def makeActions(self, world_states, actions, last_obs, beamed=False):
''' Take an action using the full state dependent action interface (with batched input).
Each action is an index in the adj_loc_list,
0 means staying still (i.e. stop)
'''
def f(sim, world_state, action, last_ob):
load_world_state(sim, world_state)
# load the location attribute corresponding to the action
if action >= len(last_ob['adj_loc_list']):
pdb.set_trace()
loc_attr = last_ob['adj_loc_list'][action]
if 'max_sent_id' in last_ob:
max_sent_id = last_ob['max_sent_id']
else:
max_sent_id = 0
_navigate_to_location(sim,
loc_attr['nextViewpointId'],
max_sent_id=max_sent_id)
# sim.makeAction(index, heading, elevation)
return get_world_state(sim, reading='max_sent_id' in last_ob)
out = structured_map(f,
self.sims_view(beamed),
world_states,
actions,
last_obs,
nested=beamed)
return out
def getStates(self, world_states, beamed=False):
''' Get list of states. '''
def f(sim, world_state):
load_world_state(sim, world_state)
return _get_panorama_states(sim)
return structured_map(f,
self.sims_view(beamed),
world_states,
nested=beamed)
def getStates(self, world_states, beamed=False, reading=False):
''' Get list of states. '''
def f(sim, world_state, reading=False):
load_world_state(sim, world_state)
return _get_panorama_states(sim, reading=reading)
readings = [[reading] * len(ws) for ws in world_states]
return structured_map(f,
self.sims_view(beamed),
world_states,
readings,
nested=beamed)
def makeActions(self, world_states, actions, last_obs, beamed=False):
''' Take an action using the full state dependent action interface (with batched input).
Each action is an index in the adj_loc_list,
0 means staying still (i.e. stop)
'''
def f(sim, world_state, action, last_ob):
load_world_state(sim, world_state)
# load the location attribute corresponding to the action
loc_attr = last_ob['adj_loc_list'][action]
_navigate_to_location(
sim, loc_attr['nextViewpointId'], loc_attr['absViewIndex'])
# sim.makeAction(index, heading, elevation)
return get_world_state(sim)
return structured_map(f, self.sims_view(beamed), world_states, actions, last_obs, nested=beamed)
