notebooks/affordance.py

import os
import sys
import json

import numpy as np
from cliport import tasks
from cliport import agents
from cliport.utils import utils

import torch
import cv2
from cliport.dataset import RavensDataset
from cliport.environments.environment import Environment
from torch.utils.data import DataLoader
import IPython

import matplotlib
import numpy as np
import matplotlib.pyplot as plt

train_demos = 10 # number training demonstrations used to train agent
n_eval = 1 # number of evaluation instances
mode = 'test' # val or test

agent_name = 'cliport'
model_task = 'place-red-in-green' # multi-task agent conditioned with language goals
task_type = 'gpt5_mixcliport2'  # gpt5_mixcliport2
model_folder = f'exps/exp-{task_type}_task_new_demo{train_demos}_2023-08-01_16-13-10-smaller' # path to pre-trained checkpoint
ckpt_name = 'last.ckpt' # name of checkpoint to load

draw_grasp_lines = True
affordance_heatmap_scale = 30

### Uncomment the task you want to evaluate on ###
# eval_task = 'align-rope'
# eval_task = 'assembling-kits-seq-seen-colors'
# eval_task = 'assembling-kits-seq-unseen-colors'
# eval_task = 'packing-shapes'
# eval_task = 'packing-boxes-pairs-seen-colors'
# eval_task = 'packing-boxes-pairs-unseen-colors'
# eval_task = 'packing-seen-google-objects-seq'
# eval_task = 'packing-unseen-google-objects-seq'
# eval_task = 'packing-seen-google-objects-group'
# eval_task = 'packing-unseen-google-objects-group'
# eval_task = 'put-block-in-bowl-seen-colors'
# eval_task = 'put-block-in-bowl-unseen-colors'
eval_task = 'place-red-in-green'
# eval_task = 'stack-block-pyramid-seq-unseen-colors'
# eval_task = 'separating-piles-seen-colors'
# eval_task = 'separating-piles-unseen-colors'
# eval_task = 'towers-of-hanoi-seq-seen-colors'
# eval_task = 'towers-of-hanoi-seq-unseen-colors'


root_dir = os.environ['GENSIM_ROOT']
assets_root = os.path.join(root_dir, 'cliport/environments/assets/')
config_file = 'eval.yaml' 

vcfg = utils.load_hydra_config(os.path.join(root_dir, f'cliport/cfg/{config_file}'))
vcfg['data_dir'] = os.path.join(root_dir, 'data')
vcfg['mode'] = mode

vcfg['model_task'] = model_task
vcfg['eval_task'] = eval_task
vcfg['agent'] = agent_name

# Model and training config paths
model_path = os.path.join(root_dir, model_folder)
if model_folder[-7:] == 'smaller':
    vcfg['train_config'] = f"{model_path}/{model_folder[9:-8]}-{vcfg['agent']}-n{train_demos}-train/.hydra/config.yaml"
    vcfg['model_path'] = f"{model_path}/{model_folder[9:-8]}-{vcfg['agent']}-n{train_demos}-train/checkpoints/"
else:
    vcfg['train_config'] = f"{model_path}/{model_folder[9:]}-{vcfg['agent']}-n{train_demos}-train/.hydra/config.yaml"
    vcfg['model_path'] = f"{model_path}/{model_folder[9:]}-{vcfg['agent']}-n{train_demos}-train/checkpoints/"
tcfg = utils.load_hydra_config(vcfg['train_config'])

# Load dataset
ds = RavensDataset(os.path.join(vcfg['data_dir'], f'{vcfg["eval_task"]}-{vcfg["mode"]}'), 
                   tcfg, 
                   n_demos=n_eval,
                   augment=False)

eval_run = 0
name = '{}-{}-{}-{}'.format(vcfg['eval_task'], vcfg['agent'], n_eval, eval_run)
print(f'\nEval ID: {name}\n')

# Initialize agent
utils.set_seed(eval_run, torch=True)
agent = agents.names[vcfg['agent']](name, tcfg, DataLoader(ds), DataLoader(ds))

# Load checkpoint
ckpt_path = os.path.join(vcfg['model_path'], ckpt_name)
print(f'\nLoading checkpoint: {ckpt_path}')
agent.load(ckpt_path)



env = Environment(
    assets_root,
    disp=False,
    shared_memory=False,
    hz=480,
    record_cfg=vcfg['record']
)




episode = 0
num_eval_instances = min(n_eval, ds.n_episodes)

for i in range(num_eval_instances):
    print(f'\nEvaluation Instance: {i + 1}/{num_eval_instances}')
    
    # Load episode
    episode, seed = ds.load(i)
    goal = episode[-1]
    total_reward = 0
    np.random.seed(seed)

    # Set task
    task_name = vcfg['eval_task']
    task = tasks.names[task_name]()
    task.mode = mode
    
    # Set environment
    env.seed(seed)
    env.set_task(task)
    obs = env.reset()
    info = env.info
    reward = 0
    
    step = 0
    done = False
    
    # Rollout
    while (step <= task.max_steps) and not done:
        print(f"Step: {step} ({task.max_steps} max)")
        
        # Get batch
        if step == task.max_steps-1:
            batch = ds.process_goal((obs, None, reward, info), perturb_params=None)
        else:
            batch = ds.process_sample((obs, None, reward, info), augment=False)

        fig, axs = plt.subplots(2, 2, figsize=(13, 7))
        
        # Get color and depth inputs
        img = batch['img']
        img = torch.from_numpy(img)
        color = np.uint8(img.detach().cpu().numpy())[:,:,:3]
        color = color.transpose(1,0,2)
        depth = np.array(img.detach().cpu().numpy())[:,:,3]
        depth = depth.transpose(1,0)
        
        # Display input color
        axs[0,0].imshow(color)
        axs[0,0].axes.xaxis.set_visible(False)
        axs[0,0].axes.yaxis.set_visible(False)
        axs[0,0].set_title('Input RGB')
        
        # Display input depth
        axs[0,1].imshow(depth)
        axs[0,1].axes.xaxis.set_visible(False)
        axs[0,1].axes.yaxis.set_visible(False)        
        axs[0,1].set_title('Input Depth')
        
        # Display predicted pick affordance
        axs[1,0].imshow(color)
        axs[1,0].axes.xaxis.set_visible(False)
        axs[1,0].axes.yaxis.set_visible(False)
        axs[1,0].set_title('Pick Affordance')
        
        # Display predicted place affordance
        axs[1,1].imshow(color)
        axs[1,1].axes.xaxis.set_visible(False)
        axs[1,1].axes.yaxis.set_visible(False)
        axs[1,1].set_title('Place Affordance')
        
        # Get action predictions
        l = str(info['lang_goal'])
        act = agent.act(obs, info, goal=None)
        pick, place = act['pick'], act['place']
        
        # Visualize pick affordance
        pick_inp = {'inp_img': batch['img'], 'lang_goal': l}
        pick_conf = agent.attn_forward(pick_inp)[0]
        print("pick_conf:", pick_conf.shape, pick, place)
        # IPython.embed()
        logits = pick_conf.detach().cpu().numpy()

        pick_conf = pick_conf.detach().cpu().numpy()
        argmax = np.argmax(pick_conf)
        argmax = np.unravel_index(argmax, shape=pick_conf.shape)
        p0 = argmax[:2]

        p0_theta = (argmax[2] * (2 * np.pi / pick_conf.shape[2])) * -1.0
        
        line_len = 30
        pick0 = (pick[0] + line_len/2.0 * np.sin(p0_theta), pick[1] + line_len/2.0 * np.cos(p0_theta))
        pick1 = (pick[0] - line_len/2.0 * np.sin(p0_theta), pick[1] - line_len/2.0 * np.cos(p0_theta))

        if draw_grasp_lines:
            axs[1,0].plot((pick1[0], pick0[0]), (pick1[1], pick0[1]), color='r', linewidth=1)
        
        # Visualize place affordance
        place_inp = {'inp_img': batch['img'], 'p0': pick, 'lang_goal': l}
        place_conf = agent.trans_forward(place_inp)[0]

        place_conf = place_conf.permute(1, 2, 0)
        place_conf = place_conf.detach().cpu().numpy()
        argmax = np.argmax(place_conf)
        argmax = np.unravel_index(argmax, shape=place_conf.shape)
        p1_pix = argmax[:2]
        p1_theta = (argmax[2] * (2 * np.pi / place_conf.shape[2]) + p0_theta) * -1.0
        
        line_len = 30
        place0 = (place[0] + line_len/2.0 * np.sin(p1_theta), place[1] + line_len/2.0 * np.cos(p1_theta))
        place1 = (place[0] - line_len/2.0 * np.sin(p1_theta), place[1] - line_len/2.0 * np.cos(p1_theta))

        if draw_grasp_lines:
            axs[1,1].plot((place1[0], place0[0]), (place1[1], place0[1]), color='g', linewidth=1)
        
        # Overlay affordances on RGB input
        pick_logits_disp = np.uint8(logits * 255 * affordance_heatmap_scale).transpose(2,1,0)
        place_logits_disp = np.uint8(np.sum(place_conf, axis=2)[:,:,None] * 255 * affordance_heatmap_scale).transpose(1,0,2)# .transpose(1,2,0)    

        pick_logits_disp_masked = np.ma.masked_where(pick_logits_disp < 0, pick_logits_disp)
        place_logits_disp_masked = np.ma.masked_where(place_logits_disp < 0, place_logits_disp)
        # IPython.embed()

        axs[1][0].imshow(pick_logits_disp_masked, alpha=0.75)
        axs[1][1].imshow(place_logits_disp_masked, cmap='viridis', alpha=0.75)
        
        print(f"Lang Goal: {str(info['lang_goal'])}")
        print(os.getcwd())
        plt.savefig(f'./test_{step}.png')
        
        # Act with the predicted actions
        obs, reward, done, info = env.step(act)
        step += 1
        
    if done:
        print("Done. Success.")
    else:
        print("Max steps reached. Task failed.")