def main():
if len(sys.argv) < 3:
print(
'Usage: python run_mcs_human_input.py <mcs_unity_build_file> <mcs_config_json_file> <debug_files> <enable_noise>'
)
sys.exit()
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = True
if len(sys.argv) >= 4:
debug = sys.argv[3].lower() == 'true'
enable_noise = False
if len(sys.argv) >= 5:
enable_noise = sys.argv[4].lower() == 'true'
controller = MCS.create_controller(sys.argv[1],
debug=debug,
enable_noise=enable_noise)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
run_scene(controller, config_data)
def main():
args = parse_args()
unity_exe_path = find_unity_executable()
if unity_exe_path is None:
print("Unity executable not found in /mcs", file=sys.stderr)
exit(1)
scene_config, status = MCS.load_config_json_file(args.scene)
if status is not None:
print(status, file=sys.stderr)
exit(1)
controller = MCS.create_controller(unity_exe_path, debug=False)
run_playroom(controller, scene_config)
def run_scene(controller, file_name):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/')+1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
last_step = DEFAULT_STEP_COUNT
if 'goal' in config_data.keys():
if 'last_step' in config_data['goal'].keys():
last_step = config_data['goal']['last_step']
step_time_list = []
output = controller.start_scene(config_data)
for i in range(output.step_number + 1, last_step + 1):
start = time.perf_counter()
output = controller.step('Pass')
end = time.perf_counter()
step_time_list.append(end - start)
output = controller.end_scene("", "")
return step_time_list
def main(argv):
parser = argparse.ArgumentParser(
description='Update scene descriptions with target visibility info')
parser.add_argument('--app',
metavar='UNITY_MCS_APP',
required=True,
help='Path to Unity MCS application')
parser.add_argument('--debug',
action='store_true',
default=False,
help='Enable debugging output')
parser.add_argument('--backup',
action='store_true',
default=False,
help='Keep backup files')
parser.add_argument('--loglevel',
choices=LOG_LEVELS,
help='set logging level')
parser.add_argument('scene_files',
metavar='SCENE_FILE',
nargs='+',
help='scene file to update')
args = parser.parse_args(argv[1:])
if args.loglevel:
logging.getLogger().setLevel(args.loglevel)
elif args.debug:
logging.getLogger().setLevel(logging.DEBUG)
controller = MCS.create_controller(args.app, args.debug)
for f in args.scene_files:
update_file(controller, f, args.backup)
def main():
if len(sys.argv) < 3:
print('Usage: python run_mcs_human_input.py <mcs_unity_build_file> <mcs_config_json_file> <debug_files>')
sys.exit()
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = 'terminal' if len(sys.argv) < 4 else True
controller = MCS.create_controller(sys.argv[1], debug=debug)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/'):]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
run_scene(controller, config_data)
def update_file(controller, filename, keep_backups):
config_data, err_status = MCS.load_config_json_file(filename)
if err_status is not None:
logging.error(f'could not load scene file "{filename}": {err_status}')
return False
if 'name' not in config_data:
base = os.path.basename(filename)
config_data['name'] = base.rsplit('.', 1)[-1]
output = controller.start_scene(config_data)
metadata = config_data['goal']['metadata']
target_ids = [
metadata[key]['id'] for key in ('target', 'target_1', 'target_2')
if key in metadata
]
logging.debug(f'target_ids: {target_ids}')
logging.debug(f'num objects = {len(output.object_list)}')
targets_visible = False
targets_not_visible = False
for obj in output.object_list:
if obj.uuid in target_ids:
# If it's in the object list to begin with, it should be visible, but just to make sure...
if obj.visible:
targets_visible = True
target_ids.remove(obj.uuid)
logging.debug(f'target visible: {obj.uuid}')
else:
targets_not_visible = True
logging.debug(f'target not visible: {obj.uuid}')
if targets_visible and targets_not_visible:
break
if targets_visible:
config_data['goal']['type_list'].append('target_starts_visible')
if targets_not_visible or len(target_ids) > 0:
config_data['goal']['type_list'].append('target_starts_invisible')
backup_name = filename + '.backup'
os.replace(filename, backup_name)
try:
write_file(filename, config_data)
except Exception as e:
logging.error(f'error writing file "{filename}": {e}')
logging.error(f'backup file is at "{backup_name}"')
return
if not keep_backups:
os.remove(backup_name)
def main():
if len(sys.argv) < 3:
print('Usage: python mcs_run_scene_timer.py <mcs_unity_build_file> <scene_configuration_dir> <debug=False>')
sys.exit()
file_list = [os.path.join(sys.argv[2], file_name) for file_name in os.listdir(sys.argv[2]) if \
os.path.isfile(os.path.join(sys.argv[2], file_name)) and os.path.splitext(file_name)[1] == '.json']
file_list.sort()
debug = sys.argv[3] if len(sys.argv) > 3 else False
print(f'FOUND {len(file_list)} SCENE CONFIGURATION FILES... STARTING THE MCS UNITY APP...')
controller = MCS.create_controller(sys.argv[1], debug=(True if debug == 'true' else debug))
scene_time_list = []
step_time_list_list = []
step_time_avg_list = []
step_time_len_list = []
step_time_max_list = []
step_time_min_list = []
step_time_sum_list = []
for i in range(0, len(file_list)):
print('================================================================================')
print(f'RUNNING FILE {(i + 1)}: {file_list[i]}')
start = time.perf_counter()
step_time_list = run_scene(controller, file_list[i])
end = time.perf_counter()
scene_time_list.append(end - start)
step_time_list_list.append(step_time_list)
step_time_avg_list.append(statistics.mean(step_time_list))
step_time_len_list.append(len(step_time_list))
step_time_max_list.append(max(step_time_list))
step_time_min_list.append(min(step_time_list))
step_time_sum_list.append(sum(step_time_list))
print('================================================================================')
print(f'RAN {len(file_list)} SCENES WITH {sum(step_time_len_list)} TOTAL STEPS IN {sum(scene_time_list):0.4f} SECONDS')
print(f'Average single step took {statistics.mean(step_time_avg_list):0.4f} seconds')
print(f'Longest single step took {max(step_time_max_list):0.4f} seconds')
print(f'Shortest single step took {min(step_time_min_list):0.4f} seconds')
print(f'Average single scene took {statistics.mean(scene_time_list):0.4f} seconds')
print(f'Longest single scene took {max(scene_time_list):0.4f} seconds')
print(f'Shortest single scene took {min(scene_time_list):0.4f} seconds')
def main(args):
if len(args) < 2:
print(
'Usage: python image_generator.py <unity_app_file_path> <output_folder=../images/>'
)
exit()
controller = MCS.create_controller(args[1])
scene_configuration_list = generate_scene_configuration_list(
simplified_objects.OBJECT_LIST)
output_folder = (args[2] if len(args) > 2 else '../images') + '/'
if not os.path.exists(output_folder):
os.makedirs(output_folder)
for scene_configuration in scene_configuration_list:
object_config = scene_configuration['objects'][0]
object_type = object_config['type']
material_list = object_config[
'materials'] if 'materials' in object_config else []
print('type = ' + object_type + ', materials = ' +
json.dumps(material_list))
step_output = controller.start_scene(scene_configuration)
object_screenshot = step_output.image_list[0]
# Shrink and crop the object's screenshot to reduce its size.
object_screenshot = object_screenshot.resize((300, 200))
object_screenshot = object_screenshot.crop(
ImageOps.invert(object_screenshot).getbbox())
output_file_name = output_folder + generate_output_file_name(
object_type, material_list)
object_screenshot.save(fp=output_file_name + '.png')
pixels = retrieve_image_pixel_list(object_screenshot)
with open(output_file_name + '.txt', 'w') as output_text_file:
output_text_file.write(
json.dumps(PrettyJsonNoIndent(pixels), cls=PrettyJsonEncoder))
def run_scene(file_name, action_list):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
output = controller.start_scene(config_data)
output = controller.step('Pass')
for action in action_list:
output = controller.step(action)
def run_scene(file_name):
config_data, status = MCS.load_config_json_file(file_name)
if status is not None:
print(status)
return
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/')+1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
last_step = 30
if 'goal' in config_data.keys():
if 'last_step' in config_data['goal'].keys():
last_step = config_data['goal']['last_step']
output = controller.start_scene(config_data)
for i in range(1, last_step + 1):
action = output.action_list[len(output.action_list) - 1]
output = controller.step(action, **params)
def test_load_config_file_json(self):
actual, status = MCS.load_config_json_file("test/test_scene.json")
expected = {
"ceilingMaterial": "Walls/WallDrywallWhite",
"floorMaterial": "Fabrics/RUG4",
"wallMaterial": "Walls/YellowDrywall",
"objects": [{
"id": "testBall",
"type": "sphere",
"materialFile": "Plastics/BlueRubber",
"physics": True,
"shows": [{
"stepBegin": 0,
"position": {
"x": 0,
"y": 0.5,
"z": 3
},
"scale": {
"x": 0.25,
"y": 0.25,
"z": 0.25
}
}],
"forces": [{
"stepBegin": 1,
"stepEnd": 1,
"vector": {
"x": 50,
"y": 0,
"z": 0
}
}]
}]
}
self.assertEqual(actual, expected)
self.assertEqual(status, None)
output = controller.step('Pass')
output = controller.step('RotateLook', rotation=0, horizon=-30)
output = controller.step('ThrowObject',
objectId="apple_a",
force=1,
objectDirectionX=1,
objectDirectionY=0,
objectDirectionZ=2)
output = controller.step('RotateLook', rotation=20, horizon=0)
output = controller.step('Pass')
output = controller.step('Pass')
output = controller.step('Pass')
if __name__ == "__main__":
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
debug = 'terminal' if sys.argv[3] is None else True
enable_noise = 'terminal' if sys.argv[4] is None else False
controller = MCS.create_controller(sys.argv[1],
debug=debug,
enable_noise=enable_noise)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
# Move towards apple to pick it up
output = controller.step('MoveLeft')
output = controller.step('MoveAhead')
# Should return OUT_OF_REACH
output = controller.step('PullObject', objectId="apple_a", force=1)
output = controller.step('RotateLook', rotation=0, horizon=45)
# Should return SUCCESSFUL
output = controller.step('PullObject', objectId="apple_a", force=1)
output = controller.step('PushObject', objectId="apple_a", force=1)
if __name__ == "__main__":
config_data, status = MCS.load_config_json_file(sys.argv[2])
if status is not None:
print(status)
exit()
controller = MCS.create_controller(sys.argv[1], debug=True)
config_file_path = sys.argv[2]
config_file_name = config_file_path[config_file_path.rfind('/') + 1:]
# TODO: Read name directly from JSON in config file
config_data['name'] = config_file_name[0:config_file_name.find('.')]
run_scene(controller, config_data)
config_file_path = file_name
config_file_name = config_file_path[config_file_path.rfind('/')+1:]
if 'name' not in config_data.keys():
config_data['name'] = config_file_name[0:config_file_name.find('.')]
last_step = 30
if 'goal' in config_data.keys():
if 'last_step' in config_data['goal'].keys():
last_step = config_data['goal']['last_step']
output = controller.start_scene(config_data)
for i in range(1, last_step + 1):
action = output.action_list[len(output.action_list) - 1]
output = controller.step(action, **params)
if __name__ == "__main__":
controller = MCS.create_controller(sys.argv[1], debug=True)
run_scene('./scenes/intphys_gravity_plausible_sample_1.json')
run_scene('./scenes/intphys_gravity_implausible_sample_1.json')
run_scene('./scenes/intphys_object_permanence_plausible_sample_1.json')
run_scene('./scenes/intphys_object_permanence_implausible_sample_1.json')
run_scene('./scenes/intphys_shape_constancy_plausible_sample_1.json')
run_scene('./scenes/intphys_shape_constancy_implausible_sample_1.json')
run_scene('./scenes/intphys_spatial_temporal_continuity_plausible_sample_1.json')
run_scene('./scenes/intphys_spatial_temporal_continuity_implausible_sample_1.json')
def test_load_config_file_json_is_missing(self):
actual, status = MCS.load_config_json_file("test/test_scene_missing.json")
self.assertEqual(actual, {})
self.assertEqual(status, "The given file 'test/test_scene_missing.json' cannot be found.")
def test_load_config_file_json_is_invalid(self):
actual, status = MCS.load_config_json_file("test/test_scene_invalid.json")
self.assertEqual(actual, {})
self.assertEqual(status, "The given file 'test/test_scene_invalid.json' does not contain valid JSON.")
