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import sys
from os.path import join, dirname, abspath, isfile
CURRENT_DIR = dirname(abspath(__file__))
sys.path.insert(0, join(CURRENT_DIR, '..')) # Use local RLBench rather than installed
import traceback
import readline
from pyrep.const import RenderMode
from rlbench.backend import task
from rlbench.backend.const import TTT_FILE
from pyrep import PyRep
from pyrep.robots.arms.panda import Panda
from pyrep.objects.shape import Shape
from pyrep.objects.dummy import Dummy
from pyrep.robots.end_effectors.panda_gripper import PandaGripper
from rlbench.backend.scene import Scene
from rlbench.backend.exceptions import *
from rlbench.observation_config import ObservationConfig, CameraConfig
from rlbench.backend.robot import Robot
from rlbench.backend.robot import UnimanualRobot
from rlbench.utils import name_to_task_class
from tools.task_validator import task_smoke, TaskValidationError
import shutil
CURRENT_DIR = dirname(abspath(__file__))
def print_fail(message, end='\n'):
message = str(message)
sys.stderr.write('\x1b[1;31m' + message.strip() + '\x1b[0m' + end)
def setup_list_completer():
task_files = [t.replace('.py', '') for t in os.listdir(task.TASKS_PATH)
if t != '__init__.py' and t.endswith('.py')]
def list_completer(_, state):
line = readline.get_line_buffer()
if not line:
return [c + " " for c in task_files][state]
else:
return [c + " " for c in task_files if c.startswith(line)][state]
readline.parse_and_bind("tab: complete")
readline.set_completer(list_completer)
class LoadedTask(object):
def __init__(self, pr: PyRep, scene: Scene, robot: Robot):
self.pr = pr
self.scene = scene
self.robot = robot
self.task = self.task_class = self.task_file = None
self._variation_index = 0
def _load_task_to_scene(self):
self.scene.unload()
self.task = self.task_class(
self.pr, self.robot, self.task_file.replace('.py', ''))
try:
# Try and load the task
scene.load(self.task)
except FileNotFoundError as e:
# The .ttt file must not exist
handle = Dummy.create()
handle.set_name(self.task_file.replace('.py', ''))
handle.set_model(True)
# Put the dummy at the centre of the workspace
self.task.get_base().set_position(Shape('workspace').get_position())
def _edit_new_task(self):
task_file = input('What task would you like to edit?\n')
task_file = task_file.strip(' ')
if len(task_file) > 3 and task_file[-3:] != '.py':
task_file += '.py'
try:
task_class = name_to_task_class(task_file)
except:
print('There was no task named: %s. '
'Would you like to create it?' % task_file)
inp = input()
if inp == 'y':
self._create_python_file(task_file)
task_class = name_to_task_class(task_file)
else:
print('Please pick a defined task in that case.')
task_class, task_file = self._edit_new_task()
return task_class, task_file
def _create_python_file(self, task_file: str):
with open(join(CURRENT_DIR, 'assets', 'task_template.txt'), 'r') as f:
file_content = f.read()
class_name = self._file_to_class_name(task_file)
file_content = file_content % (class_name,)
new_file_path = join(CURRENT_DIR, '../rlbench/tasks', task_file)
if isfile(new_file_path):
raise RuntimeError('File already exists. Will not override this.')
with open(new_file_path, 'w+') as f:
f.write(file_content)
def _file_to_class_name(self, name):
name = name.replace('.py', '')
return ''.join([w[0].upper() + w[1:] for w in name.split('_')])
def reload_python(self):
try:
task_class = name_to_task_class(self.task_file)
except Exception as e:
print_fail('The python file could not be loaded!')
traceback.print_exc()
return None, None
self.task = task_class(
self.pr, self.robot, self.task_file.replace('.py', ''))
self.scene.load(self.task)
def new_task(self):
self._variation_index = 0
self.task_class, self.task_file = self._edit_new_task()
self._load_task_to_scene()
self.pr.step_ui()
print('You are now editing: %s' % str(self.task_class))
def reset_variation(self):
self._variation_index = 0
def new_variation(self):
try:
self._variation_index += 1
descriptions = self.scene.init_episode(
self._variation_index % self.task.variation_count(),
max_attempts=10)
print('Task descriptions: ', descriptions)
except (WaypointError, BoundaryError, Exception) as ex:
traceback.print_exc()
self.pr.step_ui()
def new_episode(self):
try:
descriptions = self.scene.init_episode(
self._variation_index % self.task.variation_count(),
max_attempts=10)
print('Task descriptions: ', descriptions)
except (WaypointError, BoundaryError, Exception) as ex:
traceback.print_exc()
self.scene.reset()
self.pr.step_ui()
def new_demo(self):
try:
self.scene.get_demo(False, randomly_place=False)
except (WaypointError, NoWaypointsError, DemoError, Exception) as e:
traceback.print_exc()
success, terminate = self.task.success()
if success:
print("Demo was a success!")
self.scene.reset()
self.pr.step_ui()
self.pr.step_ui()
def save_task(self):
ttm_path = join(CURRENT_DIR, '../rlbench/task_ttms',
self.task_file.replace('.py', '.ttm'))
self.task.get_base().save_model(ttm_path)
print('Task saved to:', ttm_path)
def run_task_validator(self):
print('About to perform task validation.')
print("What variation to test? Pick int in range: 0 to %d, or -1 to "
"test all. Or press 'e' to exit."
% self.task.variation_count())
inp = input()
if inp == 'e':
return
self.pr.start()
try:
v = int(inp)
v = v if v < 0 else v % self.task.variation_count()
task_smoke(self.task, self.scene, variation=v)
except TaskValidationError as e:
traceback.print_exc()
self.pr.stop()
def rename(self):
print('Enter new name (or q to abort).')
inp = input()
if inp == 'q':
return
name = inp.replace('.py', '')
python_file = name + '.py'
# Change name of base
handle = Dummy(self.task_file.replace('.py', ''))
handle.set_name(name)
# Change the class name
old_file_path = join(CURRENT_DIR, '../rlbench/tasks', self.task_file)
old_class_name = self._file_to_class_name(self.task_file)
new_class_name = self._file_to_class_name(name)
with open(old_file_path, 'r') as f:
content = f.read()
content = content.replace(old_class_name, new_class_name)
with open(old_file_path, 'w') as f:
f.write(content)
# Rename python task file
new_file_path = join(CURRENT_DIR, '../rlbench/tasks', python_file)
os.rename(old_file_path, new_file_path)
# Rename .ttt
old_ttm_path = join(CURRENT_DIR, '../rlbench/task_ttms',
self.task_file.replace('.py', '.ttm'))
new_ttm_path = join(CURRENT_DIR, '../rlbench/task_ttms',
python_file.replace('.py', '.ttm'))
os.rename(old_ttm_path, new_ttm_path)
self.task_file = python_file
self.reload_python()
self.save_task()
print('Rename complete!')
def duplicate_task(self):
print('Enter new name for duplicate (or q to abort).')
inp = input()
if inp == 'q':
return
name = inp.replace('.py', '')
new_python_file = name + '.py'
# Change the class name
old_file_path = join(CURRENT_DIR, '../rlbench/tasks', self.task_file)
old_class_name = self._file_to_class_name(self.task_file)
new_file_path = join(CURRENT_DIR, '../rlbench/tasks', new_python_file)
new_class_name = self._file_to_class_name(name)
if os.path.isfile(new_file_path):
print('File: %s already exists!' % new_file_path)
return
# Change name of base
handle = Dummy(self.task_file.replace('.py', ''))
handle.set_name(name)
with open(old_file_path, 'r') as f:
content = f.read()
content = content.replace(old_class_name, new_class_name)
with open(new_file_path, 'w') as f:
f.write(content)
# Rename .ttt
old_ttm_path = join(CURRENT_DIR, '../rlbench/task_ttms',
self.task_file.replace('.py', '.ttm'))
new_ttm_path = join(CURRENT_DIR, '../rlbench/task_ttms',
new_python_file.replace('.py', '.ttm'))
shutil.copy(old_ttm_path, new_ttm_path)
self.task_file = new_python_file
self.reload_python()
self.save_task()
print('Duplicate complete!')
if __name__ == '__main__':
setup_list_completer()
pr = PyRep()
ttt_file = join(CURRENT_DIR, '..', 'rlbench', TTT_FILE)
pr.launch(ttt_file, responsive_ui=True)
pr.step_ui()
robot = UnimanualRobot(Panda(), PandaGripper())
cam_config = CameraConfig(rgb=True, depth=False, mask=False,
render_mode=RenderMode.OPENGL)
obs_config = ObservationConfig()
obs_config.set_all(False)
obs_config.right_shoulder_camera = cam_config
obs_config.left_shoulder_camera = cam_config
obs_config.overhead_camera = cam_config
obs_config.wrist_camera = cam_config
obs_config.front_camera = cam_config
scene = Scene(pr, robot, obs_config)
loaded_task = LoadedTask(pr, scene, robot)
print(' ,')
print(' /( ___________')
print('| >:===========` Welcome to task builder!')
print(' )(')
print(' ""')
loaded_task.new_task()
while True:
os.system('cls' if os.name == 'nt' else 'clear')
print('\n-----------------\n')
print('The python file will be reloaded when simulation is restarted.')
print('(q) to quit.')
if pr.running:
print('(+) stop the simulator')
print('(v) for task variation.')
print('(e) for episode of same variation.')
print('(d) for demo.')
print('(p) for running the sim for 100 steps (with rendering).')
else:
print('(!) to run task validator.')
print('(+) run the simulator')
print('(n) for new task.')
print('(s) to save the .ttm')
print('(r) to rename the task')
print('(u) to duplicate/copy the task')
inp = input()
if inp == 'q':
break
if pr.running:
if inp == '+':
pr.stop()
pr.step_ui()
elif inp == 'p':
[(pr.step(), scene.get_observation()) for _ in range(100)]
elif inp == 'd':
loaded_task.new_demo()
elif inp == 'v':
loaded_task.new_variation()
elif inp == 'e':
loaded_task.new_episode()
else:
if inp == '+':
loaded_task.reload_python()
loaded_task.reset_variation()
pr.start()
pr.step_ui()
elif inp == 'n':
inp = input('Do you want to save the current task first?\n')
if inp == 'y':
loaded_task.save_task()
loaded_task.new_task()
elif inp == 's':
loaded_task.save_task()
elif inp == '!':
loaded_task.run_task_validator()
elif inp == 'r':
loaded_task.rename()
elif inp == 'u':
loaded_task.duplicate_task()
pr.stop()
pr.shutdown()
print('Done. Goodbye!')
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