def main(): parser = argparse.ArgumentParser(description='MINOS gym wrapper') parser.add_argument('--save_observations', action='store_true', default=False, help='Save sensor observations at each step to images') args = parse_sim_args(parser) run_gym(args)
def main(): global VIDEO_WRITER parser = argparse.ArgumentParser(description='Interactive interface to Simulator') parser.add_argument('--navmap', action='store_true', default=False, help='Use navigation map') group = parser.add_mutually_exclusive_group() group.add_argument('--state_set_file', help='State set file') group.add_argument('--replay', help='Load and replay action trace from file') group.add_argument('--replay_mode', choices=REPLAY_MODES, default='positions', help='Use actions or positions for replay') group.add_argument('--show_goals', action='store_true', default=False, help='show goal observations') args = parse_sim_args(parser) args.visualize_sensors = True sim = Simulator(vars(args)) common.attach_exit_handler(sim) if 'state_set_file' in args and args.state_set_file is not None: args.state_set = StateSet(args.state_set_file, 1) if 'save_video' in args and len(args.save_video): filename = args.save_video if type(args.save_video) is str else 'out.mp4' is_rgb = args.color_encoding == 'rgba' VIDEO_WRITER = VideoWriter(filename, framerate=24, resolution=(args.width, args.height), rgb=is_rgb) if 'replay' in args and args.replay is not None: print('Initializing simulator using action traces %s...' % args.replay) args.action_traces = ActionTraces(args.replay) action_trace = args.action_traces.next_trace() sim.init() start_state = action_trace.start_state() print('start_state', start_state) sim.configure(start_state) else: args.action_traces = None args.replay = None try: print('Starting simulator...') ep_info = sim.start() if ep_info: print('observation_space', sim.get_observation_space()) sim.episode_info = ep_info print('Simulator started.') interactive_loop(sim, args) except: traceback.print_exc() print('Error running simulator. Aborting.') if sim is not None: sim.kill() del sim if VIDEO_WRITER is not None: VIDEO_WRITER.close()
def main(): parser = argparse.ArgumentParser(description='Sample Agent States') parser.add_argument('--samples_per_scene', default=100, type=int, help='Number of episodes per scene') parser.add_argument( '--min_rooms', default=1, type=int, help='Only sample from scenes with more than this many rooms') parser.add_argument( '--max_rooms', default=10000, # Huge default type=int, help='Only sample from scenes with less than this many rooms') parser.add_argument('--min_dist', default=1.0, type=float, help='Minimum distance between start and goal') parser.add_argument( '--max_dist', default=10000.0, # Huge default type=float, help='Maximum distance between start and goal') parser.add_argument('--scenes', required=True, help='Input scenes csv file') parser.add_argument('--level', default=-1, type=int, help='Level of scene to sample') parser.add_argument('--num_levels', default=1, type=int, help='Number of levels to sample from') parser.add_argument('--split', default='test', help='Scene split to sample') parser.add_argument( '--output', required=True, help='Output states file to write sampled episode states') args = parse_sim_args(parser) # args for simulator consumption args.navmap = { 'refineGrid': True } # Always use navmap to precompute episode states # args.sampleValidStartGoal = {'maxStartSamples': 10, 'maxGoalSamples': 10} args.goal['minDist'] = args.min_dist args.goal['maxDist'] = args.max_dist args.goal['minRooms'] = args.min_rooms args.goal['maxRooms'] = args.max_rooms run(args)
def main(): parser = argparse.ArgumentParser(description='Simulator console client') args = parse_sim_args(parser) sim = Simulator(vars(args)) try: print('Starting simulator...') if sim.start(): print('Simulator started.') interactive_loop(sim, args.scene_ids, 0) except: traceback.print_exc() print('Error running simulator. Aborting.') if sim is not None: sim.kill() del sim
def main(): parser = argparse.ArgumentParser(description='MINOS gym wrapper') args = parse_sim_args(parser) sim = RoomSimulator(args) common.attach_exit_handler(sim.sim) try: print('Starting RoomSimulator...') sim.init() print('RoomSimulator started.') interactive_loop(sim, args) except: traceback.print_exc() print('Error running simulator. Aborting.') if sim is not None: sim.close_game() del sim
def main(): parser = argparse.ArgumentParser(description='Benchmarking the Simulator') parser.add_argument('--steps_per_episode', default=500, type=int, help='Number of steps to take per episode') parser.add_argument('--episodes_per_scene', default=1, type=int, help='Number of episodes per scene') parser.add_argument('--num_scenes', default=1, type=int, help='Number of scenes (0 for all scenes)') parser.add_argument('--sims', default=1, type=int, help='Number of simulators to run') parser.add_argument('--async', action='store_true', default=False, help='Test simulators asynchronously') args = parse_sim_args(parser) benchmark(args)
default=-1, help='skip this number of episodes') parser.add_argument('--num-episodes-per-scene', type=int, default=10, help='Number of diffent random start and end locations') parser.add_argument( '--episode-schedule', type=str, default='val', help= 'Split to use. Possible are: train, val, test. Paper reports results on test' ) parser.add_argument('--seed', type=int, default=42, help='Random seed') args = parse_sim_args(parser) opts = defaultAgentOptions(args) #For storing video and logs #get map and depth anyway for video storing. #Agent has its own setup args['observations']['map'] = True args['observations']['depth'] = True args['log_action_trace'] = True RANDOM_SEED = args['seed'] random.seed(RANDOM_SEED) torch.manual_seed(RANDOM_SEED) np.random.seed(RANDOM_SEED)
def main(): global VIDEO_WRITER parser = argparse.ArgumentParser(description='Interactive interface to Simulator') parser.add_argument('--navmap', action='store_true', default=False, help='Use navigation map') group = parser.add_mutually_exclusive_group() group.add_argument('--state_set_file', help='State set file') group.add_argument('--replay', help='Load and replay action trace from file') parser.add_argument('--rightcamera', default='True', help='Right camera setting') parser.add_argument('--depthright', default='True', help='Right camera setting') parser.add_argument('--leftcamera', default='True', help='Left camera setting') parser.add_argument('--depthleft', default='True', help='Left camera setting') parser.add_argument('--replay_mode', choices=REPLAY_MODES, default='positions', help='Use actions or positions for replay') group.add_argument('--show_goals', action='store_true', default=False, help='show goal observations') parser.add_argument('--patch_len', action='store_true', default=30, help='patch_length used to calculate toc in center of the image') parser.add_argument('--save_toc', action='store_true', default=True, help='associates images with time of contact') parser.add_argument('--save_rootdir', default="/media/fadhil/ThirdPartition/3_3DVision/2_Dataset/minosdata/", help='save rootdir for the generated dataset') args = parse_sim_args(parser) args.visualize_sensors = True sim = Simulator(vars(args)) common.attach_exit_handler(sim) if 'state_set_file' in args and args.state_set_file is not None: args.state_set = StateSet(args.state_set_file, 1) if 'save_video' in args and len(args.save_video): filename = args.save_video if type(args.save_video) is str else 'out.mp4' is_rgb = args.color_encoding == 'rgba' VIDEO_WRITER = VideoWriter(filename, framerate=24, resolution=(args.width, args.height), rgb=is_rgb) if 'replay' in args and args.replay is not None: print('Initializing simulator using action traces %s...' % args.replay) args.action_traces = ActionTraces(args.replay) action_trace = args.action_traces.next_trace() sim.init() sim.seed(random.randint(0, 12345678)) start_state = action_trace.start_state() print('start_state', start_state) sim.configure(start_state) else: args.action_traces = None args.replay = None try: print('Starting simulator...') ep_info = sim.start() if ep_info: print('observation_space', sim.get_observation_space()) sim.episode_info = ep_info print('Simulator started.') interactive_loop(sim, args) except: traceback.print_exc() print('Error running simulator. Aborting.') if sim is not None: sim.kill() del sim if VIDEO_WRITER is not None: VIDEO_WRITER.close()