def run_scene(controller, file_name):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/')+1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
last_step = DEFAULT_STEP_COUNT
if 'goal' in config_data.keys():
if 'last_step' in config_data['goal'].keys():
last_step = config_data['goal']['last_step']
step_time_list = []
output = controller.start_scene(config_data)
for i in range(output.step_number + 1, last_step + 1):
start = time.perf_counter()
output = controller.step('Pass')
end = time.perf_counter()
step_time_list.append(end - start)
output = controller.end_scene("", "")
return step_time_list
def main():
if len(sys.argv) < 3:
print(
'Usage: python run_mcs_human_input.py <mcs_unity_build_file> <mcs_config_json_file> <debug_files> <enable_noise>'
)
sys.exit()
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = True
if len(sys.argv) >= 4:
debug = sys.argv[3].lower() == 'true'
enable_noise = False
if len(sys.argv) >= 5:
enable_noise = sys.argv[4].lower() == 'true'
controller = MCS.create_controller(sys.argv[1],
debug=debug,
enable_noise=enable_noise)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
run_scene(controller, config_data)
def update_file(controller, filename, keep_backups):
config_data, err_status = MCS.load_config_json_file(filename)
if err_status is not None:
logging.error(f'could not load scene file "{filename}": {err_status}')
return False
if 'name' not in config_data:
base = os.path.basename(filename)
config_data['name'] = base.rsplit('.', 1)[-1]
output = controller.start_scene(config_data)
metadata = config_data['goal']['metadata']
target_ids = [
metadata[key]['id'] for key in ('target', 'target_1', 'target_2')
if key in metadata
]
logging.debug(f'target_ids: {target_ids}')
logging.debug(f'num objects = {len(output.object_list)}')
targets_visible = False
targets_not_visible = False
for obj in output.object_list:
if obj.uuid in target_ids:
# If it's in the object list to begin with, it should be visible, but just to make sure...
if obj.visible:
targets_visible = True
target_ids.remove(obj.uuid)
logging.debug(f'target visible: {obj.uuid}')
else:
targets_not_visible = True
logging.debug(f'target not visible: {obj.uuid}')
if targets_visible and targets_not_visible:
break
if targets_visible:
config_data['goal']['type_list'].append('target_starts_visible')
if targets_not_visible or len(target_ids) > 0:
config_data['goal']['type_list'].append('target_starts_invisible')
backup_name = filename + '.backup'
os.replace(filename, backup_name)
try:
write_file(filename, config_data)
except Exception as e:
logging.error(f'error writing file "{filename}": {e}')
logging.error(f'backup file is at "{backup_name}"')
return
if not keep_backups:
os.remove(backup_name)
def main():
args = parse_args()
unity_exe_path = find_unity_executable()
if unity_exe_path is None:
print("Unity executable not found in /mcs", file=sys.stderr)
exit(1)
scene_config, status = MCS.load_config_json_file(args.scene)
if status is not None:
print(status, file=sys.stderr)
exit(1)
controller = MCS.create_controller(unity_exe_path, debug=False)
run_playroom(controller, scene_config)
def run_scene(file_name, action_list):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
output = controller.start_scene(config_data)
output = controller.step('Pass')
for action in action_list:
output = controller.step(action)
def main():
if len(sys.argv) < 3:
print('Usage: python run_mcs_human_input.py <mcs_unity_build_file> <mcs_config_json_file> <debug_files>')
sys.exit()
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = 'terminal' if len(sys.argv) < 4 else True
controller = MCS.create_controller(sys.argv[1], debug=debug)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/'):]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
run_scene(controller, config_data)
def run_scene(file_name):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/')+1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
last_step = 30
if 'goal' in config_data.keys():
if 'last_step' in config_data['goal'].keys():
last_step = config_data['goal']['last_step']
output = controller.start_scene(config_data)
for i in range(1, last_step + 1):
action = output.action_list[len(output.action_list) - 1]
output = controller.step(action, **params)
def test_load_config_file_json(self):
actual, status = MCS.load_config_json_file("test/test_scene.json")
expected = {
"ceilingMaterial": "Walls/WallDrywallWhite",
"floorMaterial": "Fabrics/RUG4",
"wallMaterial": "Walls/YellowDrywall",
"objects": [{
"id": "testBall",
"type": "sphere",
"materialFile": "Plastics/BlueRubber",
"physics": True,
"shows": [{
"stepBegin": 0,
"position": {
"x": 0,
"y": 0.5,
"z": 3
},
"scale": {
"x": 0.25,
"y": 0.25,
"z": 0.25
}
}],
"forces": [{
"stepBegin": 1,
"stepEnd": 1,
"vector": {
"x": 50,
"y": 0,
"z": 0
}
}]
}]
}
self.assertEqual(actual, expected)
self.assertEqual(status, None)
output = controller.step('Pass')
output = controller.step('RotateLook', rotation=0, horizon=-30)
output = controller.step('ThrowObject',
objectId="apple_a",
force=1,
objectDirectionX=1,
objectDirectionY=0,
objectDirectionZ=2)
output = controller.step('RotateLook', rotation=20, horizon=0)
output = controller.step('Pass')
output = controller.step('Pass')
output = controller.step('Pass')
if __name__ == "__main__":
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = 'terminal' if sys.argv[3] is None else True
enable_noise = 'terminal' if sys.argv[4] is None else False
controller = MCS.create_controller(sys.argv[1],
debug=debug,
enable_noise=enable_noise)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
def test_load_config_file_json_is_missing(self):
actual, status = MCS.load_config_json_file("test/test_scene_missing.json")
self.assertEqual(actual, {})
self.assertEqual(status, "The given file 'test/test_scene_missing.json' cannot be found.")
def test_load_config_file_json_is_invalid(self):
actual, status = MCS.load_config_json_file("test/test_scene_invalid.json")
self.assertEqual(actual, {})
self.assertEqual(status, "The given file 'test/test_scene_invalid.json' does not contain valid JSON.")