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actor.py
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actor.py
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import os
import yaml
import pickle
from os.path import join, dirname, abspath, exists
import sys
import torch
import gym
import numpy as np
import random
import time
import rospy
import argparse
import logging
from train import initialize_policy
from envs import registration
from envs.wrappers import StackFrame
BUFFER_PATH = os.getenv('BUFFER_PATH')
if not BUFFER_PATH:
BUFFER_PATH = "local_buffer"
# add path to the plugins to the GAZEBO_PLUGIN_PATH
gpp = os.getenv('GAZEBO_PLUGIN_PATH') if os.getenv('GAZEBO_PLUGIN_PATH') is not None else ""
wd = os.getcwd()
os.environ['GAZEBO_PLUGIN_PATH'] = os.path.join(wd, "jackal_helper/plugins/build") + ":" + gpp
rospy.logwarn(os.environ['GAZEBO_PLUGIN_PATH'])
def initialize_actor(id):
rospy.logwarn(">>>>>>>>>>>>>>>>>> actor id: %s <<<<<<<<<<<<<<<<<<" %(str(id)))
assert os.path.exists(BUFFER_PATH), BUFFER_PATH
actor_path = join(BUFFER_PATH, 'actor_%s' %(str(id)))
if not exists(actor_path):
os.mkdir(actor_path) # path to store all the trajectories
f = None
c = 0
while f is None and c < 10:
c += 1
try:
f = open(join(BUFFER_PATH, 'config.yaml'), 'r')
except:
rospy.logwarn("wait for critor to be initialized")
time.sleep(2)
config = yaml.load(f, Loader=yaml.FullLoader)
return config
def load_policy(policy):
f = True
policy_name = "policy"
while f:
try:
if not os.path.exists(join(BUFFER_PATH, "%s_copy_actor" %(policy_name))):
policy.load(BUFFER_PATH, policy_name)
f = False
except FileNotFoundError:
time.sleep(1)
except:
logging.exception('')
time.sleep(1)
return policy
def write_buffer(traj, id):
file_names = os.listdir(join(BUFFER_PATH, 'actor_%s' %(str(id))))
if len(file_names) == 0:
ep = 0
else:
eps = [int(f.split("_")[-1].split(".pickle")[0]) for f in file_names] # last index under this folder
sorted(eps)
ep = eps[-1] + 1
if len(file_names) < 10:
with open(join(BUFFER_PATH, 'actor_%s' %(str(id)), 'traj_%d.pickle' %(ep)), 'wb') as f:
try:
pickle.dump(traj, f)
except OSError as e:
logging.exception('Failed to dump the trajectory! %s', e)
pass
return ep
def get_world_name(config, id):
if len(config["container_config"]["worlds"]) < config["container_config"]["num_actor"]:
duplicate_time = config["container_config"]["num_actor"] // len(config["container_config"]["worlds"]) + 1
worlds = config["container_config"]["worlds"] * duplicate_time
else: # if num_actors < num_worlds, then each actor will rollout in a random world
worlds = config["container_config"]["worlds"].copy()
random.shuffle(worlds)
worlds = worlds[:config["container_config"]["num_actor"]]
world_name = worlds[id]
if isinstance(world_name, int):
world_name = "BARN/world_%d.world" %(world_name)
return world_name
def _debug_print_robot_status(env, count, rew, actions):
p = env.gazebo_sim.get_model_state().pose.position
print(actions)
print('current step: %d, X position: %f(world_frame), Y position: %f(world_frame), rew: %f' %(count, p.x, p.y, rew))
def main(args):
id = args.id
config = initialize_actor(id)
env_config = config['env_config']
world_name = get_world_name(config, id)
env_config["kwargs"]["world_name"] = world_name
env = gym.make(env_config["env_id"], **env_config["kwargs"])
env = StackFrame(env, stack_frame=env_config["stack_frame"])
policy, _ = initialize_policy(config, env, init_buffer=False, device="cpu")
num_ep = 0
for _ in range(args.num_trajs):
obs = env.reset()
traj = []
done = False
policy = load_policy(policy)
while not done:
actions = policy.select_action(obs)
obs_new, rew, done, info = env.step(actions)
info["world"] = world_name
traj.append([obs, actions, rew, done, info])
obs = obs_new
num_ep += 1
write_buffer(traj, id)
print(">>>>>>>>>>>>>>>>>>>>>>>>> actor_id: %d, world_idx: %s, num_episode: %d" %(id, world_name, num_ep))
if __name__ == '__main__':
parser = argparse.ArgumentParser(description = 'start an actor')
parser.add_argument('--id', dest='id', type = int, default = 1)
parser.add_argument('--num_trajs', dest='num_trajs', type = int, default = 5)
args = parser.parse_args()
main(args)