Merge pull request #186 from Balint-H/env/bionic-bimanual

Add MJCF for manip challenge
MyoHub · Jul 15, 2024 · 9e2c6de · 9e2c6de
2 parents 92ec2f1 + 397a8f4
commit 9e2c6de
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Showing 13 changed files with 616 additions and 8 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -7,3 +7,10 @@
 [submodule "myosuite/simhive/object_sim"]
 	path = myosuite/simhive/object_sim
 	url = https://github.com/vikashplus/object_sim.git
+[submodule "myosuite/simhive/MPL_sim"]
+	path = myosuite/simhive/MPL_sim
+	url = https://github.com/vikashplus/MPL_sim.git
+	branch = myochallenge
+[submodule "myosuite/simhive/YCB_sim"]
+	path = myosuite/simhive/YCB_sim
+	url = https://github.com/vikashplus/YCB_sim.git
diff --git a/myosuite/agents/config/hydra_myochal_sb3_ppo_config.yaml b/myosuite/agents/config/hydra_myochal_sb3_ppo_config.yaml
@@ -0,0 +1,42 @@
+default:
+    - override hydra/output: local
+    - override hydra/launcher: local
+
+env               :   'myoChallengeBimanual-v0' #myosuite-v1          # placeholder name, not a real env
+algorithm         :   PPO
+seed              :   123
+n_env             :   32
+n_eval_env        :   5
+
+# PPO object
+policy            : 'MlpPolicy'
+learning_rate     : 0.0003 
+batch_size        : 64
+gamma             : 0.99
+
+# PPO.learn function
+total_timesteps   : 150000
+log_interval      : 10000
+
+eval_freq : 1000000
+restore_checkpoint_freq : 500000
+save_freq : 10000000
+
+policy_kwargs:
+  net_arch:
+    - pi: [256, 256]
+      vf: [256, 256]
+
+# Algorithm hyperparameters : if alg requires additional params, can be specified here (or defaults will be used)
+alg_hyper_params  :   {'device': 'cpu'}
+
+clip_range: 0.2
+ent_coeff: 0.001
+n_epochs: 10
+n_steps: 2048
+
+job_name          :   ppo_sb3_${env}
+
+hydra:
+    job:
+        name: ${env}
diff --git a/myosuite/agents/sb3_job_script.py b/myosuite/agents/sb3_job_script.py
@@ -10,12 +10,14 @@
 import os
 import json
 import time as timer
+import myosuite
 from stable_baselines3 import PPO, SAC
 from stable_baselines3.common.callbacks import CheckpointCallback
 from stable_baselines3.common.env_util import make_vec_env
 from stable_baselines3.common.logger import configure
 from stable_baselines3.common.vec_env import VecNormalize
-import myosuite
+import torch
+from omegaconf import OmegaConf
 
 import functools
 from in_callbacks import InfoCallback, FallbackCheckpoint, SaveSuccesses, EvalCallback
@@ -45,19 +47,22 @@ def train_loop(job_data) -> None:
         )
 
     log = configure(f'results_{job_data.env}')
-
     # Create the vectorized environment and normalize ob
     env = make_vec_env(job_data.env, n_envs=job_data.n_env)
     env = VecNormalize(env, norm_obs=True, norm_reward=False, clip_obs=10.)
 
     eval_env = make_vec_env(job_data.env, n_envs=job_data.n_eval_env)
     eval_env = VecNormalize(eval_env, norm_obs=True, norm_reward=False, clip_obs=10.)
-
+    
     algo = job_data.algorithm
     if algo == 'PPO':
+        # Load activation function from config
+        policy_kwargs = OmegaConf.to_container(job_data.policy_kwargs, resolve=True)
+
         model = PPO(job_data.policy, env,  verbose=1,
                     learning_rate=job_data.learning_rate, 
                     batch_size=job_data.batch_size, 
+                    policy_kwargs=policy_kwargs,
                     gamma=job_data.gamma, **job_data.alg_hyper_params)
     elif algo == 'SAC':
         model = SAC(job_data.policy, env, 
@@ -67,8 +72,20 @@ def train_loop(job_data) -> None:
                     batch_size=job_data.batch_size, 
                     tau=job_data.tau, 
                     gamma=job_data.gamma, **job_data.alg_hyper_params)
-
 
+
+
+    if job_data.job_name =="checkpoint.pt":
+        foldername = os.path.join(os.path.dirname(os.path.realpath(__file__)), f"baseline_SB3/myoChal24/{job_data.env}")
+        file_path = os.path.join(foldername, job_data.job_name)
+        if os.path.isfile(file_path):
+            print("Loading weights from checkpoint")
+            model.policy.load_state_dict(torch.load(file_path))
+        else:
+            raise FileNotFoundError(f"No file found at the specified path: {file_path}. See https://github.com/MyoHub/myosuite/blob/dev/myosuite/agents/README.md to download one.")
+    else:
+        print("No checkpoint loaded, training starts.")
+
     if IS_WnB_enabled:
         callback = [WandbCallback(
                 model_save_path=f"models/{run.id}",

diff --git a/myosuite/agents/train_myosuite.sh b/myosuite/agents/train_myosuite.sh
@@ -20,6 +20,8 @@ if [ "$1" == "myo" ] ; then
     envs="myoFingerReachFixed-v0,myoFingerReachRandom-v0,myoFingerPoseFixed-v0,myoFingerPoseRandom-v0,myoElbowPose1D6MFixed-v0,myoElbowPose1D6MRandom-v0,myoHandPoseFixed-v0,myoHandPoseRandom-v0,myoHandReachFixed-v0,myoHandReachRandom-v0,myoHandKeyTurnFixed-v0,myoHandKeyTurnRandom-v0,myoHandObjHoldFixed-v0,myoHandObjHoldRandom-v0,myoHandPenTwirlFixed-v0,myoHandPenTwirlRandom-v0,myoHandBaodingFixed-v1,myoHandBaodingRandom-v1"    
 elif [ "$1" == "extra" ] ; then
     envs="motorFingerReachFixed-v0,motorFingerReachRandom-v0,motorFingerPoseFixed-v0,motorFingerPoseRandom-v0,myoHandBaodingFixed4th-v1,myoHandBaodingFixed8th-v1"
+elif [ "$1" == "myochal" ] ; then
+    envs="myoChallengeBimanual-v0"
 else
     echo "Unknown task suite"
     exit 0
@@ -32,7 +34,11 @@ if [ "$3" == "mjrl" ] ; then
     echo "NPG: ======="
     echo "python hydra_mjrl_launcher.py --config-path config $config env=$envs"
 elif [ "$3" == "sb3" ] ; then
-    config="--config-name hydra_myo_sb3_ppo_config.yaml $config"
+    if [ "$1" == "myochal" ] ; then
+        config="--config-name hydra_myochal_sb3_ppo_config.yaml $config"
+    else
+        config="--config-name hydra_myo_sb3_ppo_config.yaml $config"
+    fi
     # Disp SB3 commands
     echo "Stable-Baselines3: ======="
     echo "python hydra_sb3_launcher.py --config-path config $config env=$envs"
@@ -41,6 +47,29 @@ else
     exit 0
 fi
 
+if [ "$4" == 'baseline' ]; then
+    base_dir="baseline_SB3/myoChal24/${envs}"
+    filename="checkpoint.pt"  # Specify the file name to save the checkpoint as
+
+    mkdir -p $base_dir
+
+    checkpoint_path="${base_dir}/${filename}"
+
+    model_url="https://drive.google.com/uc?export=download&id=1e7bj2Lrk50FU7nSRnIDg2JmYjGLBNChs"
+
+    # Use curl with -L to follow redirects and -o to specify output file
+    curl -L $model_url -o $checkpoint_path
+
+    if [ $? -eq 0 ]; then
+        echo "Download successful, checkpoint saved to $checkpoint_path."
+        config="$config checkpoint=$checkpoint_path job_name=$job_name"
+    else
+        echo "Download failed."
+        exit 1
+    fi
+fi
+
+
 
 #python hydra_sb3_launcher.py --config-path config --config-name hydra_myo_sb3_ppo_config.yaml  env=myoHandPoseRandom-v0
 

diff --git a/myosuite/envs/myo/assets/arm/myoarm_bionic_bimanual.xml b/myosuite/envs/myo/assets/arm/myoarm_bionic_bimanual.xml
@@ -0,0 +1,88 @@
+<mujoco model="MyoArm_Bimanual_MPL_v0.01">
+<!-- =================================================
+    Copyright 2020 Vikash Kumar, Vittorio Caggiano, Guillaume Durandau
+    Model   :: Myo Hand (MuJoCoV2.0)
+    Author  :: Vikash Kumar ([email protected]), Vittorio Caggiano, Huawei Wang, Balint Hodossy
+    source  :: https://github.com/vikashplus
+    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+====================================================== -->
+
+  <include file="../../../../simhive/YCB_sim/includes/defaults_ycb.xml"/>
+  <include file="../../../../simhive/YCB_sim/includes/assets_009_gelatin_box.xml"/>
+
+  <include file="../../../../simhive/myo_sim/arm/assets/myoarm_assets.xml"/>
+  <include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>
+
+  <include file='../../../../simhive/MPL_sim/assets/left_arm_assets.xml'/>
+  <include file='../../../../simhive/MPL_sim/assets/handL_assets.xml'/>
+
+  <compiler autolimits = "true" inertiafromgeom="auto" angle="radian" balanceinertia="true" boundmass="0.001" boundinertia=".0001"  meshdir='../../../../simhive/myo_sim' texturedir='../../../../simhive/myo_sim/'/>
+  <option timestep="0.002">
+    <flag multiccd="enable"/>
+  </option>
+
+  <visual>
+    <global offwidth="1440" offheight="1080"/>
+  </visual>
+  <asset>
+    <texture name="tabletop" type="2d" file="../furniture_sim/common/textures/stone1.png"/>
+    <material name="tabletop" texture="tabletop" rgba=".95 .95 .95 1"/>
+    <texture name="texwood" type="cube" file="../myo_sim/scene/floor0.png"/>
+    <material name="matwood" reflectance="0.01" texture="texwood" texuniform="false"/>
+
+    <mesh file="../myo_sim/meshes/human_lowpoly_nohand.stl" name="body_nohand"/>
+
+	  <texture type="2d" name="pillar_start" builtin="checker" mark="random" rgb1="0.4 0.4 0.4" rgb2="0.38 0.38 0.38"
+        markrgb="0.8 0.8 0.8" width="300" height="300" random="0.5"/>
+    <material name="pillar_start" texture="pillar_start" texuniform="true" texrepeat="5 5" reflectance="0.1"/>
+
+	  <texture type="2d" name="pillar_goal" builtin="checker" mark="random" rgb1="0.45 0.45 0.45" rgb2="0.47 0.47 0.47"
+        markrgb="0.6 0.6 0.6" width="300" height="300" random="0.4"/>
+    <material name="pillar_goal" texture="pillar_goal" texuniform="true" texrepeat="5 5" reflectance="0.1"/>
+  </asset>
+
+
+  <worldbody>
+
+    <!-- ======= Human ======= -->
+    <geom name="body" type="mesh" mesh="body_nohand" euler="0 0 3.14" contype="0" conaffinity="0"/>
+    <body name="full_body" pos="-.025 0.1 1.40">
+      <include file="../../../../simhive/myo_sim/arm/assets/myoarm_body.xml"/>
+    </body>
+    <include file='../../../../simhive/MPL_sim/assets/left_arm_chain_myochallenge.xml'/>
+
+    <!-- ======= Object ======= -->
+    <body pos="-0.4 -0.2 1.2" euler="1.57 0 3.14" name="manip_object">
+      <freejoint/>
+      <include file="../../../../simhive/YCB_sim/includes/body_009_gelatin_box.xml"/>
+	    <site name="touch_site" pos = "0 0 0.015" type="sphere" size="0.1" group="5" rgba="0.1 0.1 0.1 0.1"/>
+    </body>
+
+    <!-- ======= Start ======= -->
+    <body name="start" mocap="true" pos="-0.4 -0.25 1.05">
+      <geom type="cylinder" size="0.15 1.09" pos="0 0 -1.05" material="pillar_start" contype="1" conaffinity="1" solref="0.001 1" priority="2"/>
+    </body>
+
+    <!-- ======= Goal ======= -->
+    <body name="goal" mocap="true" pos="0.4 -0.25 1.05">
+      <geom type="cylinder" size="0.15 1.09" pos="0 0 -1.05" material="pillar_goal" contype="1" conaffinity="1" solref="0.001 1" priority="2"/>
+    </body>
+  </worldbody>
+
+  <keyframe>
+    <key qpos='0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
+               0.494975 -0.23732 0.55978 1.26065 -0.2355 0.20447 -0.1456 0.5175 0.2987 0.5356 0.27248 0.13455 0.333625 0.4472 0.2415 0.757525 0.8304 0.4209 0.08625 0.357175 0.559 0.759 0.14835 0.74575 0 0.7314 
+               -0.412997 -0.232224 1.10552 0.000796327 1.11022e-16 2.77556e-16 1'/>
+    <key qpos='0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
+               0.494975 -1.07492 0.55978 1.26065 -0.2355 -0.08841 -0.208 0.5589 0.2987 0.5356 0.27248 0.276 0.4396 0.688 0.2415 0.22765 0.8304 0.4209 0.08625 0.357175 0.559 0 0.239775 0.286525 0 0.0345 
+               -0.412997 -0.232224 1.10552 0.000796327 1.11022e-16 2.77556e-16 1'/>
+    <key qpos='-0.27804 0.11771 -0.11772 0.278047 -0.0564319 0.455158 0.204836 -0.204794 -0.455214 0.0564719 0.255888 1.14817 -0.255887 0.279129 0.844823 -0.0998497 0.248825 0.0328147 -0.31963 0.178287 0.122586 0.113854 0.156447 0.171211 0.0772555 0.0316704 0.14087 0.164449 0.0772084 0.0308998 0.126385 0.138577 0.0653656 0.0228821 0.117182 0.0890675 0.0301141 0.0205077 0.494975 -1.07492 0.55978 1.26065 -0.2355 -0.08841 -0.208 0.5589 0.2987 0.5356 0.27248 0.276 0.4396 0.688 0.2415 0.22765 0.8304 0.4209 0.08625 0.357175 0.559 0 0.239775 0.286525 0 0.0345 
+                 -0.400023 -0.200065 1.154 0.000477691 -0.000484427 -0.707107 0.707107'/>
+    <key qpos='-0.27804 0.11771 -0.11772 0.278047 -0.0564319 0.455158 0.204836 -0.204794 -0.455214 0.0564719 0.255888 1.14817 -0.255887 0.279129 0.844823 -0.0998497 0.248825 0.0328147 -0.31963 0.178287 0.122586 0.113854 0.156447 0.171211 0.0772555 0.0316704 0.14087 0.164449 0.0772084 0.0308998 0.126385 0.138577 0.0653656 0.0228821 0.117182 0.0890675 0.0301141 0.0205077 0.494975 0 0.23866 1.65267 1.57 0.11556 -0.4368 0.5589 0.25235 0.5356 0.27248 0.276 0.4396 0.688 0.2415 0.22765 0.8304 0.4209 0.08625 0.357175 0.559 0 0.239775 0.286525 0 0.0345 -0.400023 -0.200065 1.184 0.000477691 -0.000484427 -0.707107 0.707107'/>
+    </keyframe>
+  <sensor>
+	    <touch site="touch_site"/>
+  </sensor>
+
+
+</mujoco>
diff --git a/myosuite/envs/myo/assets/arm/myoarm_relocate.xml b/myosuite/envs/myo/assets/arm/myoarm_relocate.xml
@@ -12,6 +12,7 @@
     <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>
 
     <asset>
+        <mesh file="../myo_sim/meshes/human_lowpoly_norighthand.stl" name="body_norighthand"/>
         <texture name="tabletop" type="2d" file="../furniture_sim/common/textures/stone1.png"/>
         <material name="tabletop" texture="tabletop" rgba=".95 .95 .95 1"/>
         <texture name="texwood" type="cube" file="../myo_sim/scene/floor0.png"/>

diff --git a/myosuite/envs/myo/myochallenge/__init__.py b/myosuite/envs/myo/myochallenge/__init__.py
@@ -30,6 +30,20 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
             silent=True
         )
 
+#MyoChallenge 2024 envs ===================
+#MyoChallenge Manipulation P1
+
+register_env_with_variants(id='myoChallengeBimanual-v0',
+        entry_point='myosuite.envs.myo.myochallenge.bimanual_v0:BimanualEnvV1',
+        max_episode_steps=250,
+        kwargs={
+            'model_path': curr_dir + '/../assets/arm/myoarm_bionic_bimanual.xml',
+            'normalize_act': True,
+            'frame_skip': 5,
+        }
+    )
+
+
 # MyoChallenge 2023 envs ==============================================
 # MyoChallenge Manipulation P1
 register_env_with_variants(id='myoChallengeRelocateP1-v0',