murtaza updates

Featurizer.py

@@ -13,7 +13,7 @@
 
 class BBProposer:
     def __init__(self):
-        self.model_file = 'rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'
+        self.model_file = '/home/murtaza/Documents/objectattention2/objectattention/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'
         global sess_tuple
         # Construct the computation graph
         input_batch = tf.placeholder(tf.float32, [1, None, None, 3])
@@ -90,10 +90,9 @@ def conv(input, kernel, biases, k_h, k_w, c_o, s_h, s_w,  padding="VALID", group
 class AlexNetFeaturizer:
 
     def __init__(self):
-        net_data = load("bvlc_alexnet.npy").item()
+        net_data = np.load("/home/murtaza/Documents/objectattention2/objectattention/bvlc_alexnet.npy",encoding='latin1').item()
         x = tf.placeholder(tf.float32, shape=(None,None, None,3))
         self.input = x
-        print(x)
         k_h = 11; k_w = 11; c_o = 96; s_h = 4; s_w = 4
         conv1W = tf.Variable(net_data["conv1"][0])
         conv1b = tf.Variable(net_data["conv1"][1])

rpn_net/proposer.py

@@ -12,12 +12,12 @@
 import fastrcnn_vgg_net, rpn_net
 
 
-model_file = 'model/fasterrcnn_vgg_coco_net.tfmodel'
+model_file = '/home/murtaza/Documents/objectattention2/objectattention/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'
 sess_tuple = None
 
 class BBProposer:
     def __init__(self):
-        self.model_file = '/home/coline/visual_features/detection/tracking/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'
+        self.model_file = '/home/murtaza/Documents/objectattention2/objectattention/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'
         global sess_tuple
         # Construct the computation graph
         input_batch = tf.placeholder(tf.float32, [1, None, None, 3])

rpn_net/rpn_proposal_extraction.py

@@ -11,7 +11,7 @@
 import fastrcnn_vgg_net, rpn_net
 
 
-model_file = '/home/coline/visual_features/detection/tracking/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'#'./model/fasterrcnn_vgg_coco_net.tfmodel'
+model_file = '/home/murtaza/Documents/objectattention2/objectattention/rpn_net/model/fasterrcnn_vgg_coco_net.tfmodel'#'./model/fasterrcnn_vgg_coco_net.tfmodel'
 sess_tuple = None
 
 def _init():

singleobj_visreward.py

@@ -0,0 +1,198 @@
+import time
+import copy
+import numpy as np
+from gym import utils
+from gym.envs.mujoco import mujoco_env
+import time
+import mujoco_py
+from mujoco_py.mjlib import mjlib
+import sys
+sys.path.append('/home/coline/objectattention')
+
+#sys.path.append('/home/coline/visual_features/sim_push/gps/python/gps/algorithm/policy_opt/')
+#from tf_model_example import get_mlp_layers
+import numpy as np
+import matplotlib.pyplot as plt
+
+AGENT_MUJOCO= {
+    'image_width': 120,
+    'image_height': 120,
+}
+from Featurizer import BBProposer, AlexNetFeaturizer
+
+
+class SingleObjVisRewardEnv(mujoco_env.MujocoEnv, utils.EzPickle):
+    def __init__(self):
+        # print("starting init")
+        utils.EzPickle.__init__(self)
+
+        self.last_box = np.zeros(4)
+        self.gripperbox = np.zeros(4)
+        self._viewer_bot = mujoco_py.MjViewer(visible=True, init_width=AGENT_MUJOCO['image_width'],
+                                              init_height=AGENT_MUJOCO['image_height'])
+        self._viewer_bot.start()
+
+        self.suffix = 0
+        self.proposer = BBProposer()
+        self.featurizer = AlexNetFeaturizer()
+        # self.query = np.load("mugfeats.npy")*10
+        #self.query = np.load("/home/coline/rllab/topdown_mug.npy")*50
+        self.query = np.load("/home/murtaza/Documents/objectattention2/objectattention/visreward_mug_feats.npy")*50
+        self.gripper_feats = np.load("/home/murtaza/Documents/objectattention2/objectattention/visreward_gripper_feats.npy")*50
+
+        # self.cam_pos = np.array([0.435, -0.185, -0.15, 0.75, -55., 90.])    # 7DOF camera
+        self.cam_pos = np.array([0.45, -0.05, -0.323, 0.95, -90., 90.])
+        self.im_w = AGENT_MUJOCO['image_width']
+        self.im_h = AGENT_MUJOCO['image_height']
+        self.max_boxes = 10
+        self.target_pos= np.array([-0.16743428, -0.15542921,  0.0403198 ,  0.04634899])
+        # print("parent class")
+        mujoco_env.MujocoEnv.__init__(self, '/home/murtaza/Documents/objectattention2/objectattention/visreward_world.xml', 5)
+        # mujoco_env.MujocoEnv.__init__(self, '/home/larry/dev/data-collect/examples/textured.xml', 5)
+        self.init_body_pos = copy.deepcopy(self.model.body_pos)
+        #
+        # print("done init"
+    def _step(self, a):
+        #vec_1 = self.get_body_com("object")-self.get_body_com("tips_arm")
+        #vec_2 = self.get_body_com("object")-self.get_body_com("goal")
+        #reward_near = - np.linalg.norm(vec_1)
+        #reward_dist = - np.linalg.norm(vec_2)
+        reward_ctrl = - np.square(a).sum()
+        #print("prior reward", 2*reward_dist+0.05*reward_ctrl)
+
+        reward_dist = -np.linalg.norm(self.last_box- self.target_pos)
+        reward_near = -np.linalg.norm(self.last_box- self.gripperbox)
+        #print("now reward", reward_dist+0.05*reward_ctrl)
+        #the coefficients in the following line are ad hoc
+        reward = reward_dist + 0.05*reward_ctrl + 0.1*reward_near
+        self.do_simulation(a, self.frame_skip)
+        ob = self._get_obs()
+        done = False
+        return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
+
+    def _get_viewer(self):
+        """Override mujoco_env method to put in the
+        init_width and init_height
+
+        """
+        if self.viewer is None:
+            self.viewer = mujoco_py.MjViewer(init_width=200, init_height=175)
+            self.viewer.start()
+            self.viewer.set_model(self.model)
+            self.viewer_setup()
+        return self.viewer
+
+    def viewer_setup(self):
+        # cam_pos = np.array([0.435, -0.275, -0.15, 0.55, -50., 90.])    # 7DOF camera
+        cam_pos = self.cam_pos
+        self.viewer.cam.lookat[0] = cam_pos[0]
+        self.viewer.cam.lookat[1] = cam_pos[1]
+        self.viewer.cam.lookat[2] = cam_pos[2]
+        self.viewer.cam.distance = cam_pos[3]
+        self.viewer.cam.elevation = cam_pos[4]
+        self.viewer.cam.azimuth = cam_pos[5]
+        self.viewer.cam.trackbodyid = -1
+
+    def reset_model(self):
+        # qpos = self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos
+        qpos = self.init_qpos
+
+        self._viewer_bot.set_model(self.model)
+
+        self._set_cam_position(self._viewer_bot, self.cam_pos)
+
+        # while True:
+        #     self.object = np.concatenate([self.np_random.uniform(low=-0.3, high=-0.05, size=1),
+        #                              self.np_random.uniform(low=0.25, high=0.65, size=1)])
+        #     self.goal = np.asarray([-0.05, 0.45])
+        #     if np.linalg.norm(self.object-self.goal) > 0.17: break
+
+        # qpos[-4:-2] = self.object
+        # qpos[-2:] = self.goal
+        temp = copy.deepcopy(self.init_body_pos)
+        idx = 3
+        angle = np.random.rand(1)*np.pi/2- np.pi/4
+        offset = np.array([np.cos(angle), np.sin(angle), 0])*0.2#(np.random.rand(3)-0.5)*0.4
+        offset[2] = 0
+        temp[idx, :] = temp[idx, :] +offset
+        self.model.body_pos = temp
+        self.model.step()
+
+        qvel = self.init_qvel + self.np_random.uniform(low=-.005, high=.005, size=self.model.nv)
+        qvel[-4:] = 0
+        self.set_state(qpos, qvel)
+        #import IPython; IPython.embed()
+        obs =  self._get_obs()
+        return obs
+
+    def _plot_attention(self, img, box, c=0,save=False):
+        #
+        #print(probs[argmax])
+        self.proposer.draw_box((box+0.5)*120, img, c, width=2)
+        #self.proposer.draw_box(softbox, img, 1)
+        #import IPython;IPython.embed()
+        #plt.show(plt.imshow(img))
+        if save:
+            filename = '/home/coline/Videos/objects/imgs/sac_itr30_{0:04d}.png'.format(self.suffix)
+            self.suffix+=1
+            plt.imsave(filename, img)
+
+    def _get_attention(self, boxes, feats, img, query):
+        #
+        q = query.copy()
+        q = np.reshape(q, [feats.shape[1], 1])
+        cos = np.abs(np.matmul(feats,q))
+        exp = np.exp(cos)
+        Z = np.sum(exp)
+        probs = exp/Z
+        nprobs = np.tile(probs, [1,4])
+        softbox = np.sum(nprobs*boxes, axis = 0)
+        argmax= np.argmax(probs)
+        # print(probs[argmax])
+        # self.proposer.draw_box(boxes[argmax], img, 0)
+        # self.proposer.draw_box(softbox, img, 1)
+        #import IPython;IPython.embed()
+        #plt.show(plt.imshow(img))
+        return boxes[argmax]
+
+    def _get_obs(self):
+        self._viewer_bot.loop_once()
+        img_string, width, height = self._viewer_bot.get_image()#CHANGES
+        img = np.fromstring(img_string, dtype='uint8').reshape(height, width, 3)[::-1,:,:]
+        #plt.imsave('env.png', img)
+        boxes = np.array(self.proposer.extract_proposal(img)[:self.max_boxes])
+        crops = [self.proposer.get_crop(b, img) for b in boxes]
+        feats = np.array([self.featurizer.getFeatures(c) for c in crops])
+        boxes = boxes/120 -0.5
+        sites = self.model.data.site_xpos.flatten()
+        plotimg = img.copy()
+        box = self._get_attention(boxes, feats, img, self.query)
+        gripperbox = self._get_attention(boxes, feats, img, self.gripper_feats)
+        #import IPython; IPython.embed()
+        self.last_box = box.copy()
+        self.last_gripperbox = gripperbox.copy()
+        # self._plot_attention(plotimg, box, c= 0)
+        # self._plot_attention(plotimg, gripperbox, c =1, save=True)# np.load("feats_500.npy"))# np.load('w_attention_280.npy'))
+
+        # x1, y1, x2,y2 = box
+        # xhat = np.mean([x1,x2])/120.
+        # yhat = np.mean([x1,x2])/120.
+        #import IPython;IPython.embed()
+        #img_data = img.flatten()
+        return np.concatenate([
+            self.model.data.qpos.flat[:3],
+            self.model.data.qvel.flat[:3],
+            sites,
+            #boxes.flatten(),
+            #feats.flatten()
+            box.flatten(),
+            # np.array([xhat,yhat])
+        ])
+    def _set_cam_position(self, viewer, cam_pos):
+
+        for i in range(3):
+            viewer.cam.lookat[i] = cam_pos[i]
+        viewer.cam.distance = cam_pos[3]
+        viewer.cam.elevation = cam_pos[4]
+        viewer.cam.azimuth = cam_pos[5]
+        viewer.cam.trackbodyid = -1

visreward_world.xml

@@ -0,0 +1,92 @@
+<mujoco model="arm3d">
+    <compiler angle="radian" coordinate="local" inertiafromgeom="true" meshdir="mesh" texturedir="textures" />
+    <option gravity="0 0 0" integrator="Euler" iterations="20" timestep="0.01" />
+
+    <asset>
+        <mesh file="mug.stl" name="mug_mesh" scale="0.012 0.012 0.012" />
+        <mesh file="fork.stl" name="fork_mesh" scale="0.003 0.003 0.003" />
+
+        <mesh file="lamp_rod.stl" name="lamp_rod_mesh" scale="0.002 0.002 0.002" />
+        <mesh file="oil_bottle.stl" name="oil_bottle_mesh" scale="0.00125 0.00125 0.00125" />
+
+        <mesh file="vase.stl" name="vase_mesh" scale="0.008 0.008 0.008" />
+        <mesh file="stool.stl" name="stool_mesh" scale="0.01 0.01 0.01" />
+
+    <texture file="describable/dtd/images/matted/matted_0131.png" name="vase_texture" /><material name="vase_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="vase_texture" /><texture file="describable/dtd/images/freckled/freckled_0075.png" name="fork_texture" /><material name="fork_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="fork_texture" /><texture file="describable/dtd/images/spiralled/spiralled_0041.png" name="stool_texture" /><material name="stool_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="stool_texture" /><texture file="describable/dtd/images/honeycombed/honeycombed_0120.png" name="oil_bottle_texture" /><material name="oil_bottle_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="oil_bottle_texture" /><texture file="table/metal-texture/pic_017.png" name="coaster_texture" /><material name="coaster_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="coaster_texture" /><texture file="table/wood-texture/pic_011.png" name="table_texture" type="2d" /><material name="table_material" shininess="0.1" specular="0.4" texrepeat="1 1" texture="table_texture" /><texture file="describable/dtd/images/honeycombed/honeycombed_0156.png" name="logo_texture" /><material name="logo_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="logo_texture" /><texture file="describable/dtd/images/banded/banded_0023.png" name="lamp_rod_texture" /><material name="lamp_rod_material" rgba="1 1 1 1" shininess="0.3" specular="1" texture="lamp_rod_texture" /></asset>
+
+    <default>
+        <joint armature="0.04" damping="1" limited="true" />
+        <geom conaffinity="0" condim="1" contype="0" density="300" friction=".8 .1 .1" margin="0.002" />
+    </default>
+
+    <worldbody>
+        <light diffuse=".5 .5 .5" dir="0 0 -1" pos="0 0 3" />
+
+         <!-- <geom conaffinity="1" contype="1" rgba="0.2 0.5 0.2 1" name="table" pos="0 0.5 -0.325" size="1 1 0.1" type="plane" /> -->
+        <geom conaffinity="1" contype="1" material="table_material" name="table" pos="0 0.5 -0.325" size="1 1 0.1" type="plane" />
+          <geom conaffinity="1" contype="1" fromto="-0. 0.4 -0.320 0.8 0.4 -0.320" size="0.04" rgba="1 1 1 0" type="capsule" />
+          <geom conaffinity="1" contype="1" fromto="-0. -.4 -0.320 0.8 -0.4 -0.320" size="0.04" rgba="1 1 1 0" type="capsule" />
+          <geom conaffinity="1" contype="1" fromto="-0. 0.4 -0.320 -0. -0.4 -0.320" size="0.04" rgba="1 1 1 0" type="capsule" />
+          <geom conaffinity="1" contype="1" fromto="0.8 0.4 -0.320 0.8 -.4 -0.320" size="0.04" rgba="1 1 1 0" type="capsule" />
+
+
+
+        <body name="wrist base" pos="0.45 0.15 -0.320">
+            <joint axis="0 1 0" damping="0.5" name="wrist_slidey" pos="0 0 0" range="-10.3213 10.3" type="slide" />
+            <joint axis="1 0 0" damping="0.5" name="wrist_slidex" pos="0 0 0" range="-10.3213 10.3" type="slide" />
+            <joint axis="0 0 1" damping="0.5" name="wrist_hinge" pos="0 0 0" range="-10.3213 10.3" type="hinge" />
+          <body name="tips_arm" pos="0 0 0">
+            <geom name="tip_arml" pos="0.1 -0.1 0." size="0.01" type="sphere" />
+            <geom name="tip_armr" pos="0.1 0.1 0." size="0.01" type="sphere" />
+            <site name="arm" pos="0.02 0 0" size="0.001" />
+          </body>
+          <geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" />
+          <geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" type="capsule" />
+          <geom conaffinity="1" contype="1" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" type="capsule" />
+        </body>
+
+        <body name="object" pos="0.4 -0.0 -0.263">
+            <geom density="0.00001" rgba="1 1 1 0" size="0.05 0.05 0.05" type="sphere" />
+            <site name="mug" pos="0 0 0" size="0.001" />
+            <body axisangle="1 0 0 1.57" pos="0 0 0">
+                <geom conaffinity="1" contype="1" density="0.00001" material="logo_material" mesh="mug_mesh" rgba="1 1 1 1" type="mesh" />
+            </body>
+            <joint axis="0 1 0" damping="1.5" name="obj_slidey" pos="0.01 0.01 0.01" range="-10.3213 10.3" type="slide" />
+            <joint axis="1 0 0" damping="1.5" name="obj_slidex" pos="0.01 0.01 0.01" range="-10.3213 10.3" type="slide" />
+        </body>
+
+        <body name="goal" pos="0.4 -0.0 -0.3230">
+            <site name="goal" pos="0 0 0" size="0.001" />
+            <geom conaffinity="0" contype="0" density="0.00001" material="coaster_material" rgba="1. 1. 1. 1" size="0.08 0.001 0.1" type="cylinder" />
+            <!-- <joint axis="0 1 0" damping="0.5" name="goal_slidey" pos="0 0 0" range="-10.3213 10.3" type="slide" /> -->
+            <!-- <joint axis="1 0 0" damping="0.5" name="goal_slidex" pos="0 0 0" range="-10.3213 10.3" type="slide" /> -->
+        </body>
+        <!-- <body name="oil_bottle" pos="0.113729391255 -0.187150031403 -0.3030"> -->
+        <!--     <\!-- <site name="mug" pos="0 0 0" size="0.001" /> -\-> -->
+        <!--     <joint axis="0 1 0" damping="1.5" name="oil_slidey" pos="0.01 0.01 0.01" range="-10.3213 10.3" type="slide" /> -->
+        <!--     <joint axis="1 0 0" damping="1.5" name="oil_slidex" pos="0.01 0.01 0.01" range="-10.3213 10.3" type="slide" /> -->
+        <!--     <joint axis="0 0 1" damping="0.5" name="oil_hinge" pos="0 0 0" range="-10.3213 10.3" type="hinge" /> -->
+
+        <!--     <\!-- <joint axis="0 1 0" damping="0.5"  pos="0 0 0" range="-10.3213 10.3" type="slide" /> -\-> -->
+        <!--     <\!-- <joint axis="1 0 0" damping="0.5"  pos="0 0 0" range="-10.3213 10.3" type="slide" /> -\-> -->
+	<!--     <geom type="capsule" fromto="0.01 0 0 0 0 0" size="0.001" /> -->
+        <!--         <body axisangle="1 0 0 1.57" pos="0 0 0"> -->
+        <!--             <geom conaffinity="1" contype="1" density="0.00001" material="oil_bottle_material" mesh="oil_bottle_mesh" rgba="1 1 1 1" type="mesh" /> -->
+        <!--         </body> -->
+        <!-- </body> -->
+
+    </worldbody>
+
+    <actuator>
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_shoulder_pan_joint" /> -->
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_shoulder_lift_joint" /> -->
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_upper_arm_roll_joint" /> -->
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_elbow_flex_joint" /> -->
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_forearm_roll_joint" /> -->
+        <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_slidex" />
+        <motor ctrllimited="true" ctrlrange="-3.14 3.14" joint="wrist_hinge" />
+        <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_slidey" />
+        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_hinge" /> -->
+    </actuator>
+
+</mujoco>