Updated README for simple env

realenv/core/README.md

@@ -1,27 +1,51 @@
 ## Real Universe Environment
 
-This folder has the source code for environment bundle, which includes viewer renderer, multichannel renderer and physics simulation engine
+This folder has the source code for environment bundle, which includes view renderer, multichannel renderer and physics simulation engine
 
 ### Requirement
 You need CUDA 8.0 in order to run the environment.
 
-### Run everything at once
+### Run everything in a bundle
-Open three different shells, and follow the sequence
+Current trainin environment in implemented in `simple_env.py`. It is a dead simple room exploration game with negative delta distance as reward. It's default to ru with model `11HB6XZSh1Q`. We provide a sample agent `random_husky.py` to interact with this environment. To start, run the following command
+```shell
+source activate (py2_universe_env)
+python random_husky.py
+```
+You can switch between agent/human mode by setting `human=True/False` when initializing environment object. You can also set `debug=True/False` to run with or without graphical interface.
+
+### Components
+The above environment has three components: view renderer, multichannel renderer and physics simulation engine. A built-in add on is a scoreboard implemented with matplotlib.
+
+#### Test each component individually
+Multichannel renderer currently only supports depth rendering. In the future we will provide surface normal, semantics and arbitrary meta information.
 ```shell
 ## Shell One
-cd {realenv_root}/realenv/envs/depth/depth_render
+cd depth/depth_render
-./depth_render --datapath ../data -m 11HB6XZSh1Q
+./depth_render --datapath ../../data -m 11HB6XZSh1Q
+```
 
+View renderer. 
+```shell
 ## Shell Two 
-cd {realenv_root}/realenv/envs/render
+cd render
 source activate (py2_universe_env)
 python show_3d2.py --datapath ../data/ --idx 10
+```
 
+Physics engine
+```shell
 ## Shell Three
-cd {realenv_root}/realenv/envs/physics
+cd physics
 source activate (py2_universe_env)
 python render_physics.py --datapath ../data --model 11HB6XZSh1Q
 ```
+
+If you want to test out how they work together in a combined way, you don't have to open up three separate terminals. Run
+```shell
+source acitvate (py2_universe_env)
+python simple_env.py
+```
+
 You should see OpenCV windows, as well as pybullet panel pop up.
 
 To control the object, click on pybullet panel, then use the following keys. Pybullet sends its movement to

realenv/envs/simple_env.py

@@ -18,8 +18,8 @@ from multiprocessing.dummy import Process
 class SimpleEnv(gym.Env):
   metadata = {'render.modes': ['human']}
 
-  def __init__(self, human=False):
+  def __init__(self, human=False, debug=True):
-    self.debug_mode = True
+    self.debug_mode = debug
     file_dir = os.path.dirname(__file__)
     cmd_channel = "bash run_depth_render.sh"
 
@@ -115,7 +115,7 @@ class SimpleEnv(gym.Env):
         #reward = random.randrange(-8, 20)
         with Profiler("Reward func"):
           reward = self.reward_func(self.state_old, state)
-        #self.r_displayer.add_reward(reward)
+        self.r_displayer.add_reward(reward)
         self.state_old = state
         #with Profiler("Display reward"):
         

realenv/examples/agents/random_husky.py

@@ -31,7 +31,7 @@ class RandomAgent(object):
 if __name__ == '__main__':
     action_space = generate_actions()
     agent = RandomAgent(action_space)
-    env = SimpleEnv(human=False)
+    env = SimpleEnv(human=False, debug=True)
     ob = None
 
     i = 0