def gtgen(gtmapfn, base, nsample, outdir):
assert nsample <= 999999, 'Do not support 7+ digits of samples for now'
if not os.path.exists(outdir):
os.makedirs(outdir, mode=0770)
uw = pyosr.UnitWorld()
uw.loadModelFromFile(aniconf.env_fn)
uw.loadRobotFromFile(aniconf.rob_fn)
uw.scaleToUnit()
uw.angleModel(0.0, 0.0)
'''
init_state = np.array([17.97,7.23,10.2,1.0,0.0,0.0,0.0])
if not uw.is_valid_state(uw.translate_to_unit_state(init_state)):
return
'''
gt = pyosr.GTGenerator(uw)
gt.rl_stepping_size = 0.0125
gt.verify_magnitude = 0.0125 / 64
gtdata = np.load(gtmapfn)
gt.install_gtdata(gtdata['V'], gtdata['E'], gtdata['D'], gtdata['N'])
gt.init_knn_in_batch()
for i in range(nsample):
ofn = "{}/aa-gt-{:06d}.npz".format(outdir, base + i)
if os.path.exists(ofn):
print("Skipping existing file {}".format(ofn))
continue
is_final = False
while not is_final:
init_state = uw_random.gen_init_state(uw)
keys, _, is_final = gt.generate_gt_path(init_state, 1024 * 4, False)
cont_tr, cont_rot, cont_dists, _ = gt.cast_path_to_cont_actions_in_UW(keys, path_is_verified=True)
np.savez(ofn, TR=cont_tr, ROT=cont_rot, DIST=cont_dists)
def visibilty_matrix_calculator(aniconf,
V0,
V1,
q0start,
q0end,
q1start,
q1end,
out_dir,
index=None,
block_size=None):
r = pyosr.UnitWorld() # pyosr.Renderer is not avaliable in HTCondor
r.loadModelFromFile(aniconf.env_fn)
r.loadRobotFromFile(aniconf.rob_fn)
r.scaleToUnit()
r.angleModel(0.0, 0.0)
VM = r.calculate_visibility_matrix2(V0[q0start:q0end],
False,
V1[q1start:q1end],
False,
0.0125 * 4 / 8,
enable_mt=False)
if out_dir == '-':
print(VM)
else:
if index is None or block_size is None:
fn = '{}/q0-{}T{}-q1-{}T{}.npz'.format(out_dir, q0start, q0end,
q1start, q1end)
else:
fn = '{}/index-{}-under-bs-{}.npz'.format(
out_dir, index, block_size) # Second naming scheme
np.savez(fn, VMFrag=VM, Locator=[q0start, q0end, q1start, q1end])
def create_unit_world(puzzle_file):
# Well this is against PEP 08 but we do not always need pyosr
# (esp in later pipeline stages)
# Note pyosr is a heavy-weight module with
# + 55 dependencies on Fedora 29 (control node)
# + 43 dependencies on Ubuntu 18.04 (GPU node)
# + 26 dependencies on Ubuntu 16.04 (HTCondor node)
import pyosr
uw = pyosr.UnitWorld()
_load_unit_world(uw, puzzle_file)
return uw
def _create_uw(aniconf, cmd):
if cmd == 'show':
return None # show command does not need unit world object
if 'render' in cmd or cmd in ['atlas2prim', 'useuniformatlas']:
pyosr.init()
dpy = pyosr.create_display()
glctx = pyosr.create_gl_context(dpy)
r = pyosr.Renderer() # 'project' command requires a Renderer
if cmd in ['atlas2prim', 'useuniformatlas']:
r.pbufferWidth = ATLAS_RES
r.pbufferHeight = ATLAS_RES
r.setup()
r.views = np.array([[0.0, 0.0]], dtype=np.float32)
else:
r = pyosr.UnitWorld() # pyosr.Renderer is not avaliable in HTCondor
if aniconf.rob_ompl_center is None:
'''
When OMPL_center is not specified
'''
assert aniconf.env_wt_fn == aniconf.env_uv_fn
assert aniconf.rob_wt_fn == aniconf.rob_uv_fn
if cmd in ['run', 'isect']:
# fb = r.render_barycentric(r.BARY_RENDERING_ROBOT, np.array([1024, 1024], dtype=np.int32))
# imsave('1.png', fb)
# sys.exit(0)
r.loadModelFromFile(aniconf.env_wt_fn)
r.loadRobotFromFile(aniconf.rob_wt_fn)
else: # All the remaining commands need UV coordinates
r.loadModelFromFile(aniconf.env_uv_fn)
r.loadRobotFromFile(aniconf.rob_uv_fn)
if aniconf.rob_ompl_center is not None:
r.enforceRobotCenter(aniconf.rob_ompl_center)
r.scaleToUnit()
r.angleModel(0.0, 0.0)
return r
def main():
if sys.argv[1] in ['-h', 'help']:
usage()
return
cmd = sys.argv[1]
input_file_position = None
if cmd == 'saforce':
input_file_position = 3
elif cmd == 'numeric':
input_file_position = 0
else:
assert False, "unsupported command {}".format(cmd)
r = pyosr.UnitWorld() # pyosr.Renderer is not avaliable in HTCondor
r.loadModelFromFile(aniconf.env_wt_fn)
r.loadRobotFromFile(aniconf.rob_wt_fn)
r.enforceRobotCenter(aniconf.rob_ompl_center)
r.scaleToUnit()
r.angleModel(0.0, 0.0)
mc_reference, taskfile, task, vmoutdir = sys.argv[2:]
assert os.path.isfile(mc_reference)
assert os.path.isfile(taskfile)
assert os.path.isdir(vmoutdir), "{} is not a directory".format(vmoutdir)
mc_reference = np.load(mc_reference)['V']
with open(taskfile) as f:
tasks = json.load(f)
task = tasks[int(task)]
fn = task[input_file_position]
fn_base = os.path.basename(fn)
ofn = '{}/{}'.format(vmoutdir, fn_base)
V0 = []
dic = np.load(fn)
q0start, q0end = task[1], task[2]
if 'ALL_RQS' in dic:
assert cmd == 'saforce'
for traj in dic['ALL_RQS']:
V0.append(traj[-1])
# Note: q0start and q0start are not used, because ALL_RQS are already
# tailored by condor_saforce.py
elif 'CRQS' in dic:
assert cmd == 'numeric'
V0 = dic['CRQS']
start = q0start
end = min(len(V0), q0end) # Bound to the size limit
V0 = V0[start:end]
else:
assert False, "Unsupported input, neither 'ALL_RQS' nor 'CRQS' existed"
V0 = np.array(V0, dtype=float)
# print(V0)
# V0 = np.load(task[0])['TOCRQS'][q0start:q0end]
os.environ['OMP_NUM_THREADS'] = '1'
VM = r.calculate_visibility_matrix2(
V0,
True,
mc_reference[0:-1],
False,
# mc_reference[0:4], False,
0.0125 * 4 / 8)
q1start, q1end = 0, -1 # Sameve as above
np.savez(ofn, VMFrag=VM, Locator=[q0start, q0end, q1start, q1end])
def __init__(self, args):
super().__init__(args)
self._uw = pyosr.UnitWorld()
_setup_unitworld(self._uw, args)