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 configure(self, sim_args):
print("varrrr")
print(vars(sim_args))
self.arg = sim_args
self.set_scene(number='11be354e8dbd5d7275c486a5037ea949')
self.set_goal()
self._sim = Simulator(vars(sim_args))
common.attach_exit_handler(self._sim)
self._sim.start()
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 run(args):
if args.scenes:
scenes = edict(common.load_scenes_file(args.scenes))
scene_ids = [
r.id for r in scenes[args.split]
if args.min_rooms < r.nrooms < args.max_rooms
]
else:
scene_ids = args.scene_ids
sim = Simulator(vars(args))
common.attach_exit_handler(sim)
sim.init()
sim.seed(random.randint(0, 12345678))
f = open(args.output, 'w')
n_scenes = len(scene_ids)
for i in range(0, n_scenes):
process_scene(sim, args.scene.dataset, scene_ids[i], f, args.level,
args.num_levels, args.samples_per_scene, i)
def main():
parser = argparse.ArgumentParser(description='MINOS gym wrapper')
add_sim_args_basic(parser)
parser.add_argument('--env_config',
default='objectgoal_suncg_sf',
help='Environment configuration file')
args = parser.parse_args()
sim_args = sim_config.get(args.env_config, vars(args))
sim = RoomSimulator(sim_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
nscenes = args.num_scenes or len(scene_ids)
async = args. async
print(
'Benchmarking %d simulators (%s) with %d scenes, %d episodes each scene, %d steps each episode'
% (nsims, 'async' if async else 'sync', nscenes, nepisodes, nsteps))
total_secs_from_start = 0
total_secs_from_init = 0
total_steps = 0
episode = 0
sims = []
for i in range(0, nsims):
sims.append(Simulator(vars(args)))
common.attach_exit_handler(sims)
process_simulators(sims, act=lambda s: s.init(), async=async)
init_time = timer()
print(
'scene,episode,nsteps,secs_no_setup,fps_no_setup,secs_with_setup,fps_with_setup'
)
try:
def start_sim(sim, reset_only):
sim.seed(random.randint(0, 12345678))
if reset_only:
sim.reset()
else:
sim.start()
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()
def _interactive_loop(stdscr, sim, scene_ids, scene_index):
common.attach_exit_handler(sim)
stdscr.timeout(1000) # Set timeout to 1 second before running loop again
curses.cbreak()
stdscr.keypad(1)
stdscr.addstr(0, 10, "Interactive mode (WASD + UP/DOWN). Hit 'q' to quit")
stdscr.refresh()
stdscr.move(1, 15)
action_strength = 1 # Acceleration multiplier for actions
look_angle = math.radians(15) # Look up/down increment in radians
print(
'IJKL+Arrows = move agent, N = next_scene, Q = quit, other keys = idle'
)
while sim.running:
key = stdscr.getch()
if key < 0:
continue # check if we should exit
elif key == ord('q'):
break
action = {
'name': 'idle',
'strength': action_strength,
'angle': look_angle
}
stdscr.clrtobot()
stdscr.refresh()
if key == ord('i'):
stdscr.addstr(1, 20, 'forward ')
action['name'] = 'forwards'
elif key == ord('k'):
stdscr.addstr(1, 20, 'backward ')
action['name'] = 'backwards'
elif key == ord('j'):
stdscr.addstr(1, 20, 'turn_left ')
action['name'] = 'turnLeft'
elif key == ord('l'):
stdscr.addstr(1, 20, 'turn_right ')
action['name'] = 'turnRight'
elif key == ord('n'):
scene_index = (scene_index + 1) % len(scene_ids)
stdscr.addstr(1, 20,
'next_scene loading %s ...' % scene_ids[scene_index])
sim.set_scene(scene_ids[scene_index])
stdscr.refresh()
sim.start()
stdscr.addstr(1, 20, 'next_scene %s' % scene_ids[scene_index])
stdscr.clrtoeol()
stdscr.refresh()
elif key == ord('r'):
sim.restart(randomize_ports=True)
elif key == curses.KEY_LEFT:
stdscr.addstr(1, 20, 'strafe_left ')
action['name'] = 'strafeLeft'
elif key == curses.KEY_RIGHT:
stdscr.addstr(1, 20, 'strafe_right ')
action['name'] = 'strafeRight'
elif key == curses.KEY_UP:
stdscr.addstr(1, 20, 'look_up ')
action['name'] = 'lookUp'
elif key == curses.KEY_DOWN:
stdscr.addstr(1, 20, 'look_down ')
action['name'] = 'lookDown'
else:
stdscr.addstr(1, 20, 'idling ')
action['name'] = 'idle'
stdscr.clrtobot()
stdscr.move(1, 15)
stdscr.refresh()
response = sim.step(action, 1)
observation = response.get(
'observation') if response is not None else None
if observation is not None:
nrow = 3
simple_observations = {
k: v
for k, v in observation.items()
if k not in ['measurements', 'sensors']
}
dicts = [
simple_observations,
observation.get('measurements'),
observation.get('sensors')
]
for d in dicts:
for k, v in d.items():
if type(v) is not dict:
info = '%s: %s' % (k, v)
stdscr.addstr(nrow, 20,
info[:75] + (info[75:] and '..'))
nrow += 1
else:
stdscr.addstr(
nrow, 20, '%s: %s' %
(k,
str({
i: v[i]
for i in v if type(v[i]) is not bytearray
and type(v[i]) is not np.ndarray
})))
nrow += 1
stdscr.move(1, 15)