Merge branch 'main' of github.com:ut-amrl/SocialGym2

ut-amrl · Feb 22, 2024 · de4e13d · de4e13d
2 parents 1c5c9af + b8a648a
commit de4e13d
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Showing 65 changed files with 2,037 additions and 20 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -0,0 +1,16 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach using Process Id",
+            "type": "python",
+            "request": "attach",
+            "processId": "${command:pickProcess}",
+            "justMyCode": true,
+
+        }
+    ]
+}
diff --git a/config_runner/configs/1_31_23/door/sacadrl.json b/config_runner/configs/1_31_23/door/sacadrl.json
@@ -1,5 +1,5 @@
 {
-  "num_agents": [[0, 3], [35, 4], [70, 5]],
+  "num_agents": [[0,2]],
   "eval_num_agents": [3, 4, 5, 7, 10, 20],
   "train_length": 250000,
   "ending_eval_trials": 25,
@@ -11,7 +11,7 @@
   "policy_algo_kwargs": {"n_steps":  4096},
   "monitor": true,
 
-  "experiment_names": ["envs_door"],
+  "experiment_names": ["envs_multi"],
 
   "run_name": "1_31_23/door/sacadrl_1",
   "run_type": "SACADRL",
@@ -27,6 +27,7 @@
 
   "entropy_constant_penalty": -100000,
   "entropy_constant_penalty_only_those_that_did_not_finish": true,
+  "socialnavAPI": true,
 
   "timelimit": true,
   "timelimit_threshold": 3000

diff --git a/config_runner/run_config.sh b/config_runner/run_config.sh
@@ -11,7 +11,7 @@ docker run -d --name $1 -w /home/rosdev/social_gym/ --gpus all --privileged \
 -e DISPLAY=unix$DISPLAY \
 -v ${DIR}/data:/home/rosdev/social_gym/data \
 -v ${DIR}/config_runner/configs:/home/rosdev/social_gym/config_runner/configs \
--v ${DIR}/submodules/amrl_maps/envs:/home/rosdev/social_gym/submodules/amrl_maps/envs \
+-v ${DIR}/submodules/amrl_maps:/home/rosdev/social_gym/submodules/amrl_maps \
 -v ${DIR}/submodules/ut_multirobot_sim/maps:/home/rosdev/social_gym/submodules/ut_multirobot_sim/maps \
 --network host \
 -v ${DIR}/src:/home/rosdev/social_gym/src \

diff --git a/docker/vectordisplay/maps/multienv/multienv.navigation.json b/docker/vectordisplay/maps/multienv/multienv.navigation.json
@@ -0,0 +1,94 @@
+{
+    "edges": [
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 0,
+            "s1_id": 2
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 0,
+            "s1_id": 1
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 1,
+            "s1_id": 3
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 2,
+            "s1_id": 3
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 0,
+            "s1_id": 3
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 2,
+            "s1_id": 1
+        }
+    ],
+    "nodes": [
+        {
+            "id": 0,
+            "loc": {
+                "x": -11.379310607910156,
+                "y": 15.17241382598877
+            }
+        },
+        {
+            "id": 1,
+            "loc": {
+                "x": 8.448275566101074,
+                "y": 15.0
+            }
+        },
+        {
+            "id": 2,
+            "loc": {
+                "x": -8.793103218078613,
+                "y": -6.724138259887695
+            }
+        },
+        {
+            "id": 3,
+            "loc": {
+                "x": 9.82758617401123,
+                "y": -8.103448867797852
+            }
+        }
+    ]
+}
diff --git a/docker/vectordisplay/maps/multienv/multienv.navigation.txt b/docker/vectordisplay/maps/multienv/multienv.navigation.txt
diff --git a/docker/vectordisplay/maps/multienv/multienv.vectormap.txt b/docker/vectordisplay/maps/multienv/multienv.vectormap.txt
@@ -0,0 +1,3 @@
+-19.655172, 21.724140, -19.655172, -7.241378
+-19.827587, 22.241381, 13.275863, 22.586208
+13.275863, 22.586208, 13.793104, -5.689654
diff --git a/docker/vectordisplay/maps/test_scenario/test_scenario.navigation.json b/docker/vectordisplay/maps/test_scenario/test_scenario.navigation.json
diff --git a/docker/vectordisplay/maps/test_scenario/test_scenario.navigation.txt b/docker/vectordisplay/maps/test_scenario/test_scenario.navigation.txt
diff --git a/docker/vectordisplay/maps/test_scenario/test_scenario.vectormap.txt b/docker/vectordisplay/maps/test_scenario/test_scenario.vectormap.txt
diff --git a/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.navigation.json b/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.navigation.json
@@ -0,0 +1,173 @@
+{
+    "edges": [
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 0,
+            "s1_id": 1
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 1,
+            "s1_id": 2
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 2,
+            "s1_id": 3
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 3,
+            "s1_id": 4
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 4,
+            "s1_id": 5
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 5,
+            "s1_id": 6
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 7,
+            "s1_id": 8
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 8,
+            "s1_id": 9
+        },
+        {
+            "has_automated_door": false,
+            "has_door": false,
+            "has_elevator": false,
+            "has_stairs": false,
+            "max_clearance": 1.0,
+            "max_speed": 2.0,
+            "s0_id": 9,
+            "s1_id": 10
+        }
+    ],
+    "nodes": [
+        {
+            "id": 0,
+            "loc": {
+                "x": -84.42088317871094,
+                "y": 36.796165466308594
+            }
+        },
+        {
+            "id": 1,
+            "loc": {
+                "x": -65.49714660644531,
+                "y": 35.95743942260742
+            }
+        },
+        {
+            "id": 2,
+            "loc": {
+                "x": -64.39631652832031,
+                "y": 13.678800582885742
+            }
+        },
+        {
+            "id": 3,
+            "loc": {
+                "x": -70.1101303100586,
+                "y": 13.573960304260254
+            }
+        },
+        {
+            "id": 4,
+            "loc": {
+                "x": -70.16255187988281,
+                "y": 7.860144138336182
+            }
+        },
+        {
+            "id": 5,
+            "loc": {
+                "x": -57.47683334350586,
+                "y": 8.01740550994873
+            }
+        },
+        {
+            "id": 6,
+            "loc": {
+                "x": -57.73893737792969,
+                "y": 37.844573974609375
+            }
+        },
+        {
+            "id": 7,
+            "loc": {
+                "x": -85.10234069824219,
+                "y": 6.602056503295898
+            }
+        },
+        {
+            "id": 8,
+            "loc": {
+                "x": -70.1101303100586,
+                "y": 6.287534236907959
+            }
+        },
+        {
+            "id": 9,
+            "loc": {
+                "x": -55.43243408203125,
+                "y": 6.339954853057861
+            }
+        },
+        {
+            "id": 10,
+            "loc": {
+                "x": -56.06148147583008,
+                "y": 38.001834869384766
+            }
+        }
+    ]
+}
diff --git a/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.navigation.txt b/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.navigation.txt
diff --git a/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.vectormap.txt b/docker/vectordisplay/maps/tmp/multi-scenario/multi-scenario.vectormap.txt
@@ -0,0 +1,17 @@
+-87.844826, 40.172413, -88.017242, -13.965517
+-19.000624, 26.448141, -19.000624, 26.448141
+-20.026054, 26.319963, -20.026054, 26.319963
+-87.704407, 30.549860, -68.605782, 30.549860
+-60.658703, 39.906906, -60.530525, 9.913089
+-68.477600, 30.678040, -68.093063, 18.501062
+-68.033943, 18.292671, -79.927086, 18.129751
+-79.927086, 18.129751, -79.764160, 10.309603
+-79.764160, 10.146683, -73.573212, 10.146683
+-60.621090, 10.146683, -66.893501, 10.228143
+-88.073074, 5.014711, -73.654671, 4.933251
+-73.654671, 4.933251, -73.736130, -13.476682
+-66.730583, 4.770331, -66.486206, -13.639602
+-66.730583, 4.444491, -53.126781, 4.444491
+-53.126781, 4.281572, -54.104301, 40.042458
+-88.073074, -13.721062, -66.404739, -13.558142
+-87.828690, 40.205379, -60.702553, 39.716621
diff --git a/logs_multienv.txt b/logs_multienv.txt
@@ -0,0 +1,38 @@
+/home/rosdev/social_gym
+/home/rosdev/social_gym
+Name: SuperSuit
+Version: 3.9.0
+Summary: Wrappers for Gymnasium and PettingZoo
+Home-page: None
+Author: None
+Author-email: Farama Foundation <contact@farama.org>
+License: MIT License
+Location: /usr/local/lib/python3.8/dist-packages
+Requires: tinyscaler, gymnasium, numpy
+Required-by: 
+Name: pettingzoo
+Version: 1.23.1
+Summary: Gymnasium for multi-agent reinforcement learning.
+Home-page: None
+Author: None
+Author-email: Farama Foundation <contact@farama.org>
+License: MIT License
+Location: /usr/local/lib/python3.8/dist-packages
+Requires: gymnasium, numpy
+Required-by: 
+Name: stable-baselines3
+Version: 2.1.0
+Summary: Pytorch version of Stable Baselines, implementations of reinforcement learning algorithms.
+Home-page: https://github.com/DLR-RM/stable-baselines3
+Author: Antonin Raffin
+Author-email: antonin.raffin@dlr.de
+License: MIT
+Location: /usr/local/lib/python3.8/dist-packages
+Requires: matplotlib, gymnasium, pandas, torch, cloudpickle, numpy
+Required-by: sb3-contrib, imitation
+Python 3.8.10
+[0m[ INFO] [1693431990.500186587]: Updated sim with live config: Rate=40 incoming rate=40[0m
+[0m[ INFO] [1693431990.508012836]: Using default queue size of 10 for publisher queues... [0m
+[0m[ INFO] [1693431990.520342905]: Loading scene [/home/rosdev/social_gym/config/gym_gen/scene.xml] for simulation[0m
+[0m[ INFO] [1693431990.540756953]: node initialized, now running [0m
+Service Mode
diff --git a/scripts/create_env_template.py b/scripts/create_env_template.py
@@ -82,6 +82,8 @@ def create_new_env(name: str, template: str = None):
     out = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
     out.wait()
 
+    print("HI")
+
     subprocess.Popen(["sudo", "chmod", "-R", "a+rwX",  f"{ROOT_FOLDER}"], stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
     subprocess.Popen(["sudo", "chmod", "-R", "a+rwX",  f"{AMRL_MAPS_FOLDER}"], stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
     subprocess.Popen(["sudo", "chmod", "-R", "a+rwX",  f"{UT_MULTI_ROBOT_SIM_MAPS_FOLDER}"], stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)