Drake-TAMP

Task and motion planning in Drake

Installation and Setup

Prerequisites:

• Docker. The code can also be run outside of a container. See the nessecary packages in docker_scripts/Dockerfile and docker_scripts/requirements.txt
• make sure your environment variables $USER and $UID are set

Clone the repository and build the docker image. Fill in <your_password> with the login password you want for your user in the docker container:

cd ~
git clone --recurse-submodules https://github.com/rvl-lab-utoronto/drake-tamp.git
cd ~/drake-tamp/docker_scripts/
./docker_build.sh <your_password>

Note that building the python bindings for ompl and RUN chown will both take a long time.

To compile FastDownward run:

cd pddlstream && ./FastDownward/build.py release64
cd pddlstream/FastDownward/builds && ln -s release64 release32

Start the container, specifying the port you want to use for ssh <port> and the container name <container_name>:

cd ~/drake-tamp/docker_scripts/
./docker_run.sh -p <port> -n <container_name>

If you are working on a remote machine, it is nice to ssh into the docker container and use a remote desktop so you can use all GUIs. To do so, on your local machine, add this to your ~/.ssh/config file:

Host tamp-workspace
    ProxyCommand ssh -q <remote-computer-hostname> -q0 localhost <port>
    LocalForward 5901 localhost:5901
    User <your_username>

Note: If you are trying to remote from a windows machine, the ProxyCommand is slightly different (see https://blog.because-security.com/t/how-to-use-ssh-proxycommands-on-windows-10-from-powershell/548 for more details):

Host tamp-workspace
  ProxyCommand ssh.exe -W %h:%p <remote-computer-host>
  HostName localhost 
  Port <port>
  User <your_username>
  LocalForward 5901 localhost:5901

Folders and Files

• docker_scripts contains the files for building the docker image and starting the docker container.
• learning implements various models and data handling functions used in the INFORMED algorithm.
• panda_station contains code and urdf/sdf model files to build the simulation's in Drake. It is very similar to Drake's ManipulationStation
• pddlstream is a fork of Caelan Garrett's PDDLStream with our implementation of INFORMED (see pddlstream/algorithms/focused.py)
• experiments contains scripts and files to run the TAMP experiments outlined in [LINK PAPER HERE]

Experiments

Top level scripts

main.py

Used to run a single trial.

Usage:

main.py [-h]
        [--domain {kitchen,blocks_world,two_arm_blocks_world,hanoi}]
        [--domain-options DOMAIN_OPTIONS] [--problem-file PROBLEM_FILE]
        [--oracle-options ORACLE_OPTIONS]
        [--algorithm {informedV2,adaptive}]
        [--mode {normal,save,oracle,complexityV3,complexityandstructure,complexitycollector,oracleexpansion,oraclemodel,model,cachingmodel,multiheadmodel,complexityoracle}]
        [--use-unique] [--should-save] [--max-time MAX_TIME]
        [--eager-mode] [--profile PROFILE] [--url URL]
        [--logpath LOGPATH] [--max_planner_time MAX_PLANNER_TIME]

optional arguments:
  -h, --help            show this help message and exit
  --domain {kitchen,blocks_world,two_arm_blocks_world,hanoi}
                        The name of the domain to test
  --domain-options DOMAIN_OPTIONS
                        Domain specific options in json kwarg format
  --problem-file PROBLEM_FILE
                        A path to the .yaml problem file
  --oracle-options ORACLE_OPTIONS
                        Keyword arguments passed to the model in json format,
                        like {"model_path":"/home/agrobenj/drake-
                        tamp/model_files/blocksworld_V2_adaptive/best.pt"}
  --algorithm {informedV2,adaptive}
                        Which algorithm do you want to run the trial with?
  --mode {normal,save,oracle,complexityV3,complexityandstructure,complexitycollector,oracleexpansion,oraclemodel,model,cachingmodel,multiheadmodel,complexityoracle}
  --use-unique          Make INFORMED use strictly unique results (refined)
                        during planning. Warning, this will usually drasically
                        slow things down
  --should-save         Force the oracle to save data to the save path
  --max-time MAX_TIME   Maximum total runtime of the trial
  --eager-mode          Do you want to run INFORMED in eager-mode? (i.e every
                        stream result popped of the queue has all it's
                        children added to the I^*
  --profile PROFILE     A path to (optionally) save a .profile file to (from
                        CProfile)
  --url URL             A meshcat url for viewing the problem
  --logpath LOGPATH     The directory to save the logs
  --max_planner_time MAX_PLANNER_TIME
                        The maximum time before FastDownward times out (per
                        call)

The various modes are as follows:

• normal: Run a normal trial
• save: Run a normal trial while saving information to index.json that an Oracle can later use to create labels
• oracle: Run a trial where the oracle is used to create labels. Another algorithm must have already been run, saving data to index.json or passing the path to stats.json directly as --oracle-options='{"stats_path": "path/to/my/stats.json"}'
• cachingmodel: Use a model that is faster because it caches previous computatinos (with INFORMED)
• TODO: Explain the rest of these modes (the ones that are relevant)

run.sh

This script is used to run many experiments on a directory of problem files for the same domain and algorithm.

Usage: ./run.sh <exp_dir> <problem_dir_path> <run_args1> <run_arg2> ...

• <exp_dir>: A directory to save the output logs to (will be automatically created)
• <problem_file_path>: The directory containing the .yaml files specifying the problems (see experiments/blocks_world/random/train/*) for an example
• <run_args{i}>: The arguments that will be passed along to main.py

collect-labels.sh

This script is used to collect labels (in learning/data/labeled/*) used for training a model.

Usage: ./collect-labels.sh <exp_dir> <domain> <problem_dir_path>

• <domain>: The name of the domain to use. Run python main.py -h to see a list of valid domains (above).

start_meshcat_server.py

Run this python file to start a meshcat server. It will print out a url you can pass to main.py or any run.py to visualize the Drake simulation.

Training

Creating a dataset

After labels have been collected (see collect-labels.sh), we can create a dataset and train a model. See example scripts learning/scripts/{blocksworld.py, hanoi.py, kitchen_diffclasses.py} for examples on how to create a .json file used to index a dataset. More information can be found in learning/gnn/data.py under the query_data function, and the main block.

Training and testing a model

learning/gnn/main.py is the top level script for training a model.

Usage:
    main.py [-h] [--model-home MODEL_HOME] [--test-only]
        [--model {hyper,streamclass,streamclassv2}] [--epochs EPOCHS]
        [--save-every SAVE_EVERY] [--pos-weight POS_WEIGHT]
        [--stratify-train-prop STRATIFY_TRAIN_PROP] [--lr LR]
        [--gradient-batch-size GRADIENT_BATCH_SIZE]
        [--batch-size BATCH_SIZE]
        [--num-preprocessors NUM_PREPROCESSORS] [--from-best]
        [--use-problem-graph] [--datafile DATAFILE] [--debug]
        [--epoch-size EPOCH_SIZE] [--preprocess-all] [--ablation]

optional arguments:
  -h, --help            show this help message and exit
  --model-home MODEL_HOME
                        A directory in which logs and parameters will be saved
                        during training
  --test-only           If you only want to test a model (not end-to-end)
  --model {hyper,streamclass,streamclassv2}
                        The type of model you want to train. See
                        learning/gnn/models.py for more information
  --epochs EPOCHS       The number of epochs to train for
  --save-every SAVE_EVERY
                        The number of epochs between tests on the validation
                        set and saving model parameters
  --pos-weight POS_WEIGHT
                        The weighting given to positive examples in the
                        training set
  --stratify-train-prop STRATIFY_TRAIN_PROP
                        The proportion of positive examples shown to the model
  --lr LR               The learning rate
  --gradient-batch-size GRADIENT_BATCH_SIZE
  --batch-size BATCH_SIZE
                        The batch size
  --num-preprocessors NUM_PREPROCESSORS
                        The number of cpu cores allowed to help preprocess the
                        data
  --from-best           Do you want to use the best.pt file saved in the model
                        directory during testing
  --use-problem-graph   Do you want to use the problem graph model
  --datafile DATAFILE   A path to a json file containing train and validation
                        keys wich have a list of pkl paths as values.
  --debug               Are you debugging?
  --epoch-size EPOCH_SIZE
                        The number of labels shown per epoch
  --preprocess-all      Do you want to preprocess all of the data, or
                        processes it when it is needed?
  --ablation            Are you doing an ablation study?