Merge branch 'master' into develop

BYU-PCCL · Apr 2, 2020 · 2eda757 · 2eda757
2 parents 49ed501 + 45aaaa3
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -12,18 +12,16 @@ A clear and concise description of what the bug is.
 
 **To Reproduce**
 Please provide sample code to reproduce the bug.
-
+```python
+import holodeck
+```
 **Expected behavior**
 A clear and concise description of what you expected to happen.
 
-**Screenshots**
-If applicable, add screenshots to help explain your problem.
-
+**Logs**
+```
+Please include the client side output and the Engine debug log.
+```
 **Version Information:**
- - OS: [e.g. iOS]
- - Version [e.g. 22]
- - Holodeck Version
- - World/Scenario version
-
-**Additional context**
-Add any other context about the problem here.
+ - Platform / Version [e.g. Ubuntu 18.04 or Windows 10 1903]
+ - Holodeck Version (output of `holodeck.util.get_holodeck_version()`)
diff --git a/.github/ISSUE_TEMPLATE/question.md b/.github/ISSUE_TEMPLATE/question.md
@@ -0,0 +1,11 @@
+---
+name: Question or Support
+about: Ask a question or get help
+title: ''
+labels: 
+assignees: ''
+
+---
+# Please do not open issues for questions! Join our Discord and ask away!
+
+Invite Link: https://discord.gg/Xqqksje
diff --git a/README.md b/README.md
@@ -15,6 +15,8 @@ Holodeck is a high-fidelity simulator for reinforcement learning built on top of
  - High performance - simulation speeds of up to 2x real time are possible. Performance penalty only for what you need
  - Run headless or watch your agents learn
 
+### Questions? [Join our Discord!](https://discord.gg/Xqqksje)
+
 ## Installation
 `pip install holodeck`
 
@@ -34,9 +36,10 @@ See [Installation](https://holodeck.readthedocs.io/en/latest/usage/installation.
 ## Usage Overview
 Holodeck's interface is similar to [OpenAI's Gym](https://gym.openai.com/). 
 
-We try and provide a "batteries included" approach to minimize the configuration you have to do.
+We try and provide a batteries included approach to let you jump right into using Holodeck, with minimal
+fiddling required.
 
-Here is a quick example using the `DefaultWorlds` package:
+To demonstrate, here is a quick example using the `DefaultWorlds` package:
 
 ```python
 import holodeck

diff --git a/docs/changelog/changelog.rst b/docs/changelog/changelog.rst
@@ -117,7 +117,7 @@ Bug Fixes
 
 Holodeck 0.3.0
 --------------
-*08/30/2019*
+*11/02/2019*
 
 This is a content release focused on improving the :ref:`android-agent` and
 adding more scenarios and tasks for it. We also added a new floating hand

diff --git a/docs/packages/Dexterity/AndroidPlaytime/AndroidPlaytime-PlayRoom.rst b/docs/packages/Dexterity/AndroidPlaytime/AndroidPlaytime-PlayRoom.rst
@@ -0,0 +1,12 @@
+AndroidPlaytime-PlayRoom
+========================
+
+This scenario has an android agent spawn in the AndroidPlaytime room. There is
+no reward or objective, the goal of this task is to encourage play.
+
+Agents
+------
+
+- ``android0``: Main :ref:`Android <android-agent>` agent
+
+.. TODO: Add link to config file
diff --git a/docs/packages/Dexterity/AndroidPlaytime/android-playtime-top.png b/docs/packages/Dexterity/AndroidPlaytime/android-playtime-top.png
diff --git a/docs/packages/Dexterity/AndroidPlaytime/android-playtime.png b/docs/packages/Dexterity/AndroidPlaytime/android-playtime.png
diff --git a/docs/packages/Dexterity/AndroidPlaytime/android-playtime.rst b/docs/packages/Dexterity/AndroidPlaytime/android-playtime.rst
@@ -0,0 +1,21 @@
+AndroidPlaytime
+===============
+
+.. image:: android-playtime.png
+
+This is a small playroom with small, movable toys and windows.
+
+Layout
+------
+
+.. image:: android-playtime-top.png
+   :scale: 50%
+
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Scenarios
+   :glob:
+
+   AndroidPlaytime-*
+
diff --git a/docs/packages/Dexterity/Dexterity.rst b/docs/packages/Dexterity/Dexterity.rst
@@ -1,7 +1,5 @@
-.. _`dexterity-package`:
-
-Dexterity Package
-=================
+Dexterity package
+=====================
 
 .. toctree::
    :maxdepth: 3
@@ -10,3 +8,4 @@ Dexterity Package
    CupGame/cup-game.rst
    CleanUp/clean-up.rst
    Grip/grip.rst
+   AndroidPlaytime/android-playtime.rst
diff --git a/example.py b/example.py
@@ -141,12 +141,41 @@ def world_command_examples():
 
 def editor_example():
     """This editor example shows how to interact with holodeck worlds while they are being built
-    in the Unreal Engine. Most people that use holodeck will not need this.
+    in the Unreal Engine Editor. Most people that use holodeck will not need this.
+
+    This example uses a custom scenario, see 
+    https://holodeck.readthedocs.io/en/latest/usage/examples/custom-scenarios.html
+
+    Note: When launching Holodeck from the editor, press the down arrow next to "Play" and select
+    "Standalone Game", otherwise the editor will lock up when the client stops ticking it.
     """
-    agent_sensors = [sensors.RGBCamera, sensors.LocationSensor, sensors.VelocitySensor]
-    agent = AgentDefinition("uav0", agents.UavAgent, agent_sensors)
-    env = HolodeckEnvironment([agent], start_world=False)
-    env.agents["uav0"].set_control_scheme(1)
+
+    config = {
+        "name": "test",
+        "world": "TestWorld",
+        "main_agent": "uav0",
+        "agents": [
+            {
+                "agent_name": "uav0",
+                "agent_type": "UavAgent",
+                "sensors": [
+                    {
+                        "sensor_type": "LocationSensor",
+                    },
+                    {
+                        "sensor_type": "VelocitySensor"
+                    },
+                    {
+                        "sensor_type": "RGBCamera"
+                    }
+                ],
+                "control_scheme": 1,
+                "location": [0, 0, 1]
+            }
+        ]
+    }
+
+    env = HolodeckEnvironment(scenario=config, start_world=False)
     command = [0, 0, 10, 50]
 
     for i in range(10):
@@ -158,12 +187,35 @@ def editor_example():
 def editor_multi_agent_example():
     """This editor example shows how to interact with holodeck worlds that have multiple agents.
     This is specifically for when working with UE4 directly and not a prebuilt binary.
+
+    Note: When launching Holodeck from the editor, press the down arrow next to "Play" and select
+    "Standalone Game", otherwise the editor will lock up when the client stops ticking it.
     """
-    agent_definitions = [
-        AgentDefinition("uav0", agents.UavAgent, [sensors.RGBCamera, sensors.LocationSensor]),
-        AgentDefinition("uav1", agents.UavAgent, [sensors.LocationSensor, sensors.VelocitySensor])
-    ]
-    env = HolodeckEnvironment(agent_definitions, start_world=False)
+    config = {
+        "name": "test_handagent",
+        "world": "TestWorld",
+        "main_agent": "hand0",
+        "agents": [
+            {
+                "agent_name": "uav0",
+                "agent_type": "UavAgent",
+                "sensors": [
+                ],
+                "control_scheme": 1,
+                "location": [0, 0, 1]
+            },
+            {
+                "agent_name": "uav1",
+                "agent_type": "UavAgent",
+                "sensors": [
+                ],
+                "control_scheme": 1,
+                "location": [0, 0, 5]
+            }
+        ]
+    }
+
+    env = HolodeckEnvironment(scenario=config, start_world=False)
 
     cmd0 = np.array([0, 0, -2, 10])
     cmd1 = np.array([0, 0, 5, 10])
@@ -175,7 +227,3 @@ def editor_multi_agent_example():
         for _ in range(1000):
             states = env.tick()
 
-
-if __name__ == "__main__":
-
-    uav_example()