composabl-cli-dev 0.18.6.dev15__cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

composabl_cli/template/selector_teacher/pyproject.toml

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+[project]
+name = "{{NAME}}"
+version = "0.1.0"
+description = "{{DESCRIPTION}}"
+authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
+dependencies = [
+    "composabl-core"
+]
+
+[composabl]
+type = "selector-teacher"
+entrypoint = "{{NAME_MODULE}}.teacher:Teacher"

composabl_cli/template/selector_teacher/{{NAME_MODULE}}/__init__.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential

composabl_cli/template/selector_teacher/{{NAME_MODULE}}/teacher.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential
+
+import math
+from typing import Dict, List
+
+from composabl_core import SkillTeacher
+
+
+class Teacher(SkillTeacher):
+    """
+    We start at 10 reward and count down to 0 the goal is that the agent stays
+    above or equal to 0 this means it learned to cound +1 each time
+    """
+
+    def __init__(self, *args, **kwargs):
+        self.past_obs = None
+        self.counter = 10
+        self.sensor_name = "counter"
+
+    async def compute_reward(self, transformed_sensors: Dict, action, sim_reward):
+        """
+        The reward increases the closer it gets to 10, but decreases the
+        further it gets from 10 it decreases faster the further it gets
+        note: we do this through a piecewise function, where the reward is
+        100 if the counter is 10 and 0 if the counter is 0 everything above
+        10 gets a steep decrease and everything below 10 gets a small increase
+        ASCII of the Piecewise Graph
+                      ***********
+                 *****           ***
+              ***                   **
+            **                        **
+         ***                            **
+        *                                 *
+                                           **
+                                             *
+                                              *
+                                               *
+        """
+        counter = transformed_sensors[self.sensor_name]
+
+        # Small build up if < 10
+        # given by e^(counter - 10) + 100
+        if counter < 10:
+            return math.exp(counter - 10) + 100
+        # else steep decent after max reward
+        # given by -2 * e^(-|counter - 10|) + 100
+        else:
+            return -2 * math.exp(-abs(counter - 10)) + 100
+
+    async def compute_action_mask(
+        self, transformed_sensors: Dict, action
+    ) -> List[bool]:
+        return None
+
+    async def compute_success_criteria(self, transformed_sensors: Dict, action) -> bool:
+        return bool(transformed_sensors[self.sensor_name] >= 10)
+
+    async def compute_termination(self, transformed_sensors: Dict, action) -> bool:
+        return bool(transformed_sensors[self.sensor_name] <= -10)
+
+    async def transform_sensors(self, sensors, action) -> str:
+        return sensors
+
+    async def transform_action(self, transformed_sensors: Dict, action) -> float:
+        return action
+
+    async def filtered_sensor_space(self) -> List[str]:
+        return ["counter"]

composabl_cli/template/sim/README.md

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+# README
+
+## Tree Structure
+
+The template is structured as follows:
+
+```bash
+my-sim/                 # Root folder
+├── my_sim/             # Main package folder
+│   ├── __init__.py     # Package init file
+│   ├── sim_impl.py     # Sim Implementation
+│   └── sim.py          # Sim Itself
+├── pyproject.toml      # Project configuration, containing [composabl]
+```
+
+## PyProject [composabl] Section
+
+We add the `[composabl]` section to the `pyproject.toml` file to specify the sim we are creating as well as its entrypoint. This is used by the Composabl Sim Container to determine how to start the sim.
+
+Example:
+
+```toml
+[composabl]
+type = "sim"
+entrypoint = "my_sim.sim_impl:MySimImpl"
+```
+
+## Development
+
+To work on the Sim, you can simply run `composabl sim run <folder>`. This will do the same but locally.
+
+## Preparing for Upload
+
+Once we are ready for uploading, we can create a `.zip` file that contains the version and is prefixed with `composabl-sim-`. This can be done with the following command:
+
+```bash
+# Zip the Sim
+zip -r composabl-sim-demo-0.0.1.zip sim-demo/
+```

composabl_cli/template/sim/pyproject.toml

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+[project]
+name = "{{NAME}}"
+version = "0.1.0"
+description = "{{DESCRIPTION}}"
+authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
+dependencies = [
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
+]
+
+[composabl]
+type = "sim"
+entrypoint = "{{NAME_MODULE}}.sim_impl:SimImpl"
+dependencies_system = [] # include additional apt-get packages to be installed
+
+# Include additional data files
+[tool.setuptools.packages.find]
+where = ["{{NAME_MODULE}}"]
+
+[tool.setuptools.package-data]
+"*" = ["*.json", "*.pkl"]

composabl_cli/template/sim/{{NAME_MODULE}}/__init__.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential

composabl_cli/template/sim/{{NAME_MODULE}}/sim.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential
+
+import math
+import random
+from typing import Optional
+
+import gymnasium as gym
+import numpy as np
+from composabl_core.agent.scenario import Scenario
+
+
+class Env(gym.Env):
+    def __init__(self):
+        self.obs_space_constraints = {
+            "x": {"low": -400, "high": 400},
+            "x_speed": {"low": -100, "high": 100},
+            "y": {"low": 0, "high": 1000},
+            "y_speed": {"low": -1000, "high": 1000},
+            "angle": {"low": -3.15 * 2, "high": 3.15 * 2},
+            "angle_speed": {"low": -3, "high": 3},
+        }
+
+        deg_to_rad = 0.01745329
+        self.max_gimble = 20 * deg_to_rad
+        self.min_gimble = -self.max_gimble
+
+        self.action_constraints = {
+            "angle": {"low": self.min_gimble, "high": self.max_gimble},
+            "thrust": {"low": 0.4, "high": 1},
+        }
+
+        low_list = [x["low"] for x in self.obs_space_constraints.values()]
+        high_list = [x["high"] for x in self.obs_space_constraints.values()]
+
+        self.sensor_space = gym.spaces.Box(
+            low=np.array(low_list), high=np.array(high_list)
+        )
+
+        low_act_list = [x["low"] for x in self.action_constraints.values()]
+        high_act_list = [x["high"] for x in self.action_constraints.values()]
+
+        self.action_space = gym.spaces.Box(
+            low=np.array(low_act_list), high=np.array(high_act_list)
+        )
+
+        self.state_models = {}
+        self.reward_models = {}
+        self.scenario: Scenario = None
+
+        self.x_obs0 = 0
+        self.x_speed0 = 0
+        self.y_obs0 = 1000
+        self.y_speed0 = -80
+        self.angle0 = -np.pi / 2
+        self.ang_speed0 = 0
+
+    def starship_simulation(self, x, u):
+        g = 9.8
+        m = 100000  # kg
+        min_thrust = 880 * 1000  # N
+        max_thrust = 1 * 2210 * 1000  # kN
+
+        length = 50  # m
+        width = 10
+
+        # Inertia for a uniform density rod
+        I = (1 / 12) * m * length**2
+
+        deg_to_rad = 0.01745329
+
+        max_gimble = 20 * deg_to_rad
+        min_gimble = -max_gimble
+
+        theta = x[4]
+
+        thrust = u[0]
+        thrust_angle = u[1]
+
+        # Horizontal force
+        F_x = max_thrust * thrust * math.sin(thrust_angle + theta)
+        x_dot = x[1]
+        x_dotdot = (F_x) / m
+
+        # Vertical force
+        F_y = max_thrust * thrust * math.cos(thrust_angle + theta)
+        y_dot = x[3]
+        y_dotdot = (F_y) / m - g
+
+        # Torque
+        T = -length / 2 * max_thrust * thrust * math.sin(thrust_angle)
+        theta_dot = x[5]
+        theta_dotdot = T / I
+
+        return [x_dot, x_dotdot, y_dot, y_dotdot, theta_dot, theta_dotdot]
+
+    def reset(
+        self,
+        *,
+        seed: Optional[int] = None,
+        options: Optional[dict] = None,
+        x_obs0: float = 0,
+        x_speed0: float = 0,
+        y_obs0: float = 1000,
+        y_speed0: float = -80,
+        angle0: float = -np.pi / 2,
+        ang_speed0: float = 0
+    ):
+        """
+        # x[0] = x position (m)
+        # x[1] = x velocity (m/)
+        # x[2] = y position (m)
+        # x[3] = y velocity (m/s)
+        # x[4] = angle (rad)
+        # x[5] = angular velocity (rad/s)
+
+        # u[0] = thrust (percent)
+        # u[1] = thrust angle (rad)
+
+        """
+        super().reset(seed=seed)
+        self.cnt = 0
+        self.min_thrust = 880 * 1000  # N
+        self.max_thrust = 1 * 2210 * 1000  # kN
+
+        # Define scenario in the simulation ******
+        if isinstance(self.scenario, Scenario):
+            sample = self.scenario.sample()
+
+            for key in list(sample.keys()):
+                setattr(self, key, sample[key])
+
+        # Set the number of steps and the timestep (dt)
+        steps = 400
+        self.t_step = 0.04
+        self.cnt = 0
+
+        self.x = np.zeros((steps + 1, 6))
+        self.u = np.zeros((steps + 1, 2))
+
+        self.x[0, :] = [
+            self.x_obs0,
+            self.x_speed0,
+            self.y_obs0,
+            self.y_speed0,
+            self.angle0,
+            self.ang_speed0,
+        ]
+        self.x[steps - 1, :] = [0, 0, 0, 0, 0, 0]
+
+        self.x_obs = self.x[self.cnt, 0]
+        self.x_speed = self.x[self.cnt, 1]
+        self.y_obs = self.x[self.cnt, 2]
+        self.y_speed = self.x[self.cnt, 3]
+        self.angle = self.x[self.cnt, 4]
+        self.ang_speed = self.x[self.cnt, 5]
+
+        self.t = 0.4
+        self.a = 0
+        self.reward_value = 0
+
+        self.obs = {
+            "x": self.x_obs,
+            "x_speed": self.x_speed,
+            "y": self.y_obs,
+            "y_speed": self.y_speed,
+            "angle": self.angle,
+            "angle_speed": self.ang_speed,
+        }
+
+        self.obs = np.array(list(self.obs.values()))
+        info = {}
+        return self.obs, info
+
+    def set_scenario(self, scenario):
+        self.scenario = scenario
+
+    def step(self, action):
+        terminated = False
+        discount = 0
+        reward = 0
+
+        def sumsqr(lt):
+            v = sum([x**2 for x in lt])
+            return v
+
+        angle = action[0]
+        thrust = action[1]
+
+        actuator_noise = 0
+        self.t = thrust + random.uniform(
+            -actuator_noise * thrust, actuator_noise * thrust
+        )
+        self.a = angle + random.uniform(-actuator_noise * angle, actuator_noise * angle)
+
+        self.t = np.clip(self.t, 0.4, 1)
+        self.a = np.clip(self.a, self.min_gimble, self.max_gimble)
+
+        # update u
+        self.u[self.cnt, 0] = self.t
+        self.u[self.cnt, 1] = self.a
+
+        res = self.starship_simulation(self.x[self.cnt, :], self.u[self.cnt, :])
+        res = [v * self.t_step for v in res]
+
+        self.x[self.cnt + 1, :] = [
+            sum(value) for value in zip(self.x[self.cnt, :], res)
+        ]
+
+        # Increase time
+        self.cnt += 1
+        # update values
+        self.x_obs = self.x[self.cnt, 0]
+        self.x_speed = self.x[self.cnt, 1]
+        self.y_obs = self.x[self.cnt, 2]
+        self.y_speed = self.x[self.cnt, 3]
+        self.angle = self.x[self.cnt, 4]
+        self.ang_speed = self.x[self.cnt, 5]
+
+        # update obs with new state values
+        self.obs = {
+            "x": self.x_obs,
+            "x_speed": self.x_speed,
+            "y": self.y_obs,
+            "y_speed": self.y_speed,
+            "angle": self.angle,
+            "angle_speed": self.ang_speed,
+        }
+        # add noise
+        for key in list(self.obs.keys()):
+            val = float(self.obs[key])
+            sensor_noise = 0.0
+            self.obs[key] = val + random.uniform(
+                -val * sensor_noise, val * sensor_noise
+            )
+
+        # end the simulation
+        if self.y_obs < 0:
+            terminated = True
+        elif (
+            not self.obs_space_constraints["x"]["low"]
+            <= self.x_obs
+            <= self.obs_space_constraints["x"]["high"]
+        ):
+            terminated = True
+
+        self.obs = np.array(list(self.obs.values()))
+        info = {}
+        return self.obs, reward, terminated, False, info
+
+    def render(self, mode="auto"):
+        pass

composabl_cli/template/sim/{{NAME_MODULE}}/sim_impl.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential
+
+from typing import Any, Dict, SupportsFloat, Tuple
+
+import composabl_core.utils.logger as logger_util
+import gymnasium as gym
+from composabl_core.agent.scenario import Scenario
+from composabl_core.networking.sim.server_composabl import ServerComposabl
+from gymnasium.envs.registration import EnvSpec
+
+from .sim import Env
+
+logger = logger_util.get_logger(__name__)
+
+
+class SimImpl(ServerComposabl):
+    def __init__(self):
+        self.env = Env()
+
+    async def make(self, env_id: str, env_init: dict) -> EnvSpec:
+        """
+        Make the environment
+
+        Args:
+        - env_id (str): Environment ID
+        - env_init (dict): Environment Initialization
+
+        Returns:
+        - EnvSpec: Environment Specification
+        """
+        spec = {"id": "starship", "max_episode_steps": 400}
+        return spec
+
+    async def sensor_space_info(self) -> gym.Space:
+        """
+        Get the sensor space information
+
+        Returns:
+        - Space: Sensor Space in Gymnasium Specification
+        """
+        return self.env.sensor_space
+
+    async def action_space_info(self) -> gym.Space:
+        """
+        Get the action space information
+
+        Returns:
+        - Space: Action Space in Gymnasium Specification
+        """
+        return self.env.action_space
+
+    async def action_space_sample(self) -> Any:
+        """
+        Get the action space sample
+
+        Returns:
+        - List[Any]: A list of samples
+        """
+        return self.env.action_space.sample()
+
+    async def reset(self) -> Tuple[Any, Dict[str, Any]]:
+        """
+        Reset the environment
+
+        Returns:
+        - Tuple[Any, Dict[str, Any]]: The observation and the info
+        """
+        sensors, info = self.env.reset()
+        return sensors, info
+
+    async def step(
+        self, action
+    ) -> Tuple[Any, SupportsFloat, bool, bool, Dict[str, Any]]:
+        """
+        Step the environment
+
+        Args:
+        - action: The action to take
+
+        Returns:
+        - Tuple[Any, SupportsFloat, bool, bool, Dict[str, Any]]: The observation, reward, is_truncated, is_done, info
+        """
+        return self.env.step(action)
+
+    async def close(self):
+        """
+        Close the environment
+        """
+        self.env.close()
+
+    async def set_scenario(self, scenario):
+        """
+        Set the scenario
+        """
+        self.env.scenario = scenario
+
+    async def get_scenario(self):
+        """
+        Get the scenario
+        """
+        if self.env.scenario is None:
+            return Scenario({"dummy": 0})
+
+        return self.env.scenario
+
+    async def get_render(self):
+        """
+        Get the render
+
+        Args:
+        - render_mode: The render mode
+        """
+        return self.env.get_render_frame()

composabl_cli/template/sim_docker/Dockerfile

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+######################################################
+# Composabl Image
+######################################################
+FROM python:3.11-slim
+
+# Set working directory
+WORKDIR /opt/composabl
+
+# ######################################################
+# Install Dependencies
+# ######################################################
+RUN apt update; apt install -y unzip tree
+
+# ######################################################
+# Make `python3` available as `python`
+# ######################################################
+RUN ln -s /usr/bin/python3 /usr/bin/python
+
+# ######################################################
+# Install Composabl
+# ######################################################
+RUN pip install composabl-core
+
+# ######################################################
+# Install Python Module
+# ######################################################
+COPY module/ /opt/composabl/sim/
+RUN pip install /opt/composabl/sim/
+
+# ######################################################
+# Install Composabl Code and Docker scripts
+# ######################################################
+# Copy over the scripts
+COPY docker /docker
+RUN chmod +x /docker/*.sh
+
+# Copy over the main startup file
+# this file takes care of starting the Composabl server
+COPY *.py /opt/composabl/
+
+# ######################################################
+# Define run
+# ######################################################
+EXPOSE 1337
+CMD ["/docker/sim-start.sh", "/opt/composabl/sim"]

composabl_cli/template/sim_docker/README.md

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+# README
+
+This is an example of how to build a composabl suitable container yourself for full control.
+
+### Build the Sim
+
+To build the sim wrapper, run the following command:
+
+```bash
+docker build -t composabl/sim-demo .
+```
+
+### Run the Sim
+
+```bash
+docker run --rm -it -p 1337:1337 composabl/sim-demo
+```

composabl_cli/template/sim_docker/docker/sim-start.sh

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+#!/bin/bash -e
+################################################################################
+##  File:  sim-start.sh
+##  Desc:  Start the Composabl Sim Wrapper
+################################################################################
+PATH_SIM=${1:-/composabl/sim}
+SIM_CONFIG_JSON=${2:-"{}"}
+
+HOST=${HOST:-"0.0.0.0"}
+PORT=${PORT:-"1337"}
+
+# Start the Sim Client Wrapper
+echo "$0: Starting the Sim Wrapper"
+python3 /opt/composabl/main.py --path $PATH_SIM --config $SIM_CONFIG_JSON --port $PORT --host $HOST

composabl_cli/template/sim_docker/main.py

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+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential
+
+import argparse
+import os
+from typing import Optional
+
+from composabl_core.networking.sim.server import make_from_sim_path
+
+
+async def _run(
+    path: Optional[str] = "./",
+    host: Optional[str] = "0.0.0.0",
+    port: Optional[int] = 1337,
+    protocol: Optional[str] = "grpc",
+    config: Optional[dict] = {},
+):
+    """
+    Try to run the sim situated in the given location
+    """
+    path_abs = os.path.abspath(path)
+
+    print(f"Running sim from path: {path_abs}")
+    print(f"Params: {path}, {host}, {port}, {protocol}, {config}")
+
+    server = make_from_sim_path(path, host, port, config=config, protocol=protocol)
+    print(f"Running on {host}:{port}")
+
+    try:
+        await server.start()
+    except KeyboardInterrupt:
+        print("KeyboardInterrupt, Gracefully stopping the server")
+    except Exception as e:
+        print(f"Unknown error: {e}, Gracefully stopping the server")
+    finally:
+        print("Stopping the server")
+        if server is not None:
+            await server.stop()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", type=str, default="./")
+    parser.add_argument("--host", type=str, default="0.0.0.0")
+    parser.add_argument("--port", type=int, default=1337)
+    parser.add_argument("--protocol", type=str, default="grpc")
+    parser.add_argument("--config", type=str, default="{}")
+    args = parser.parse_args()
+
+    config_parsed = eval(args.config)
+
+    import asyncio
+
+    asyncio.run(_run(args.path, args.host, args.port, args.protocol, config_parsed))

composabl_cli/template/sim_docker/module/README.md

@@ -0,0 +1,39 @@
+# README
+
+## Tree Structure
+
+The template is structured as follows:
+
+```bash
+my-sim/                 # Root folder
+├── my_sim/             # Main package folder
+│   ├── __init__.py     # Package init file
+│   ├── sim_impl.py     # Sim Implementation
+│   └── sim.py          # Sim Itself
+├── pyproject.toml      # Project configuration, containing [composabl]
+```
+
+## PyProject [composabl] Section
+
+We add the `[composabl]` section to the `pyproject.toml` file to specify the sim we are creating as well as its entrypoint. This is used by the Composabl Sim Container to determine how to start the sim.
+
+Example:
+
+```toml
+[composabl]
+type = "sim"
+entrypoint = "my_sim.sim_impl:MySimImpl"
+```
+
+## Development
+
+To work on the Sim, you can simply run `composabl sim run <folder>`. This will do the same but locally.
+
+## Preparing for Upload
+
+Once we are ready for uploading, we can create a `.zip` file that contains the version and is prefixed with `composabl-sim-`. This can be done with the following command:
+
+```bash
+# Zip the Sim
+zip -r composabl-sim-demo-0.0.1.zip sim-demo/
+```