def main():
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
env.setAgentOrientation((60.0, 0.0, 0.0))
env.setAgentPosition((42, -39, 1.0))
env.renderWorld.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
viewer = Viewer(env.scene, interactive=False, showPosition=True)
# Find agent and reparent camera to it
agent = env.scene.scene.find('**/agents/agent*/+BulletRigidBodyNode')
viewer.camera.reparentTo(agent)
linearVelocity = np.zeros(3)
angularVelocity = np.zeros(3)
rotationStepCounter = -1
rotationsStepDuration = 40
try:
while True:
# Constant speed forward (Y-axis)
linearVelocity = LVector3f(0.0, 1.0, 0.0)
env.setAgentLinearVelocity(linearVelocity)
# Randomly change angular velocity (rotation around Z-axis)
if rotationStepCounter > rotationsStepDuration:
# End of rotation
rotationStepCounter = -1
angularVelocity = np.zeros(3)
elif rotationStepCounter >= 0:
# During rotation
rotationStepCounter += 1
else:
# No rotation, initiate at random
if np.random.random() > 0.5:
angularVelocity = np.zeros(3)
angularVelocity[2] = np.random.uniform(low=-np.pi,
high=np.pi)
rotationStepCounter = 0
env.setAgentAngularVelocity(angularVelocity)
# Simulate
env.step()
viewer.step()
except KeyboardInterrupt:
pass
viewer.destroy()
return 0
def main():
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
# a, b = env.generateOccupancyMap()
# plt.imshow(a, cmap='hot', interpolation='nearest')
# plt.show(block=False)
env.setAgentOrientation((60.0, 0.0, 0.0))
env.setAgentPosition((42, -39, 1.2))
env.renderWorld.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
viewer = Viewer(env.scene, interactive=False, showPosition=True, fov=50.)
# Find agent and reparent camera to it
agent = env.agentRbNp
viewer.camera.reparentTo(agent)
viewer.capture_video()
# ai_world = AIWorld(env.scene.scene)
# ai_char = AICharacter("seeker", agent, 60, 0.5, 5)
# ai_world.addAiChar(ai_char)
# ai_behaviors = ai_char.getAiBehaviors()
# ai_behaviors.seek(Vec3(35, -39, 1.0))
#
# def update_ai_world(task):
# ai_world.update()
# return task.cont
# taskMgr.add(update_ai_world, "AIUpdate")
#
# while True:
#
# viewer.step()
# env.step()
renderer = Panda3dSemanticsRenderer(env.scene,
TEST_SUNCG_DATA_DIR,
mode='offscreen',
segment_by_instance=True)
renderer.cameras[0].reparentTo(agent)
renderer.showRoomLayout(showCeilings=False)
images = []
linearVelocity = np.zeros(3)
angularVelocity = np.zeros(3)
rotationStepCounter = -1
rotationsStepDuration = 40
try:
while True:
# Constant speed forward (Y-axis)
linearVelocity = LVector3f(0.0, 1.0, 0.0)
env.setAgentLinearVelocity(linearVelocity)
# Randomly change angular velocity (rotation around Z-axis)
if rotationStepCounter > rotationsStepDuration:
# End of rotation
rotationStepCounter = -1
angularVelocity = np.zeros(3)
elif rotationStepCounter >= 0:
# During rotation
rotationStepCounter += 1
else:
# No rotation, initiate at random
if np.random.random() > 0.5:
angularVelocity = np.zeros(3)
angularVelocity[2] = np.random.uniform(low=-np.pi,
high=np.pi)
rotationStepCounter = 0
env.setAgentAngularVelocity(angularVelocity)
# Simulate
env.step()
viewer.step()
image = renderer.getRgbaImages()['agent-0']
images.append(image)
if viewer.stop:
postprocess_images(images, env.scene, renderer)
sys.exit(0)
except KeyboardInterrupt:
postprocess_images(images, env.scene, renderer)
pass
viewer.destroy()
return 0