def make_new_batch(bn):
# how many frames of action its allowed to take
action_length = ACTION_LENGTH #(bsize - i) / 3
# how long it waits after action end
action_wait = ACTION_WAIT
bsize = BATCH_SIZE
start = BATCH_SIZE * bn
end = BATCH_SIZE * (bn + 1)
print("Getting new %d-%d" % (start, end))
ims = []
objs = []
norms = []
infolist = []
for i in range(bsize):
print(i)
info, narray, oarray, imarray = handle_message(sock,
write=True,
outdir=path, prefix=str(bn) + '_' + str(i))
msg = {'n': 4,
'msg': {"msg_type": "CLIENT_INPUT",
"get_obj_data": False,
"actions": []}}
oarray1 = 256**2 * oarray[:, :, 0] + 256 * oarray[:, :, 1] + oarray[:, :, 2]
obs = np.unique(oarray1)
msg['msg']['ang_vel'] = [0, .15, 0]
obs = obs[obs > 20]
if(len(obs) > 0):
chosen = obs.max()
print(chosen)
action = {}
action['force'] = [3000, 3000, 0]
action['torque'] = [0, 10, 0]
action['id'] = str(chosen)
action['action_pos'] = [] #map(float, chosen)
msg['msg']['actions'].append(action)
sock.send_json(msg['msg'])
def make_new_batch(bn):
# how many frames of action its allowed to take
action_length = ACTION_LENGTH #(bsize - i) / 3
# how long it waits after action end
action_wait = ACTION_WAIT
bsize = BATCH_SIZE
start = BATCH_SIZE * bn
end = BATCH_SIZE * (bn + 1)
print("Getting new %d-%d" % (start, end))
ims = []
objs = []
norms = []
infolist = []
chosen = False
chosen_obj = -1
chosen_frac = 0
teleport_counter = 0
move = 0
for i in range(bsize):
#print(i)
info, narray, oarray, imarray = handle_message(sock,
write=True,
outdir=path, prefix=str(bn) + '_' + str(i))
msg = {'n': 4,
'msg': {"msg_type": "CLIENT_INPUT",
"get_obj_data": False,
"actions": []}}
oarray1 = 256**2 * oarray[:, :, 0] + 256 * oarray[:, :, 1] + oarray[:, :, 2]
#move forward for two steps
if(move < 10):
move = move + 1
msg['msg']['vel'] = [0, 0, .25]
#turn
if(move >= 10 and move < 15):
move = move + 1
msg['msg']['ang_vel'] = [0, .3, 0]
if(move >= 15):
move = 0
print move
# choose closest object
#if (chosen == False):
# print 'I am choosing an object'
# oarray1 = 256**2 * oarray[:, :, 0] + 256 * oarray[:, :, 1] + oarray[:, :, 2]
# obs = np.unique(oarray1)
# obs = obs[obs > 20]
# if (len(obs) > 0):
# fracs = []
# for o in obs:
# frac = (oarray1 == o).sum() / float(np.prod(oarray.shape))
# fracs.append(frac)
# max_id = np.argmax(fracs)
# chosen_obj = obs[max_id]
# chosen_frac = fracs[max_id]
# chosen = True
# else:
# # turn if no object found
# msg['msg']['ang_vel'] = [0, .3, 0]
# move towards closest object
#if (chosen == True and chosen_frac < 0.005):
# print 'I am moving closer to object ' + str(chosen_obj)
# xs, ys = (oarray1 == chosen_obj).nonzero()
# pos = np.round(np.array(zip(xs, ys)).mean(0))
# print pos
#
# # lost object
# if len(pos) == 1:
# if math.isnan(pos):
# chosen = False
# continue
#
# if np.abs(SCREEN_WIDTH / 2 - pos[1]) < 30:
# d = 0
# else:
# d = -0.1 * np.sign(SCREEN_WIDTH / 2 - pos[1])
# msg['msg']['vel'] = [0, 0, .25]
# msg['msg']['ang_vel'] = [0, d, 0]
# move object
#if (chosen == True and chosen_frac > 0.005):
# print 'I am pushing object' + str(chosen_obj)
# action = {}
# action['force'] = [0, 3000, 0]
# action['torque'] = [0, 0, 0]
# action['id'] = str(chosen_obj)
# action['action_pos'] = []
# msg['msg']['actions'].append(action)
# chosen = False
# teleport every 10 steps
#if(teleport_counter == 20):
# msg['msg']['teleport_random'] = True
# teleport_counter = 0
#teleport_counter = teleport_counter + 1
#print(obs)
#msg['msg']['ang_vel'] = [0, .15, 0]
#action = {}
#action['force'] = [3000, 3000, 0]
#action['torque'] = [0, 10, 0]
#action['id'] = str(chosen)
#action['action_pos'] = [] #map(float, chosen)
#msg['msg']['actions'].append(action)
sock.send_json(msg['msg'])
def make_new_batch(bn):
global number_of_frames
global reset
global tstart
# how many frames of action its allowed to take
action_length = ACTION_LENGTH #(bsize - i) / 3
# how long it waits after action end
action_wait = ACTION_WAIT
bsize = BATCH_SIZE
start = BATCH_SIZE * bn
end = BATCH_SIZE * (bn + 1)
if not valid[start: end].all():
print("Getting new %d-%d" % (start, end))
ims = []
objs = []
norms = []
infolist = []
for i in range(bsize):
number_of_frames = number_of_frames + 1;
print(i)
info, narray, oarray, imarray = handle_message(sock,
write=True,
outdir=path, prefix=str(bn) + '_' + str(i))
if(reset == True):
tstart = time.time()
reset = False
msg = {'n': 4,
'msg': {"msg_type": "CLIENT_INPUT",
"get_obj_data": False,
"actions": []}}
if i == 0:
if bn == 0:
msg['msg']['get_obj_data'] = True
#print('turning at %d ... ' % i)
#msg['msg']['ang_vel'] = [0, 10 * (rng.uniform() - 1), 0]
#msg['msg']['vel'] = [0, 0, 1]
msg['msg']['teleport_random'] = True
chosen = False
action_started = False
action_done = False
action_ind = 0
objpi = []
aset = achoice[:]
amult = MULTSTART
else:
oarray1 = 256**2 * oarray[:, :, 0] + 256 * oarray[:, :, 1] + oarray[:, :, 2]
obs = np.unique(oarray1)
obs = obs[obs > 18]
obs = obs[obs < 256]
if len(obs) == 0:
print('turning at %d ... ' % i)
msg['msg']['ang_vel'] = [0, 10 * (2 * rng.uniform() - 1), 0]
msg['msg']['vel'] = [0, 0, 2 * (2 * rng.uniform() - 1)]
action_done = False
action_started = False
action_ind = 0
objpi = []
aset = achoice[:]
amult = MULTSTART
chosen = False
g = 7.5 * (2 * rng.uniform() - 1)
else:
fracs = []
for o in obs:
frac = (oarray1 == o).sum() / float(np.prod(oarray.shape))
fracs.append(frac)
if not chosen or (chosen_o not in obs and ((not action_started) or action_done)):
action_started = False
action_done = False
action_ind = 0
objpi = []
aset = achoice[:]
amult = MULTSTART
chosen_o = choose(obs[np.argsort(fracs)[-10:]])
chosen = True
print('Choosing object', chosen_o)
g = 15. * (2 * rng.uniform() - 1)
a = achoice[rng.randint(len(achoice))]
if chosen_o not in obs.tolist():
frac0 = 0
else:
frac0 = fracs[obs.tolist().index(chosen_o)]
print('FRAC:', frac0, chosen, chosen_o, action_started, action_ind, action_done)
if action_ind >= action_length + action_wait:
action_done = True
action_started = False
action_ind = 0
if frac0 < 0.005 and not action_started:
xs, ys = (oarray1 == chosen_o).nonzero()
pos = np.round(np.array(zip(xs, ys)).mean(0))
if np.abs(SCREEN_WIDTH/2 - pos[1]) < 3:
d = 0
else:
d = -0.1 * np.sign(SCREEN_WIDTH/2 - pos[1])
msg['msg']['vel'] = [0, 0, .25]
msg['msg']['ang_vel'] = [0, d, 0]
print(pos, d)
else:
xs, ys = (oarray1 == chosen_o).nonzero()
pos = np.round(np.array(zip(xs, ys)).mean(0))
objpi.append(pos)
action = {}
if action_started and not action_done:
if chosen_o not in obs.tolist() and action_ind < action_length:
action_ind = action_length
if action_ind < action_length and len(objpi) > 2:
dist = np.sqrt(((objpi[-2] - objpi[-1])**2).sum())
print('dist', dist)
if dist < 1:
action_ind = 0
aset.remove(a)
if len(aset) == 0:
amult += 1
aset = ((2 ** (amult)) * np.array(achoice)).tolist()
a = aset[rng.randint(len(aset))]
if amult > 10:
action_done = True
action_started = False
print('choosing "a"', dist, a)
action['force'] = [a, 100 * (2 ** amult), 0]
action['torque'] = [0, g, 0]
action['id'] = str(chosen_o)
action['action_pos'] = map(float, objpi[-1])
print 'MOVE OBJECT! ' + str(chosen_o)
else:
print(action_ind, i, 'waiting')
msg['msg']['vel'] = [0, 0, 0]
msg['msg']['ang_vel'] = [0, 0, 0]
msg['msg']['actions'] = []
action_ind += 1
if action_done or (action_ind >= action_length + action_wait):
action_done = True
chosen = False
action_started = False
elif not action_started:
objpi = []
action_ind = 0
action_started = True
action['id'] = str(chosen_o)
action['force'] = [a, 100 * (2 ** amult), 0]
action['torque'] = [0, g, 0]
action['action_pos'] = map(float, pos)
print 'MOVE OBJECT! ' + str(chosen_o)
if 'id' in action:
msg['msg']['actions'].append(action)
infolist.append(msg['msg'])
ims.append(imarray)
norms.append(narray)
objs.append(oarray)
sock.send_json(msg['msg'])
ims = np.array(ims)
norms = np.array(norms)
objs = np.array(objs)
#infopath = os.path.join(infodir, str(bn) + '.json')
#with open(infopath, 'w') as _f:
# json.dump(infolist, _f)
#images[start: end] = ims
#normals[start: end] = norms
#objects[start: end] = objs
valid[start: end] = True
def make_new_batch(self, bn, sock, path, create_hdf5, use_tdw_msg):
if(create_hdf5):
self.valid, images, normals, objects, worldinfos, agentactions = self.get_hdf5_handles()
# how many frames of action its allowed to take
action_length = self.ACTION_LENGTH #(bsize - i) / 3
# how long it waits after action end
action_wait = self.ACTION_WAIT
waiting = False
# how long it waits when it gets stuck before it turns away
init_y_pos = 0
# look around variables
look_init_direction = [0, 0, 0]
look_length = 25
look_around = 0
look_is_looking = 1
look_i = 0
# turn variables
turn_on = False
turn_length = 5
bsize = self.BATCH_SIZE
start = self.BATCH_SIZE * bn
end = self.BATCH_SIZE * (bn + 1)
if not self.valid[start: end].all():
print("Getting new %d-%d" % (start, end))
ims = []
objs = []
norms = []
infolist = []
infs = []
for i in range(bsize):
print(i)
info, narray, oarray, imarray = handle_message(sock,
write=self.WRITE_FILES,
outdir=path, prefix=str(bn) + '_' + str(i))
info = json.loads(info)
obs_obj = info['observed_objects']
#Print object information
#print '................'
#print 'observed object 0'
#print info['observed_objects'][0][0] #name
#print info['observed_objects'][0][1] #ID
#print info['observed_objects'][0][2] #position
#print info['observed_objects'][0][3] #rotation
#print info['observed_objects'][0][4] #isStatic
print '................'
#print 'avatar'
#print info['avatar_position']
#print info['avatar_rotation']
#print info['avatar_up']
#print '................'
msg = {'n': 4,
'msg': {"msg_type": "CLIENT_INPUT",
"get_obj_data": True,
"actions": []}}
# if agent tilted move it back
is_tilted = info['avatar_up'][1] < 0.99
if look_around == 0:
look_around = self.rng.randint(5) + 1
# teleport and reinitialize
if i == 0:
if bn == 0:
msg['msg']['get_obj_data'] = True
msg['msg']['teleport_random'] = True
msg['msg']['action_type'] = "TELEPORT"
chosen = False
action_started = False
action_done = False
action_ind = 0
objpi = []
objpi2 = []
aset = self.achoice[:]
amult = self.MULTSTART
# initial y-pos of agent
init_y_pos = info['avatar_position'][1]
elif look_around == 1:
# first look sequence - select target angle
if look_i == 0:
# store init looking direction
if look_is_looking == 1:
look_init_direction = info['avatar_rotation']
target_angle = []
random_angle = (self.rng.randint(30) - 15)
target_angle.append(random_angle)
random_angle = self.rng.randint(360) - 180;
while(abs(random_angle) < 140):
random_angle = (self.rng.randint(360) - 180);
target_angle.append(random_angle)
target_angle.append(0)
target_axis = self.rotate_smooth(info['avatar_forward'], info['avatar_angvel'], target_angle)
#if look_is_looking % 2 != 0:
# target_angle = look_init_direction
look_i = look_i + 1
# end of one looking sequence
if look_i == look_length:
look_i = 0
look_is_looking += 1
if look_is_looking % 2 == 0:
msg['msg']['ang_vel'] = self.stabilize(info['avatar_up'], info['avatar_angvel'])
#print "STAB: " + str(info['avatar_forward'])
else:
msg['msg']['ang_vel'] = self.stabilize(info['avatar_forward'], info['avatar_angvel'], target_axis)
msg['msg']['vel'] = [0, 0, 0]
msg['msg']['action_type'] = "LOOK"
print 'LOOK AROUND!'
# stand back up
elif is_tilted and self.use_stabilization:
print('STANDING BACK UP')
msg['msg']['ang_vel'] = self.stabilize(info['avatar_up'], info['avatar_angvel'])
msg['msg']['action_type'] = "STANDUP"
#action_done = False
#action_started = False
#action_ind = 0
#objpi = []
#aset = self.achoice[:]
#amult = self.MULTSTART
#chosen = False
#g = 7.5 * (2 * self.rng.uniform() - 1)
# object interactions
else:
oarray1 = 256**2 * oarray[:, :, 0] + 256 * oarray[:, :, 1] + oarray[:, :, 2]
obs = np.unique(oarray1)
# remove static objects from object list
valido = []
for o in info['observed_objects']:
if not o[4] and o[1] in obs:
valido.append(o[1])
diff = set(valido).symmetric_difference(set(obs))
obs = np.array(valido)
# remove static objects from objects image
for d in diff:
oarray1[oarray1 == d] = 0
# random searching for object
if len(obs) == 0 and not waiting:
print('turning at %d ... ' % i)
if not turn_on:
turn_on = True
t = 0
target_angle = []
target_angle.append(0)
random_angle = self.rng.randint(360) - 180;
while(abs(random_angle) < 140):
random_angle = (self.rng.randint(360) - 180);
target_angle.append(random_angle)
target_angle.append(0)
target_axis = self.rotate_smooth(info['avatar_forward'], info['avatar_angvel'], target_angle)
target_velocity = 2 * (2 * self.rng.uniform() - 1)
if t == turn_length:
turn_on = False
t += 1
#msg['msg']['ang_vel'] = [0, 10 * (2 * self.rng.uniform() - 1), 0]
msg['msg']['ang_vel'] = self.stabilize(info['avatar_forward'], info['avatar_angvel'], target_axis)
msg['msg']['vel'] = [0, 0, 0.1 * target_velocity]
msg['msg']['action_type'] = "SEARCHING"
action_done = False
action_started = False
action_ind = 0
objpi = []
aset = self.achoice[:]
amult = self.MULTSTART
chosen = False
g = 7.5 * (2 * self.rng.uniform() - 1)
# object selection
else:
fracs = []
for o in obs:
frac = (oarray1 == o).sum() / float(np.prod(oarray.shape))
fracs.append(frac)
# choose new objects
if not chosen or (chosen_o not in obs and ((not action_started) or action_done)):
action_started = False
action_done = False
action_ind = 0
objpi = []
aset = self.achoice[:]
amult = self.MULTSTART
chosen_o, index_o = self.choose(obs[np.argsort(fracs)[-5:]])
chosen_o_name = obs_obj[self.find_in_observed_objects(chosen_o, obs_obj)][0]
chosen = True
print 'CHOOSING OBJECT ' + str(chosen_o) + " " + str(chosen_o_name)
g = 15. * (2 * self.rng.uniform() - 1)
a = self.achoice[self.rng.randint(len(self.achoice))]
target_distance = self.rng.rand(1)[0] * 2 + 0.8
# determine fraction and position of chosen objects
if chosen_o not in obs.tolist():
frac0 = 0
obs_dist = np.array([])
else:
frac0 = fracs[obs.tolist().index(chosen_o)]
obs_idx = self.find_in_observed_objects(chosen_o, obs_obj)
if obs_idx != -1:
pos3d = np.array(obs_obj[obs_idx][2])
obs_dist = np.linalg.norm(pos3d - np.array(info['avatar_position']))
#print('FRAC:', frac0, chosen, chosen_o, action_started, action_ind, action_done)
# reset if action is done
if action_ind >= action_length + action_wait or action_done and action_started:
action_done = True
action_started = False
action_ind = 0
waiting = False
# if object too far and no action is performed move closer
if obs_dist.size != 0 and obs_dist > target_distance and not action_started:
print 'MOVING CLOSER TO ' + str(chosen_o) + ' ' + str(chosen_o_name)
print 'TARGET DISTANCE ' + str(target_distance) + ' > ' + str(obs_dist)
xs, ys = (oarray1 == chosen_o).nonzero()
pos = np.round(np.array(zip(xs, ys)).mean(0))
if np.abs(self.SCREEN_WIDTH/2 - pos[1]) < 10:
d = 0
else:
d = -0.1 * np.sign(self.SCREEN_WIDTH/2 - pos[1])
msg['msg']['vel'] = [0, 0, .25]
msg['msg']['ang_vel'] = [0, d, 0]
msg['msg']['action_type'] = "MOVING_CLOSER"
# perform action on chosen object
else:
if action_ind == 0:
# choose position of action
pos, chosen_id = self.choose_action_position(oarray1, chosen_o)
print 'ACTION POS: ' + str(chosen_o) + " " + str(chosen_id)
# find object centroid
xs, ys = (oarray1 == chosen_o).nonzero()
centroid = np.round(np.array(zip(xs, ys)).mean(0))
objpi.append(centroid)
action = {}
action2 = {}
# continue action
if action_started and not action_done:
# if object was lost, then wait
if chosen_o not in obs.tolist() and action_ind < action_length:
action_ind = action_length
# if action is running and object is there, then perform action
if action_ind < action_length and len(objpi) > 2:
dist = np.sqrt(((objpi[-2] - objpi[-1])**2).sum())
# if object has not moved, reset action and remove already performed force from action set
if dist < 1:
action_ind = 0
aset.remove(a)
# increase force
if len(aset) == 0:
amult += 1
aset = ((2 ** (amult)) * np.array(self.achoice)).tolist()
a = aset[self.rng.randint(len(aset))]
# marked as done if object still hasn't moved with biggest force
if amult > 10:
action_done = True
action_started = False
print('choosing "a"', dist, a)
if action_type == 0:
action['force'] = [a, 105 * (2 ** amult), 0]
action['torque'] = [0, g, 0]
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "MOVING_OBJECT"
print 'MOVE OBJECT! ' + str(chosen_o)
elif action_type == 1:
idx = self.find_in_observed_objects(chosen_o, obs_obj)
idx2 = self.find_in_observed_objects(chosen_o2, obs_obj)
if(idx != -1 and idx2 != -1 and idx != idx2):
pos_obj = np.array(obs_obj[idx][2])
pos_obj2 = np.array(obs_obj[idx2][2])
mov = pos_obj2 - pos_obj
mov[1] = 0
#mov = mov / np.linalg.norm(mov)
mov = 200 * (2 ** amult) * mov
mov2 = -mov
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['force'] = mov.tolist()
action['torque'] = [0, g, 0]
action['action_pos'] = map(float, pos)
action2['id'] = str(chosen_id2)
action2['object'] = str(chosen_o2)
action2['force'] = mov2.tolist()
action2['torque'] = [0, g, 0]
action2['action_pos'] = map(float, pos2)
msg['msg']['action_type'] = "CRASHING"
action_ind = action_length
print 'CRASH OBJECTS! ' + str(chosen_o) + ' ' + str(chosen_o2) + ' ' + str(mov) + ' ' + str(mov2) + ' ' + str(pos_obj) + ' ' + str(pos_obj2)+ ' ' + obs_obj[idx][0] + ' ' + obs_obj[idx2][0]
else:
print 'CRASH NOT FOUND!'
msg['msg']['action_type'] = "NO_CRASH"
elif action_type == 2:
action['force'] = [0, self.rng.rand(1)[0] * 10 + 48, 0]
action['torque'] = [0, 0, 0]
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "LIFTING"
print 'LIFT OBJECT! ' + str(action['force']) + ' ' + str(chosen_o)
elif action_type == 3:
action['force'] = [0, 0, 0]
action['torque'] = [0, rotation_torque, 0]
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "ROTATING"
print 'ROTATE OBJECT! ' + str(action['torque']) + ' ' + str(chosen_o)
else:
print('WAITING')
msg['msg']['vel'] = [0, 0, 0]
msg['msg']['ang_vel'] = [0, 0, 0]
msg['msg']['actions'] = []
msg['msg']['action_type'] = "WAITING"
waiting = True
action_ind += 1
if action_done or (action_ind >= action_length + action_wait):
action_done = True
chosen = False
action_started = False
waiting = False
# start new action
elif not action_started:
chosen_o2 = chosen_o
if len(obs) > 1:
while (chosen_o2 == chosen_o):
chosen_o2, index_o2 = self.choose(obs[np.argsort(fracs)[-10:]])
pos2, chosen_id2 = self.choose_action_position(oarray1, chosen_o2)
objpi = []
objpi2 = []
action_ind = 0
action_type = self.rng.randint(4)
action_started = True
if action_type == 0:
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['force'] = [a, 105 * (2 ** amult), 0]
action['torque'] = [0, g, 0]
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "MOVING_OBJECT"
print 'MOVE OBJECT! ' + str(chosen_o)
elif action_type == 1:
idx = self.find_in_observed_objects(chosen_o, obs_obj)
idx2 = self.find_in_observed_objects(chosen_o2, obs_obj)
if(idx != -1 and idx2 != -1 and idx != idx2):
pos_obj = np.array(obs_obj[idx][2])
pos_obj2 = np.array(obs_obj[idx2][2])
mov = pos_obj2 - pos_obj
mov[1] = 0
#mov = mov / np.linalg.norm(mov)
mov = 200 * (2 ** amult) * mov
mov2 = -mov
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['force'] = mov.tolist()
action['torque'] = [0, g, 0]
action['action_pos'] = map(float, pos)
action2['id'] = str(chosen_id2)
action2['object'] = str(chosen_o2)
action2['force'] = mov2.tolist()
action2['torque'] = [0, g, 0]
action2['action_pos'] = map(float, pos2)
msg['msg']['action_type'] = "CRASHING"
action_ind = action_length
print 'CRASH OBJECTS! ' + str(chosen_o) + ' ' + str(chosen_o2) + ' ' + str(mov) + ' ' + str(mov2) + ' ' + obs_obj[idx][0] + ' ' + obs_obj[idx2][0]
else:
action_done = True
print 'CRASH NOT FOUND!'
msg['msg']['action_type'] = "NO_CRASH"
elif action_type == 2:
action['force'] = [0, self.rng.rand(1)[0] * 10 + 48, 0]
action['torque'] = [0, 0, 0]
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "LIFTING"
print 'LIFT OBJECT! ' + str(action['force']) + ' ' + str(chosen_o)
elif action_type == 3:
action['force'] = [0, 0, 0]
rotation_torque = self.rng.rand(1)[0] * 100 - 50
while abs(rotation_torque) < 30:
rotation_torque = self.rng.rand(1)[0] * 100 - 50
action['torque'] = [0, rotation_torque, 0]
action['id'] = str(chosen_id)
action['object'] = str(chosen_o)
action['action_pos'] = map(float, pos)
msg['msg']['action_type'] = "ROTATING"
print 'ROTATE OBJECT! ' + str(action['torque']) + ' ' + str(chosen_o)
# add action if new action defined
if 'id' in action:
msg['msg']['actions'].append(action)
if 'id' in action2:
msg['msg']['actions'].append(action2)
# move down
if not is_tilted and init_y_pos != info['avatar_position'][1]:
#print('moving up/down')
gravity = info['avatar_position'][1] - init_y_pos
if 'vel' in msg['msg']:
msg['msg']['vel'][1] = -0.1 * gravity
else:
msg['msg']['vel'] = [0, -0.1 * gravity, 0]
#msg['msg']['output_formats'] = ["png", "png", "jpg"]
if(not 'action_type' in msg['msg']):
print("ERROR! Action not recognized")
else:
print(msg['msg']['action_type'])
infolist.append(json.dumps(msg['msg']))
ims.append(imarray)
norms.append(narray)
infs.append(json.dumps(info))
objs.append(oarray)
if use_tdw_msg:
sock.send_json(msg)
else:
sock.send_json(msg['msg'])
ims = np.array(ims)
norms = np.array(norms)
objs = np.array(objs)
if(create_hdf5):
#actioninfopath = os.path.join(path, str(bn) + '_action.json')
#with open(actioninfopath, 'w') as _f:
# json.dump(infolist, _f)
#objectinfopath = os.path.join(path, str(bn) + '_objects.json')
#with open(objectinfopath, 'w') as _f:
# json.dump(infs, _f)
images[start: end] = ims
normals[start: end] = norms
objects[start: end] = objs
self.valid[start: end] = True
worldinfos[start: end] = infs
agentactions[start: end] = infolist
if(create_hdf5):
self.hdf5.flush()
