-
Notifications
You must be signed in to change notification settings - Fork 0
/
Ai2ThorSimulator.py
199 lines (157 loc) · 6.71 KB
/
Ai2ThorSimulator.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
import ai2thor.controller
import json
from threading import Lock, Thread
import traceback
from rosiethor.NavigationHelper import NavigationHelper
from rosiethor.MapUtil import MapUtil
from math import *
import time
INTERMEDIATE_ACTION_DELAY = 0.15
class Ai2ThorSimulator:
def __init__(self):
self.sim = None
self.world = None
self.listeners = set()
self.lock = Lock()
def start(self, scene_name="testing"):
self.scene_name = scene_name
self.sim = ai2thor.controller.Controller()
self.sim.local_executable_path = "/home/aaron/sf/research/rosie-project/ai2thor/unity/ai2thor.x86_64"
self.sim.start(player_screen_width=400, player_screen_height=300)
self.nav = NavigationHelper(self.scene_name)
self.shutdown = False
#self.poll_thread = Thread(target = Ai2ThorSimulator.__poll_thread, args = (self, ) )
#self.poll_thread.start()
self.set_scene(scene_name)
def stop(self):
pass
#self.shutdown = True
#time.sleep(1.0)
# Will get an updated world state every 500 ms
def __poll_thread(self):
while not self.shutdown:
self.exec_simple_command("Poll")
time.sleep(0.5)
def set_scene(self, scene_name):
self.sim.reset(scene_name)
self.exec_command(dict(action='Initialize', gridSize=0.25, screenWidth=800, screenHeight=600))
self.exec_command(dict(action='Teleport', x=-1.25, y=0.98, z=-2.0))
self.exec_simple_command('RotateRight')
self.exec_simple_command('LookDown')
def save(self):
world_info = json.dumps(self.world)
with open("world.json", "w") as f:
f.write(world_info)
def load(self):
with open("world.json", "r") as f:
world_info = f.read()
self.world = json.loads(world_info)
def add_world_change_listener(self, listener):
self.listeners.add(listener)
def exec_simple_command(self, cmd):
self.exec_command(dict(action=cmd))
def exec_command(self, cmd):
if self.sim:
self.lock.acquire()
self.world = self.sim.step(cmd).metadata
for listener in self.listeners:
listener(self.world)
self.lock.release()
def get_norm_dir_to_obj(self, obj):
camPos = MapUtil.convert_pos(self.world["cameraPosition"])
obj_xyzrpy = MapUtil.get_obj_xyzrpy(obj)
dPos = [ obj_xyzrpy[d] - camPos[d] for d in range(3) ]
dPosMag = sqrt(sum([ dPos[d] * dPos[d] for d in range(3) ]))
return [ dPos[d] / dPosMag for d in range(3) ]
def lookat_obj(self, obj_id):
obj = next( (o for o in self.world["objects"] if o["objectId"] == obj_id), None)
if not obj:
print("ERROR: Ai2ThorSimulator::lookat_obj - " + obj_id + " doesn't exist")
return False
# Step 1: Rotate to face object
while True:
dPosNorm = self.get_norm_dir_to_obj(obj)
rel_yaw = atan2(dPosNorm[1], dPosNorm[0]) - MapUtil.get_obj_yaw(self.world["agent"])
if rel_yaw < 0:
rel_yaw += 2 * pi
time.sleep(INTERMEDIATE_ACTION_DELAY)
if rel_yaw > pi * 0.25 and rel_yaw <= pi * 1.25:
self.exec_simple_command("RotateLeft")
elif rel_yaw > pi * 1.25 and rel_yaw < pi * 1.75:
self.exec_simple_command("RotateRight")
else:
break
# Step 2: Look up/down
viewHorizon = round(self.world["agent"]["cameraHorizon"])
while True:
# Normalized direction vector to the object
dPosNorm = self.get_norm_dir_to_obj(obj)
# angle of camera rotation above/below straight forward
viewAngle = self.world["agent"]["cameraHorizon"]
viewAngle = (-viewAngle / 180 * pi)
# The up vector for the robot (relative to viewing direction)
robotYaw = MapUtil.get_obj_yaw(self.world["agent"])
up = [ cos(robotYaw) * -sin(viewAngle), sin(robotYaw) * -sin(viewAngle), cos(viewAngle) ]
dot = sum([ up[d] * dPosNorm[d] for d in range(3) ])
time.sleep(INTERMEDIATE_ACTION_DELAY)
if dot > sin(pi/10):
self.exec_simple_command("LookUp")
elif dot < sin(-pi/10):
self.exec_simple_command("LookDown")
newViewHorizon = round(self.world["agent"]["cameraHorizon"])
if newViewHorizon == viewHorizon:
break
viewHorizon = newViewHorizon
return True
def approach_obj(self, obj_id):
print("Approach: " + obj_id)
obj = next( (o for o in self.world["objects"] if o["objectId"] == obj_id), None)
if not obj:
print("ERROR: Ai2ThorSimulator::approach_obj - " + obj_id + " doesn't exist")
return False
robot_xyzrpy = MapUtil.get_obj_xyzrpy(self.world["agent"])
path = self.nav.find_path_to_obj(robot_xyzrpy, obj)
if path == None:
return False
for step in path:
time.sleep(INTERMEDIATE_ACTION_DELAY)
if step == 'F':
self.exec_simple_command("MoveAhead")
elif step == 'R':
self.exec_simple_command("RotateRight")
elif step == 'L':
self.exec_simple_command("RotateLeft")
return self.lookat_obj(obj_id)
#
# rot = agent["rotation"]
# rot = ( rot["x"] * DEG_TO_RAD, rot["y"] * DEG_TO_RAD, rot["z"] * DEG_TO_RAD )
# phi = -agent["cameraHorizon"] * DEG_TO_RAD
#
# lookat = ( sin(rot[1]) * cos(phi), sin(phi), cos(rot[1]) * cos(phi) )
#
# objs = []
# for obj in e.metadata["objects"]:
# if obj["visible"]:
# objs.append(obj["objectId"])
# #obj_pos = obj["position"]
# #obj_pos = ( obj_pos["x"], obj_pos["y"], obj_pos["z"] )
#
# #to_obj = ( obj_pos[0] - pos[0], obj_pos[1] - pos[1], obj_pos[2] - pos[2] )
# #dot_prod = lookat[0] * to_obj[0] + lookat[1] * to_obj[1] + lookat[2] * to_obj[2]
# #if obj["visible"] and dot_prod > 1:
# # objs.append("VIS: " + obj["objectId"])
# #elif not obj["visible"] and dot_prod > 0 and dot_prod <= 1:
# # objs.append("DOT: " + obj["objectId"])
#
# objs.sort()
#
# self.text.configure(state="normal")
# self.text.delete(1.0, END)
#
#
# self.text.insert(END, "LOOK: " + str(lookat) + "\n")
# for obj in objs:
# self.text.insert(END, obj + "\n")
# self.text.configure(state="disabled")
# else:
# print cmd