def step(self, actions, last_obs=None, world_states=None):
''' Take action (same interface as makeActions) '''
if self.action_space == 6:
self.env.makeActions(actions)
all_states = self.env.getStates()
else:
if world_states is None:
for i, (sim, action, last_ob) in enumerate(
zip(self.env.sims, actions, last_obs)):
loc_attr = last_ob['adj_loc_list'][action]
_navigate_to_location(sim, loc_attr['nextViewpointId'],
loc_attr['absViewIndex'])
all_states = self.env.getStates()
else: # beamed
all_states = []
for t in zip(self.env.sims_view(), world_states, actions,
last_obs):
beam_states = []
for sim, state, action, last_ob in zip(*t):
sim.newEpisode(*state)
loc_attr = last_ob['adj_loc_list'][action]
_navigate_to_location(sim, loc_attr['nextViewpointId'],
loc_attr['absViewIndex'])
new_state = sim.getState()
feature = self.env.feature.rollout(
new_state.scanId, new_state.location.viewpointId,
new_state.viewIndex)
world_state = WorldState(
scanId=new_state.scanId,
viewpointId=new_state.location.viewpointId,
heading=new_state.heading,
elevation=new_state.elevation)
beam_states.append((feature, world_state))
all_states.append(beam_states)
return all_states
def get_world_state(sim):
state = sim.getState()
return WorldState(
scanId=state.scanId,
viewpointId=state.location.viewpointId,
heading=state.heading,
elevation=state.elevation,
)
def newEpisodes(self, scanIds, viewpointIds, headings):
feature_states = []
for i, (scanId, viewpointId, heading) in enumerate(zip(scanIds, viewpointIds, headings)):
if isinstance(self.sims[i], list): # beamed
world_state = WorldState(scanId, viewpointId, heading, 0)
self.sims[i][0].newEpisode(*world_state)
# self.sims[i][0].newEpisode(scanId, viewpointId, heading, 0)
state = self.sims[i][0].getState()
feature = self.feature.rollout(state.scanId, state.location.viewpointId, state.viewIndex)
feature_states.append([(feature, world_state)])
else:
self.sims[i].newEpisode(scanId, viewpointId, heading, 0)
state = self.sims[i].getState()
feature = self.feature.rollout(state.scanId, state.location.viewpointId, state.viewIndex)
feature_states.append((feature, state, self.sims[i]))
return feature_states