From d697d02878c0fc1b5a2059d50950fc7f111bab32 Mon Sep 17 00:00:00 2001 From: okiwi6 <45100017+oleflb@users.noreply.github.com> Date: Sat, 1 Feb 2025 16:38:21 +0100 Subject: [PATCH 1/3] Add model export script --- tools/machine-learning/mujoco/.gitignore | 1 + tools/machine-learning/mujoco/.python-version | 2 +- .../packages/common_types/pyproject.toml | 2 +- .../mujoco/packages/kinematics/pyproject.toml | 2 +- .../mujoco-interactive-viewer/pyproject.toml | 2 +- .../mujoco/packages/nao_env/pyproject.toml | 2 +- .../packages/nao_interface/pyproject.toml | 2 +- .../mujoco/packages/rewards/pyproject.toml | 2 +- .../packages/robot_dimensions/pyproject.toml | 2 +- .../mujoco/packages/throwing/pyproject.toml | 2 +- .../mujoco/packages/transforms/pyproject.toml | 2 +- .../packages/walking_engine/pyproject.toml | 2 +- tools/machine-learning/mujoco/pyproject.toml | 4 +- .../mujoco/scripts/convert_model.py | 80 +++ tools/machine-learning/mujoco/sync.sh | 3 + tools/machine-learning/mujoco/uv.lock | 676 ++++++++++++------ 16 files changed, 559 insertions(+), 227 deletions(-) create mode 100644 tools/machine-learning/mujoco/scripts/convert_model.py create mode 100755 tools/machine-learning/mujoco/sync.sh diff --git a/tools/machine-learning/mujoco/.gitignore b/tools/machine-learning/mujoco/.gitignore index 53bf277f56..d0d02f1c1e 100644 --- a/tools/machine-learning/mujoco/.gitignore +++ b/tools/machine-learning/mujoco/.gitignore @@ -3,3 +3,4 @@ videos/ runs/ models/ MUJOCO_LOG.TXT +result/ diff --git a/tools/machine-learning/mujoco/.python-version b/tools/machine-learning/mujoco/.python-version index 24ee5b1be9..e4fba21835 100644 --- a/tools/machine-learning/mujoco/.python-version +++ b/tools/machine-learning/mujoco/.python-version @@ -1 +1 @@ -3.13 +3.12 diff --git a/tools/machine-learning/mujoco/packages/common_types/pyproject.toml b/tools/machine-learning/mujoco/packages/common_types/pyproject.toml index 01ccaae709..182a75933d 100644 --- a/tools/machine-learning/mujoco/packages/common_types/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/common_types/pyproject.toml @@ -2,7 +2,7 @@ name = "common_types" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.13" +requires-python = ">=3.12" dependencies = [] [build-system] diff --git a/tools/machine-learning/mujoco/packages/kinematics/pyproject.toml b/tools/machine-learning/mujoco/packages/kinematics/pyproject.toml index e44bc171f4..108bc432f0 100644 --- a/tools/machine-learning/mujoco/packages/kinematics/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/kinematics/pyproject.toml @@ -2,7 +2,7 @@ name = "kinematics" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["common-types", "numpy>=1.2", "robot-dimensions", "transforms"] diff --git a/tools/machine-learning/mujoco/packages/mujoco-interactive-viewer/pyproject.toml b/tools/machine-learning/mujoco/packages/mujoco-interactive-viewer/pyproject.toml index 4afc3db5b9..97e15bf776 100644 --- a/tools/machine-learning/mujoco/packages/mujoco-interactive-viewer/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/mujoco-interactive-viewer/pyproject.toml @@ -1,7 +1,7 @@ [project] version = "0.1.0" name = "mujoco-interactive-viewer" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["glfw>=2.8.0", "mujoco>=3.2.6", "numpy>=1.26.4"] [build-system] diff --git a/tools/machine-learning/mujoco/packages/nao_env/pyproject.toml b/tools/machine-learning/mujoco/packages/nao_env/pyproject.toml index fb507af12e..4c64efa8e0 100644 --- a/tools/machine-learning/mujoco/packages/nao_env/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/nao_env/pyproject.toml @@ -2,7 +2,7 @@ name = "nao-env" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = [ "gymnasium[mujoco]>=1.0.0", diff --git a/tools/machine-learning/mujoco/packages/nao_interface/pyproject.toml b/tools/machine-learning/mujoco/packages/nao_interface/pyproject.toml index 75e25eb84e..a2729e786b 100644 --- a/tools/machine-learning/mujoco/packages/nao_interface/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/nao_interface/pyproject.toml @@ -2,7 +2,7 @@ name = "nao-interface" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["mujoco>=3.2.6", "numpy>=1.2.0"] [build-system] diff --git a/tools/machine-learning/mujoco/packages/rewards/pyproject.toml b/tools/machine-learning/mujoco/packages/rewards/pyproject.toml index 07b8c1aea2..686b2a7383 100644 --- a/tools/machine-learning/mujoco/packages/rewards/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/rewards/pyproject.toml @@ -2,7 +2,7 @@ version = "0.1.0" name = "rewards" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = [ "mujoco>=3.2.6", "nao-interface", diff --git a/tools/machine-learning/mujoco/packages/robot_dimensions/pyproject.toml b/tools/machine-learning/mujoco/packages/robot_dimensions/pyproject.toml index 3ae212cf00..377d07190e 100644 --- a/tools/machine-learning/mujoco/packages/robot_dimensions/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/robot_dimensions/pyproject.toml @@ -2,7 +2,7 @@ name = "robot-dimensions" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["numpy>=1.2.0"] [build-system] diff --git a/tools/machine-learning/mujoco/packages/throwing/pyproject.toml b/tools/machine-learning/mujoco/packages/throwing/pyproject.toml index a188b44be1..9b51a5e100 100644 --- a/tools/machine-learning/mujoco/packages/throwing/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/throwing/pyproject.toml @@ -2,7 +2,7 @@ name = "throwing" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["mujoco>=3.2.6", "numpy>=1.2.0"] [build-system] diff --git a/tools/machine-learning/mujoco/packages/transforms/pyproject.toml b/tools/machine-learning/mujoco/packages/transforms/pyproject.toml index a47d84aefc..3bcc5b4d7b 100644 --- a/tools/machine-learning/mujoco/packages/transforms/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/transforms/pyproject.toml @@ -2,7 +2,7 @@ name = "transforms" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = ["numpy>=1.2.0", "scipy>=1.14.1"] [build-system] diff --git a/tools/machine-learning/mujoco/packages/walking_engine/pyproject.toml b/tools/machine-learning/mujoco/packages/walking_engine/pyproject.toml index 87e96a2170..8a26fa0000 100644 --- a/tools/machine-learning/mujoco/packages/walking_engine/pyproject.toml +++ b/tools/machine-learning/mujoco/packages/walking_engine/pyproject.toml @@ -2,7 +2,7 @@ name = "walking-engine" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.10" +requires-python = ">=3.12" dependencies = [ "common-types", "kinematics", diff --git a/tools/machine-learning/mujoco/pyproject.toml b/tools/machine-learning/mujoco/pyproject.toml index 523edf51af..564a890d4f 100644 --- a/tools/machine-learning/mujoco/pyproject.toml +++ b/tools/machine-learning/mujoco/pyproject.toml @@ -2,7 +2,7 @@ name = "mujoco-env" version = "0.1.0" description = "Add your description here" -requires-python = ">=3.13" +requires-python = ">=3.12" dependencies = [ "click>=8.1.7", @@ -11,6 +11,8 @@ dependencies = [ "moviepy>=1.0.3", "mujoco>=3.2.7", "numpy>=1.26", + "onnx==1.17.0", + "openvino==2024.1.0", "scipy>=1.14.1", "stable-baselines3[extra]==2.4.1", "tensorboard>=2.18.0", diff --git a/tools/machine-learning/mujoco/scripts/convert_model.py b/tools/machine-learning/mujoco/scripts/convert_model.py new file mode 100644 index 0000000000..f1fda3d7fc --- /dev/null +++ b/tools/machine-learning/mujoco/scripts/convert_model.py @@ -0,0 +1,80 @@ +from pathlib import Path + +import click +import openvino as ov +import torch +from nao_env.nao_standing import OFFSET_QPOS +from stable_baselines3 import PPO +from stable_baselines3.common.policies import BasePolicy +from torch import nn + + +class OnnxableSB3Policy(nn.Module): + def __init__(self, policy: BasePolicy) -> None: + super().__init__() + self.policy = policy + + def unscale_action(self, scaled_action: torch.Tensor) -> torch.Tensor: + low, high = ( + torch.from_numpy(self.policy.action_space.low), + torch.from_numpy(self.policy.action_space.high), + ) + return low + (0.5 * (scaled_action + 1.0) * (high - low)) + + def clip_action(self, action: torch.Tensor) -> torch.Tensor: + low, high = ( + torch.from_numpy(self.policy.action_space.low).to(torch.float32), + torch.from_numpy(self.policy.action_space.high).to(torch.float32), + ) + return torch.clamp(action, low, high) + + def forward(self, observation: torch.Tensor) -> torch.Tensor: + actions = self.policy._predict(observation, deterministic=True) + + if self.policy.squash_output: + actions = self.unscale_action(actions) + else: + actions = self.clip_action(actions) + + return actions + torch.from_numpy(OFFSET_QPOS) + + +@click.command() +@click.option( + "--load-policy", + type=click.Path(exists=True), + default=None, + help="Load a policy from a file.", +) +def main(load_policy: str) -> None: + path = Path(load_policy) + name = path.parent.name + model = PPO.load(load_policy) + network = OnnxableSB3Policy(model.policy) + observation_size = model.observation_space.shape + + Path("result").mkdir(exist_ok=True) + + observation = torch.zeros(1, *observation_size) + + print(observation.shape, network.forward(observation)) + + with torch.inference_mode(): + torch.onnx.export( + network, + torch.randn(1, *observation_size), + f"result/{name}-model.onnx", + input_names=["input"], + output_names=["output"], + opset_version=17, + ) + + ov_model = ov.convert_model(f"result/{name}-model.onnx") + ov.save_model(ov_model, f"result/{name}-policy-ov.xml") + + nn = ov.compile_model(ov_model) + print(nn(observation)) + + +if __name__ == "__main__": + main() diff --git a/tools/machine-learning/mujoco/sync.sh b/tools/machine-learning/mujoco/sync.sh new file mode 100755 index 0000000000..2f22928368 --- /dev/null +++ b/tools/machine-learning/mujoco/sync.sh @@ -0,0 +1,3 @@ +#! /usr/bin/env sh + +rsync -rP --info=progress2 --exclude-from=.gitignore --exclude=.venv . $1 \ No newline at end of file diff --git a/tools/machine-learning/mujoco/uv.lock b/tools/machine-learning/mujoco/uv.lock index 9014a2d3cb..2db2faf93a 100644 --- a/tools/machine-learning/mujoco/uv.lock +++ b/tools/machine-learning/mujoco/uv.lock @@ -1,10 +1,17 @@ version = 1 -requires-python = ">=3.13" +requires-python = 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<45100017+oleflb@users.noreply.github.com> Date: Sat, 1 Feb 2025 17:06:39 +0100 Subject: [PATCH 2/3] newline --- tools/machine-learning/mujoco/sync.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/machine-learning/mujoco/sync.sh b/tools/machine-learning/mujoco/sync.sh index 2f22928368..63f8c788c3 100755 --- a/tools/machine-learning/mujoco/sync.sh +++ b/tools/machine-learning/mujoco/sync.sh @@ -1,3 +1,3 @@ #! /usr/bin/env sh -rsync -rP --info=progress2 --exclude-from=.gitignore --exclude=.venv . $1 \ No newline at end of file +rsync -rP --info=progress2 --exclude-from=.gitignore --exclude=.venv . $1 From ee7ae869ac7820e8b922edfdde6975bef8f81198 Mon Sep 17 00:00:00 2001 From: okiwi6 <45100017+oleflb@users.noreply.github.com> Date: Sat, 1 Feb 2025 17:18:29 +0100 Subject: [PATCH 3/3] update convert_model script --- .../mujoco/scripts/convert_model.py | 61 ++++++++++++------- 1 file changed, 40 insertions(+), 21 deletions(-) diff --git a/tools/machine-learning/mujoco/scripts/convert_model.py b/tools/machine-learning/mujoco/scripts/convert_model.py index f1fda3d7fc..9d1dfccc2c 100644 --- a/tools/machine-learning/mujoco/scripts/convert_model.py +++ b/tools/machine-learning/mujoco/scripts/convert_model.py @@ -3,15 +3,26 @@ import click import openvino as ov import torch -from nao_env.nao_standing import OFFSET_QPOS +from nao_env import nao_standing, nao_walking from stable_baselines3 import PPO -from stable_baselines3.common.policies import BasePolicy +from stable_baselines3.common.policies import ActorCriticPolicy from torch import nn +class UndefinedObservationSpaceError(ValueError): + def __init__(self) -> None: + super().__init__("observation space must have a fixed size.") + + +class UndefinedActionSpaceError(ValueError): + def __init__(self) -> None: + super().__init__("action space must have a fixed size.") + + class OnnxableSB3Policy(nn.Module): - def __init__(self, policy: BasePolicy) -> None: + def __init__(self, policy: ActorCriticPolicy, offset: torch.Tensor) -> None: super().__init__() + self.offset = offset self.policy = policy def unscale_action(self, scaled_action: torch.Tensor) -> torch.Tensor: @@ -36,33 +47,44 @@ def forward(self, observation: torch.Tensor) -> torch.Tensor: else: actions = self.clip_action(actions) - return actions + torch.from_numpy(OFFSET_QPOS) + return actions + self.offset @click.command() -@click.option( - "--load-policy", +@click.argument( + "policy", type=click.Path(exists=True), - default=None, - help="Load a policy from a file.", + help="The policy to convert to ONNX.", +) +@click.argument( + "environment-type", + type=click.Choice(["NaoStanding", "NaoStandup", "NaoWalking"]), ) -def main(load_policy: str) -> None: - path = Path(load_policy) +def main(policy: str, environment_type: str) -> None: + path = Path(policy) name = path.parent.name - model = PPO.load(load_policy) - network = OnnxableSB3Policy(model.policy) - observation_size = model.observation_space.shape + model = PPO.load(policy) + observation_size = model.observation_space.shape + if observation_size is None: + raise UndefinedObservationSpaceError() + action_size = model.action_space.shape + if action_size is None: + raise UndefinedActionSpaceError() + + offset = { + "NaoStanding": torch.from_numpy(nao_standing.OFFSET_QPOS), + "NaoStandup": torch.zeros(action_size), + "NaoWalking": torch.from_numpy(nao_walking.OFFSET_QPOS), + }[environment_type] + + network = OnnxableSB3Policy(model.policy, offset) Path("result").mkdir(exist_ok=True) - observation = torch.zeros(1, *observation_size) - - print(observation.shape, network.forward(observation)) - with torch.inference_mode(): torch.onnx.export( network, - torch.randn(1, *observation_size), + (torch.randn(observation_size),), f"result/{name}-model.onnx", input_names=["input"], output_names=["output"], @@ -72,9 +94,6 @@ def main(load_policy: str) -> None: ov_model = ov.convert_model(f"result/{name}-model.onnx") ov.save_model(ov_model, f"result/{name}-policy-ov.xml") - nn = ov.compile_model(ov_model) - print(nn(observation)) - if __name__ == "__main__": main()