def main():
parser = argparse.ArgumentParser(description='MINOS gym wrapper')
parser.add_argument('--save_observations', action='store_true',
default=False,
help='Save sensor observations at each step to images')
args = parse_sim_args(parser)
run_gym(args)
def main():
global VIDEO_WRITER
parser = argparse.ArgumentParser(description='Interactive interface to Simulator')
parser.add_argument('--navmap', action='store_true',
default=False,
help='Use navigation map')
group = parser.add_mutually_exclusive_group()
group.add_argument('--state_set_file',
help='State set file')
group.add_argument('--replay',
help='Load and replay action trace from file')
group.add_argument('--replay_mode',
choices=REPLAY_MODES,
default='positions',
help='Use actions or positions for replay')
group.add_argument('--show_goals', action='store_true',
default=False,
help='show goal observations')
args = parse_sim_args(parser)
args.visualize_sensors = True
sim = Simulator(vars(args))
common.attach_exit_handler(sim)
if 'state_set_file' in args and args.state_set_file is not None:
args.state_set = StateSet(args.state_set_file, 1)
if 'save_video' in args and len(args.save_video):
filename = args.save_video if type(args.save_video) is str else 'out.mp4'
is_rgb = args.color_encoding == 'rgba'
VIDEO_WRITER = VideoWriter(filename, framerate=24, resolution=(args.width, args.height), rgb=is_rgb)
if 'replay' in args and args.replay is not None:
print('Initializing simulator using action traces %s...' % args.replay)
args.action_traces = ActionTraces(args.replay)
action_trace = args.action_traces.next_trace()
sim.init()
start_state = action_trace.start_state()
print('start_state', start_state)
sim.configure(start_state)
else:
args.action_traces = None
args.replay = None
try:
print('Starting simulator...')
ep_info = sim.start()
if ep_info:
print('observation_space', sim.get_observation_space())
sim.episode_info = ep_info
print('Simulator started.')
interactive_loop(sim, args)
except:
traceback.print_exc()
print('Error running simulator. Aborting.')
if sim is not None:
sim.kill()
del sim
if VIDEO_WRITER is not None:
VIDEO_WRITER.close()
def main():
parser = argparse.ArgumentParser(description='Sample Agent States')
parser.add_argument('--samples_per_scene',
default=100,
type=int,
help='Number of episodes per scene')
parser.add_argument(
'--min_rooms',
default=1,
type=int,
help='Only sample from scenes with more than this many rooms')
parser.add_argument(
'--max_rooms',
default=10000, # Huge default
type=int,
help='Only sample from scenes with less than this many rooms')
parser.add_argument('--min_dist',
default=1.0,
type=float,
help='Minimum distance between start and goal')
parser.add_argument(
'--max_dist',
default=10000.0, # Huge default
type=float,
help='Maximum distance between start and goal')
parser.add_argument('--scenes',
required=True,
help='Input scenes csv file')
parser.add_argument('--level',
default=-1,
type=int,
help='Level of scene to sample')
parser.add_argument('--num_levels',
default=1,
type=int,
help='Number of levels to sample from')
parser.add_argument('--split',
default='test',
help='Scene split to sample')
parser.add_argument(
'--output',
required=True,
help='Output states file to write sampled episode states')
args = parse_sim_args(parser)
# args for simulator consumption
args.navmap = {
'refineGrid': True
} # Always use navmap to precompute episode states
# args.sampleValidStartGoal = {'maxStartSamples': 10, 'maxGoalSamples': 10}
args.goal['minDist'] = args.min_dist
args.goal['maxDist'] = args.max_dist
args.goal['minRooms'] = args.min_rooms
args.goal['maxRooms'] = args.max_rooms
run(args)
def main():
parser = argparse.ArgumentParser(description='Simulator console client')
args = parse_sim_args(parser)
sim = Simulator(vars(args))
try:
print('Starting simulator...')
if sim.start():
print('Simulator started.')
interactive_loop(sim, args.scene_ids, 0)
except:
traceback.print_exc()
print('Error running simulator. Aborting.')
if sim is not None:
sim.kill()
del sim
def main():
parser = argparse.ArgumentParser(description='MINOS gym wrapper')
args = parse_sim_args(parser)
sim = RoomSimulator(args)
common.attach_exit_handler(sim.sim)
try:
print('Starting RoomSimulator...')
sim.init()
print('RoomSimulator started.')
interactive_loop(sim, args)
except:
traceback.print_exc()
print('Error running simulator. Aborting.')
if sim is not None:
sim.close_game()
del sim
def main():
parser = argparse.ArgumentParser(description='Benchmarking the Simulator')
parser.add_argument('--steps_per_episode',
default=500,
type=int,
help='Number of steps to take per episode')
parser.add_argument('--episodes_per_scene',
default=1,
type=int,
help='Number of episodes per scene')
parser.add_argument('--num_scenes',
default=1,
type=int,
help='Number of scenes (0 for all scenes)')
parser.add_argument('--sims',
default=1,
type=int,
help='Number of simulators to run')
parser.add_argument('--async',
action='store_true',
default=False,
help='Test simulators asynchronously')
args = parse_sim_args(parser)
benchmark(args)
default=-1,
help='skip this number of episodes')
parser.add_argument('--num-episodes-per-scene',
type=int,
default=10,
help='Number of diffent random start and end locations')
parser.add_argument(
'--episode-schedule',
type=str,
default='val',
help=
'Split to use. Possible are: train, val, test. Paper reports results on test'
)
parser.add_argument('--seed', type=int, default=42, help='Random seed')
args = parse_sim_args(parser)
opts = defaultAgentOptions(args)
#For storing video and logs
#get map and depth anyway for video storing.
#Agent has its own setup
args['observations']['map'] = True
args['observations']['depth'] = True
args['log_action_trace'] = True
RANDOM_SEED = args['seed']
random.seed(RANDOM_SEED)
torch.manual_seed(RANDOM_SEED)
np.random.seed(RANDOM_SEED)
def main():
global VIDEO_WRITER
parser = argparse.ArgumentParser(description='Interactive interface to Simulator')
parser.add_argument('--navmap', action='store_true',
default=False,
help='Use navigation map')
group = parser.add_mutually_exclusive_group()
group.add_argument('--state_set_file',
help='State set file')
group.add_argument('--replay',
help='Load and replay action trace from file')
parser.add_argument('--rightcamera',
default='True',
help='Right camera setting')
parser.add_argument('--depthright',
default='True',
help='Right camera setting')
parser.add_argument('--leftcamera',
default='True',
help='Left camera setting')
parser.add_argument('--depthleft',
default='True',
help='Left camera setting')
parser.add_argument('--replay_mode',
choices=REPLAY_MODES,
default='positions',
help='Use actions or positions for replay')
group.add_argument('--show_goals', action='store_true',
default=False,
help='show goal observations')
parser.add_argument('--patch_len', action='store_true',
default=30,
help='patch_length used to calculate toc in center of the image')
parser.add_argument('--save_toc', action='store_true',
default=True,
help='associates images with time of contact')
parser.add_argument('--save_rootdir',
default="/media/fadhil/ThirdPartition/3_3DVision/2_Dataset/minosdata/",
help='save rootdir for the generated dataset')
args = parse_sim_args(parser)
args.visualize_sensors = True
sim = Simulator(vars(args))
common.attach_exit_handler(sim)
if 'state_set_file' in args and args.state_set_file is not None:
args.state_set = StateSet(args.state_set_file, 1)
if 'save_video' in args and len(args.save_video):
filename = args.save_video if type(args.save_video) is str else 'out.mp4'
is_rgb = args.color_encoding == 'rgba'
VIDEO_WRITER = VideoWriter(filename, framerate=24, resolution=(args.width, args.height), rgb=is_rgb)
if 'replay' in args and args.replay is not None:
print('Initializing simulator using action traces %s...' % args.replay)
args.action_traces = ActionTraces(args.replay)
action_trace = args.action_traces.next_trace()
sim.init()
sim.seed(random.randint(0, 12345678))
start_state = action_trace.start_state()
print('start_state', start_state)
sim.configure(start_state)
else:
args.action_traces = None
args.replay = None
try:
print('Starting simulator...')
ep_info = sim.start()
if ep_info:
print('observation_space', sim.get_observation_space())
sim.episode_info = ep_info
print('Simulator started.')
interactive_loop(sim, args)
except:
traceback.print_exc()
print('Error running simulator. Aborting.')
if sim is not None:
sim.kill()
del sim
if VIDEO_WRITER is not None:
VIDEO_WRITER.close()