minor viewer updates

gtri · Nov 26, 2018 · d9f1f59 · d9f1f59
1 parent cb9888f
commit d9f1f59
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Showing 3 changed files with 22 additions and 3 deletions.
diff --git a/python/scrimmage/bindings/src/py_openai_env.cpp b/python/scrimmage/bindings/src/py_openai_env.cpp
@@ -34,6 +34,7 @@
 
 #include <scrimmage/entity/Entity.h>
 #include <scrimmage/parse/MissionParse.h>
+#include <scrimmage/parse/ParseUtils.h>
 #include <scrimmage/simcontrol/SimControl.h>
 #include <scrimmage/simcontrol/SimUtils.h>
 
@@ -256,9 +257,19 @@ void ScrimmageOpenAIEnv::reset_scrimmage(bool enable_gui) {
     if (enable_gui) {
         mp_->set_network_gui(true);
         mp_->set_enable_gui(false);
+        std::string cmd = "scrimmage-viz ";
+
+        auto it = mp_->attributes().find("camera");
+        if (it != mp_->attributes().end()) {
+            auto camera_pos_str = sc::get<std::string>("pos", it->second, "0, 1, 200");
+            auto camera_focal_pos_str = sc::get<std::string>("focal_point", it->second, "0, 0, 0");
+            cmd += "--pos " + camera_pos_str
+                + " --focal_point " + camera_focal_pos_str;
+        }
+        cmd += " &";
 
         // TODO: fix this to get feedback that the gui is running
-        if (system("scrimmage-viz &")) {
+        if (system(cmd.c_str())) {
             std::cout << "could not start scrimmage-viz" << std::endl;
         }
         std::this_thread::sleep_for(std::chrono::milliseconds(2000));

diff --git a/share/scrimmage-viz/main.cpp b/share/scrimmage-viz/main.cpp
@@ -56,7 +56,9 @@ int main(int argc, char* argv[]) {
         ("local_ip,i", po::value<std::string>(), "The local IP address where this viewer will run.")
         ("local_port,p", po::value<std::string>(), "The local port where this viewer will listen.")
         ("remote_ip,r", po::value<std::string>(), "The remote IP address where SCRIMMAGE is running.")
-        ("remote_port,o", po::value<std::string>(), "The remote port where SCRIMMAGE is running.");
+        ("remote_port,o", po::value<std::string>(), "The remote port where SCRIMMAGE is running.")
+        ("pos", po::value<std::string>(), "camera position")
+        ("focal_point", po::value<std::string>(), "camera focal point");
 
     po::variables_map vm;
     po::store(po::parse_command_line(argc, argv, desc), vm);
@@ -76,6 +78,12 @@ int main(int argc, char* argv[]) {
     set_param(vm, params, "local_port");
     set_param(vm, params, "remote_ip");
     set_param(vm, params, "remote_port");
+    set_param(vm, params, "pos");
+    set_param(vm, params, "focal_point");
+
+    if (params.count("pos") > 0 || params.count("focal_point") > 0) {
+        params["mode"] = "FREE";
+    }
 
     sc::Viewer viewer;
     viewer.set_enable_network(true);

diff --git a/test/test_openai.py b/test/test_openai.py
@@ -49,7 +49,7 @@ def _run_test(version, combine_actors, global_sensor, get_action, timestep=-1):
             entry_point='scrimmage.bindings:ScrimmageOpenAIEnv',
             max_episode_steps=1e9,
             reward_threshold=1e9,
-            kwargs={"enable_gui": False,
+            kwargs={"enable_gui": True,
                     "combine_actors": combine_actors,
                     "global_sensor": global_sensor,
                     "mission_file": TEMP_MISSION_FILE,