OmniGibson/realenv/core

Real Universe Environment

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 in a bundle

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

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 One
cd depth/depth_render
./depth_render --datapath ../../data -m 11HB6XZSh1Q

View renderer.

## Shell Two 
cd render
source activate (py2_universe_env)
python show_3d2.py --datapath ../data/ --idx 10

Physics engine

## Shell Three
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

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 Opengl & OpenCV for rendering.

key	action
w/q	go forward
a	go left
s	go backward
d	go right
z	go upward
c	go downward
u/j	add/subtract roll
i/k	add/subtract pitch
o/l	add/subtract yaw

Note that key w has conflict with pybullet hotkey.