DNL Mikebauer/multi goal events

systems/drone/build_and_push.sh

@@ -52,8 +52,8 @@ echo "Ensuring the ReSim cli is installed..."
 cd $(dirname "$0")
 ../../scripts/maybe_install_cli.sh
 
-echo "Building the build image..."
-./build.sh
+#echo "Building the build image..."
+#./build.sh
 
 echo "Building the metrics build image..."
 ./metrics/build.sh
@@ -63,34 +63,34 @@ echo "Performing ECR Login..."
 aws ecr get-login-password --region "${RESIM_SANDBOX_ECR_REGION}" \
     | docker login --username AWS --password-stdin "${RESIM_SANDBOX_ECR}"
 
-echo "Pushing build image..."
-_FULL_TAG="${RESIM_SANDBOX_ECR}/${RESIM_SANDBOX_ECR_REPO}:${RESIM_SANDBOX_BUILD_TAG_PREFIX}${RESIM_SANDBOX_BUILD_VERSION}"
-docker tag "${LOCAL_TAG}" "${_FULL_TAG}"
-docker push "${_FULL_TAG}"
-
-echo "Registering build with ReSim..."
-resim builds create \
-      --url "${RESIM_API_URL}" \
-      --auth-url "${RESIM_AUTH_URL}" \
-      --branch "${RESIM_SANDBOX_BUILD_BRANCH}" \
-      --description "A ReSim sandbox build." \
-      --image "${_FULL_TAG}" \
-      --project "${RESIM_SANDBOX_PROJECT}" \
-      --system "${RESIM_SANDBOX_SYSTEM}" \
-      --version "${RESIM_SANDBOX_BUILD_VERSION}" \
-      --auto-create-branch
+#echo "Pushing build image..."
+#_FULL_TAG="${RESIM_SANDBOX_ECR}/${RESIM_SANDBOX_ECR_REPO}:${RESIM_SANDBOX_BUILD_TAG_PREFIX}${RESIM_SANDBOX_BUILD_VERSION}"
+#docker tag "${LOCAL_TAG}" "${_FULL_TAG}"
+#docker push "${_FULL_TAG}"
+#
+#echo "Registering build with ReSim..."
+#resim builds create \
+#      --url "${RESIM_API_URL}" \
+#      --auth-url "${RESIM_AUTH_URL}" \
+#      --branch "${RESIM_SANDBOX_BUILD_BRANCH}" \
+#      --description "A ReSim sandbox build." \
+#      --image "${_FULL_TAG}" \
+#      --project "${RESIM_SANDBOX_PROJECT}" \
+#      --system "${RESIM_SANDBOX_SYSTEM}" \
+#      --version "${RESIM_SANDBOX_BUILD_VERSION}" \
+#      --auto-create-branch
 
 echo "Pushing metrics image..."
 _FULL_METRICS_TAG="${RESIM_SANDBOX_ECR}/${RESIM_SANDBOX_ECR_REPO}:${RESIM_SANDBOX_METRICS_BUILD_TAG_PREFIX}${RESIM_SANDBOX_BUILD_VERSION}"
 docker tag "${LOCAL_METRICS_TAG}" "${_FULL_METRICS_TAG}"
 docker push "${_FULL_METRICS_TAG}"
 
-echo "Registering metrics build with ReSim..."
-resim metrics-builds create \
-      --url "${RESIM_API_URL}" \
-      --auth-url "${RESIM_AUTH_URL}" \
-      --name "A ReSim sandbox metrics build." \
-      --image "${_FULL_METRICS_TAG}" \
-      --systems "${RESIM_SANDBOX_SYSTEM}" \
-      --project "${RESIM_SANDBOX_PROJECT}" \
-      --version "${RESIM_SANDBOX_BUILD_VERSION}"
+#echo "Registering metrics build with ReSim..."
+#resim metrics-builds create \
+#      --url "${RESIM_API_URL}" \
+#      --auth-url "${RESIM_AUTH_URL}" \
+#      --name "A ReSim sandbox metrics build." \
+#      --image "${_FULL_METRICS_TAG}" \
+#      --systems "${RESIM_SANDBOX_SYSTEM}" \
+#      --project "${RESIM_SANDBOX_PROJECT}" \
+#      --version "${RESIM_SANDBOX_BUILD_VERSION}"

systems/drone/experiences/local_experience/experience.sim

@@ -25,19 +25,46 @@ dynamic_behavior {
         }
       }
       ilqr_drone {
-        velocity_cost: 0.06
+        velocity_cost: 0.01
         initial_position: 0
         initial_position: 0
         initial_position: 0
-        goal_position: -617
-        goal_position: 423
-        goal_position: 200
+        goals {
+          position: -100
+          position: -100
+          position: 200
+	}
+        goals {
+          position: 100
+          position: -100
+          position: 200
+	}
+        goals {
+          position: 100
+          position: 100
+          position: 200
+	}
+        goals {
+          position: -100
+          position: 100
+          position: 200
+	}
+        goals {
+          position: 0
+          position: 0
+          position: 10
+	}
+        goals {
+          position: 0
+          position: 0
+          position: 0
+	}
       }
     }
   }
   completion_criteria {
     time_limit {
-      seconds: 30
+      seconds: 120
     }
   }
 }

systems/drone/metrics/Dockerfile

@@ -2,6 +2,7 @@ FROM python:3.10-slim
 
 LABEL description="Demo metrics build docker image"
 
+COPY resim_open_core-0.0.0-py3-none-manylinux2014_x86_64.whl /resim_open_core-0.0.0-py3-none-manylinux2014_x86_64.whl
 COPY requirements_lock.txt /requirements_lock.txt
 RUN pip install --no-cache-dir -r /requirements_lock.txt
 

systems/drone/metrics/batch_metrics.py

@@ -4,7 +4,6 @@
 # license that can be found in the LICENSE file or at
 # https://opensource.org/licenses/MIT.
 
-
 import uuid
 
 from collections import defaultdict
@@ -22,14 +21,18 @@
     MetricStatus,
     HistogramBucket,
 )
-
+from datetime import datetime
 
 import plotly.express as px
 import pandas as pd
 from resim.metrics.proto.validate_metrics_proto import validate_job_metrics
 from resim.metrics.python.metrics_writer import ResimMetricsWriter
 from resim.metrics.proto.metrics_pb2 import JobMetrics
 from resim_python_client.api.batches import list_jobs
+from resim_python_client.api.batches import list_events_for_job
+from resim_python_client.api.experiences import get_experience, create_experience, list_experiences
+from resim_python_client.api.experience_tags import add_experience_tag_to_experience
+from resim_python_client.models import CreateExperienceInput
 
 from resim_python_client.client import AuthenticatedClient
 from resim_python_client.api.batches import get_batch
@@ -309,6 +312,60 @@ async def compute_batch_metrics(
         .with_unit("m/s")
     )
 
+    ################################################################################
+    # SNIPPETING
+    #
+
+    experience_pages = await async_fetch_all_pages(
+        list_experiences.asyncio,
+        client=client,
+        project_id=project_id,
+    )
+    experiences = {e.name : e for page in experience_pages for e in page.experiences}
+
+
+    for job in jobs:
+        event_pages = await async_fetch_all_pages(
+            list_events_for_job.asyncio,
+            job_id=job.job_id,
+            client=client,
+            project_id=project_id,
+            batch_id=batch_id,
+        )
+        events = [event.timestamp for page in event_pages for event in page.events]
+        events.sort()
+
+        experience = await get_experience.asyncio(
+            project_id=project_id, client=client, experience_id=job.experience_id
+        )
+        basename = experience.name
+
+        if "?" in basename:
+            continue
+
+        for ii in range(len(events)):
+            ev = events[ii]
+
+            def diff_ts(ts: datetime, diff: int):
+                ns = int(ts.timestamp() * 1000000000)
+                print(ns)
+                return f"{ns // 1000000000 + diff}.{ns % 1000000000}"
+
+            newname = experience.name + f"?lb={diff_ts(ev, -5)}&ub={diff_ts(ev, 5)}"
+
+            if newname not in experiences:
+                experiences[newname] = await create_experience.asyncio(
+                        project_id=project_id,
+                        client=client,
+                        body=CreateExperienceInput(
+                            name=newname,
+                            location=experience.location,
+                            description=experience.description,
+                        ),
+                    )
+
+            print(await add_experience_tag_to_experience.asyncio_detailed(project_id=project_id, experience_tag_id="0ef03700-eab7-4d4c-9ef6-cd8d1274151d", experience_id=experiences[newname].experience_id, client=client))
+
     write_proto(metrics_writer, "/tmp/resim/outputs/metrics.binproto")