examples/static_gnn_planner.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "> [GNN-Static](https://arxiv.org/abs/2210.08864) - it plans a trajectory by prioritizing the edge to explore based on a Graph Neural Network heuristic function"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%cd -q .."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "pybullet build time: Nov 28 2023 23:51:11\n"
     ]
    }
   ],
   "source": [
    "from environment.static.ur5_env import UR5Env\n",
    "from objects.static.voxel import VoxelObject\n",
    "from wrappers.obstacles import ObstaclePositionWrapper\n",
    "from data.dataset import create_data_from_yaml\n",
    "data_dict = create_data_from_yaml('data/static/ur5_env/0.yml')\n",
    "env, start, goal = data_dict['env'], data_dict['start'], data_dict['goal']\n",
    "env = ObstaclePositionWrapper(env)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# visualize environment\n",
    "%matplotlib inline\n",
    "import matplotlib.pyplot as plt\n",
    "env.load()\n",
    "plt.imshow(env.render())\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "from planner.learned.GNN_static_planner import GNNStaticPlanner"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "start = np.array(start)\n",
    "goal = np.array(goal)\n",
    "result = GNNStaticPlanner(num_batch=100, model_args=dict(config_size=env.robot.config_dim, \n",
    "                                                                    embed_size=64, \n",
    "                                                                    obs_size=6)).plan(env, start, goal, timeout=('time', 100))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Visualization\n",
    "from time import sleep\n",
    "def visualize_traj(env, trajectory):  \n",
    "    gifs = []\n",
    "    for timestep in np.linspace(0, len(trajectory.waypoints)-1, 100):\n",
    "        env.robot.set_config(trajectory.get_spec(timestep))\n",
    "        p.performCollisionDetection()\n",
    "        sleep(0.1)\n",
    "        gifs.append(p.getCameraImage(width=360, height=360, lightDirection=[1, 1, 1], shadow=1,\n",
    "                                                 renderer=p.ER_BULLET_HARDWARE_OPENGL)[2]) \n",
    "    return gifs"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "argv[0]=--background_color_red=1.0\n",
      "argv[1]=--background_color_green=1.0\n",
      "argv[2]=--background_color_blue=1.0\n",
      "startThreads creating 1 threads.\n",
      "starting thread 0\n",
      "started thread 0 \n",
      "argc=5\n",
      "argv[0] = --unused\n",
      "argv[1] = --background_color_red=1.0\n",
      "argv[2] = --background_color_green=1.0\n",
      "argv[3] = --background_color_blue=1.0\n",
      "argv[4] = --start_demo_name=Physics Server\n",
      "ExampleBrowserThreadFunc started\n",
      "X11 functions dynamically loaded using dlopen/dlsym OK!\n",
      "X11 functions dynamically loaded using dlopen/dlsym OK!\n",
      "Creating context\n",
      "Created GL 3.3 context\n",
      "Direct GLX rendering context obtained\n",
      "Making context current\n",
      "GL_VENDOR=NVIDIA Corporation\n",
      "GL_RENDERER=NVIDIA GeForce RTX 4090/PCIe/SSE2\n",
      "GL_VERSION=3.3.0 NVIDIA 535.154.05\n",
      "GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler\n",
      "pthread_getconcurrency()=0\n",
      "Version = 3.3.0 NVIDIA 535.154.05\n",
      "Vendor = NVIDIA Corporation\n",
      "Renderer = NVIDIA GeForce RTX 4090/PCIe/SSE2\n",
      "b3Printf: Selected demo: Physics Server\n",
      "startThreads creating 1 threads.\n",
      "starting thread 0\n",
      "started thread 0 \n",
      "MotionThreadFunc thread started\n",
      "ven = NVIDIA Corporation\n",
      "ven = NVIDIA Corporation\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "<img 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/>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%matplotlib inline\n",
    "import matplotlib.pyplot as plt\n",
    "import pybullet as p\n",
    "import pybullet_data\n",
    "import numpy as np\n",
    "from utils.utils import save_gif\n",
    "from IPython.display import HTML\n",
    "import base64\n",
    "from objects.trajectory import WaypointLinearTrajectory\n",
    "\n",
    "env.load(GUI=True)\n",
    "# generate collision-free trajectory\n",
    "traj = WaypointLinearTrajectory(result.solution)    \n",
    "gifs = visualize_traj(env, traj)\n",
    "save_gif(gifs, f'data/visualization/static_gnn.gif')\n",
    "b64 = base64.b64encode(open(f'data/visualization/static_gnn.gif', 'rb').read()).decode('ascii')\n",
    "display(HTML(f'<img src=\"data:image/gif;base64,{b64}\" />'))    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "numActiveThreads = 0\n",
      "stopping threads\n",
      "Thread with taskId 0 exiting\n",
      "destroy semaphore\n",
      "semaphore destroyed\n",
      "Thread TERMINATED\n",
      "destroy main semaphore\n",
      "main semaphore destroyed\n",
      "finished\n",
      "numActiveThreads = 0\n",
      "btShutDownExampleBrowser stopping threads\n",
      "Thread with taskId 0 exiting\n",
      "Thread TERMINATED\n",
      "destroy semaphore\n",
      "semaphore destroyed\n",
      "destroy main semaphore\n",
      "main semaphore destroyed\n"
     ]
    }
   ],
   "source": [
    "p.disconnect()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3.8.12 ('gnn')",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.18"
  },
  "vscode": {
   "interpreter": {
    "hash": "23b2f028ee886613385a9dacdd1e4f1241a6243f9dd76c0791613257d600160a"
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}