resources/notebooks/RAIL-onboarding-01-known-space-navigation.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "f521b274",
   "metadata": {},
   "source": [
    "# RAIL Onboarding 01: Navigation in a Known Grid\n",
    "\n",
    "**Goal**: to create a very simple agent capable of reaching a goal in a known grid.\n",
    "\n",
    "**Learning Objectives**:\n",
    "\n",
    "- Learn how to create a basic procedural map\n",
    "- Learn how to run our Unity visual simulator corresponding to the generated map\n",
    "- Learn how to plan a trajectory in an occupancy grid and move a simulated robot towards a goal.\n",
    "\n",
    "### Imports and Setup\n",
    "\n",
    "There are a number of packages we will need and capabilities we will want to setup. The following code block imports the code used later on and defines a number of parameters that are often passed via a command line interface."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "fd35b99a",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Python Version and System Information\n",
      "3.8.10 (default, May 26 2023, 14:05:08) \n",
      "[GCC 9.4.0]\n"
     ]
    }
   ],
   "source": [
    "# Imports & Setup\n",
    "\n",
    "import environments\n",
    "import lsp\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "import os\n",
    "import math\n",
    "import gridmap\n",
    "import sys\n",
    "\n",
    "print(\"Python Version and System Information\")\n",
    "print(sys.version)\n",
    "\n",
    "# Set the arguments (usually done via the command line)\n",
    "args = lambda: None\n",
    "args.current_seed = 2005\n",
    "args.map_type = 'maze'\n",
    "args.unity_path = '/unity/rail_sim.x86_64'\n",
    "args.save_dir = './'\n",
    "\n",
    "# Robot Arguments\n",
    "args.step_size = 1.8\n",
    "args.num_primitives = 32\n",
    "args.laser_scanner_num_points = 1024\n",
    "args.field_of_view_deg = 360\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "317c6539",
   "metadata": {},
   "source": [
    "## Generating the map grid and planning in it\n",
    "\n",
    "There are a few different procedural environments that ship with `lsp`. We will be using the `maze` environment for these tutorials (set via the arguments above), since they are reasonably simple yet already demonstrate the complexities in planning under uncertainty that motivate much of the research in the RAIL Group.\n",
    "\n",
    "As defined in the arguments above, we will be using the `maze` environment type (`args.map_type = 'maze'`) with its default parameter values. We can by calling the function `environments.generate.map_and_poses`, which generates the map (a Numpy array `known_map`) and the map's metadata (the Python dictionary `map_data`). We then plot the grid:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "c948c475",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1280x960 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Generate the map and relevant data\n",
    "\n",
    "known_map, map_data, pose, goal = environments.generate.map_and_poses(args)\n",
    "\n",
    "# Plotting\n",
    "plt.figure(dpi=200)\n",
    "lsp.utils.plotting.plot_navigation_data(\n",
    "    plt.gca(), known_map, map_data=map_data, \n",
    "    robot_pose=args.base_resolution*pose, \n",
    "    goal_pose=args.base_resolution*goal)\n",
    "plt.title(f\"'{args.map_type}' environment, seed {args.current_seed}\")\n",
    "None"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1d47fca3",
   "metadata": {},
   "source": [
    "## Planning to the Goal\n",
    "\n",
    "Planning in this grid is relatively easy using the functions built-into `gridmap.planning`. The following code generates a path (a series of waypoints) that the robot can follow to get from its starting position (blue) to the goal (green)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "18673099",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1280x960 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "cost_grid, get_path = gridmap.planning.compute_cost_grid_from_position(\n",
    "    known_map, [goal.x, goal.y])\n",
    "did_plan, path = get_path([pose.x, pose.y])\n",
    "\n",
    "plt.figure(dpi=200)\n",
    "lsp.utils.plotting.plot_navigation_data(\n",
    "        plt.gca(), known_map, map_data=map_data, \n",
    "        robot_pose=args.base_resolution*pose,\n",
    "        goal_pose=args.base_resolution*goal,\n",
    "        planned_path=path)\n",
    "plt.title(\"Planned path from robot (blue) to goal (green)\")\n",
    "None"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "75050219",
   "metadata": {},
   "source": [
    "Realistically, the robot is going to have some non-zero size, which will require that it plan to be at least somewhat far away from the walls. For this, we can include the inflation radius, which \"inflates\" (or \"grows\") the objects in the map so that it will plan farther around them. We also add a soft cost to the planner, which discourages being close to these newly inflated obstacles though does not outright prohibit it. We will also make the generated path sparser and \"flipped\" (so that the first point is the robot pose, rather than the other way around; this will be important later).\n",
    "\n",
    "We will next inflate the grid, by a predefined amount `args.inflation_radius_m`, and replan with that grid to see how the plan changes so as to avoid being so close to obstacles. Notice how the grid and thus the path change."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "8b0fe732",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Inflation Radius (meters): 0.75\n",
      "Inflation Radius (grid units): 2.5\n"
     ]
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1280x960 with 3 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Compute the inflation radius (in grid units)\n",
    "inflation_radius = args.inflation_radius_m / args.base_resolution\n",
    "\n",
    "print(f\"Inflation Radius (meters): {args.inflation_radius_m}\")\n",
    "print(f\"Inflation Radius (grid units): {inflation_radius}\")\n",
    "\n",
    "# 'Inflate' the grid; puff up the obstacles\n",
    "inflated_known_grid = gridmap.utils.inflate_grid(\n",
    "    known_map, inflation_radius=inflation_radius)\n",
    "\n",
    "# Plan in the newly-inflated grid\n",
    "cost_grid, get_path = gridmap.planning.compute_cost_grid_from_position(\n",
    "    inflated_known_grid, [goal.x, goal.y], use_soft_cost=True)\n",
    "did_plan, path = get_path([pose.x, pose.y],\n",
    "                          do_sparsify=True, do_flip=True)\n",
    "\n",
    "# Plotting\n",
    "plt.figure(dpi=200)\n",
    "plt.subplot(131)\n",
    "lsp.utils.plotting.plot_navigation_data(\n",
    "        plt.gca(), known_map, map_data=map_data)\n",
    "plt.title(\"Occupancy Grid\")\n",
    "\n",
    "plt.subplot(132)\n",
    "lsp.utils.plotting.plot_navigation_data(\n",
    "        plt.gca(), inflated_known_grid, map_data=map_data)\n",
    "plt.title(\"'Inflated' Grid\")\n",
    "\n",
    "plt.subplot(133)\n",
    "lsp.utils.plotting.plot_navigation_data(\n",
    "        plt.gca(), known_map, map_data=map_data, \n",
    "        robot_pose=args.base_resolution*pose,\n",
    "        goal_pose=args.base_resolution*goal,\n",
    "        planned_path=path)\n",
    "plt.title(\"Planned Path\")\n",
    "None"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5fc6d743",
   "metadata": {},
   "source": [
    "Now the agent's plan looks much more reasonable.\n",
    "\n",
    "## Putting it All Together: navigating to the goal\n",
    "\n",
    "Now that we have a path, we should make the robot move along it! To do this, we'll instantiate a `Robot` object:\n",
    "\n",
    "```python\n",
    "robot = lsp.robot.Turtlebot_Robot(\n",
    "  pose,\n",
    "  primitive_length=args.step_size,\n",
    "  num_primitives=args.num_primitives,\n",
    "  map_data=map_data)\n",
    "```\n",
    "\n",
    "We want to robot to move along the path, which will require a loop: every time the agent moves, along the path, we should generate a new path that begins at the new location of the robot and then repeat this process until the robot is within some distance to the goal.\n",
    "\n",
    "<div class=\"alert alert-block alert-info\">\n",
    "In principle, it is possible to only compute the path once and move the robot along it, however, in practice this will not work. First, the robot is not confined to the discrete grid we use for planning and instead follows short motion primitives that may put it slightly off the perfect path we have generated for it. Second, a real robot will not be able to perfectly execute these motion primitives to infinite precision, which means that our robot may deviate slightly from the path—continual replanning is one way to overcome this limitation. (One could also handle it on the control side; look up Pure Pursuit for details.)\n",
    "</div>\n",
    "\n",
    "By providing this robot object with a path, we can move along it and then replan from the new state, repeating this process until the goal is reached. Putting everything together, we can plan all the way to the goal:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "1e8e578c",
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1200x400 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Compute the inflation radius (in grid units) and apply\n",
    "inflation_radius = args.inflation_radius_m / args.base_resolution\n",
    "inflated_known_grid = gridmap.utils.inflate_grid(\n",
    "    known_map, inflation_radius=inflation_radius)\n",
    "\n",
    "# Define the robot\n",
    "robot = lsp.robot.Turtlebot_Robot(\n",
    "    pose,\n",
    "    primitive_length=args.step_size,\n",
    "    num_primitives=args.num_primitives,\n",
    "    map_data=map_data)\n",
    "\n",
    "counter = 0\n",
    "\n",
    "# Planning loop: iteratively move the robot and replan\n",
    "while (math.fabs(robot.pose.x - goal.x) >= 3 * args.step_size\n",
    "       or math.fabs(robot.pose.y - goal.y) >= 3 * args.step_size):\n",
    "    # Compute the cost grid for the current robot pose\n",
    "    cost_grid, get_path = gridmap.planning.compute_cost_grid_from_position(\n",
    "            inflated_known_grid, [goal.x, goal.y], use_soft_cost=True)\n",
    "    did_plan, path = get_path([robot.pose.x, robot.pose.y],\n",
    "                              do_sparsify=True, do_flip=True)\n",
    "\n",
    "    # Plotting (plot every 5 steps)\n",
    "    if counter % 5 == 0:\n",
    "        plt.ion()\n",
    "        plt.figure(1, figsize=(12, 4))\n",
    "        plt.clf()\n",
    "\n",
    "        lsp.utils.plotting.plot_navigation_data(\n",
    "                plt.gca(), known_map, map_data=map_data, \n",
    "                robot_pose=robot.pose_m, \n",
    "                goal_pose=args.base_resolution*goal,\n",
    "                planned_path=path,\n",
    "                robot_poses=robot.all_poses)\n",
    "\n",
    "        plt.show()\n",
    "\n",
    "    # Get the motion primitives: primitive motions the robot can execute\n",
    "    motion_primitives = robot.get_motion_primitives()\n",
    "    \n",
    "    # Pick the \"min cost\" primitive, which best moves along the path\n",
    "    costs, _ = lsp.primitive.get_motion_primitive_costs(\n",
    "        inflated_known_grid, cost_grid, robot.pose, path,\n",
    "        motion_primitives, do_use_path=True)\n",
    "    best_primitive_index = np.argmin(costs)\n",
    "    \n",
    "    # Move according to that primitive action\n",
    "    robot.move(motion_primitives, np.argmin(costs))\n",
    "\n",
    "    # Update counter\n",
    "    counter += 1\n",
    "\n",
    "None"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "785767b0",
   "metadata": {},
   "source": [
    "# Next Steps\n",
    "\n",
    "In [the next tutorial](./RAIL-onboarding-02-visual-simulator.ipynb), we'll explore using the *visual simulator*, which we use to generate images onboard the robot. While those images won'be be used for anything just yet, they will eventually serve as inputs to the learned models the robot uses to inform its behavior."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "32765b1a",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "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": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}