def testMoveSprites(self):
"""Take a series of actions and repeatedly check sprite motions."""
action_space = action_spaces.DragAndDrop(scale=0.5)
sprites = [sprite.Sprite(x=0.55, y=0.5), sprite.Sprite(x=0.5, y=0.5)]
# Move second (top) sprite
action_space.step(
np.array([0.52, 0.52, 0.52, 0.5]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [0.55, 0.5], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.5, 0.49], atol=1e-5))
# Move first (bottom) sprite
action_space.step(
np.array([0.58, 0.5, 0.98, 0.9]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [0.75, 0.7], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.5, 0.49], atol=1e-5))
# Move neither sprite
action_space.step(
np.array([0.58, 0.5, 0.9, 0.9]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [0.75, 0.7], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.5, 0.49], atol=1e-5))
# Move second (top) sprite
action_space.step(
np.array([0.5, 0.5, 0.2, 0.5]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [0.75, 0.7], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.35, 0.49], atol=1e-5))
# Move first (bottom) sprite
action_space.step(
np.array([0.78, 0.74, 0.98, 0.94]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [0.85, 0.8], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.35, 0.49], atol=1e-5))
# Move first (bottom) sprite
action_space.step(
np.array([0.82, 0.8, 1.3, 1.0]), sprites, keep_in_frame=True)
self.assertTrue(np.allclose(sprites[0].position, [1., 0.9], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.35, 0.49], atol=1e-5))
# Move first (bottom) sprite
action_space.step(
np.array([0.99, 0.9, 1.19, 1.3]), sprites, keep_in_frame=False)
self.assertTrue(np.allclose(sprites[0].position, [1.1, 1.1], atol=1e-5))
self.assertTrue(np.allclose(sprites[1].position, [0.35, 0.49], atol=1e-5))
def setup_run_ui(env_config, render_size, task_hsv_colors, anti_aliasing):
"""Start a Demo UI given an env_config."""
if isinstance(env_config['action_space'], action_spaces.SelectMove):
# DragAndDrop is a bit easier to demo than the SelectMove action space
#env_config['action_space'] = action_spaces.DragAndDrop(scale=0.5, noise_scale=np.array([0,0,0.025,0.025]), proportional_motion_noise=0.35)
env_config['action_space'] = action_spaces.DragAndDrop(
scale=0.5,
noise_scale=0.02,
proportional_motion_noise=0.35,
filter_distribs=env_config['metadata']['filter_distribs'])
agent = HumanDragAndDropAgent(env_config['action_space'])
elif isinstance(env_config['action_space'], action_spaces.Embodied):
agent = HumanEmbodiedAgent(env_config['action_space'])
else:
raise ValueError(
'Demo is not configured to run with action space {}.'.format(
env_config['action_space']))
env_config['renderers'] = {
'image':
renderers.PILRenderer(image_size=(render_size, render_size),
color_to_rgb=renderers.color_maps.hsv_to_rgb
if task_hsv_colors else None,
anti_aliasing=anti_aliasing),
'success':
renderers.Success()
}
env = environment.Environment(**env_config)
ui = MatplotlibUI()
agent.register_callbacks(ui)
# Start RL loop
timestep = env.reset()
ui.update(timestep, action=None)
while True:
action = agent.step(timestep)
timestep = env.step(action)
if isinstance(env_config['action_space'], action_spaces.DragAndDrop):
ui.update(timestep, action)
else:
ui.update(timestep, None)
def main(_):
config = importlib.import_module(FLAGS.config)
config = config.get_config(FLAGS.mode)
if isinstance(config['action_space'], action_spaces.SelectMove):
# DragAndDrop is a bit easier to demo than the SelectMove action space
config['action_space'] = action_spaces.DragAndDrop(scale=0.5)
agent = HumanDragAndDropAgent(config['action_space'])
elif isinstance(config['action_space'], action_spaces.Embodied):
agent = HumanEmbodiedAgent(config['action_space'])
else:
raise ValueError(
'Demo is not configured to run with action space {}.'.format(
config['action_space']))
config['renderers'] = {
'image':
renderers.PILRenderer(image_size=(FLAGS.render_size,
FLAGS.render_size),
color_to_rgb=color_maps.hsv_to_rgb
if FLAGS.task_hsv_colors else None,
anti_aliasing=FLAGS.anti_aliasing),
'success':
renderers.Success()
}
env = environment.Environment(**config)
demo = DemoUI()
for event_name, callback in agent.callbacks().items():
demo.register_callback(event_name, callback)
timestep = env.reset()
demo.update(timestep, action=None)
while True:
action = agent.step(timestep)
timestep = env.step(action)
if isinstance(config['action_space'], action_spaces.DragAndDrop):
demo.update(timestep, action)
else:
demo.update(timestep, None)
def setup_run_ui(env_config, render_size, task_hsv_colors, anti_aliasing):
"""Start a Demo UI given an env_config."""
if isinstance(env_config['action_space'], action_spaces.SelectMove):
# DragAndDrop is a bit easier to demo than the SelectMove action space
env_config['action_space'] = action_spaces.DragAndDrop(scale=0.5)
agent = HumanDragAndDropAgent(env_config['action_space'])
elif isinstance(env_config['action_space'], action_spaces.Embodied):
agent = HumanEmbodiedAgent(env_config['action_space'])
else:
raise ValueError(
'Demo is not configured to run with action space {}.'.format(
env_config['action_space']))
env_config['renderers'] = {
'image':
renderers.PILRenderer(
image_size=(render_size, render_size),
color_to_rgb=renderers.color_maps.hsv_to_rgb
if task_hsv_colors else None,
anti_aliasing=anti_aliasing),
'success':
renderers.Success()
}
env = environment.Environment(**env_config)
demo = DemoUI()
for event_name, callback in agent.callbacks().items():
demo.register_callback(event_name, callback)
# Start RL loop
timestep = env.reset()
demo.update(timestep, action=None)
while True:
action = agent.step(timestep)
timestep = env.step(action)
if isinstance(env_config['action_space'], action_spaces.DragAndDrop):
demo.update(timestep, action)
else:
demo.update(timestep, None)
def testGetMotion(self, scale, action, true_motion): action_space = action_spaces.DragAndDrop(scale=scale) motion = action_space.get_motion(action) self.assertTrue(np.allclose(motion, true_motion, atol=1e-4))