RL-PowerTracking-new/DOA_SAC_sim2real.py

import torch
import torch.nn as nn
from torch.multiprocessing import Process, Queue, set_start_method
import time
import gym
from gym import error, spaces, utils
from gym.utils import seeding
import os
import pybullet as p
import pybullet_data
import math
import numpy as np
import random
from scipy import signal
import sys
# sys.path.append('D:\\vs2019ws\PythonCtt\PythonCtt')
import jkrc

import matplotlib as mpl
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import pandas as pd

os.environ["KMP_DUPLICATE_LIB_OK"] = "TRUE"

MAX_EPISODE_LEN = 20 * 100
x = []
y = []
z = []


# 运动模式
# PI=3.1415926
# ABS = 0 # 绝对运动
# INCR = 1 # 增量运动
# Enable = True
# Disable = False

# robot = jkrc.RC("192.168.31.5")#返回一个机器人对象
# robot.login()#登录
# # robot.servo_move_use_none_filter()
# robot.power_on() #上电
# robot.enable_robot()
# # joint_pos=[0, 1.57, 1.57, 1.57, -1.57, 0]
# # robot.joint_move(joint_pos,ABS,True,1)
# robot.servo_move_enable(Enable) #进入位置控制模式

def goal_distance(goal_a, goal_b):
    return np.linalg.norm(np.array(goal_a) - np.array(goal_b), axis=-1)


def is_collision(robotId, bodyA, bodyB):
    is_bool1 = p.getContactPoints(robotId, bodyA)
    is_bool2 = p.getContactPoints(robotId, bodyB)
    if is_bool1:
        return True
    elif is_bool2:
        return True
    else:
        return False


class jakaEnv(gym.Env):
    metadata = {"render.modes": ["human"]}

    def __init__(self):
        self.step_counter = 0
        self.eposide = 0
        self.collision_frequency = 0
        self.success_frequency = 0
        self.overstep_frequency = 0
        self.out = 0
        self.reward_type = "dense"
        p.connect(
            p.GUI,
            # options="--background_color_red=0.0 --background_color_green=0.93--background_color_blue=0.54",
        )
        p.resetDebugVisualizerCamera(
            cameraDistance=1.25,
            cameraYaw=45,
            cameraPitch=-30,
            cameraTargetPosition=[0.65, -0.0, 0.65],
        )
        self.x_low = 0.3
        self.x_high = 0.7
        self.y_low = -0.05
        self.y_high = 1.05
        self.z_low = 0.65
        self.z_high = 1.3
        self.speed = [0.3, 0.5, 0.8, 1.0]
        self.action_space = spaces.Box(np.array([-1] * 3), np.array([1] * 3))
        self.observation_space = spaces.Box(np.array([-1] * 38, np.float32), np.array([1] * 38, np.float32))

    def compute_reward(self, achieved_goal, goal):
        d = goal_distance(achieved_goal, goal)
        if self.reward_type == "sparse":
            return -(d > self.distance_threshold).astyp(np.float32)
        else:
            return -d

    def step(self, action):
        p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING)
        orientation = p.getQuaternionFromEuler([-math.pi / 2, -math.pi, math.pi / 2.])

        dv = 0.05
        dx = action[0] * dv
        dy = action[1] * dv
        dz = action[2] * dv
        # print(action)
        currentPose = p.getLinkState(self.jaka_id, 6)
        currentPosition = currentPose[0]
        newPosition = [
            currentPosition[0] + dx,
            currentPosition[1] + dy,
            currentPosition[2] + dz,
        ]
        jointPoses = p.calculateInverseKinematics(
            self.jaka_id, 6, newPosition, orientation
        )[0:6]

        p.setJointMotorControlArray(
            self.jaka_id,
            list(range(1, 7)),
            p.POSITION_CONTROL,
            list(jointPoses),
        )
        print(jointPoses)
        p.resetBaseVelocity(self.blockId, linearVelocity=[0, random.choice(self.speed), 0])
        p.stepSimulation()
        # robot.servo_move_enable(True)

        # robot.servo_p(cartesian_pose=[dx*100, dy*100, dz*50, 0, 0, 0], move_mode=1)
        # time.sleep(0.008)

        state_object, state_object_orienation = p.getBasePositionAndOrientation(self.objectId)
        twist_object, twist_object_orienation = p.getBaseVelocity(self.objectId)
        state_robot = p.getLinkState(self.jaka_id, 6)[0]
        block_speed, block_speed_orienation = p.getBaseVelocity(self.blockId)
        block_state, block_state_orienation = p.getBasePositionAndOrientation(self.blockId)
        block2_state, block2state_orienation = p.getBasePositionAndOrientation(self.blockId2)
        p.addUserDebugLine(lineFromXYZ=currentPosition, lineToXYZ=state_robot, lineColorRGB=[0, 1, 0], lineWidth=2)
        x.append(state_robot[0])
        y.append(state_robot[1])
        z.append(state_robot[2])

        self.distance_threshold = 0.05
        d = goal_distance(state_robot, state_object)
        if (state_robot[0] > self.x_high or state_robot[0] < self.x_low
                or state_robot[1] > self.y_high or state_robot[1] < self.y_low
                or state_robot[2] > self.z_high or state_robot[2] <= self.z_low + 0.05):
            reward = -400
            self.eposide = self.eposide + 1
            self.out = self.out + 1
            print()
            print("=" * 50)
            print("\033[36meposide{}:out of range\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True

        elif is_collision(self.jaka_id, self.blockId, self.blockId2):
            reward = -400
            self.eposide = self.eposide + 1
            self.collision_frequency = self.collision_frequency + 1
            print()
            print("=" * 50)
            print("\033[33meposide{}:collision\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True
        elif d < self.distance_threshold:
            reward = -1 / self.compute_reward(state_robot, state_object)
            self.eposide = self.eposide + 1
            self.success_frequency = self.success_frequency + 1
            print()
            print("=" * 50)
            print("\033[31eposide{}:success\033[0m".format(self.eposide))

            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True
        else:
            reward = self.compute_reward(state_robot, state_object)
            done = False

        self.step_counter += 1

        if self.step_counter > MAX_EPISODE_LEN:
            # reward = 0
            self.eposide = self.eposide + 1
            self.overstep_frequency = self.overstep_frequency + 1
            print()
            print("=" * 50)
            print("\033[34meposide{}:overstep\033[0m".format(self.eposide))
            print()
            print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
                self.collision_frequency,
                self.success_frequency,
                self.overstep_frequency, self.out))
            print("=" * 50)
            print()
            done = True

        info = {"object_position": state_object}

        robot_pos = np.array(state_robot)
        object_pos = np.array(state_object)
        object_rel_pos = object_pos - robot_pos
        object_rot = np.array(state_object_orienation)
        object_velp = np.array(twist_object)
        object_velr = np.array(twist_object_orienation)
        block_velp = np.array(block_speed)
        block_velr = np.array(block_speed_orienation)
        block_vel_range = np.array(self.speed)
        block_loc = np.array(block_state)
        block_rel_pos = np.array(block_loc - robot_pos)
        block2_pos = np.array(block2_state)

        obs = np.concatenate(
            [
                robot_pos.ravel(),
                object_pos.ravel(),
                object_rel_pos.ravel(),
                object_rot.ravel(),
                object_velp.ravel(),
                object_velr.ravel(),
                block_velp.ravel(),
                block_velr.ravel(),
                block_vel_range.ravel(),
                block_loc.ravel(),
                block_rel_pos.ravel(),
                block2_pos.ravel(),
            ]
        )

        return obs.copy(), reward, done, info

    def reset(self):
        self.step_counter = 0
        p.resetSimulation()
        p.configureDebugVisualizer(
            p.COV_ENABLE_RENDERING, 0
        )
        urdfRootPath = pybullet_data.getDataPath()
        p.setGravity(0, 0, -10)
        planeId = p.loadURDF(os.path.join(urdfRootPath, "plane.urdf"))
        dir_path = os.path.dirname(os.path.realpath(__file__))

        self.tableId = p.loadURDF(os.path.join(dir_path, "urdf/table.urdf"),
                                  basePosition=[0.2, 0.5, 0],
                                  useFixedBase=True,
                                  )
        self.blockId = p.loadURDF(os.path.join(dir_path, "urdf/block4.urdf"),
                                  basePosition=[0.4, 0, 0.47],
                                  useFixedBase=True,
                                  )
        self.blockId2 = p.loadURDF(os.path.join(dir_path, "urdf/block.urdf"),
                                   basePosition=[0.6, 0.66, 0.43],
                                   useFixedBase=True,
                                   )
        state_object = [0.5, 0.2, 0.8]
        dir_path = os.path.dirname(os.path.realpath(__file__))
        self.objectId = p.loadURDF(
            os.path.join(dir_path, "urdf/goal.urdf"),
            basePosition=state_object,
            useFixedBase=True,
        )

        reset_poses = [0, 0.8, 2.4, 1.3, 1, -1.57, 0]
        reset_realposes = [0.8, 2.4, 1.3, 1, -1.57, 0]
        # 改变路径为你机械臂的URDF文件路径
        self.jaka_id = p.loadURDF(
            "urdf/jaka_description/urdf/jaka_description.urdf",
            basePosition=[0, 0.5, 0.65],
            baseOrientation=p.getQuaternionFromEuler([0, 0, 3.14]),
            useFixedBase=True,
        )

        for i in range(len(reset_poses)):
            p.resetJointState(self.jaka_id, i, reset_poses[i])
        # robot.joint_move(reset_realposes, ABS, True, 1)

        state_robot = p.getLinkState(self.jaka_id, 6)[0]
        self.plot_obs_boundary()
        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
        # time.sleep(10)

        robot_pos = np.array(state_robot)
        object_pos = np.array(state_object)
        object_rel_pos = object_pos - robot_pos
        object_rot = np.array([0, 0, 0, 1])  # quaternions?
        object_velp = np.array([0, 0, 0])
        object_velr = np.array([0, 0, 0])
        block_velp = np.array([0, 0, 0])
        block_velr = np.array([0, 0, 0])
        block_vel_range = np.array(self.speed)
        block_loc = np.array([0, 0, 0])
        block_rel_pos = np.array([0, 0, 0])
        block2_pos = np.array([0.6, 0.66, 0.43])

        obs = np.concatenate(
            [
                robot_pos.ravel(),
                object_pos.ravel(),
                object_rel_pos.ravel(),
                object_rot.ravel(),
                object_velp.ravel(),
                object_velr.ravel(),
                block_velp.ravel(),
                block_velr.ravel(),
                block_vel_range.ravel(),
                block_loc.ravel(),
                block_rel_pos.ravel(),
                block2_pos.ravel(),

            ]
        )

        return obs.copy()

    def plot_obs_boundary(self):

        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_low],
            lineToXYZ=[self.x_low, self.y_low, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_low])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_low],
            lineToXYZ=[self.x_high, self.y_high, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_low, self.z_low],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_high, self.z_low],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])

        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_high],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_low, self.y_low, self.z_high],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_high],
            lineToXYZ=[self.x_high, self.y_low, self.z_high])
        p.addUserDebugLine(
            lineFromXYZ=[self.x_high, self.y_high, self.z_high],
            lineToXYZ=[self.x_low, self.y_high, self.z_high])

    def render(self, mode="human"):
        view_matrix = p.computeViewMatrixFromYawPitchRoll(
            cameraTargetPosition=[0.7, 0, 0.65 + 0.05],
            distance=0.7,
            yaw=90,
            pitch=-50,
            roll=0,
            upAxisIndex=2,
        )
        proj_matrix = p.computeProjectionMatrixFOV(
            fov=60, aspect=float(960) / 720, nearVal=0.1, farVal=100.0
        )
        (_, _, px, _, _) = p.getCameraImage(
            width=960,
            height=720,
            viewMatrix=view_matrix,
            projectionMatrix=proj_matrix,
            renderer=p.ER_BULLET_HARDWARE_OPENGL,
        )

        rgb_array = np.array(px, dtype=np.uint8)
        rgb_array = np.reshape(rgb_array, (720, 960, 4))

        rgb_array = rgb_array[:, :, :3]
        return rgb_array

    def _get_state(self):
        return self.observation

    def close(self):
        p.disconnect()


if __name__ == "__main__":

    from stable_baselines3 import SAC
    from stable_baselines3.common import results_plotter
    from stable_baselines3.common.monitor import Monitor
    from stable_baselines3.common.results_plotter import load_results, ts2xy, plot_results
    from stable_baselines3.common.noise import NormalActionNoise
    from stable_baselines3.common.callbacks import BaseCallback


    class SaveOnBestTrainingRewardCallback(BaseCallback):
        """
        Callback for saving a model (the check is done every ``check_freq`` steps)
        based on the training reward (in practice, we recommend using ``EvalCallback``).

        :param check_freq:
        :param log_dir: Path to the folder where the model will be saved.
          It must contains the file created by the ``Monitor`` wrapper.
        :param verbose: Verbosity level.
        """

        def __init__(self, check_freq: int, log_dir: str, verbose: int = 1):
            super(SaveOnBestTrainingRewardCallback, self).__init__(verbose)
            self.check_freq = check_freq
            self.log_dir = log_dir
            self.save_path = os.path.join(log_dir, 'best_model')
            self.best_mean_reward = -np.inf

        def _init_callback(self) -> None:
            # Create folder if needed
            if self.save_path is not None:
                os.makedirs(self.save_path, exist_ok=True)

        def _on_step(self) -> bool:
            if self.n_calls % self.check_freq == 0:

                # Retrieve training reward
                x, y = ts2xy(load_results(self.log_dir), 'timesteps')
                if len(x) > 0:
                    # Mean training reward over the last 100 episodes
                    mean_reward = np.mean(y[-100:])
                    if self.verbose > 0:
                        print(f"Num timesteps: {self.num_timesteps}")
                        print(
                            f"Best mean reward: {self.best_mean_reward:.2f} - Last mean reward per episode: {mean_reward:.2f}")

                    # New best model, you could save the agent here
                    if mean_reward > self.best_mean_reward:
                        self.best_mean_reward = mean_reward
                        # Example for saving best model
                        if self.verbose > 0:
                            print(f"Saving new best model to {self.save_path}")
                        self.model.save(self.save_path)

            return True


    tempt = 0
    log_dir = './tensorboard/DOA_SAC_callback/'
    os.makedirs(log_dir, exist_ok=True)
    env = jakaEnv()
    env = Monitor(env, log_dir)
    if tempt:
        model = SAC('MlpPolicy', env=env, verbose=1, tensorboard_log=log_dir,
                    device="cuda"
                    )
        callback = SaveOnBestTrainingRewardCallback(check_freq=1000, log_dir=log_dir)
        model.learn(total_timesteps=4000000, callback=callback)
        model.save('model/DOA_SAC_ENV_callback')
        del model

    else:
        obs = env.reset()
        # 改变路径为你保存模型的路径
        model = SAC.load(r'D:\Python-Project\RL-PowerTracking-new\model\best_model.zip', env=env)

        for j in range(50):
            for i in range(2000):
                action, _state = model.predict(obs)
                order1 = 4
                cutoff_freq1 = 1.2
                b1, a1 = signal.butter(order1, cutoff_freq1, fs=2.5, btype='low')
                # 应用滤波器
                action[0] = signal.lfilter(b1, a1, [action[0]])
                action[1] = signal.lfilter(b1, a1, [action[1]])
                action[2] = signal.lfilter(b1, a1, [action[2]])
                obs, reward, done, info = env.step(action)
                # env.render()
                if done:
                    print('done')
                    # obs = env.reset()
                    time.sleep(30)
                    break
            break

    # 三维
    # fig1 = plt.figure("机械臂运行轨迹")
    # ax = fig1.add_subplot(projection="3d")  # 三维图形
    # ax.plot(x, y, z, label="simulation")
    # # plt.xlabel("X")
    # # plt.ylabel("Y")
    # ax.set_xlabel("X坐标（米）")
    # ax.set_ylabel("Y坐标（米）")
    # ax.set_zlabel("Z坐标（米）")
    # ax.legend()
    # # plt.savefig('jaka_3d.png')
    # plt.show()
    #
    # # xy方向
    # fig2 = plt.figure()
    # plt.plot(x, y, label="xy-simulation", color="g")
    # plt.xlabel("X")
    # plt.ylabel("Y")
    # plt.savefig("jaka_xy.png")
    # plt.show()
    #
    # # xy方向
    # fig3 = plt.figure()
    # plt.plot(y, z, label="yz-simulation", color="g")
    # plt.xlabel("y")
    # plt.ylabel("z")
    # plt.savefig("jaka_yz.png")
    # plt.show()


def train_parallel(num_processes):
    """多进程并行训练函数"""
    set_start_method('spawn')
    
    # 创建共享模型（使用Stable Baselines3的SAC）
    env = jakaEnv()  # 创建环境实例
    model = SAC('MlpPolicy', env=env, verbose=1, device="cuda")  # 使用CUDA加速
    shared_model = model.policy.to(torch.device('cuda'))  # 显式指定模型在GPU上
    shared_model.share_memory()  # 共享模型参数
    
    # 创建进程列表
    processes = []
    for rank in range(num_processes):
        p = Process(target=train_process, args=(rank, shared_model))
        p.start()
        processes.append(p)
    
    # 等待所有进程完成
    for p in processes:
        p.join()


def train_process(rank, shared_model):
    """单个训练进程"""
    # 为每个进程分配独立GPU
    device = torch.device(f'cuda:{rank % torch.cuda.device_count()}')
    
    # 创建独立环境实例
    env = create_arm_environment()  # 替换为实际的环境创建函数
    
    # 创建本地模型副本
    local_model = SAC().to(device)
    local_model.load_state_dict(shared_model.state_dict())
    
    # 在此处替换原有训练循环为并行版本
    while True:
        # 训练本地模型...
        
        # 同步参数到共享模型
        with torch.no_grad():
            for param, shared_param in zip(local_model.parameters(), shared_model.parameters()):
                shared_param.copy_(param)


def create_arm_environment():
    """创建机械臂环境实例"""
    return jakaEnv()  # 返回机械臂环境实例

if __name__ == '__main__':
    # 启动并行训练（使用4个进程为例）
    train_parallel(4)