def setup():
os.chdir('../simulation/')
if platform == 'darwin':
os.system('open ./exec_mac.app')
else:
os.system('./linux_sim.x86_64')
from unity_simulator.comm_unity import UnityCommunication
comm = UnityCommunication()
return comm
##############################################################
writedir = stimulusdirname + '/apartment_' + str(env_id) + '/'
if os.path.exists(writedir):
print('folder already exists')
else:
os.mkdir(writedir)
writedirjason = jasondirname + '/apartment_' + str(env_id) + '/'
if os.path.exists(writedirjason):
print('folder already exists')
else:
os.mkdir(writedirjason)
# start simulation (only once for each apartment)
comm = UnityCommunication()
comm.reset(env_id)
#comm.setBathroomTexture(env_id)
#wantedgraph = pickle.load( open( graphdirname + '/apartment_' + str(env_id) + ".pkl", "rb" ) )
#print(wantedgraph)
res, origraph = comm.environment_graph()
for node in origraph['nodes']:
target_id = node['id'] #target object to recognize
targetprefabname = node['prefab_name']
#remove those objects not belong to these general cateogires
if node['class_name'] not in wantedClass:
continue
os.mkdir(graphdirname)
#pre-setup rules for context and a list of wanted classes
wanted = pickle.load( open( "wanted.pkl", "rb" ) )
SurfaceToRoom = np.array(wanted['SurfaceToRoom'])
ItemToRoom = np.array(wanted['ItemToRoom'])
RoomList = wanted['RoomList']
SurfaceList = wanted['SurfaceList']
wantedClass = wanted['wantedClass']
for target_classname in wantedClass:
for env_id in range(7): # env_id ranges from 0 to 6
# start simulation (only once for each apartment)
comm = UnityCommunication()
comm.reset(env_id)
#comm.setBathroomTexture(env_id)
#============================ START PYTHON SCRIPT ===========================
response, origraph = comm.environment_graph()
origraph = deleteGraphByClassname(origraph, target_classname)
success, message = comm.expand_scene(origraph)
#print(origraph)
#exit()
#loop through all nodes and check whether we have wanted
DestIds, DestPrefabs, destRooms, destSurface = findAllPossibleDestNodes(target_classname, wantedClass, ItemToRoom, SurfaceToRoom, RoomList, SurfaceList, origraph)
#loop through missed classes
#randomly sample prefab from it and add to the graph
for i, destid in enumerate(DestIds):
random_seed=seed)
messages_expand.append(message)
_ = comm.camera_image(cameras_select,
mode='normal',
image_height=480,
image_width=640)
ok, imgs = comm.camera_image(cameras_select,
mode='normal',
image_height=480,
image_width=640)
images.append(imgs)
return messages_expand, images
comm = UnityCommunication()
print('Inferring preconditions...')
preconds = add_preconds.get_preconds_script(script).printCondsJSON()
print(preconds)
print('Loading graph')
with open(graph_input, 'r') as f:
graph_input = json.load(f)
print('Executing script')
print(script)
info = check_programs.check_script(script,
preconds,
graph_path=None,
inp_graph_dict=graph_input)
#!/usr/local/bin/python
# Generate video for a program. Make sure you have the executable open
import sys
sys.path.append('../simulation/')
from unity_simulator.comm_unity import UnityCommunication
script = ['[Walk] <sofa> (1)', '[Sit] <sofa> (1)'] # Add here your script
print('Starting Unity...')
comm = UnityCommunication()
print('Starting scene...')
comm.reset(4)
print('Generating video...')
comm.render_script(script,
output_folder='unity_vol/Output/',
image_synthesis='seg_inst',
capture_screenshot=True)
print('Generated, find video in simulation/unity_simulator/output/')
# Generate video for a program. Make sure you have the executable open
import sys
sys.path.append('../simulation/')
from unity_simulator.comm_unity import UnityCommunication
script = ['[Walk] <sofa> (1)', '[Sit] <sofa> (1)'] # Add here your script
print('Starting Unity...')
comm = UnityCommunication()
print('Starting scene...')
comm.reset()
print('Generating video...')
comm.render_script(script, capture_screenshot=True)
print('Generated, find video in simulation/unity_simulator/output/')
# Generate video for a program. Make sure you have the executable open
import sys
sys.path.append('../simulation/')
from unity_simulator.comm_unity import UnityCommunication
script = [
'<char0> [Walk] <tv> (1)', '<char0> [switchon] <tv> (1)',
'<char0> [Walk] <sofa> (1)', '<char0> [Sit] <sofa> (1)',
'<char0> [Watch] <tv> (1)'
] # Add here your script
print('Starting Unity...')
comm = UnityCommunication()
print('Starting scene...')
comm.reset()
comm.add_character('Chars/Female1')
print('Generating video...')
comm.render_script(script, recording=True, find_solution=True)
print('Generated, find video in simulation/unity_simulator/output/')
cameras_select = [cameras_select[x] for x in cameras_ids]
seed = random.randint(1,100)
messages_expand, images = [], []
for graph_state in tqdm(graph_state_list):
comm.reset(0)
message = comm.expand_scene(graph_state, randomize=True, random_seed=seed)
messages_expand.append(message)
_ = comm.camera_image(cameras_select, mode='normal', image_height=480, image_width=640)
ok, imgs = comm.camera_image(cameras_select, mode='normal', image_height=480, image_width=640)
images.append(imgs)
return messages_expand, images
comm = UnityCommunication()
print('Inferring preconditions...')
preconds = add_preconds.get_preconds_script(script).printCondsJSON()
print(preconds)
print('Loading graph')
comm.reset(0)
_, graph_input = comm.environment_graph()
print('Executing script')
print(script)
info = check_programs.check_script(
script, preconds, graph_path=None, inp_graph_dict=graph_input)
message, final_state, graph_state_list, graph_dict, id_mapping, info, helper, modif_script = info
success = (message == 'Script is executable')
##############################################################
writedir = stimulusdirname + '/apartment_' + str(env_id) + '/'
if os.path.exists(writedir):
print('folder already exists')
else:
os.mkdir(writedir)
writedirjason = jasondirname + '/apartment_' + str(env_id) + '/'
if os.path.exists(writedirjason):
print('folder already exists')
else:
os.mkdir(writedirjason)
# start simulation (only once for each apartment)
comm = UnityCommunication()
comm.reset(env_id)
#comm.setBathroomTexture(env_id)
#wantedgraph = pickle.load( open( graphdirname + '/apartment_' + str(env_id) + ".pkl", "rb" ) )
#print(wantedgraph)
_, message = comm.expand_scene(wantedgraph)
#============================ START PYTHON SCRIPT ===========================
res, origraph = comm.environment_graph()
totalnodes = len(origraph['nodes'])
#print(origraph)
#for node in origraph['nodes']:
material_id = random.randint(0, NumTotalMaterials - 1)
target_id = node['id'] #target object to recognize
#for debugging; comment out
