RL-Project/Fetch-Reinforcement_learning_Project
0
1�
2 ��h� � �@ � d dl Z d dlZd dlZd dlZd dlZd dlmZ d dl m3Z4 d� Z ej � � 5 Z
ej d� � ej d� � ej d� � ej g d�d d5� � � Z ej d d
�� � Z ej � � 5 ej dd�� � Z ej dd�� � Zddd� � n # 1 swxY w Y ej � � 5 ej dd�� � Z ej dd�� � Z ej dd�� � Zddd� � n # 1 swxY w Y ej d� � Z ej � � Z e� e eeeeeeege �� � ddd� � n # 1 swxY w Y e
� d�� � dS )� N)�SAC)�6create_envc �d � ddddd�}|| }dddd d�} | | }7|8dk rd9}| |ff} |||f} |rd } d } t d | | |10� � � }
t j ||
d
�� � }g }|
� � � \ }}t d� � D ]y}|� |d�� � \ }}|
� |� � \ }}}}}|� |
� � � � � |s|r|
� � � \ }}�z|
� � � d}t j ||d�� � |S )Nz App/model/pick_and_place_her.zipz"App/model/pick_and_place_dense.zipzApp/model/push.zipzApp/model/reach.zip��Pick & Place (HER)zPick & Place (Dense)�Push�ReachzFetchPickAndPlace-v3zFetchPickAndPlaceDense-v3z FetchPush-v3z
FetchReach-v3� � rgb_array)� render_mode�block_xy�goal_xyz� environmentr )�env�verbose�� T)�
deterministicz
run_video.mp4� )�fps) r r �load�reset�range�predict�step�append�render�close�imageio�mimsave)�x_start�y_start�x_targ�y_targ�z_targ�11model_name�
random_coords� model_paths�checkpoint_path� environmentsr r
r r �model�frames�obs�info�_�action�reward�done�trunc�12video_paths �tC:\Users\gkemp\OneDrive\Documents\College\ELE392\RL Final Project\RL-App\Fetch-Reinforcement_learning_Project\app.py�run_model_episoder5 13 s� � � A�'K�,�.� � �K� "�*�-�O� 5�'B�&�(� � �L� �z�*�K� �n�$�$����w�
�
�H��f�f�
%�H�� ����� � ��� � � � �C�
�H�_�#�q� 9� 9� 9�E�
�F�� � � � �I�C��
�3�Z�Z� $� $���M�M�#�T�M�:�:� ���),���&�)9�)9�&��V�T�5�$��
�
�c�j�j�l�l�#�#�#� � $�5� $�� � � � �I�C����I�I�K�K�K� �J� �O�J��B�/�/�/�/� �� z ## Fetch Robot: Model Demo Appz:Enter coordinates, pick a model, then click **Run Model**.z4Coordinates are relative to the center of the table.r r zSelect a model/environment)�choices�value�labelzUse randomized coordinates?F)r9 r8 zStart Xr14 zStart YzTarget Xg�������?zTarget YzTarget Zz Run Model)�fn�inputs�outputsT)�share) �os�gradio�gr�numpy�np�torchr �stable_baselines3r �15custom_envr r5 �Blocks�demo�Markdown�Radio�model_selector�Checkbox� randomize�Row�Numberr r! r" r# r$ �Button�16run_button�Video� output_video�click�launch� r6 r4 �<module>rV s� �� � � � � � � � � � � � � � � � � ���� !� !� !� !� !� !� !� !� !� !� !� !�6� 6� 6�r �R�Y�[�[� #�D��B�K�0�1�1�1��B�K�L�M�M�M��B�K�F�G�G�G� �R�X�O�O�O�"�*�� � �N� �� �+��� � �I�17 18����� 8� 8��"�)�)�3�7�7�7���"�)�)�3�7�7�7��8� 8� 8� 8� 8� 8� 8� 8� 8� 8� 8���� 8� 8� 8� 8� 19����� 8� 8�����3�7�7�7������3�7�7�7������3�7�7�7��8� 8� 8� 8� 8� 8� 8� 8� 8� 8� 8���� 8� 8� 8� 8�20 �2�9�[�)�)�J��2�8�:�:�L� ��� ���&�&�&�.�)�T� � � � � �?#� #� #� #� #� #� #� #� #� #� #���� #� #� #� #�J � � �$� � � � � � s[ �A'E=�%C �? E=� C �E=�C �E=�%7D(� E=�(D, �,E=�/D, �0AE=�=F�F