def __init__(self,
config,
tracking_camera,
scene_type="building",
gpu_idx=0):
BaseEnv.__init__(self, config, scene_type, tracking_camera)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.k = 5
self.robot_tracking_id = -1
self.scale_up = 4
self.dataset = None
self.ground_ids = None
if self.gui:
assert (self.tracking_camera is not None)
self.gpu_idx = gpu_idx
self.assign_ports()
self.nframe = 0
self.eps_reward = 0
self.reward = 0
self.eps_count = 0
self._robot_introduced = False
self._scene_introduced = False
def __init__(self, config, tracking_camera, scene_type="building", gpu_count=0):
BaseEnv.__init__(self, config, scene_type, tracking_camera)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.k = 5
self.robot_tracking_id = -1
self.scale_up = 4
self.dataset = ViewDataSet3D(
transform = np.array,
mist_transform = np.array,
seqlen = 2,
off_3d = False,
train = False,
overwrite_fofn=True, env = self)
self.ground_ids = None
if self.gui:
assert(self.tracking_camera is not None)
self.gpu_count = gpu_count
self.nframe = 0
self.eps_reward = 0
self.reward = 0
self.eps_count = 0
self._robot_introduced = False
self._scene_introduced = False
def _reset(self):
assert(self._robot_introduced)
assert(self._scene_introduced)
debugmode = 1
if debugmode:
print("Episode: steps:{} score:{}".format(self.nframe, self.reward))
body_xyz = self.robot.body_xyz
print("[{}, {}, {}],".format(body_xyz[0], body_xyz[1], body_xyz[2]))
print("Episode count: {}".format(self.eps_count))
self.eps_count += 1
self.nframe = 0
self.eps_reward = 0
BaseEnv._reset(self)
if not self.ground_ids:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
[])
self.ground_ids = set(self.scene.scene_obj_list)
## Todo: (hzyjerry) this part is not working, robot_tracking_id = -1
for i in range (p.getNumBodies()):
if (p.getBodyInfo(i)[0].decode() == self.robot_body.get_name()):
self.robot_tracking_id=i
#print(p.getBodyInfo(i)[0].decode())
i = 0
eye_pos, eye_quat = self.get_eye_pos_orientation()
pose = [eye_pos, eye_quat]
observations = self.render_observations(pose)
pos = self.robot._get_scaled_position()
orn = self.robot.get_orientation()
pos = (pos[0], pos[1], pos[2] + self.tracking_camera['z_offset'])
p.resetDebugVisualizerCamera(self.tracking_camera['distance'],self.tracking_camera['yaw'], self.tracking_camera['pitch'],pos)
return observations
def __init__(self, config, scene_type="building", gpu_count=0):
BaseEnv.__init__(self, config, scene_type)
## The following properties are already instantiated inside xxx_env.py:
# @self.timestep
# @self.frame_skip
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.temp_target_x = 0 # added randomness
self.temp_target_y = 0 # added randomness
self.k = 5
self.robot_tracking_id = -1
self.scale_up = 4
self.dataset = ViewDataSet3D(transform=np.array,
mist_transform=np.array,
seqlen=2,
off_3d=False,
train=False,
overwrite_fofn=True,
env=self)
self.ground_ids = None
if self.gui:
assert (self.tracking_camera is not None)
self.gpu_count = gpu_count
self.nframe = 0
self.eps_reward = 0
self.reward = 0
self.eps_count = 0
self._robot_introduced = False
self._scene_introduced = False
def _close(self):
BaseEnv._close(self)
if not self._require_camera_input or self.test_env:
return
self.r_camera_mul.terminate()
self.r_camera_rgb._close()
if self.r_camera_dep is not None:
self.r_camera_dep.terminate()
if self._require_normal:
self.r_camera_norm.terminate()
if self._require_semantics:
self.r_camera_semt.terminate()
def _close(self):
BaseEnv._close(self)
if self._require_camera_input:
self.r_camera_mul.terminate()
self.r_camera_rgb._close()
if self.r_camera_dep is not None:
self.r_camera_dep.terminate()
if self._require_normal:
self.r_camera_norm.terminate()
if self._require_semantics:
self.r_camera_semt.terminate()
if self.config["display_ui"]:
self.UI._close()
def _reset(self):
assert (self._robot_introduced)
assert (self._scene_introduced)
self.eps_count += 1
#print("Episode count: {}/50".format((self.eps_count%50)) + " -------- "
# + "Score: {:.3g}".format(self.reward))
self.nframe = 0
self.eps_reward = 0
BaseEnv._reset(self)
if not self.ground_ids:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
[])
self.ground_ids = set(self.scene.scene_obj_list)
# (hzyjerry) this part is not working, robot_tracking_id = -1
for i in range(p.getNumBodies()):
if (p.getBodyInfo(i)[0].decode() == self.robot_body.get_name()):
self.robot_tracking_id=i
#print(p.getBodyInfo(i)[0].decode())
i = 0
eye_pos, eye_quat = self.get_eye_pos_orientation()
pose = [eye_pos, eye_quat]
observations = self.render_observations(pose)
pos = self.robot._get_scaled_position()
orn = self.robot.get_orientation()
pos = (pos[0], pos[1], pos[2] + self.tracking_camera['z_offset'])
if self.config["mode"]=="gui":
p.resetDebugVisualizerCamera(self.tracking_camera['distance'], self.tracking_camera['yaw'],
self.tracking_camera['pitch'], pos)
return observations