From 9e8313cf535877341f0fcd7af4734d192481567d Mon Sep 17 00:00:00 2001 From: Zac Ravichandran Date: Mon, 30 Mar 2020 17:47:17 -0400 Subject: [PATCH 1/6] Update perception-pipeline.yaml --- config/perception-pipeline.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/perception-pipeline.yaml b/config/perception-pipeline.yaml index cbfe9ef..386dbe2 100644 --- a/config/perception-pipeline.yaml +++ b/config/perception-pipeline.yaml @@ -7,5 +7,5 @@ ENV: EPISODE: scenes: [3, 5] n_targets: [30, 30] - episode_length: [400, 400] - random_seeds: [10, 100] \ No newline at end of file + episode_length: [300, 300] + random_seeds: [10, 5] From 27c19327618ff7e86e2762ae1f5a9d3eba8a4ad9 Mon Sep 17 00:00:00 2001 From: Zac Ravichandran Date: Mon, 30 Mar 2020 17:47:34 -0400 Subject: [PATCH 2/6] Update perception-pipeline.yaml --- config/perception-pipeline.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/perception-pipeline.yaml b/config/perception-pipeline.yaml index 386dbe2..e383351 100644 --- a/config/perception-pipeline.yaml +++ b/config/perception-pipeline.yaml @@ -7,5 +7,5 @@ ENV: EPISODE: scenes: [3, 5] n_targets: [30, 30] - episode_length: [300, 300] - random_seeds: [10, 5] + episode_length: [400, 400] + random_seeds: [10, 100] From 8919b21c96a912eaa37768748961f803cebe93a6 Mon Sep 17 00:00:00 2001 From: Dan Griffith Date: Tue, 7 Apr 2020 08:40:34 -0400 Subject: [PATCH 3/6] Update Instructions.md --- Instructions.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Instructions.md b/Instructions.md index 95bc9ea..a6d7f02 100644 --- a/Instructions.md +++ b/Instructions.md @@ -49,7 +49,7 @@ See [below](#training) for further discussion. 2. Clone this repository and install requirements. ```sh -git clone https://github.com/MIT-TESSE/goseek-challenge.git +git clone https://github.mit.edu/TESS/goseek-challenge.git cd goseek-challenge ``` From 1848f986cd4f97ce1652e76ab0dee179a65b11e9 Mon Sep 17 00:00:00 2001 From: Zac Ravichandran Date: Fri, 15 May 2020 09:25:00 -0400 Subject: [PATCH 4/6] 0.1.2 snapshot (#56) * Feature/docker kimera (#34) * add marks dockerfile * Moves call to a main function and adds hooks for grabbing stdout and stderr * Outputs stdout, stderr, and metrics * add updated docker file * bash script to initialize perception server * Adds return message to main output. * update Kimera-VIO/Kimera-VIO-ROS with reset feature (currently only on private repo) * example run command * Create README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * update segmentation model path * WIP add perception server * cleanup * Allows docker to build from fresh. * update tmp clones * update tmp clone to latest ros code * add disparity_image_proc, change kimera_vio default to true * capture perception pipeline stdout,stderr * Updates with kimera and submission instructions. * Delete development files. * Update Instructions.md * update dockerfile to have conda in path * default args * remove commented out lines * edit how conda is added to path. chain commands * Fix tesse-gym branch checkout * Fix/subprocess cleanup (#30) * kill docker perception container by name * wip; use docker logs; print progress to console * add logging via docker and kimera; reformat * log submission stdout; refactor * add logs directory * get submission metrics in 'finally' block * refactor * More reasonable perception configs for testing Episode length 200 allows for quicker turnaround time. Random seed 100 on scene 5 spawns the agent under a desk. * WIP; remove default disparity_image_proc * update tesse-gym pip install * pipe perception stdout to devnull; use docker rm --force to clean up containers * chain install commands * update perception launch file name * update dockerfile with latest perception code; pull configs from github.com * fix typo * only print summary metrics * Fix/subprocess cleanup (#33) * kill docker perception container by name * wip; use docker logs; print progress to console * add logging via docker and kimera; reformat * log submission stdout; refactor * add logs directory * get submission metrics in 'finally' block * refactor * More reasonable perception configs for testing Episode length 200 allows for quicker turnaround time. Random seed 100 on scene 5 spawns the agent under a desk. * WIP; remove default disparity_image_proc * update tesse-gym pip install * pipe perception stdout to devnull; use docker rm --force to clean up containers * chain install commands * update perception launch file name * update dockerfile with latest perception code; pull configs from github.com * fix typo * only print summary metrics * Provides runable instructions for submitting to EvalAI staging server. (#31) * Update timeline (#4) * Update README.md * Update README.md * Update README.md * Update README.md * Beta testing (#52) * Update Instructions.md * remove sim path * Update ground-truth.yaml * Fix instruction numbering * add config that will launch sim (used for testing ground truth mode) * Update Instructions.md * make random agent the default Dockerfile * fix typo * pin kimera commit * Update Instructions.md Use beta-testing origin * Update Instructions.md * Sets score to -1 on agent failure * Instruction updates (#40) * Update Instructions.md * Update check-ground-truth.yaml * Update README.md * Production urls (#41) * update readme to production URL * Update Instructions.md * Update Instructions.md * fix simulator version * Update README.md * [WIP] feature/remove-temp-clones (#43) * clone tesse-semantic-segmentation and tesse-ros-bridge from github.com * clone tesse-gym-bridge from github * add option to name logdir (#45) * add logs/* to gitignore; use main voxblox repog * remove comments * update run_perception * Perception docs (#50) * Create perception-pipeline.md * example data * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Update Instructions.md * Update perception-pipeline.md * Update details.md * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Update segmentation description * Perception warning (#48) * Instruction updates (#40) * Update Instructions.md * Update check-ground-truth.yaml * Update README.md * Production urls (#41) * update readme to production URL * Update Instructions.md * Update Instructions.md * fix simulator version * Update README.md * [WIP] feature/remove-temp-clones (#43) * clone tesse-semantic-segmentation and tesse-ros-bridge from github.com * clone tesse-gym-bridge from github * add option to name logdir (#45) * add logs/* to gitignore; use main voxblox repog * remove comments * update run_perception * Add text on runtime * Adds example to generate configuration files. * added pose estimates * Add pose estimates * add figure for unity coords * Update perception-pipeline.md * Update perception-pipeline.md * update pose * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Add link to perception pipeline docs * Update perception-pipeline.md * Slight reorganization (#51) * Update perception-pipeline.md * Update perception-pipeline.md * Update perception-pipeline.md * Add comment about EvalAI submission * Update Instructions.md Co-Authored-By: za27933 * remove TODO * clone from tesse-gym master * remove run_perception.sh * Remove old comments * Update comments * change 1.3 to 1.4 * Update check-ground-truth.yaml * Update README.md * add citing section * Announcement changes (#55) * Update README.md * Add note about tesse-gym updates * Update README.md * Feature/kimera error handling (#54) * update kimera with latest internal version * bump to kimera version w/ increased error handling * remove tmp clone * use vio lcd * Don't use lcd --- .gitignore | 4 + Dockerfile-ppo | 35 +++ Instructions.md | 62 ++++-- README.md | 52 ++++- baselines/config/ppo-agent.yaml | 2 +- config/check-ground-truth.yaml | 8 + config/ground-truth.yaml | 2 +- config/perception-pipeline.yaml | 8 +- doc/details.md | 4 +- doc/generate.md | 26 +++ doc/images/depth_estimate.png | Bin 0 -> 22641 bytes doc/images/depth_ground_truth.png | Bin 0 -> 5254 bytes doc/images/gt_est_pose.png | Bin 0 -> 49654 bytes doc/images/gt_pose.png | Bin 0 -> 39400 bytes doc/images/rgb_estimate.png | Bin 0 -> 87764 bytes doc/images/rgb_ground_truth.png | Bin 0 -> 87764 bytes doc/images/segmentation_estimate.png | Bin 0 -> 3894 bytes doc/images/segmentation_ground_truth.png | Bin 0 -> 2587 bytes doc/images/unity_coords.png | Bin 0 -> 18205 bytes doc/perception-pipeline.md | 97 +++++++++ docker/goseek-base/Dockerfile | 18 +- docker/goseek-kimera/Dockerfile | 220 +++++++++++++++++++ logs/.gitkeep | 0 test_locally.py | 259 ++++++++++++++++++++--- 24 files changed, 720 insertions(+), 77 deletions(-) create mode 100644 Dockerfile-ppo create mode 100644 config/check-ground-truth.yaml create mode 100644 doc/generate.md create mode 100644 doc/images/depth_estimate.png create mode 100644 doc/images/depth_ground_truth.png create mode 100755 doc/images/gt_est_pose.png create mode 100755 doc/images/gt_pose.png create mode 100644 doc/images/rgb_estimate.png create mode 100644 doc/images/rgb_ground_truth.png create mode 100644 doc/images/segmentation_estimate.png create mode 100644 doc/images/segmentation_ground_truth.png create mode 100644 doc/images/unity_coords.png create mode 100644 doc/perception-pipeline.md create mode 100644 docker/goseek-kimera/Dockerfile create mode 100644 logs/.gitkeep diff --git a/.gitignore b/.gitignore index 1621399..9438c46 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,7 @@ simulator/ __pycache__ + +*.pyc +.vscode/ +logs/* diff --git a/Dockerfile-ppo b/Dockerfile-ppo new file mode 100644 index 0000000..cf6f615 --- /dev/null +++ b/Dockerfile-ppo @@ -0,0 +1,35 @@ +################################################################################################### +# DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. +# +# This material is based upon work supported by the Under Secretary of Defense for Research and +# Engineering under Air Force Contract No. FA8702-15-D-0001. Any opinions, findings, conclusions +# or recommendations expressed in this material are those of the author(s) and do not necessarily +# reflect the views of the Under Secretary of Defense for Research and Engineering. +# +# (c) 2020 Massachusetts Institute of Technology. +# +# MIT Proprietary, Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014) +# +# The software/firmware is provided to you on an As-Is basis +# +# Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 +# or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work +# are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other +# than as specifically authorized by the U.S. Government may violate any copyrights that exist in +# this work. +################################################################################################### + +from goseek-base:latest + +RUN apt-get update && \ + apt-get install python-opencv -y && \ + pip install stable-baselines && \ + conda install tensorflow-gpu==1.13.1 + +WORKDIR /goseek-challenge + +COPY baselines/agents.py baselines/agents.py + +COPY baselines/config/ppo-agent.yaml agent.yaml + +COPY ppo-weights.pkl ppo-weights.pkl diff --git a/Instructions.md b/Instructions.md index a6d7f02..d2b209c 100644 --- a/Instructions.md +++ b/Instructions.md @@ -46,7 +46,7 @@ Note that we recommend installing in [development mode](https://setuptools.readt See [below](#training) for further discussion. -2. Clone this repository and install requirements. +3. Clone this repository and install requirements. ```sh git clone https://github.mit.edu/TESS/goseek-challenge.git @@ -54,24 +54,24 @@ cd goseek-challenge ``` -3. Next, you need to obtain GOSEEK simulator. Execute the following: +4. Next, you need to obtain GOSEEK simulator. Execute the following: ```sh mkdir -p simulator -wget https://github.com/MIT-TESSE/goseek-challenge/releases/download/0.1.0/goseek-v0.1.0.zip -P simulator -unzip simulator/goseek-v0.1.0.zip -d simulator -chmod +x simulator/goseek-v0.1.0.x86_64 +wget https://github.com/MIT-TESSE/goseek-challenge/releases/download/0.1.0/goseek-v0.1.4.zip -P simulator +unzip simulator/goseek-v0.1.4.zip -d simulator +chmod +x simulator/goseek-v0.1.4.x86_64 ``` This creates a new `simulator` folder, download and unzips the simulator to that folder, and makes the simulator executable. -Note that if you choose to place the simulator in an alternative location, you will need to specify the location in a configuration file that overrides the default value such as in [config/ground-truth.yaml](config/ground-truth.yaml). +Note that if you choose to place the simulator in an alternative location, you will need to specify the location in a configuration file that overrides the default value such as in [config/check-ground-truth.yaml](config/check-ground-truth.yaml). -4. Test your installation by running a random agent. The agent receives observations and takes random actions: +5. Test your installation by running a random agent. The agent receives observations and takes random actions: ```sh -python eval.py --agent-config baselines/config/random-agent.yaml +python eval.py --agent-config baselines/config/random-agent.yaml --episode-config config/check-ground-truth.yaml ``` -5. Next, build a docker image called `goseek-base`, which is needed to submit online solutions. +6. Next, build a docker image called `goseek-base`, which is needed to submit online solutions. ```sh cd docker/goseek-base/ @@ -85,7 +85,29 @@ docker run --rm -it goseek-base /bin/bash -c "python eval.py --help" ``` -__NOTE__: In order to run the __Perception Pipeline__, you will need another docker image with [Kimera](https://github.com/MIT-SPARK/Kimera). Directions for building this image (named `goseek-kimera`) will be posted at a later time. +7. In order to run the __Perception Pipeline__, you will need another docker image with [Kimera](https://github.com/MIT-SPARK/Kimera). Directions for building this image (named `goseek-kimera`) are as follows. +Please note that building this image is not required to submit a solution for the competition; it is only used for any local testing and/or training with the __Perception Pipeline__. +We strongly encourage participants to review [further details](doc/perception-pipeline.md) on the perception pipeline, as well. + + a. First, obtain [TensorRT](https://developer.nvidia.com/nvidia-tensorrt-download). + Note that you'll need to create an Nvidia account and manually download it because TensorRT is proprietary. + Select `TensorRT-6.0.1.5.Ubuntu-18.04.x86_64-gnu.cuda-10.0.cudnn7.6.tar.gz` from the Nvidia TensorRT + download page and **place the binary in `goseek-challenge/docker/goseek-kimera/`**. + + b. Build the docker image. + Note that this takes quite a while. + (Go watch a movie? :man_shrugging:) + + ```sh + docker build --rm -t goseek-kimera . + ``` + + c. And, optionally again, run the following to verify the docker image. + It should return the list of directory contents in [tesse_gym_bridge](https://www.github.com/MIT-TESSE/tesse-gym-bridge). + + ```sh + docker run --rm -it goseek-kimera /bin/bash -c "source /catkin_ws/devel/setup.bash && rosls tesse_gym_bridge" + ``` ## Usage @@ -126,7 +148,7 @@ class Agent: (1, 240, 320, 3) >>> segmentation.shape (1, 240, 320, 3) - >>> rgb.shape + >>> depth.shape (1, 240, 320, 3) >>> pose.shape (1, 3) @@ -214,17 +236,31 @@ optional arguments: For example, you can run the following to test against __Ground Truth__ data source: ```sh -python test_locally.py -s simulator/goseek-v0.1.0.x86_64 -i submission -g +python test_locally.py -s simulator/goseek-v0.1.4.x86_64 -i submission -g ``` +#### Submitting docker image + +As mentioned in [competition overview](README.md), we are using the [EvalAI](https://evalai.cloudcv.org/) platform to host our submission server. To upload a solution, please follow the instructions below: + +1. Install [EvalAI-CLI](https://evalai-cli.cloudcv.org/): `pip install evalai`. + +2. Create on account on EvalAI's [website](https://evalai.cloudcv.org/) and sign up for the [GOSEEK-Challenge](https://evalai.cloudcv.org/web/challenges/challenge-page/607/overview). + +3. Follow the instructions on the [submission](https://evalai.cloudcv.org/web/challenges/challenge-page/607/submission) tab to push your docker image. +Note that we've provided four phases -- some to support development. +Only the leader of the **Competition Phase with Perception Pipeline** will be declared the competition winner. ## Examples + See any of the following for additional information and examples. - [Baseline Proximal Policy Optimization (PPO)](doc/ppo-baseline.md) - [Additional problem details](doc/details.md) - +- [Instructions for running headless on a linux server](https://github.com/MIT-TESSE/tesse-core#running-tesse-headless) +- [Generating configuration files](doc/generate.md) +- [Details on the Perception Pipeline](doc/perception-pipeline.md) ## Disclaimer diff --git a/README.md b/README.md index 613660a..b51f666 100644 --- a/README.md +++ b/README.md @@ -58,18 +58,34 @@ Note that evaluations occur on withheld office scenes. ### Timeline -The timeline for the competition is as follows: +The current timeline for the competition is as follows: -- __Now until Mid-March__: Competition software available for local testing and training by participants with __Ground Truth__ data source. -- __Mid-March__: __Perception Pipeline__ data source provided to participants. Instructions for online submissions also made available. -- __April 30__: Online submission period ends. -- __May 31__: Workshop date. Competition winner invited to provide keynote presentation. +- __Until Mid-April__: Competition software available for local testing and training by participants with __Ground Truth__ data source. +- __Mid-April__: __Perception Pipeline__ data source provided to participants. Instructions for online submissions also made available. +- __May 20__: Online submission period ends. ### Announcements Over the course of the competition, any important announcements or updates will be listed in this section. We recommend that you follow this repository to be alerted to these announcements. +1. We've posted version 0.1.3 of the challenge simulator. +This provides better support for the __Perception Pipeline__ and addresses a minor bug. +~Please download this new simulator, if you were using 0.1.0 before. +The link can be found in the [instructions](Instructions.md).~ +*[See 4. below]* +2. We've also updated [tesse-gym](https://github.com/MIT-TESSE/tesse-gym) since our initial release to support the __Perception Pipeline__. +You should update your clone of `tesse-gym` from the [instructions](Instructions.md). +Please also rebuild the `goseek-base` docker image, as well as any of your submission images. +3. We continue to track the status of [ICRA 2020](https://icra2020.org/). +We do not anticipate that any future statements from the planning committee will change the timeline of this challenge. +4. **[April 24]** Unfortunately, 0.1.3 of the challenge simulator was missing a shader for the strawberry in the RGB feed -- if you looked carefully it would appear gray. +We believe that most people are not directly using RGB data, so hopefully this has not negatively impacted your experience. +We've posted [0.1.4](https://github.com/MIT-TESSE/goseek-challenge/releases/download/0.1.0/goseek-v0.1.4.zip) of the simulator to correct this and updated all instructions. +5. **[April 24]** We've updated the [goseek-kimera Dockerfile](docker/goseek-kimera/Dockerfile) to incorporate some recent updates to Kimera. +The changes improve stability. +Please rebuild if you are using this. We've also updated [tesse-gym](https://github.com/MIT-TESSE/tesse-gym) to synchronize with the aforementioned changes. Please reclone to use the latest version. + ## Getting Started Complete installation instructions can be found [here](Instructions.md), which lays out prerequisites, provides a link to download the competition simulator, and describes steps to install all required competition software. @@ -100,18 +116,34 @@ Use `test_locally.py` for local testing. Assume you've named your docker image `submission` as above, then evaluate your agent with __Ground Truth__ data as follows. ```sh -python test_locally.py -s simulator/goseek-v0.1.0.x86_64 -i submission -g +python test_locally.py -s simulator/goseek-v0.1.4.x86_64 -i submission -g +``` + +Similarly, evaluate your agent with __Perception Pipeline__ data as follows. +```sh +python test_locally.py -s simulator/goseek-v0.1.4.x86_64 -i submission -p ``` -__NOTE__: Instructions for testing your agent with the __Perception Pipeline__ will be posted shortly. +### Submit online + +1. Install [EvalAI-CLI](https://evalai-cli.cloudcv.org/): `pip install evalai`. + +2. Create on account on EvalAI's [website](https://evalai.cloudcv.org/) and sign up for the [GOSEEK-Challenge](https://evalai.cloudcv.org/web/challenges/challenge-page/607/overview). +3. Follow the instructions on the [submission](https://evalai.cloudcv.org/web/challenges/challenge-page/607/submission) tab to push your docker image. +Note that we've provided four phases -- some to support development. +Only the leader of the **Competition Phase with Perception Pipeline** will be declared the competition winner. + +## Citing + +If you participate in GOSEEK and write a paper or a report about your entry, please cite: -### Submit online. +- D. Yadav, R. Jain, H. Agrawal, P. Chattopadhyay, T. Singh, A. Jain, S. B. Singh, S. Lee, D. Batra, “EvalAI: Towards Better Evaluation Systems for AI Agents”, arXiv:1902.03570, 2019. +- A. Rosinol, M. Abate, Y. Chang, and L. Carlone. Kimera: an open-source library for real-time metric-semantic localization and mapping. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020. -__NOTE__: Instructions for submitting agents online will be available according to the competition timeline [above](#timeline). ## Acknowledgements -First, we would like to thank Rishabh Jain and the rest of the team at [EvalAI](https://evalai.cloudcv.org/) for providing their infrastructure and personal time to support this challenge. We must also acknowledge the team behind [The Habitat challenge](https://github.com/facebookresearch/habitat-challenge) for being pathfinders of RL challenges with online submissions. Their challenge and associated infrastructure was inspiration for many of our own decisions. +First, we would like to thank [Rishabh Jain](https://rishabhjain.xyz/) and the rest of the team at [EvalAI](https://evalai.cloudcv.org/) for providing their infrastructure and personal time to support this challenge. We must also acknowledge the team behind [The Habitat challenge](https://github.com/facebookresearch/habitat-challenge) for being pathfinders of RL challenges with online submissions. Their challenge and associated infrastructure was inspiration for many of our own decisions. ## Disclaimer diff --git a/baselines/config/ppo-agent.yaml b/baselines/config/ppo-agent.yaml index 7ce50bf..79609be 100644 --- a/baselines/config/ppo-agent.yaml +++ b/baselines/config/ppo-agent.yaml @@ -1,2 +1,2 @@ name: StableBaselinesPPO -weights: '' # MODEL WEIGHT PATH +weights: 'ppo-weights.pkl' # PUT WEIGHTS AT GOSEEK-CHALLENGE ROOT diff --git a/config/check-ground-truth.yaml b/config/check-ground-truth.yaml new file mode 100644 index 0000000..19167fb --- /dev/null +++ b/config/check-ground-truth.yaml @@ -0,0 +1,8 @@ +ENV: + sim_path: 'simulator/goseek-v0.1.4.x86_64' + +EPISODE: + scenes: [3, 5] + n_targets: [30, 30] + episode_length: [400, 400] + random_seeds: [10, 100] diff --git a/config/ground-truth.yaml b/config/ground-truth.yaml index 3be0b8b..cf28875 100644 --- a/config/ground-truth.yaml +++ b/config/ground-truth.yaml @@ -5,4 +5,4 @@ EPISODE: scenes: [3, 5] n_targets: [30, 30] episode_length: [400, 400] - random_seeds: [10, 100] \ No newline at end of file + random_seeds: [10, 100] diff --git a/config/perception-pipeline.yaml b/config/perception-pipeline.yaml index e383351..1f919a0 100644 --- a/config/perception-pipeline.yaml +++ b/config/perception-pipeline.yaml @@ -5,7 +5,7 @@ ENV: image_port: 9008 EPISODE: - scenes: [3, 5] - n_targets: [30, 30] - episode_length: [400, 400] - random_seeds: [10, 100] + scenes: [3, 4, 5, 5] + n_targets: [30, 30, 30, 30] + episode_length: [400, 400, 400, 400] + random_seeds: [10, 1, 5, 6] diff --git a/doc/details.md b/doc/details.md index 2236204..eabb351 100644 --- a/doc/details.md +++ b/doc/details.md @@ -23,7 +23,7 @@ They don't spawn in other rooms (e.g., restroom, breakroom). ### Semantics -There are 10 semantic categories for objects as follows. +There are 11 semantic categories for objects as follows. - 0: floor (0,171,143) - 1: ceiling (1,155,211) - 2: wall (2,222,110) @@ -52,4 +52,4 @@ MIT Proprietary, Subject to FAR52.227-11 Patent Rights - Ownership by the contra The software/firmware is provided to you on an As-Is basis -Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work. \ No newline at end of file +Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work. diff --git a/doc/generate.md b/doc/generate.md new file mode 100644 index 0000000..af7657f --- /dev/null +++ b/doc/generate.md @@ -0,0 +1,26 @@ +# Generating configuration files + +The follow example generates a configuration file with 10 episodes such as those in [../config](../config). +If you find this useful, please adapt for your own use. + +```py +import random +import yaml + +k = 10 # number of episodes to generate +l = 400 # episode length +f = 30 # number of fruit +scenes = [1, 2, 3, 4, 5] # scenes (1 through 5 are provided) + +data = {} +data['ENV'] = {'sim_path': ''} + +data['EPISODE'] = {'scenes': random.choices(scenes, k=k), + 'n_targets': [f for _ in range(k)], + 'episode_length': [l for _ in range(k)], + 'random_seeds': [random.randint(1, 1e6) for _ in range(k)] + } + +with open('example.yaml', 'w') as outfile: + yaml.dump(data, outfile) +``` 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zeT}_t6v`|=0CxI{R&Nf$tM#|GtraSZT08Ci?+IQIan%W{{)cc{gGPAg%<;I9SpDtI z!D&tl1H4n;RLpyB!N&lMBd<*0f-0+wyTFZsOWXZ`v(DfD0(*QQx1L^FaR|7dkRO=b zoOIVOYLV^AZ3L!XhafMIJEIhVv8n+a8)yage1QzaZpgxB-v;Q$NRX3({eI*flAw)| wkR6h^^yAn~iDVbZQpnEBL1IB}z~6d*FDrw22TpYXH?J~yy85}Sb4q9e0H;a{i2wiq literal 0 HcmV?d00001 diff --git a/doc/perception-pipeline.md b/doc/perception-pipeline.md new file mode 100644 index 0000000..d04e85d --- /dev/null +++ b/doc/perception-pipeline.md @@ -0,0 +1,97 @@ +# Perception Pipeline + +As stated in the challenge overview, we provide two data sources: one is the simulator **Ground Truth** and the other is a realistic **Perception Pipeline**. + +1. __Ground Truth__: The agent observes ground truth (i.e., error free) information that is provided directly from the simulator. +2. __Perception Pipeline__: The agent observes output of [Kimera](http://web.mit.edu/sparklab/2019/10/13/Kimera__an_Open-Source_Library_for_Real-Time_Metric-Semantic_Localization_and_Mapping.html), which is an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). +Note that the types (and dimensions) of observations provided are the same as before; however, the error characteristics are now representative of a real perception system. + +This page gives an overview of [Data Conventions](#data-conventions) and the [Perception Pipeline Algorithms](#perception-pipeline-algorithms). + +## Data Conventions + +Th agent observes several data products: monocular RGB, semantic segmentation, depth, and agent pose. +Conventions related to these data products are as follows. + +### Semantic Segmentation + +See the [details page](https://github.mit.edu/TESS/goseek-challenge/blob/perception-docs/doc/details.md#semantics) for a list of the semantic segmentation classes and corresponding RGB values. Note, the class index corresponds to the value of the first color channel. + +### Depth + +Depth is rendered within a specified range, known as [clip planes](https://docs.unity3d.com/Manual/class-Camera.html), and then mapped to the range `[0, 1]`. The simulator uses minimum and maximum clip planes of `0.05` and `50`, so to recover depth in meters multiply the provided image by `50`. Note, depth beyond 50 meters is truncated. In the [evaluation interface](https://github.mit.edu/TESS/goseek-challenge/blob/master/Instructions.md#local-evaluation) this would look like: + +```python +from tesse_gym.tasks.goseek import decode_observations + +class Agent: + """ Interface for submitting an agent for evaluation. """ + + def act(self, observation: np.ndarray) -> int: + far_clip_plane = 50 + rgb, segmentation, depth, pose = decode_observations(observation) + depth *= far_clip_plane # convert depth to meters + ... +``` + + +### Coordinate System for Poses + +We use the left handed coordinate system native to Unity (see [Unity documentation](https://docs.unity3d.com/560/Documentation/Manual/Transforms.html)). For world coordinates, x- and z-axes are aligned with the horizontal plane, and the y-axis is aligned with up. Pose is given as the vector `(x, z, yaw)` where the z-axis is aligned with forward, the x-axis is positive to the right, and yaw is relative to the positive up y-axis. + +![](images/unity_coords.png) + + + +## Perception Pipeline Algorithms + +During evaluation, participants will be provided with realistic perception data from [Kimera](https://github.com/MIT-SPARK/Kimera), an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). Realistic perception estimates are obtained by passing ground truth simulator data through this pipeline. Thus, the types and dimensions of observations will remain the same; however, the error characteristics are now representative of a real perception system. + +Please note that running the perception pipeline requires significantly more computation than groundtruth. +Episodes will run **several times slower** than when running the groundtruth data pipeline. +The simulator is run in a continuous dynamics mode (compared to discrete dynamics when running the groundtruth data pipeline), and it is outputting imagery at a higher rate. +This higher-rate data is needed for estimating [pose](#pose) only, so agent policies will still receive data at the same rate as before. +In addition, several perception algorithms are now running as described below. + +We recommend thinking carefully about how you use this pipeline. +It may be less feasible to generate data with it for policy training, for example. + +### Segmentation + +A [U-Net](https://arxiv.org/pdf/1505.04597.pdf) provides segmentation estimates for the 11 GOSEEK [semantic classes](https://github.com/MIT-TESSE/goseek-challenge/blob/master/doc/details.md#semantics). The [segmentation-models.pytorch](https://github.com/qubvel/segmentation_models.pytorch) project was used to train the model on data collected from [scenes 1-4](https://github.com/MIT-TESSE/goseek-challenge/blob/master/doc/details.md#scenes) of the GOSEEK simulator. Scene 5 was used to collect a validation set on which the model achieves an Intersection-over-Union (IoU) score of roughly 0.8. The model was then exported to an ONNX file, provided in this [release](https://github.com/MIT-TESSE/tesse-segmentation-ros/releases), for inference in [TensorRT](https://developer.nvidia.com/tensorrt). + +Training details can be found in this [notebook](https://github.com/MIT-TESSE/tesse-segmentation-ros/blob/master/training/train-segmentation-models.ipynb). The inference framework is implemented [here](https://github.com/MIT-TESSE/tesse-segmentation-ros/blob/master/src/tesse_segmentation_ros/models.py#L57). + +### Depth +Depth is estimated via stereo reconstruction. Using a stereo image pair from the simulator, we use the ROS [`stereo_image_proc`](http://wiki.ros.org/stereo_image_proc) node to generate a point cloud which is then projected into the camera plane to produce a depth image. + + +### Pose +Pose is provided by [Kimera-VIO](https://github.com/MIT-SPARK/Kimera-VIO), a Visual Inertial Odometry pipeline for State Estimation from Stereo and IMU data. + +Below is a comparison of the data provided in Ground Truth and Perception modes. Pose is illustrated over a 100 step trajectory with the carrots representing position and heading every 1 step. + + +| | Ground Truth | Perception | +:----------------------:|:------------------------------------------:|:-------------------------: +| Monocular RGB | ![](images/rgb_ground_truth.png) | ![](images/rgb_estimate.png) +| Semantic Segmentation | ![](images/segmentation_ground_truth.png) | ![](images/segmentation_estimate.png) +| Depth | ![](images/depth_ground_truth.png) | ![](images/depth_estimate.png) +| Pose | ![](images/gt_pose.png) | ![](images/gt_est_pose.png) + + +## Disclaimer + +DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. + +This material is based upon work supported by the Under Secretary of Defense for Research and Engineering under Air Force Contract No. FA8702-15-D-0001. Any opinions, findings, conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Under Secretary of Defense for Research and Engineering. + +(c) 2020 Massachusetts Institute of Technology. + +MIT Proprietary, Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014) + +The software/firmware is provided to you on an As-Is basis + +Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work. + + diff --git a/docker/goseek-base/Dockerfile b/docker/goseek-base/Dockerfile index 1d9e816..e5373ac 100644 --- a/docker/goseek-base/Dockerfile +++ b/docker/goseek-base/Dockerfile @@ -19,24 +19,20 @@ RUN apt-get update && \ apt-get install -y git curl && \ apt-get clean -RUN curl -o ~/miniconda.sh -O https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh && \ - chmod +x ~/miniconda.sh && \ - ~/miniconda.sh -b -p /opt/conda && \ - rm ~/miniconda.sh && \ - /opt/conda/bin/conda clean -ya && \ - /opt/conda/bin/conda create -y -n python37 python=3.7 numpy pip scipy pyyaml pillow +RUN curl -LO http://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh && \ + bash Miniconda3-latest-Linux-x86_64.sh -p /miniconda -b && \ + rm Miniconda3-latest-Linux-x86_64.sh -RUN /opt/conda/bin/conda update -y -n base -c defaults conda +ENV PATH /miniconda/bin:$PATH -# this will pseudo-activate the conda environment for all subsequent build commands -ENV PATH /opt/conda/envs/python37/bin:/opt/conda/envs/bin:$PATH +RUN conda update -y conda && \ + conda install -y -f python=3.7 numpy pip scipy pyyaml pillow -RUN pip install git+https://github.com/MIT-TESSE/tesse-gym.git@master +RUN pip install -e git+https://github.com/MIT-TESSE/tesse-gym.git@master#egg=tesse-gym RUN git clone https://github.com/MIT-TESSE/goseek-challenge.git /goseek-challenge WORKDIR /goseek-challenge - ######################################################################################### # DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. diff --git a/docker/goseek-kimera/Dockerfile b/docker/goseek-kimera/Dockerfile new file mode 100644 index 0000000..a549ed9 --- /dev/null +++ b/docker/goseek-kimera/Dockerfile @@ -0,0 +1,220 @@ +FROM nvidia/cuda:10.0-cudnn7-devel-ubuntu18.04 +# using devel to support installing pycuda +# if you are behind a proxy: https://docs.docker.com/network/proxy/ + +RUN apt-get clean && apt-get update && apt-get install -y locales +RUN echo "en_US.UTF-8 UTF-8" > /etc/locale.gen && \ + locale-gen +ENV LC_ALL en_US.UTF-8 +ENV LANG en_US.UTF-8 +ENV LANGUAGE en_US.UTF-8 +ENV SHELL /bin/bash +ENV DEBIAN_FRONTEND noninteractive + +# switch to bash within the container so ROS sourcing is easy in build commands +SHELL ["/bin/bash", "-c"] + +RUN apt-get update && \ + apt-get install -y curl bzip2 wget vim ffmpeg git tmux unzip + +# tesse: opencv dependency workaround from https://github.com/NVIDIA/nvidia-docker/issues/864 +RUN apt-get update && apt-get install -y libsm6 libxext6 libxrender-dev + +# kimera: +RUN apt-get update && \ + apt-get install -y --no-install-recommends apt-utils + +################################ +### ROS ### +################################ + +#Set the ROS distro +ENV ROS_DISTRO melodic + +# Add the ROS keys and package +RUN apt-get update && \ + apt-get install -y \ + lsb-release \ + gnupg +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' +RUN mkdir ~/.gnupg +RUN echo "disable-ipv6" >> ~/.gnupg/dirmngr.conf + +RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add - + +# Install ROS +RUN apt-get update && \ + apt-get install -y ros-melodic-desktop-full + +RUN apt-get install -y \ + python \ + python-pip \ + python-dev + +RUN apt-get install python-rosdep + +# Set up ROS +RUN rosdep init +RUN rosdep update + +RUN source /opt/ros/melodic/setup.bash && \ + apt install -y \ + python-rosinstall \ + python-rosinstall-generator \ + python-wstool build-essential \ + python-catkin-tools + +# Setup catkin workspace +RUN source /opt/ros/melodic/setup.bash && \ + mkdir -p /catkin_ws/src && \ + cd /catkin_ws/ && \ + catkin init && \ + # Change `melodic` to your ROS distro + catkin config --extend /opt/ros/melodic && \ + catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release && \ + catkin config --merge-devel + + +################################ +### ** TESSE ** ### +### ------------ ### +### TESSE ROS packages ### +### TESSE Anaconda packages ### +################################ + +WORKDIR /catkin_ws/src + +# tesse-ros-bridge dependency +RUN pip install scipy + +RUN git clone https://github.com/MIT-TESSE/tesse-interface.git -b 0.1.3-SNAPSHOT && \ + cd tesse-interface && \ + python setup.py install && \ + cd .. + +WORKDIR /catkin_ws/src +RUN source /opt/ros/melodic/setup.bash +RUN wstool init + +RUN git clone https://github.com/MIT-TESSE/tesse-ros-bridge.git && \ + wstool merge -y tesse-ros-bridge/install/tesse_ros_bridge.rosinstall + +RUN git clone https://github.com/MIT-TESSE/tesse-segmentation-ros.git && \ + wstool merge -y tesse-segmentation-ros/install/tesse_segmentation_ros.rosinstall + +RUN git clone https://github.com/MIT-TESSE/tesse-gym-bridge.git && \ + wstool merge -y tesse-gym-bridge/install/tesse_gym_bridge.rosinstall + +RUN wstool update +RUN catkin build tesse_ros_bridge tesse_segmentation_ros tesse_gym_bridge + + +################################ +### **MIT-SPARK KIMERA** ### +### ---------------- ### +### KIMERA-VIO-ROS ### +### KIMERA-Semantics ### +################################ + +# pinned commits: +# https://github.com/MIT-SPARK/Kimera-VIO-ROS @ f6181a1370677ffe8c24253554efebaf787f428e +# https://github.com/MIT-SPARK/Kimera-VIO @ 42ad9ca557656ef3463b8cc3b841fe5a4a36398c +# https://github.com/MIT-SPARK/Kimera-Semantics @ 0ae759f24cce9e9ffc28d0495327a3d2b37d2c99 + +# Kimera dependencies +RUN apt-get update && \ + apt-get install -y \ + libgoogle-glog-dev \ + doxygen \ + cmake build-essential pkg-config autoconf \ + libboost-all-dev \ + libjpeg-dev libpng-dev libtiff-dev \ + libvtk6-dev libgtk-3-dev \ + libatlas-base-dev gfortran \ + libparmetis-dev \ + libtbb-dev + +# suppress build warnings +ENV PYTHONIOENCODING=UTF-8 + +WORKDIR /catkin_ws/src + +RUN git clone https://github.com/MIT-SPARK/Kimera-VIO-ROS.git && \ + cd Kimera-VIO-ROS && \ + git checkout db6afe795f3bf6b88842d2c45cb2306926505051 && \ + cd .. && \ + wstool merge -y Kimera-VIO-ROS/install/kimera_vio_ros_https.rosinstall && \ + wstool update + +RUN git clone https://github.com/MIT-SPARK/Kimera-Semantics.git && \ + cd Kimera-Semantics && \ + git checkout 0ae759f24cce9e9ffc28d0495327a3d2b37d2c99 && \ + cd .. && \ + wstool merge -y Kimera-Semantics/kimera/install/kimera_semantics_https.rosinstall && \ + wstool update + +# checkout pinned commit of Kimera-VIO-ROS and Kimera-VIO +RUN cd Kimera-VIO-ROS && \ + git checkout db6afe795f3bf6b88842d2c45cb2306926505051 && \ + cd .. && \ + cd Kimera-VIO && \ + git fetch && git checkout 13a52d8772305be143ebdf470c8714759e411f59 && \ + cd .. + +RUN cd gtsam && \ + git fetch && \ + git checkout develop && \ + git pull + +RUN catkin build + +################################ +### Configs ### +################################ + +RUN wget https://github.com/MIT-TESSE/goseek-challenge/releases/download/evalai-beta-testing/goseek-unet-a1.onnx \ + -P /catkin_ws/src/tesse-segmentation-ros/cfg/ && \ + wget https://github.com/MIT-TESSE/goseek-challenge/releases/download/evalai-beta-testing/kimera-configs.zip && \ + unzip kimera-configs.zip && \ + mv kimera-configs/* /catkin_ws/src/Kimera-VIO/params/Tesse/ && \ + rm kimera-configs.zip + +RUN source /catkin_ws/devel/setup.bash + +WORKDIR / + +RUN echo "source /catkin_ws/devel/setup.bash" >> run_perception.sh && \ + echo "roslaunch tesse_gym_bridge run_goseek_perception.launch" >> run_perception.sh && \ + chmod +x /run_perception.sh + + +################################ +### TensorRT ### +################################ + +ADD TensorRT-6.0.1.5.Ubuntu-18.04.x86_64-gnu.cuda-10.0.cudnn7.6.tar.gz / +RUN mv /TensorRT-6.0.1.5 /tensorrt + +ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/tensorrt/lib + +# install tensorrt wheel into the python environment used with ROS +RUN source /opt/ros/melodic/setup.bash && \ + source /catkin_ws/devel/setup.bash && \ + cd /tensorrt/python/ && \ + pip install tensorrt-6.0.1.5-cp27-none-linux_x86_64.whl && \ + pip install pycuda + + +######################################################################################### +# Disclaimer: +# DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. + +# This material is based upon work supported by the Under Secretary of Defense for Research and Engineering under Air Force Contract No. FA8702-15-D-0001. Any opinions, findings, conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Under Secretary of Defense for Research and Engineering. + +# © 2019 Massachusetts Institute of Technology. + +# MIT Proprietary, Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014) + +# The software/firmware is provided to you on an As-Is basis + +# Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S. Government rights in this work are defined by DFARS 252.227-7013 or DFARS 252.227-7014 as detailed above. Use of this work other than as specifically authorized by the U.S. Government may violate any copyrights that exist in this work. diff --git a/logs/.gitkeep b/logs/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/test_locally.py b/test_locally.py index 416c5e8..a2446f2 100644 --- a/test_locally.py +++ b/test_locally.py @@ -20,9 +20,222 @@ ################################################################################################### import argparse +import ast +import hashlib +import os +import pprint import subprocess import time -import os +from datetime import datetime + +RECALL_WEIGHT = 1 +PRECISION_WEIGHT = 0.1 +COLLISIONS_WEIGHT = 0.1 +ACTIONS_WEIGHT = 0.1 +EPISODE_LENGTH = 400 + +DOCKER_VIO_LOGDIR = "/catkin_ws/src/Kimera-VIO-ROS/output_logs" +HOST_VIO_LOGDIR = "kimera_vio_logs" + + +def _time_hash(prefix): + """ Get has based on current time. """ + hash = hashlib.sha1() + hash.update(str(time.time()).encode()) + return f"{prefix}_{hash.hexdigest()}" + + +def summarize(results): + n_episodes = len(results) - 1 + + metrics = {} + metrics["Recall"] = results["total"]["recall"] + metrics["Precision"] = results["total"]["precision"] + metrics["Collisions"] = ( + results["total"]["collisions"] / n_episodes + ) # results has total collisions + metrics["Actions"] = ( + results["total"]["steps"] / n_episodes + ) # results has total steps + + metrics["Weighted Total"] = ( + RECALL_WEIGHT * metrics["Recall"] + + PRECISION_WEIGHT * metrics["Precision"] + - COLLISIONS_WEIGHT * metrics["Collisions"] / EPISODE_LENGTH + - ACTIONS_WEIGHT * metrics["Actions"] / EPISODE_LENGTH + ) + return metrics + + +def start_perception_subprocess(image_name): + """ Start docker container with perception server as subprocess. """ + container_name = _time_hash("goseek_perception") + return ( + subprocess.Popen( + [ + "docker", + "run", + "--rm", + "--name", + f"{container_name}", + "--network=host", + "--gpus", + "all", + "-t", + f"{image_name}", + "/bin/bash", + "-c", + "source /catkin_ws/devel/setup.bash && " + "roslaunch tesse_gym_bridge run_goseek_perception.launch", + ], + stdout=subprocess.DEVNULL, + stderr=subprocess.DEVNULL, + ), + container_name, + ) + + +def start_submission_subprocess(config_dir, submission_image, episode_config_file): + submission_name = _time_hash("submission") + return ( + subprocess.Popen( + [ + "docker", + "run", + "--name", + f"{submission_name}", + "--network=host", + "--gpus", + "all", + "-v", + # note to goseek-challenge participants: + # we will use an internal config for our challenge evaluations + "{}:/config".format(config_dir), + "-t", + "{}".format(submission_image), + "/bin/bash", + "-c", + "python eval.py --episode-config /config/{} --agent-config agent.yaml".format( + episode_config_file + ), + ], + ), + submission_name, + ) + + +def kill_docker_container(container_name): + """ Kill docker container by name. """ + subprocess.call( + ["docker", "rm", "--force", f"{container_name}"], + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + ) + + +def get_docker_logs(container_name): + """ Get logs of docker container. """ + p = subprocess.run( + ["docker", "logs", container_name], + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + ) + return p.stdout.decode(), "" # TODO parse output to stdout and stderr + + +def docker_cp(container_name, container_dir, host_dir): + subprocess.run(["docker", "cp", f"{container_name}:{container_dir}", host_dir]) + + +def write_logs(fname, data): + with open(fname, "w") as f: + f.write(data) + + +def extract_metrics(process, submission_stdout): + if process.returncode == 0: + results = submission_stdout.split("----- Per Episode Score -----")[-1] + metrics = summarize(ast.literal_eval(results)) + else: # Agent failure returns -1 weighted score + metrics = { + "Recall": 0, + "Precision": 0, + "Collisions": 0, + "Actions": 0, + "Weighted Total": -1, + } + return metrics + + +def log_perception_data(container_name, logdir): + perception_stdout, perception_stderr = get_docker_logs(container_name) + docker_cp( + container_name, DOCKER_VIO_LOGDIR, f"{logdir}/{HOST_VIO_LOGDIR}", + ) + + write_logs(f"{logdir}/perception-stdout.txt", perception_stdout) + write_logs(f"{logdir}/perception-stderr.txt", perception_stderr) + + +def main( + simulator: str, # path to simulator + kimera: bool, # specify whether to run kimera docker + image: str, # path to docker image + config: str, # path to configuration, + logdir: str = None, # optional log dir +): + + try: + if logdir is None: + logdir = f"logs/{datetime.now().strftime('%m-%d-%Y_%H-%M-%s')}" + if not os.path.exists(logdir): + os.makedirs(logdir) + + # run simulator + sim = subprocess.Popen([simulator, "--set_resolution", "320", "240"]) + + # run perception server + if kimera: + perception, perception_container_name = start_perception_subprocess( + "goseek-kimera" + ) + time.sleep(20) + + time.sleep(10) # wait for the simulator to open + + print("Running agent...") + + # Split up configuration + dirname, filename = os.path.split(os.path.abspath(config)) + p, submission_name = start_submission_subprocess(dirname, image, filename) + p.communicate() # wait for process to stop + + except Exception as ex: + print(f"CAUGHT EXCEPTION: {ex}") + + except KeyboardInterrupt: + print(f"Caught keyboard interrupt, exiting...") + + finally: + # cleanup + sim.terminate() + print("stopped simulator...") + + stdoutdata, stderrdata = get_docker_logs(submission_name) + metrics = extract_metrics(p, stdoutdata) + write_logs(f"{logdir}/submission-stdout.txt", stdoutdata) + + kill_docker_container(submission_name) + print("stopped submission...") + + if kimera: + log_perception_data(perception_container_name, logdir) + kill_docker_container(perception_container_name) + perception.terminate() + print("stopped perception pipeline...") + + return stdoutdata, stderrdata, metrics, p.returncode + if __name__ == "__main__": parser = argparse.ArgumentParser() @@ -45,42 +258,18 @@ help="Use realistic perception for observations", action="store_true", ) - args = parser.parse_args() - # ---- perception mode - if args.perception: - raise NotImplementedError( - "This perception mode will be released in an update to the goseek-challenge soon. Please stay tuned!" - ) - - # ---- groundtruth mode - - # run simulator - sim = subprocess.Popen([args.simulator, "--set_resolution", "320", "240"]) - time.sleep(10) # wait for the simulator to open - - output = subprocess.check_output( - [ - "docker", - "run", - "--rm", - "--network=host", - "--gpus", - "all", - "-v" - # note to goseek-challenge participants: we will use an internal config for our challenge evaluations - "{}/config:/config".format(os.getcwd()), - "-t", - "{}".format(args.image), - "/bin/bash", - "-c", - "python eval.py --episode-config /config/ground-truth.yaml --agent-config agent.yaml", - ] - ) - print(output.decode("utf-8")) + episode_config = "{}/config/perception-pipeline.yaml".format(os.getcwd()) + kimera = True + else: # ground truth mode + episode_config = "{}/config/ground-truth.yaml".format(os.getcwd()) + kimera = False - # cleanup - sim.terminate() + stdoutdata, stderrdata, metrics, returncode = main( + args.simulator, kimera, args.image, episode_config + ) + print("\n***** Summary Metrics *****") + pprint.pprint(metrics) From 322f64a6bcb8ee39d6d854ee07626cf4f21bdf17 Mon Sep 17 00:00:00 2001 From: Zachary Ravichandran Date: Fri, 15 May 2020 10:38:34 -0400 Subject: [PATCH 5/6] goseek-kimera build fix --- docker/goseek-kimera/Dockerfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docker/goseek-kimera/Dockerfile b/docker/goseek-kimera/Dockerfile index a549ed9..df509e5 100644 --- a/docker/goseek-kimera/Dockerfile +++ b/docker/goseek-kimera/Dockerfile @@ -166,6 +166,8 @@ RUN cd gtsam && \ git checkout develop && \ git pull +RUN catkin build gtsam opengv_catkin opencv3_catkin kimera_rpgo dbow2_catkin + RUN catkin build ################################ From 9b28e2690642f59280c55f4deaea89e5b4854bb9 Mon Sep 17 00:00:00 2001 From: ZacRavichandran Date: Fri, 15 May 2020 10:49:07 -0400 Subject: [PATCH 6/6] Update repo link --- Instructions.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Instructions.md b/Instructions.md index d2b209c..90c34a0 100644 --- a/Instructions.md +++ b/Instructions.md @@ -49,7 +49,7 @@ See [below](#training) for further discussion. 3. Clone this repository and install requirements. ```sh -git clone https://github.mit.edu/TESS/goseek-challenge.git +git clone https://github.com/MIT-TESSE/goseek-challenge.git cd goseek-challenge ```