Add API for MJPC cost residuals.

PiperOrigin-RevId: 604774074 Change-Id: I2b4463daf24db079591b58fb56dc3c1eb42ca5f9
ltinphan · Feb 6, 2024 · e28230c · e28230c
1 parent d81174c
commit e28230c
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diff --git a/mjpc/grpc/agent.proto b/mjpc/grpc/agent.proto
@@ -39,6 +39,8 @@ service Agent {
       returns (GetTaskParametersResponse);
   // Set cost weights.
   rpc SetCostWeights(SetCostWeightsRequest) returns (SetCostWeightsResponse);
+  // Get cost term residuals.
+  rpc GetResiduals(GetResidualsRequest) returns (GetResidualsResponse);
   // Get cost term values.
   rpc GetCostValuesAndWeights(GetCostValuesAndWeightsRequest)
       returns (GetCostValuesAndWeightsResponse);
@@ -113,6 +115,16 @@ message GetActionResponse {
   repeated float action = 1 [packed = true];
 }
 
+message GetResidualsRequest {}
+
+message Residual {
+  repeated double values = 1;
+}
+
+message GetResidualsResponse {
+  map<string, Residual> values = 1;
+}
+
 message GetCostValuesAndWeightsRequest {}
 
 message ValueAndWeight {

diff --git a/mjpc/grpc/agent_service.cc b/mjpc/grpc/agent_service.cc
@@ -35,6 +35,8 @@ using ::agent::GetAllModesRequest;
 using ::agent::GetAllModesResponse;
 using ::agent::GetBestTrajectoryRequest;
 using ::agent::GetBestTrajectoryResponse;
+using ::agent::GetResidualsRequest;
+using ::agent::GetResidualsResponse;
 using ::agent::GetCostValuesAndWeightsRequest;
 using ::agent::GetCostValuesAndWeightsResponse;
 using ::agent::GetModeRequest;
@@ -181,6 +183,16 @@ grpc::Status AgentService::GetAction(grpc::ServerContext* context,
       request, &agent_, model, rollout_data_.get(), &rollout_state_, response);
 }
 
+grpc::Status AgentService::GetResiduals(
+    grpc::ServerContext* context, const GetResidualsRequest* request,
+    GetResidualsResponse* response) {
+  if (!Initialized()) {
+    return {grpc::StatusCode::FAILED_PRECONDITION, "Init not called."};
+  }
+  return grpc_agent_util::GetResiduals(request, &agent_, model,
+                                       data_, response);
+}
+
 grpc::Status AgentService::GetCostValuesAndWeights(
     grpc::ServerContext* context, const GetCostValuesAndWeightsRequest* request,
     GetCostValuesAndWeightsResponse* response) {

diff --git a/mjpc/grpc/agent_service.h b/mjpc/grpc/agent_service.h
@@ -58,6 +58,11 @@ class AgentService final : public agent::Agent::Service {
                          const agent::GetActionRequest* request,
                          agent::GetActionResponse* response) override;
 
+  grpc::Status GetResiduals(
+      grpc::ServerContext* context,
+      const agent::GetResidualsRequest* request,
+      agent::GetResidualsResponse* response) override;
+
   grpc::Status GetCostValuesAndWeights(
       grpc::ServerContext* context,
       const agent::GetCostValuesAndWeightsRequest* request,

diff --git a/mjpc/grpc/agent_service_test.cc b/mjpc/grpc/agent_service_test.cc
@@ -360,4 +360,16 @@ TEST_F(AgentServiceTest, GetAllModes_Works) {
   EXPECT_EQ(response.mode_names()[0], "default_mode");
 }
 
+TEST_F(AgentServiceTest, GetResiduals_Works) {
+  RunAndCheckInit("Cartpole", nullptr);
+
+  grpc::ClientContext context;
+
+  agent::GetResidualsRequest request;
+  agent::GetResidualsResponse response;
+  grpc::Status status = stub->GetResiduals(&context, request, &response);
+
+  EXPECT_TRUE(status.ok());
+}
+
 }  // namespace mjpc::agent_grpc
diff --git a/mjpc/grpc/grpc_agent_util.cc b/mjpc/grpc/grpc_agent_util.cc
@@ -44,6 +44,8 @@ using ::agent::GetActionRequest;
 using ::agent::GetActionResponse;
 using ::agent::GetAllModesRequest;
 using ::agent::GetAllModesResponse;
+using ::agent::GetResidualsRequest;
+using ::agent::GetResidualsResponse;
 using ::agent::GetCostValuesAndWeightsRequest;
 using ::agent::GetCostValuesAndWeightsResponse;
 using ::agent::GetModeRequest;
@@ -58,6 +60,7 @@ using ::agent::SetCostWeightsRequest;
 using ::agent::SetModeRequest;
 using ::agent::SetStateRequest;
 using ::agent::SetTaskParametersRequest;
+using ::agent::Residual;
 using ::agent::ValueAndWeight;
 
 grpc::Status GetState(const mjModel* model, const mjData* data,
@@ -226,6 +229,34 @@ grpc::Status GetAction(const GetActionRequest* request,
   return grpc::Status::OK;
 }
 
+grpc::Status GetResiduals(
+    const GetResidualsRequest* request, const mjpc::Agent* agent,
+    const mjModel* model, mjData* data,
+    GetResidualsResponse* response) {
+  const mjModel* agent_model = agent->GetModel();
+  const mjpc::Task* task = agent->ActiveTask();
+  std::vector<double> residuals(task->num_residual, 0);  // scratch space
+  task->Residual(model, data, residuals.data());
+  std::vector<int> dim_norm_residual = task->dim_norm_residual;
+
+  int residual_shift = 0;
+  for (int i = 0; i < task->num_term; i++) {
+    CHECK_EQ(agent_model->sensor_type[i], mjSENS_USER);
+    std::string_view sensor_name(agent_model->names +
+                                  agent_model->name_sensoradr[i]);
+
+    std::vector<double> sensor_residual_values(
+        residuals.begin() + residual_shift,
+        residuals.begin() + residual_shift + dim_norm_residual[i]);
+    Residual sensor_residual;
+    sensor_residual.mutable_values()->Assign(sensor_residual_values.begin(),
+                                             sensor_residual_values.end());
+    (*response->mutable_values())[sensor_name] = sensor_residual;
+    residual_shift += dim_norm_residual[i];
+  }
+  return grpc::Status::OK;
+}
+
 grpc::Status GetCostValuesAndWeights(
     const GetCostValuesAndWeightsRequest* request, const mjpc::Agent* agent,
     const mjModel* model, mjData* data,

diff --git a/mjpc/grpc/grpc_agent_util.h b/mjpc/grpc/grpc_agent_util.h
@@ -34,6 +34,10 @@ grpc::Status GetAction(const agent::GetActionRequest* request,
                        const mjModel* model, mjData* rollout_data,
                        mjpc::State* rollout_state,
                        agent::GetActionResponse* response);
+grpc::Status GetResiduals(
+    const agent::GetResidualsRequest* request,
+    const mjpc::Agent* agent, const mjModel* model, mjData* data,
+    agent::GetResidualsResponse* response);
 grpc::Status GetCostValuesAndWeights(
     const agent::GetCostValuesAndWeightsRequest* request,
     const mjpc::Agent* agent, const mjModel* model, mjData* data,

diff --git a/mjpc/grpc/ui_agent_service.cc b/mjpc/grpc/ui_agent_service.cc
@@ -37,6 +37,8 @@ using ::agent::GetActionRequest;
 using ::agent::GetActionResponse;
 using ::agent::GetModeRequest;
 using ::agent::GetModeResponse;
+using ::agent::GetResidualsRequest;
+using ::agent::GetResidualsResponse;
 using ::agent::GetCostValuesAndWeightsRequest;
 using ::agent::GetCostValuesAndWeightsResponse;
 using ::agent::GetStateRequest;
@@ -125,6 +127,18 @@ grpc::Status UiAgentService::GetAction(grpc::ServerContext* context,
   });
 }
 
+grpc::Status UiAgentService::GetResiduals(
+    grpc::ServerContext* context, const GetResidualsRequest* request,
+    GetResidualsResponse* response) {
+  return RunBeforeStep(
+      context, [request, response](mjpc::Agent* agent, const mjModel* model,
+                                   mjData* data) {
+        return grpc_agent_util::GetResiduals(request, agent, model,
+                                             data, response);
+      });
+}
+
+
 grpc::Status UiAgentService::GetCostValuesAndWeights(
     grpc::ServerContext* context, const GetCostValuesAndWeightsRequest* request,
     GetCostValuesAndWeightsResponse* response) {

diff --git a/mjpc/grpc/ui_agent_service.h b/mjpc/grpc/ui_agent_service.h
@@ -49,6 +49,11 @@ class UiAgentService final : public agent::Agent::Service {
                          const agent::GetActionRequest* request,
                          agent::GetActionResponse* response) override;
 
+  grpc::Status GetResiduals(
+      grpc::ServerContext* context,
+      const agent::GetResidualsRequest* request,
+      agent::GetResidualsResponse* response) override;
+
   grpc::Status GetCostValuesAndWeights(
       grpc::ServerContext* context,
       const agent::GetCostValuesAndWeightsRequest* request,

diff --git a/python/mujoco_mpc/agent.py b/python/mujoco_mpc/agent.py
@@ -266,6 +266,11 @@ def get_cost_term_values(self) -> dict[str, float]:
         for name, value_weight in terms.values_weights.items()
     }
 
+  def get_residuals(self) -> dict[str, Sequence[float]]:
+    residuals = self.stub.GetResiduals(agent_pb2.GetResidualsRequest())
+    return {name: residual.values
+            for name, residual in residuals.values.items()}
+
   def planner_step(self):
     """Send a planner request."""
     planner_step_request = agent_pb2.PlannerStepRequest()

diff --git a/python/mujoco_mpc/agent_test.py b/python/mujoco_mpc/agent_test.py
@@ -303,6 +303,10 @@ def test_get_cost_weights(self):
       terms = list(terms_dict.values())
       self.assertFalse(np.any(np.isclose(terms, 0, rtol=0, atol=1e-4)))
 
+      residuals_dict = agent.get_residuals()
+      residuals = list(residuals_dict.values())
+      self.assertFalse(np.any(np.isclose(residuals, 0, rtol=0, atol=1e-4)))
+
   def test_set_state_with_lists(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent