem LIBERO_Kitchen_Tabletop_Manipulation)\n", + " (:domain robosuite)\n", + " (:language Your Language 1)\n", + " (:regions\n", + " (wooden_cabinet_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.01 -0.31 0.01 -0.29)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (3.141592653589793 3.141592653589793)\n", + " )\n", + " )\n", + " )\n", + " (akita_black_bowl_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.025 -0.025 0.025 0.025)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (0.0 0.0)\n", + " )\n", + " )\n", + " )\n", + " (plate_init_region\n", + " (:target kitchen_table)\n", + " (:ranges (\n", + " (-0.025 0.225 0.025 0.275)\n", + " )\n", + " )\n", + " (:yaw_rotation (\n", + " (0.0 0.0)\n", + " )\n", + " )\n", + " )\n", + " (top_side\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (top_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (middle_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " (bottom_region\n", + " (:target wooden_cabinet_1)\n", + " )\n", + " )\n", + "\n", + " (:fixtures\n", + " kitchen_table - kitchen_table\n", + " wooden_cabinet_1 - wooden_cabinet\n", + " )\n", + "\n", + " (:objects\n", + " akita_black_bowl_1 - akita_black_bowl\n", + " plate_1 - plate\n", + " )\n", + "\n", + " (:obj_of_interest\n", + " wooden_cabinet_1\n", + " akita_black_bowl_1\n", + " )\n", + "\n", + " (:init\n", + " (On akita_black_bowl_1 kitchen_table_akita_black_bowl_init_region)\n", + " (On plate_1 kitchen_table_plate_init_region)\n", + " (On wooden_cabinet_1 kitchen_table_wooden_cabinet_init_region)\n", + " )\n", + "\n", + " (:goal\n", + " (And (Open wooden_cabinet_1_top_region) (In akita_black_bowl_1 wooden_cabinet_1_top_region))\n", + " )\n", + "\n", + ")\n", + "\n" + ] + } + ], + "source": [ + "with open(bddl_file_names[0], \"r\") as f:\n", + " content = f.read()\n", + "print(content)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.7" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/third_party/libero/notebooks/quick_guide_algo.ipynb b/third_party/libero/notebooks/quick_guide_algo.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..9fb201fb06865d8eb88a071761fa1951e20dff3b --- /dev/null +++ b/third_party/libero/notebooks/quick_guide_algo.ipynb @@ -0,0 +1,1488 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Overview\n", + "\n", + "In this notebook, we walk through all the necessary components of running experiments on LIBERO, and some common usage such as defining your own algorithm and policy architectures in the codebase.\n", + "\n", + "1. Dataset preparation for your algorithms\n", + "2. Write your own algorithm\n", + " - Subclassing from `Sequential` base class\n", + "3. Write your own model\n", + "4. Write your training loop\n", + "5. Visualize results" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 1. Experiments" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/tmp/ipykernel_24770/2563292850.py:18: UserWarning: \n", + "The version_base parameter is not specified.\n", + "Please specify a compatability version level, or None.\n", + "Will assume defaults for version 1.1\n", + " initialize(config_path=\"../libero/configs\")\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{ 'color_aug': { 'network': 'BatchWiseImgColorJitterAug',\n", + " 'network_kwargs': { 'brightness': 0.3,\n", + " 'contrast': 0.3,\n", + " 'epsilon': 0.1,\n", + " 'hue': 0.3,\n", + " 'input_shape': None,\n", + " 'saturation': 0.3}},\n", + " 'embed_size': 64,\n", + " 'extra_hidden_size': 128,\n", + " 'extra_num_layers': 0,\n", + " 'image_encoder': { 'network': 'ResnetEncoder',\n", + " 'network_kwargs': { 'freeze': False,\n", + " 'language_fusion': 'film',\n", + " 'no_stride': False,\n", + " 'pretrained': False,\n", + " 'remove_layer_num': 4}},\n", + " 'language_encoder': { 'network': 'MLPEncoder',\n", + " 'network_kwargs': { 'hidden_size': 128,\n", + " 'input_size': 768,\n", + " 'num_layers': 1,\n", + " 'output_size': 128}},\n", + " 'policy_head': { 'loss_kwargs': {'loss_coef': 1.0},\n", + " 'network': 'GMMHead',\n", + " 'network_kwargs': { 'activation': 'softplus',\n", + " 'hidden_size': 1024,\n", + " 'low_eval_noise': False,\n", + " 'min_std': 0.0001,\n", + " 'num_layers': 2,\n", + " 'num_modes': 5}},\n", + " 'policy_type': 'BCTransformerPolicy',\n", + " 'temporal_position_encoding': { 'network': 'SinusoidalPositionEncoding',\n", + " 'network_kwargs': { 'factor_ratio': None,\n", + " 'input_size': None,\n", + " 'inv_freq_factor': 10}},\n", + " 'transformer_dropout': 0.1,\n", + " 'transformer_head_output_size': 64,\n", + " 'transformer_input_size': None,\n", + " 'transformer_max_seq_len': 10,\n", + " 'transformer_mlp_hidden_size': 256,\n", + " 'transformer_num_heads': 6,\n", + " 'transformer_num_layers': 4,\n", + " 'translation_aug': { 'network': 'TranslationAug',\n", + " 'network_kwargs': { 'input_shape': None,\n", + " 'translation': 8}}}\n", + "('Note that the number of epochs used in this example is intentionally reduced '\n", + " 'to 5.')\n", + "[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]\n", + "\n", + "============= Initialized Observation Utils with Obs Spec =============\n", + "\n", + "using obs modality: rgb with keys: ['eye_in_hand_rgb', 'agentview_rgb']\n", + "using obs modality: depth with keys: []\n", + "using obs modality: low_dim with keys: ['gripper_states', 'joint_states']\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1126.19it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1162.72it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1175.77it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1206.08it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1134.37it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 967.75it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1178.42it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1222.58it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1164.09it/s]\n", + "SequenceDataset: loading dataset into memory...\n", + "100%|██████████| 50/50 [00:00<00:00, 1151.78it/s]\n" + ] + } + ], + "source": [ + "from hydra import compose, initialize\n", + "\n", + "from libero.libero import benchmark, get_libero_path\n", + "import hydra\n", + "import pprint\n", + "import os\n", + "os.environ[\"TOKENIZERS_PARALLELISM\"] = \"false\"\n", + "os.environ['PYOPENGL_PLATFORM'] = 'egl'\n", + "from omegaconf import OmegaConf\n", + "import yaml\n", + "from easydict import EasyDict\n", + "from libero.libero.benchmark import get_benchmark\n", + "from libero.lifelong.datasets import (GroupedTaskDataset, SequenceVLDataset, get_dataset)\n", + "from libero.lifelong.utils import (get_task_embs, safe_device, create_experiment_dir)\n", + "hydra.core.global_hydra.GlobalHydra.instance().clear()\n", + "\n", + "### load the default hydra config\n", + "initialize(config_path=\"../libero/configs\")\n", + "hydra_cfg = compose(config_name=\"config\")\n", + "yaml_config = OmegaConf.to_yaml(hydra_cfg)\n", + "cfg = EasyDict(yaml.safe_load(yaml_config))\n", + "\n", + "pp = pprint.PrettyPrinter(indent=2)\n", + "pp.pprint(cfg.policy)\n", + "\n", + "# prepare lifelong learning\n", + "cfg.folder = get_libero_path(\"datasets\")\n", + "cfg.bddl_folder = get_libero_path(\"bddl_files\")\n", + "cfg.init_states_folder = get_libero_path(\"init_states\")\n", + "cfg.eval.num_procs = 1\n", + "cfg.eval.n_eval = 5\n", + "\n", + "cfg.train.n_epochs = 25\n", + "\n", + "pp.pprint(f\"Note that the number of epochs used in this example is intentionally reduced to 5.\")\n", + "\n", + "task_order = cfg.data.task_order_index # can be from {0 .. 21}, default to 0, which is [task 0, 1, 2 ...]\n", + "cfg.benchmark_name = \"libero_object\" # can be from {\"libero_spatial\", \"libero_object\", \"libero_goal\", \"libero_10\"}\n", + "benchmark = get_benchmark(cfg.benchmark_name)(task_order)\n", + "\n", + "# prepare datasets from the benchmark\n", + "datasets = []\n", + "descriptions = []\n", + "shape_meta = None\n", + "n_tasks = benchmark.n_tasks\n", + "\n", + "for i in range(n_tasks):\n", + " # currently we assume tasks from same benchmark have the same shape_meta\n", + " task_i_dataset, shape_meta = get_dataset(\n", + " dataset_path=os.path.join(cfg.folder, benchmark.get_task_demonstration(i)),\n", + " obs_modality=cfg.data.obs.modality,\n", + " initialize_obs_utils=(i==0),\n", + " seq_len=cfg.data.seq_len,\n", + " )\n", + " # add language to the vision dataset, hence we call vl_dataset\n", + " descriptions.append(benchmark.get_task(i).language)\n", + " datasets.append(task_i_dataset)\n", + "\n", + "task_embs = get_task_embs(cfg, descriptions)\n", + "benchmark.set_task_embs(task_embs)\n", + "\n", + "datasets = [SequenceVLDataset(ds, emb) for (ds, emb) in zip(datasets, task_embs)]\n", + "n_demos = [data.n_demos for data in datasets]\n", + "n_sequences = [data.total_num_sequences for data in datasets]" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 2. Write your own policy architecture" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "import robomimic.utils.tensor_utils as TensorUtils\n", + "import torch\n", + "import torch.nn as nn\n", + "\n", + "from einops import rearrange, repeat\n", + "from libero.lifelong.models.modules.rgb_modules import *\n", + "from libero.lifelong.models.modules.language_modules import *\n", + "from libero.lifelong.models.base_policy import BasePolicy\n", + "from libero.lifelong.models.policy_head import *\n", + "from libero.lifelong.models.modules.transformer_modules import *\n", + "\n", + "###############################################################################\n", + "#\n", + "# A model handling extra input modalities besides images at time t.\n", + "#\n", + "###############################################################################\n", + "\n", + "class ExtraModalityTokens(nn.Module):\n", + " def __init__(\n", + " self,\n", + " use_joint=False,\n", + " use_gripper=False,\n", + " use_ee=False,\n", + " extra_num_layers=0,\n", + " extra_hidden_size=64,\n", + " extra_embedding_size=32,\n", + " ):\n", + " \"\"\"\n", + " This is a class that maps all extra modality inputs into tokens of the same size\n", + " \"\"\"\n", + " super().__init__()\n", + " self.use_joint = use_joint\n", + " self.use_gripper = use_gripper\n", + " self.use_ee = use_ee\n", + " self.extra_embedding_size = extra_embedding_size\n", + "\n", + " joint_states_dim = 7\n", + " gripper_states_dim = 2\n", + " ee_dim = 3\n", + "\n", + " self.num_extra = int(use_joint) + int(use_gripper) + int(use_ee)\n", + "\n", + " extra_low_level_feature_dim = (\n", + " int(use_joint) * joint_states_dim\n", + " + int(use_gripper) * gripper_states_dim\n", + " + int(use_ee) * ee_dim\n", + " )\n", + "\n", + " assert extra_low_level_feature_dim > 0, \"[error] no extra information\"\n", + "\n", + " self.extra_encoders = {}\n", + "\n", + " def generate_proprio_mlp_fn(modality_name, extra_low_level_feature_dim):\n", + " assert extra_low_level_feature_dim > 0 # we indeed have extra information\n", + " if extra_num_layers > 0:\n", + " layers = [nn.Linear(extra_low_level_feature_dim, extra_hidden_size)]\n", + " for i in range(1, extra_num_layers):\n", + " layers += [\n", + " nn.Linear(extra_hidden_size, extra_hidden_size),\n", + " nn.ReLU(inplace=True),\n", + " ]\n", + " layers += [nn.Linear(extra_hidden_size, extra_embedding_size)]\n", + " else:\n", + " layers = [nn.Linear(extra_low_level_feature_dim, extra_embedding_size)]\n", + "\n", + " self.proprio_mlp = nn.Sequential(*layers)\n", + " self.extra_encoders[modality_name] = {\"encoder\": self.proprio_mlp}\n", + "\n", + " for (proprio_dim, use_modality, modality_name) in [\n", + " (joint_states_dim, self.use_joint, \"joint_states\"),\n", + " (gripper_states_dim, self.use_gripper, \"gripper_states\"),\n", + " (ee_dim, self.use_ee, \"ee_states\"),\n", + " ]:\n", + "\n", + " if use_modality:\n", + " generate_proprio_mlp_fn(modality_name, proprio_dim)\n", + "\n", + " self.encoders = nn.ModuleList(\n", + " [x[\"encoder\"] for x in self.extra_encoders.values()]\n", + " )\n", + "\n", + " def forward(self, obs_dict):\n", + " \"\"\"\n", + " obs_dict: {\n", + " (optional) joint_stats: (B, T, 7),\n", + " (optional) gripper_states: (B, T, 2),\n", + " (optional) ee: (B, T, 3)\n", + " }\n", + " map above to a latent vector of shape (B, T, H)\n", + " \"\"\"\n", + " tensor_list = []\n", + "\n", + " for (use_modality, modality_name) in [\n", + " (self.use_joint, \"joint_states\"),\n", + " (self.use_gripper, \"gripper_states\"),\n", + " (self.use_ee, \"ee_states\"),\n", + " ]:\n", + "\n", + " if use_modality:\n", + " tensor_list.append(\n", + " self.extra_encoders[modality_name][\"encoder\"](\n", + " obs_dict[modality_name]\n", + " )\n", + " )\n", + "\n", + " x = torch.stack(tensor_list, dim=-2)\n", + " return x\n", + "\n", + "###############################################################################\n", + "#\n", + "# A Transformer policy\n", + "#\n", + "###############################################################################\n", + "\n", + "\n", + "class MyTransformerPolicy(BasePolicy):\n", + " \"\"\"\n", + " Input: (o_{t-H}, ... , o_t)\n", + " Output: a_t or distribution of a_t\n", + " \"\"\"\n", + "\n", + " def __init__(self, cfg, shape_meta):\n", + " super().__init__(cfg, shape_meta)\n", + " policy_cfg = cfg.policy\n", + "\n", + " ### 1. encode image\n", + " embed_size = policy_cfg.embed_size\n", + " transformer_input_sizes = []\n", + " self.image_encoders = {}\n", + " for name in shape_meta[\"all_shapes\"].keys():\n", + " if \"rgb\" in name or \"depth\" in name:\n", + " kwargs = policy_cfg.image_encoder.network_kwargs\n", + " kwargs.input_shape = shape_meta[\"all_shapes\"][name]\n", + " kwargs.output_size = embed_size\n", + " kwargs.language_dim = (\n", + " policy_cfg.language_encoder.network_kwargs.input_size\n", + " )\n", + " self.image_encoders[name] = {\n", + " \"input_shape\": shape_meta[\"all_shapes\"][name],\n", + " \"encoder\": eval(policy_cfg.image_encoder.network)(**kwargs),\n", + " }\n", + "\n", + " self.encoders = nn.ModuleList(\n", + " [x[\"encoder\"] for x in self.image_encoders.values()]\n", + " )\n", + "\n", + " ### 2. encode language\n", + " policy_cfg.language_encoder.network_kwargs.output_size = embed_size\n", + " self.language_encoder = eval(policy_cfg.language_encoder.network)(\n", + " **policy_cfg.language_encoder.network_kwargs\n", + " )\n", + "\n", + " ### 3. encode extra information (e.g. gripper, joint_state)\n", + " self.extra_encoder = ExtraModalityTokens(\n", + " use_joint=cfg.data.use_joint,\n", + " use_gripper=cfg.data.use_gripper,\n", + " use_ee=cfg.data.use_ee,\n", + " extra_num_layers=policy_cfg.extra_num_layers,\n", + " extra_hidden_size=policy_cfg.extra_hidden_size,\n", + " extra_embedding_size=embed_size,\n", + " )\n", + "\n", + " ### 4. define temporal transformer\n", + " policy_cfg.temporal_position_encoding.network_kwargs.input_size = embed_size\n", + " self.temporal_position_encoding_fn = eval(\n", + " policy_cfg.temporal_position_encoding.network\n", + " )(**policy_cfg.temporal_position_encoding.network_kwargs)\n", + "\n", + " self.temporal_transformer = TransformerDecoder(\n", + " input_size=embed_size,\n", + " num_layers=policy_cfg.transformer_num_layers,\n", + " num_heads=policy_cfg.transformer_num_heads,\n", + " head_output_size=policy_cfg.transformer_head_output_size,\n", + " mlp_hidden_size=policy_cfg.transformer_mlp_hidden_size,\n", + " dropout=policy_cfg.transformer_dropout,\n", + " )\n", + "\n", + " policy_head_kwargs = policy_cfg.policy_head.network_kwargs\n", + " policy_head_kwargs.input_size = embed_size\n", + " policy_head_kwargs.output_size = shape_meta[\"ac_dim\"]\n", + "\n", + " self.policy_head = eval(policy_cfg.policy_head.network)(\n", + " **policy_cfg.policy_head.loss_kwargs,\n", + " **policy_cfg.policy_head.network_kwargs\n", + " )\n", + "\n", + " self.latent_queue = []\n", + " self.max_seq_len = policy_cfg.transformer_max_seq_len\n", + "\n", + " def temporal_encode(self, x):\n", + " pos_emb = self.temporal_position_encoding_fn(x)\n", + " x = x + pos_emb.unsqueeze(1) # (B, T, num_modality, E)\n", + " sh = x.shape\n", + " self.temporal_transformer.compute_mask(x.shape)\n", + "\n", + " x = TensorUtils.join_dimensions(x, 1, 2) # (B, T*num_modality, E)\n", + " x = self.temporal_transformer(x)\n", + " x = x.reshape(*sh)\n", + " return x[:, :, 0] # (B, T, E)\n", + "\n", + " def spatial_encode(self, data):\n", + " # 1. encode extra\n", + " extra = self.extra_encoder(data[\"obs\"]) # (B, T, num_extra, E)\n", + "\n", + " # 2. encode language, treat it as action token\n", + " B, T = extra.shape[:2]\n", + " text_encoded = self.language_encoder(data) # (B, E)\n", + " text_encoded = text_encoded.view(B, 1, 1, -1).expand(\n", + " -1, T, -1, -1\n", + " ) # (B, T, 1, E)\n", + " encoded = [text_encoded, extra]\n", + "\n", + " # 3. encode image\n", + " for img_name in self.image_encoders.keys():\n", + " x = data[\"obs\"][img_name]\n", + " B, T, C, H, W = x.shape\n", + " img_encoded = self.image_encoders[img_name][\"encoder\"](\n", + " x.reshape(B * T, C, H, W),\n", + " langs=data[\"task_emb\"]\n", + " .reshape(B, 1, -1)\n", + " .repeat(1, T, 1)\n", + " .reshape(B * T, -1),\n", + " ).view(B, T, 1, -1)\n", + " encoded.append(img_encoded)\n", + " encoded = torch.cat(encoded, -2) # (B, T, num_modalities, E)\n", + " return encoded\n", + "\n", + " def forward(self, data):\n", + " x = self.spatial_encode(data)\n", + " x = self.temporal_encode(x)\n", + " dist = self.policy_head(x)\n", + " return dist\n", + "\n", + " def get_action(self, data):\n", + " self.eval()\n", + " with torch.no_grad():\n", + " data = self.preprocess_input(data, train_mode=False)\n", + " x = self.spatial_encode(data)\n", + " self.latent_queue.append(x)\n", + " if len(self.latent_queue) > self.max_seq_len:\n", + " self.latent_queue.pop(0)\n", + " x = torch.cat(self.latent_queue, dim=1) # (B, T, H_all)\n", + " x = self.temporal_encode(x)\n", + " dist = self.policy_head(x[:, -1])\n", + " action = dist.sample().detach().cpu()\n", + " return action.view(action.shape[0], -1).numpy()\n", + "\n", + " def reset(self):\n", + " self.latent_queue = []" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 3. Write your own lifelong learning algorithm" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mNo private macro file found! (__init__.py:7)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mIt is recommended to use a private macro file (__init__.py:8)\n", + "\u001b[1m\u001b[33m[robosuite WARNING] \u001b[0mTo setup, run: python /home/yifengz/workspace/robosuite-master/robosuite/scripts/setup_macros.py (__init__.py:9)\n" + ] + } + ], + "source": [ + "from libero.lifelong.algos.base import Sequential\n", + "\n", + "### All lifelong learning algorithm should inherit the Sequential algorithm super class\n", + "\n", + "class MyLifelongAlgo(Sequential):\n", + " \"\"\"\n", + " The experience replay policy.\n", + " \"\"\"\n", + " def __init__(self,\n", + " n_tasks,\n", + " cfg,\n", + " **policy_kwargs):\n", + " super().__init__(n_tasks=n_tasks, cfg=cfg, **policy_kwargs)\n", + " # define the learning policy\n", + " self.datasets = []\n", + " self.policy = eval(cfg.policy.policy_type)(cfg, cfg.shape_meta)\n", + "\n", + " def start_task(self, task):\n", + " # what to do at the beginning of a new task\n", + " super().start_task(task)\n", + "\n", + " def end_task(self, dataset, task_id, benchmark):\n", + " # what to do when finish learning a new task\n", + " self.datasets.append(dataset)\n", + "\n", + " def observe(self, data):\n", + " # how the algorithm observes a data and returns a loss to be optimized\n", + " loss = super().observe(data)\n", + " return loss" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# 4. Write your training script" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "experiment directory is: ./experiments/libero_object/MyLifelongAlgo/MyTransformerPolicy_seed10000/run_006\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/yifengz/.pyenv/versions/3.8.5/envs/new-continual-learning/lib/python3.8/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and will be removed in 0.15, please use 'weights' instead.\n", + " warnings.warn(\n", + "/home/yifengz/.pyenv/versions/3.8.5/envs/new-continual-learning/lib/python3.8/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and will be removed in 0.15. The current behavior is equivalent to passing `weights=None`.\n", + " warnings.warn(msg)\n", + "/home/yifengz/.pyenv/versions/3.8.5/envs/new-continual-learning/lib/python3.8/site-packages/torch/functional.py:478: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at ../aten/src/ATen/native/TensorShape.cpp:2894.)\n", + " return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined]\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "NOTE: the number of epochs used in this example is intentionally reduced to 30 for simplicity.\n", + "NOTE: the number of evaluation episodes used in this example is intentionally reduced to 5 for simplicity.\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + " 0%| | 0/10 [00:00" + ], + "text/plain": [ + "" + ] + }, + "execution_count": 27, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "from IPython.display import HTML\n", + "from base64 import b64encode\n", + "import imageio\n", + "\n", + "from libero.libero.envs import OffScreenRenderEnv, DummyVectorEnv\n", + "from libero.lifelong.metric import raw_obs_to_tensor_obs\n", + "\n", + "# You can turn on subprocess\n", + "env_num = 1\n", + "action_dim = 7\n", + "\n", + "\n", + "# If it's packnet, the weights need to be processed first\n", + "task_id = 9\n", + "task = benchmark.get_task(task_id)\n", + "task_emb = benchmark.get_task_emb(task_id)\n", + "\n", + "if cfg.lifelong.algo == \"PackNet\":\n", + " algo = algo.get_eval_algo(task_id)\n", + "\n", + "algo.eval()\n", + "env_args = {\n", + " \"bddl_file_name\": os.path.join(\n", + " cfg.bddl_folder, task.problem_folder, task.bddl_file\n", + " ),\n", + " \"camera_heights\": cfg.data.img_h,\n", + " \"camera_widths\": cfg.data.img_w,\n", + "}\n", + "\n", + "env = DummyVectorEnv(\n", + " [lambda: OffScreenRenderEnv(**env_args) for _ in range(env_num)]\n", + ")\n", + "\n", + "init_states_path = os.path.join(\n", + " cfg.init_states_folder, task.problem_folder, task.init_states_file\n", + ")\n", + "init_states = torch.load(init_states_path)\n", + "\n", + "env.reset()\n", + "\n", + "init_state = init_states[0:1]\n", + "dones = [False]\n", + "\n", + "algo.reset()\n", + "\n", + "obs = env.set_init_state(init_state)\n", + "\n", + "\n", + "# Make sure the gripepr is open to make it consistent with the provided demos.\n", + "dummy_actions = np.zeros((env_num, action_dim))\n", + "for _ in range(5):\n", + " obs, _, _, _ = env.step(dummy_actions)\n", + "\n", + "steps = 0\n", + "\n", + "obs_tensors = [[]] * env_num\n", + "while steps < cfg.eval.max_steps:\n", + " steps += 1\n", + " data = raw_obs_to_tensor_obs(obs, task_emb, cfg)\n", + " action = algo.policy.get_action(data)\n", + "\n", + " obs, reward, done, info = env.step(action)\n", + "\n", + " for k in range(env_num):\n", + " dones[k] = dones[k] or done[k]\n", + " obs_tensors[k].append(obs[k][\"agentview_image\"])\n", + " if all(dones):\n", + " break\n", + "\n", + "# visualize video\n", + "# obs_tensor: (env_num, T, H, W, C)\n", + "\n", + "images = [img[::-1] for img in obs_tensors[0]]\n", + "fps = 30\n", + "writer = imageio.get_writer('tmp_video.mp4', fps=fps)\n", + "for image in images:\n", + " writer.append_data(image)\n", + "writer.close()\n", + "\n", + "video_data = open(\"tmp_video.mp4\", \"rb\").read()\n", + "video_tag = f'