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gui.py
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gui.py
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import tkinter as tk
import os
import ai2thor.controller
from PIL import Image, ImageTk
import imageio
import keyboard
import threading
import queue
import time
import re
import operator
from tkinter.ttk import *
from tkinter import messagebox
import csv
import cv2
class Gui():
"""
Set overall GUI.
"""
def __init__(self, root):
"""Initialise GUI."""
# Create queues
stage_queue = queue.Queue()
scene_queue = queue.Queue()
demo_queue = queue.Queue()
frame_queue = queue.Queue()
object_queue = queue.Queue()
input_queue = queue.Queue()
# Show status
status = tk.Label(root, text="STATUS: Entering user ID...\n")
status.pack(side="top", fill="x")
# Set consistent frame
container = tk.Frame(root)
container.pack(side="top", fill="both", expand=True)
# Instantiate AI2-THOR with queues
ai2_thor = AI2THOR(stage_queue, scene_queue, demo_queue, frame_queue, object_queue, input_queue)
ai2_thor_thread = threading.Thread(target=lambda: ai2_thor.run())
ai2_thor_thread.start()
# Set initial page to choose task page
user_id = UserIDPage(root)
user_id.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
user_id.show(root, container, status, user_id, None, None, None, None, None, stage_queue, scene_queue,
demo_queue, frame_queue,
object_queue, input_queue)
class UserIDPage(tk.Frame):
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, status, user_id, choose_task, demo, do_action, do_input, review, stage_queue,
scene_queue, demo_queue,
frame_queue, object_queue, input_queue):
# do not have to clear unused pages, since we only use this page once
id_list = []
no_of_people = 200
for i in range(no_of_people):
id_list.append(str(i + 1))
user_num_frame = tk.Frame(self)
user_num_frame.pack(side="top")
user_num_text = tk.Label(self, text="Enter your user ID:")
user_num_text.pack(in_=user_num_frame, side="left")
user_num_text.config(font=('Courier', '20'))
user_num_input = tk.Entry(self)
user_num_input.pack(in_=user_num_frame, side="left")
check_id_validity_button = tk.Button(self, text="BEGIN", font=('Courier', '19'),
command=lambda: self.check_id_validity(user_num_input.get(), id_list, root,
container, status,
user_id, choose_task, None, None,
None, None, stage_queue,
scene_queue, demo_queue,
frame_queue,
object_queue, input_queue))
check_id_validity_button.pack(side="top")
self.lift()
def check_id_validity(self, user_id, id_list, root, container, status, user_num, choose_task, choose_action, do_action,
do_input, review, stage_queue, scene_queue, demo_queue,
frame_queue, object_queue, input_queue):
if str(user_id) not in id_list:
# id not in list --> show popup error message
messagebox.showerror("Error",
"Please make sure you enter a valid user ID, from 1 to " + id_list[-1] + ".")
else:
# valid id --> move to task choosing page
if not os.path.exists("saved-tasks/" + str(user_id)):
os.mkdir("saved-tasks/" + str(user_id))
with open('saved-tasks/user.txt', 'w') as f:
f.truncate(0)
f.write(str(user_id))
f.close()
choose_task = ChooseTaskPage(root)
choose_task.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
choose_task.show(root, container, user_id, status, None,
user_num, choose_task, choose_action, do_action,
do_input, review, stage_queue, scene_queue, demo_queue, frame_queue,
object_queue, input_queue)
class ChooseTaskPage(tk.Frame):
"""
Set choose task page GUI.
"""
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, user_id, status, task, user_num, choose_task, demo, do_action, do_input, review,
stage_queue, scene_queue,
demo_queue, frame_queue, object_queue, input_queue):
# Clear unused pages
if demo != None:
demo.destroy()
if do_action != None:
do_action.destroy()
if do_input != None:
do_input.destroy()
if user_num != None:
user_num.destroy()
if review != None:
review.destroy()
stage_queue.put('choose_task')
self.scene_queue = scene_queue
self.frame_queue = frame_queue
self.user_id=user_id
status['text'] = "STATUS: Choosing task...\n"
# Show initial frame
self.ai2thor_frame = tk.Label(self)
self.get_and_set_frame()
self.ai2thor_frame.pack(side="top")
# Select tasks for specific users --> using 'user_id'
self.SCENES = []
self.TASKS = []
completed_tasks = os.listdir('saved-tasks/' + str(self.user_id))
completed_tasks = [x.split('_')[0] for x in completed_tasks]
if task is not None:
completed_tasks.append(task)
with open('resources/tasks/' + str(self.user_id)+'.csv', newline='') as csvfile:
csv_data = csv.reader(csvfile)
next(csv_data)
for row in csv_data:
task_data = row[0]
task_data = task_data.split("_")[0]
if task_data not in completed_tasks:
self.TASKS.append(task_data)
scene = row[0]
scene = scene.split('_')[-2]
self.SCENES.append(scene)
task_frame = tk.Frame(self)
task_frame.pack(side="top")
task_text = tk.Label(self, text="Choose task:")
task_text.pack(in_=task_frame, side="left")
task_text.config(font=('Courier', '20'))
self.task = tk.StringVar(self)
self.task.set(self.TASKS[0])
# set initial scene
self.scene = self.SCENES[0]
self.scene_queue.put(self.scene)
self.task.trace("w", self.send_scene)
task_options = Combobox(self, textvariable=self.task, state="readonly", values=self.TASKS, font=('Courier', '20'))
task_options.pack(in_=task_frame, side="left")
# Create start task button
demo = DemoPage(root)
demo.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
demo_button = tk.Button(self, text="WATCH DEMO", font=('Courier', '19'),
command=lambda: demo.show(root, container, user_id, status, self.task.get(),
self.scene, choose_task, demo, None,
None, None, stage_queue, scene_queue, demo_queue, frame_queue,
object_queue, input_queue,
self.ai2thor_frame.image))
demo_button.pack(side="bottom", fill="x", expand=False)
self.lift()
def send_scene(self, *args):
"""Get scene in the scene options and send to scene_queue."""
index = self.TASKS.index(self.task.get())
self.scene = self.SCENES[index]
self.scene_queue.put(self.scene)
def get_and_set_frame(self):
"""Get first frame in the frame_queue, if any, and set the GUI frame to that frame."""
try:
frame = self.frame_queue.get(0)
self.ai2thor_frame.configure(image=frame)
self.ai2thor_frame.image = frame
self.after(1, self.get_and_set_frame)
except queue.Empty:
self.after(1, self.get_and_set_frame)
class DemoPage(tk.Frame):
"""
Set choose action page GUI.
"""
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, user_id, status, task, scene, choose_task, demo, do_action, do_input, review,
stage_queue,
scene_queue, demo_queue, frame_queue, object_queue, input_queue, initial_frame):
"""Show information for action."""
# Clear unused pages
if choose_task != None:
choose_task.destroy()
if do_action != None:
do_action.destroy()
if do_input != None:
do_input.destroy()
if review != None:
review.destroy()
self.demo_queue = demo_queue
# write task and scene settings to draw it later
with open('saved-tasks/settings.txt', 'w') as f:
f.truncate(0)
f.write(task + "\n")
f.write("FloorPlan" + scene)
f.close()
# set initial config for scene
config_task_list = [
'Wash Dishes',
'Throw away cracked egg',
'Throw away unused apple slice',
'Pour away coffee in a cup',
'Pour away water from pot',
'Use laptop',
'Throw away used tissuebox',
'Turn off the table lamp or desk lamp',
'Open Blinds',
'Clean the bed',
'Close the blinds',
'Put off a candle',
'Throw away used toilet roll and soap bottle',
'Water the houseplant',
'Clean the mirror',
'Turn on all the floor lamp',
'Wash dirty cloths'
]
if task in config_task_list:
index = config_task_list.index(task)
else:
index = -1
scene_queue.put(int(index))
stage_queue.put('demo')
# Show status
status['text'] = "STATUS: Watching the demo video...\n"
instruction = "Demo task: Fill up water." + "\nDemo instruction: Find an empty mug, and put it under running water."
instruction_label = tk.Label(self, text=instruction, wraplength=700)
instruction_label.pack(side="top")
instruction_label.config(font=("Courier Bold", 14))
# show demo video
self.demo_frame = tk.Label(self)
self.get_and_set_demo_video()
self.demo_frame.pack(side="top")
do_action = DoActionPage(root)
do_action.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
start_action_button = tk.Button(self, text="START TASK", font=('Courier', '19'),
command=lambda: do_action.show(root, container, user_id, status, task, scene,
None, demo,
do_action, None, None, stage_queue, scene_queue,
demo_queue,
frame_queue, object_queue, input_queue,
initial_frame, ))
start_action_button.pack(side="bottom", fill="x", expand=False)
# Show page
self.lift()
def get_and_set_demo_video(self):
"""Get first frame in the frame_queue, if any, and set the GUI frame to that frame."""
try:
frame = self.demo_queue.get(0)
frame = ImageTk.PhotoImage(frame)
self.demo_frame.configure(image=frame)
self.demo_frame.image = frame
self.after(1, self.get_and_set_demo_video)
except queue.Empty:
self.after(1, self.get_and_set_demo_video)
class DoActionPage(tk.Frame):
"""
Choose do action page GUI.
"""
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, user_id, status, task, scene, choose_task, demo, do_action,
do_input, review, stage_queue, scene_queue, demo_queue, frame_queue, object_queue, input_queue,
initial_frame):
# Clear unused pages
if demo != None:
demo.destroy()
if choose_task != None:
choose_task.destroy()
if do_input != None:
do_input.destroy()
if review != None:
review.destroy()
self.frame_queue = frame_queue
self.object_queue = object_queue
self.stage_queue = stage_queue
stage_queue.put('do_action')
# Show status
status[
'text'] = "STATUS: Doing '" + task + "' task in FloorPlan" + scene + "...\n"
# Show frame(s)
self.ai2thor_frame = tk.Label(self)
self.ai2thor_frame.configure(image=initial_frame)
self.ai2thor_frame.image = initial_frame
self.ai2thor_frame.pack(side="top")
self.get_and_set_frame()
# change instruction according to 'task'
with open('resources/tasks/' + str(user_id)+'.csv', newline='') as csvfile:
csv_data = csv.reader(csvfile)
next(csv_data)
for row in csv_data:
if task == row[0].split('_')[0]:
content = row[1]
break
instruction = "\nINSTRUCTIONS: " + content
instruction_label = tk.Label(self, text=instruction)
instruction_label = tk.Label(self, text=instruction,wraplength=700)
instruction_label.pack(side="top")
# show keyboard
keyboard = Image.open("resources/keyboard-control.png")
keyboard = keyboard.resize((990, 280))
keyboard_render = ImageTk.PhotoImage(keyboard)
keyboard_label = Label(self, image=keyboard_render)
keyboard_label.image = keyboard_render
keyboard_label.place(x=100, y=620)
# clock = Label(self)
# clock.pack(side="bottom")
# def tick():
# global time1
# # get the current local time from the PC
# time2 = time.strftime('%H:%M:%S')
# # if time string has changed, update it
# if time2 != time1:
# time1 = time2
# clock.config(text="Time:"+time2)
# # calls itself every 200 milliseconds
# # to update the time display as needed
# # could use >200 ms, but display gets jerky
# clock.after(200, tick)
# tick()
# labels can be text or images
# Object interaction button
do_input = DoInputPage(root)
do_input.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
object_interaction_button = tk.Button(self, text="Interact with an object", font=('Courier', '20'),
command=lambda: do_input.show(root, container, user_id, status, task,
scene, None, None, do_action,
do_input, review, stage_queue, scene_queue,
demo_queue,
frame_queue, object_queue, input_queue,
self.ai2thor_frame.image))
object_interaction_button.pack(side="top", expand=False)
# Create finish task button
review = ReviewPage(root)
review.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
finish_task_button = tk.Button(self, text="FINISH AND REVIEW TASK",font=('Courier', '19'),
command=lambda: review.show(root, container, user_id, status, task, scene, None,
None,
do_action, do_input, review, stage_queue,
scene_queue, demo_queue,
frame_queue, object_queue, input_queue))
finish_task_button.pack(side="bottom", fill="x", expand=False)
self.lift()
def get_and_set_frame(self):
"""Get first frame in the frame_queue, if any, and set the GUI frame to that frame."""
try:
frame = self.frame_queue.get(0)
self.ai2thor_frame.configure(image=frame)
self.ai2thor_frame.image = frame
self.after(1, self.get_and_set_frame)
except queue.Empty:
self.after(1, self.get_and_set_frame)
class DoInputPage(tk.Frame):
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, user_id, status, task, scene, choose_task, demo, do_action,
do_input, review, stage_queue, scene_queue, demo_queue, frame_queue, object_queue, input_queue,
initial_frame):
# Clear unused pages
if demo != None:
demo.destroy()
if choose_task != None:
choose_task.destroy()
if do_action != None:
do_action.destroy()
if review != None:
review.destroy()
# Send stage update to AI2-THOR
stage_queue.put('get_instance_obj')
self.frame_queue = frame_queue
self.object_queue = object_queue
while True:
try:
object_list = self.object_queue.get(0)
break
except queue.Empty:
pass
self.input_queue = input_queue
# Change status
status[
'text'] = "STATUS: Interacting with object for '" + task + "' task in FloorPlan" + scene + "...\n"
# Show initial frame
self.ai2thor_frame = tk.Label(self)
self.ai2thor_frame.configure(image=initial_frame)
self.ai2thor_frame.image = initial_frame
self.ai2thor_frame.pack(side="top")
# Show interaction action choices
input_action_frame = tk.Frame(self)
input_action_frame.pack(side="top")
input_action_text = tk.Label(self, text="Choose interaction:")
input_action_text.pack(in_=input_action_frame, side="left")
input_action_text.config(font=('Courier', '20'))
INPUT_ACTIONS = [
"Break",
"Clean",
"Close",
"Dirty",
"Drop",
"Empty",
"Fill",
"Open",
"Pick up",
"Used up",
"Pull",
"Push",
"Put down",
"Slice",
"Stand",
"Crouch",
"Throw",
"Toggle off",
"Toggle on",
]
self.input_actions = tk.StringVar(self)
self.input_actions.set(INPUT_ACTIONS[0])
self.input_actions.trace("w", self.configure_buttons)
input_actions_options = Combobox(self, textvariable=self.input_actions, state="readonly", values=INPUT_ACTIONS,
font=('Courier', '20'))
input_actions_options.pack(in_=input_action_frame, side="left")
# Show possible target objects
self.target_object_frame = tk.Frame(self)
self.target_object_frame.pack(side="top")
self.target_object_text = tk.Label(self, text="Choose target object:")
self.target_object_text.pack(in_=self.target_object_frame, side="left")
self.target_object_text.config(font=('Courier', '20'))
# Show possible target objects to PUT DOWN
self.put_down_target_object_frame = tk.Frame(self)
self.put_down_target_object_frame.pack(side="top")
self.put_down_target_object_text = tk.Label(self, text="Choose location:")
self.put_down_target_object_text.pack(in_=self.put_down_target_object_frame, side="left")
self.put_down_target_object_frame.pack_forget()
self.put_down_target_object_text.config(font=('Courier', '20'))
# change instruction according to 'task'
with open('resources/tasks/' + str(user_id)+'.csv', newline='') as csvfile:
csv_data = csv.reader(csvfile)
next(csv_data)
for row in csv_data:
if task == row[0].split('_')[0]:
content = row[1]
break
instruction = "\nINSTRUCTIONS: " + content
instruction_label = tk.Label(self, text=instruction)
instruction_label = tk.Label(self, text=instruction,wraplength=700)
instruction_label.pack(side="bottom")
# clock = Label(self)
# clock.pack(side="bottom")
# def tick():
# global time1
# # get the current local time from the PC
# time2 = time.strftime('%H:%M:%S')
# # if time string has changed, update it
# if time2 != time1:
# time1 = time2
# clock.config(text="Time:" + time2)
# # calls itself every 200 milliseconds
# # to update the time display as needed
# # could use >200 ms, but display gets jerky
# clock.after(200, tick)
# tick()
LIQUIDS = [
'coffee',
'water',
'wine'
]
# Show possible liquids to FILL a target object with
self.fill_target_object_frame = tk.Frame(self)
self.fill_target_object_frame.pack(side="top")
self.fill_target_object_text = tk.Label(self, text="Choose liquid:")
self.fill_target_object_text.pack(in_=self.fill_target_object_frame, side="left")
self.fill_target_object_text.config(font=('Courier', '20'))
self.fill_target_object_frame.pack_forget()
liquids = tk.StringVar(self)
liquids.set(LIQUIDS[0])
liquid_options = Combobox(self, textvariable=liquids, state="readonly", values=LIQUIDS, font=('Courier', '20'))
liquid_options.pack(in_=self.fill_target_object_frame, side="left")
# Get list of objects from AI2-THOR instance segmentation for target objects
object_list.sort()
OBJECTS = object_list
self.objects = tk.StringVar(self)
self.objects.set(OBJECTS[0])
self.objects.trace("w", self.send_object_emphasis)
objects_options = Combobox(self, textvariable=self.objects, state="readonly", values=OBJECTS,
font=('Courier', '20'))
objects_options.pack(in_=self.target_object_frame, side="left")
# Also use list of objects from AI2-THOR instance segmentation for put down
object_list.sort()
OBJECTS = object_list
self.object_locations = tk.StringVar(self)
self.object_locations.set(OBJECTS[0])
objects_location_options = Combobox(self, textvariable=self.object_locations, state="readonly", values=OBJECTS,
font=('Courier', '20'))
objects_location_options.pack(in_=self.put_down_target_object_frame, side="left")
# Create finish interaction button
do_action = DoActionPage(root)
do_action.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
finish_action_button = tk.Button(self, text="INTERACT", font=('Courier', '19'),
command=lambda: self.after_input_before_action(root, container, user_id,
status, task,
scene,
None, None, do_action, do_input,
review,
stage_queue, scene_queue,
demo_queue,
frame_queue, object_queue,
self.input_queue, initial_frame,
self.input_actions.get(),
self.objects.get(),
liquids.get(),
self.object_locations.get()))
finish_action_button.pack(side="bottom", fill="x", expand=False)
self.get_and_set_frame()
self.lift()
def after_input_before_action(self, root, container, user_id, status, task, scene, choose_task,
demo, do_action, do_input, review, stage_queue, scene_queue, demo_queue, frame_queue,
object_queue, input_queue, initial_frame, input_action,
target_interaction_object, fill_liquid, put_object_location):
stage_queue.put('do_input')
input_queue.put(['interaction', input_action, target_interaction_object, fill_liquid, put_object_location])
do_action.show(root, container, user_id, status, task, scene, None, None, do_action, do_input, None,
stage_queue, scene_queue, demo_queue, frame_queue, object_queue, self.input_queue, initial_frame)
def send_object_emphasis(self, *args):
"""
Send objectId to be emphasised and get frame in return.
"""
# Show emphasis on selected object to let user know which object is selected
self.input_queue.put(['emphasis', self.objects.get()])
def get_and_set_frame(self):
try:
frame = self.frame_queue.get(0)
self.ai2thor_frame.configure(image=frame)
self.ai2thor_frame.image = frame
self.after(1, self.get_and_set_frame)
except queue.Empty:
self.after(1, self.get_and_set_frame)
def configure_buttons(self, *args):
"""
Hide or show buttons depending on needs.
"""
interaction = self.input_actions.get()
if interaction == 'Drop' or interaction == 'Throw' or interaction== 'Stand' or interaction=='Crouch':
self.target_object_frame.pack_forget()
self.put_down_target_object_frame.pack_forget()
self.fill_target_object_frame.pack_forget()
elif interaction == 'Fill':
self.target_object_frame.pack()
self.put_down_target_object_frame.pack_forget()
self.fill_target_object_frame.pack()
elif interaction == 'Put down':
self.target_object_frame.pack()
self.put_down_target_object_frame.pack()
self.fill_target_object_frame.pack_forget()
else:
self.target_object_frame.pack()
self.put_down_target_object_frame.pack_forget()
self.fill_target_object_frame.pack_forget()
class ReviewPage(tk.Frame):
def __init__(self, *args, **kwargs):
tk.Frame.__init__(self, *args, **kwargs)
def show(self, root, container, user_id, status, task, scene, choose_task, demo, do_action,
do_input, review, stage_queue, scene_queue, demo_queue, frame_queue, object_queue, input_queue):
# Clear unused pages
if demo != None:
demo.destroy()
if choose_task != None:
choose_task.destroy()
if do_action != None:
do_action.destroy()
if do_input != None:
do_input.destroy()
stage_queue.put('review')
status['text'] = "STATUS: Reviewing actions for '" + task + "' task for FloorPlan" + scene + "...\n"
self.frame_queue = frame_queue
# show replay video
self.ai2thor_frame = tk.Label(self)
self.ai2thor_frame.pack(side="top")
self.get_and_set_frame()
choose_task = ChooseTaskPage(root)
choose_task.place(in_=container, x=0, y=0, relwidth=1, relheight=1)
save_button = tk.Button(self, text="SAVE TASK",
command=lambda: self.save_list(root, container, user_id, status, task, choose_task, None,
None, None, review, stage_queue, scene_queue, demo_queue,
frame_queue, object_queue, input_queue))
save_button.pack(side="bottom", fill="x", expand=False)
redo_task_button = tk.Button(self, text="REDO TASK",
command=lambda: choose_task.show(root, container, user_id, status, None, None,
choose_task, None, None,
None, review, stage_queue, scene_queue,
demo_queue,
frame_queue, object_queue, input_queue))
redo_task_button.pack(side="bottom", fill="x", expand=False)
self.lift()
def save_list(self, root, container, user_id, status, task, choose_task, demo,
do_action, do_input, review, stage_queue, scene_queue, demo_queue,
frame_queue, object_queue, input_queue):
stage_queue.put("save")
choose_task.show(root, container, user_id, status, task, None, choose_task, demo,
do_action, do_input, review, stage_queue, scene_queue, demo_queue,
frame_queue, object_queue, input_queue)
def get_and_set_frame(self):
"""Get first frame in the frame_queue, if any, and set the GUI frame to that frame."""
try:
frame = self.frame_queue.get(0)
self.ai2thor_frame.configure(image=frame)
self.ai2thor_frame.image = frame
self.after(1, self.get_and_set_frame)
except queue.Empty:
self.after(1, self.get_and_set_frame)
class AI2THOR():
def __init__(self, stage_queue, scene_queue, demo_queue, frame_queue, object_queue, input_queue):
self.stage_queue = stage_queue
self.scene_queue = scene_queue
self.demo_queue = demo_queue
self.frame_queue = frame_queue
self.object_queue = object_queue
self.input_queue = input_queue
def run(self):
"""Run AI2-THOR."""
controller = ai2thor.controller.Controller()
controller.local_executable_path = "/home/user/ai2thor/unity/unity/Builds/linux.x86_64"
controller.start(player_screen_width=1000,
player_screen_height=500)
anglehandx = 0.0
anglehandy = 0.0
anglehandz = 0.0
# Set initial stage to None
stage = None
while True:
# Check which stage the user is at
# Sleep to prevent this from being too fast
time.sleep(0.005)
# Try to get stage from stage_queue
try:
stage = self.stage_queue.get(0)
except queue.Empty:
pass
if stage == 'choose_task':
# reset action list
self.action_list = []
try:
scene = self.scene_queue.get(0)
controller.reset('FloorPlan' + scene)
event = controller.step(dict(action='Initialize', gridSize=0.25, renderObjectImage="True"))
# Send frame to GUI
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
except queue.Empty:
continue
elif stage == 'demo':
# reset video demo queue
with self.demo_queue.mutex:
self.demo_queue.queue.clear()
# send demo video frames
video_name = "resources/demo.mp4" # This is your video file path
video = imageio.get_reader(video_name)
for frame in video.iter_data():
# see whether initial scene config is ready
try:
scene_config = self.scene_queue.get(0)
target_id = None
if scene_config == -1:
pass
elif scene_config == 0:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Plate' or obj['objectType'] == 'Bowl':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange='DirtyObject', objectId=target_id))
elif scene_config == 1:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Egg':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange='BreakObject', objectId=target_id))
elif scene_config == 2:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Apple':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange='SliceObject', objectId=target_id))
elif scene_config == 3:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Cup':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="FillObjectWithLiquid", objectId=target_id, fillLiquid='coffee'))
elif scene_config == 4:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Pot':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="FillObjectWithLiquid", objectId=target_id, fillLiquid='water'))
elif scene_config == 5:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Laptop':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="CloseObject", objectId=target_id))
elif scene_config == 6:
for obj in event.metadata['objects']:
if obj['objectType'] == 'TissueBox':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="UseUpObject", objectId=target_id))
elif scene_config == 7:
for obj in event.metadata['objects']:
if obj['objectType'] == 'DeskLamp':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="ToggleObjectOn", objectId=target_id))
elif scene_config == 8:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Blinds':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="CloseObject", objectId=target_id))
elif scene_config == 9:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Bed':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange='DirtyObject', objectId=target_id))
elif scene_config == 10:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Blinds':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="OpenObject", objectId=target_id))
elif scene_config == 11:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Candle':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="ToggleObjectOn", objectId=target_id))
elif scene_config == 12:
for obj in event.metadata['objects']:
if obj['objectType'] == 'ToiletPaper' or obj['objectType'] == 'SoapBottle':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="UseUpObject", objectId=target_id))
elif scene_config == 13:
for obj in event.metadata['objects']:
if obj['objectType'] == 'WateringCan':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="FillObjectWithLiquid", objectId=target_id, fillLiquid='water'))
elif scene_config == 14:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Mirror':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="DirtyObject", objectId=target_id))
elif scene_config == 15:
for obj in event.metadata['objects']:
if obj['objectType'] == 'FloorLamp':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="ToggleObjectOff", objectId=target_id))
elif scene_config == 16:
for obj in event.metadata['objects']:
if obj['objectType'] == 'Cloth':
target_id = obj['objectId']
event = controller.step(dict(action='SpecificToggleSpecificState', StateChange="DirtyObject", objectId=target_id))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
except:
# to check for user skipping demo video
try:
stage = self.stage_queue.get(0)
break
except queue.Empty:
frame = Image.fromarray(frame).resize((880, 880))
self.demo_queue.put(frame)
time.sleep(.03)
elif stage == 'do_action':
# Send frame(s) to GUI
if keyboard.is_pressed('right'):
event = controller.step(dict(action='MoveRight'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveRight")
elif keyboard.is_pressed('up'):
event = controller.step(dict(action='MoveAhead'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveAhead")
elif keyboard.is_pressed('down'):
event = controller.step(dict(action='MoveBack'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveBack")
elif keyboard.is_pressed('left'):
event = controller.step(dict(action='MoveLeft'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveLeft")
elif keyboard.is_pressed('8'):
event = controller.step(dict(action='MoveHandAhead', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandAhead")
elif keyboard.is_pressed('5'):
event = controller.step(dict(action='MoveHandBack', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandBack")
elif keyboard.is_pressed('4'):
event = controller.step(dict(action='MoveHandLeft', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandLeft")
elif keyboard.is_pressed('6'):
event = controller.step(dict(action='MoveHandRight', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandRight")
elif keyboard.is_pressed('7'):
event = controller.step(dict(action='MoveHandUp', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandUp")
elif keyboard.is_pressed('9'):
event = controller.step(dict(action='MoveHandDown', moveMagnitude=0.1))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("MoveHandDown")
elif keyboard.is_pressed('1'):
anglehandx = anglehandx + 30.0
event = controller.step(dict(action='RotateHand', x=anglehandx))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("RotateHandX")
elif keyboard.is_pressed('2'):
anglehandy = anglehandy + 30.0
event = controller.step(dict(action='RotateHand', y=anglehandy))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("RotateHandY")
elif keyboard.is_pressed('3'):
anglehandz = anglehandz + 30.0
event = controller.step(dict(action='RotateHand', z=anglehandz))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("RotateHandZ")
elif keyboard.is_pressed('a'):
event = controller.step(dict(action='RotateLeft'))
# position = event.metadata['agent']['position']
# rotation = event.metadata['agent']['rotation']
# event = controller.step(
# dict(action='TeleportFull', x=position.get('x'), y=position.get('y'), z=position.get('z'),
# rotation=int(round(rotation.get('y') - 30.0)), horizon=0.0))
# time.sleep(.3)
# print(rotation)
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("RotateLeft")
elif keyboard.is_pressed('d'):
event = controller.step(dict(action='RotateRight'))
# position = event.metadata['agent']['position']
# rotation = event.metadata['agent']['rotation']
# event = controller.step(
# dict(action='TeleportFull', x=position.get('x'), y=position.get('y'), z=position.get('z'),
# rotation=int(round(rotation.get('y') + 30.0)), horizon=0.0))
# time.sleep(.3)
# print(rotation)
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("RotateRight")
elif keyboard.is_pressed('w'):
event = controller.step(dict(action='LookUp'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("LookUp")
elif keyboard.is_pressed('s'):
event = controller.step(dict(action='LookDown'))
ai2thor_frame = ImageTk.PhotoImage(Image.fromarray(event.frame))
self.send_frame(ai2thor_frame)
self.action_list.append("LookDown")
elif stage == 'get_instance_obj':
# Send list of objects in current instance segmentation frame to GUI
obj_distance = {}
lowest_dict = {}
objects = []
for obj in event.instance_detections2D:
objects.append(obj)
objects = [x for x in objects if not re.search('CounterTop', x)]
objects = [x for x in objects if not re.search('Shelf', x)]
objects = [x for x in objects if not re.search('TableTop', x)]
for obj in event.metadata['objects']:
# Remove underscore and characters after underscore
# obj_name1 = re.search('^[^_]+', obj_id['name']).group()
# if obj_name1 not in objects:
obj_distance[obj['objectId']] = obj['distance']
for i, v in obj_distance.items():
if 'CounterTop' in i:
lowest_dict[i] = v
if not len(lowest_dict) == 0:
lowest = min(lowest_dict.items(), key=operator.itemgetter(1))[0]
objects.append(lowest)
lowest_dict.clear()
# for i, v in obj_distance.items():
# if 'BreadSliced' in i:
# lowest_dict[i] = v
# if not len(lowest_dict) == 0:
# lowest = min(lowest_dict.items(), key=operator.itemgetter(1))[0]
# objects.append(lowest)
# lowest_dict.clear()
# for i, v in obj_distance.items():
# if 'TomatoSliced' in i:
# lowest_dict[i] = v
# if not len(lowest_dict) == 0:
# lowest = min(lowest_dict.items(), key=operator.itemgetter(1))[0]
# objects.append(lowest)
# lowest_dict.clear()
# for i, v in obj_distance.items():
# if 'AppleSliced' in i:
# lowest_dict[i] = v
# if not len(lowest_dict) == 0:
# lowest = min(lowest_dict.items(), key=operator.itemgetter(1))[0]
# objects.append(lowest)
# lowest_dict.clear()
# for i, v in obj_distance.items():
# if 'LettuceSliced' in i:
# lowest_dict[i] = v
# if not len(lowest_dict) == 0:
# lowest = min(lowest_dict.items(), key=operator.itemgetter(1))[0]
# objects.append(lowest)
# lowest_dict.clear()