added user input for video creation mode (#77)

* added user input for video creation mode * ran checks * ran checks * minor fixes * fix setup --------- Co-authored-by: Nishanth Kumar <[email protected]>
Learning-and-Intelligent-Systems · Apr 23, 2023 · 1779d0c · 1779d0c
1 parent f159b5b
commit 1779d0c
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Showing 2 changed files with 15 additions and 5 deletions.
diff --git a/predicators/planning.py b/predicators/planning.py
@@ -5,6 +5,7 @@
 
 from __future__ import annotations
 
+import curses
 import heapq as hq
 import logging
 import os
@@ -74,16 +75,23 @@ def sesame_plan(
     only consider at most one skeleton, and DiscoveredFailures cannot be
     handled.
     """
+
     if CFG.env == "behavior" and \
         CFG.behavior_mode == 'iggui':  # pragma: no cover
-        logging.info(  # pylint: disable=logging-not-lazy
-            "VIDEO CREATION MODE: You have 30 seconds to position " +
-            "the iggui window to the location you want for recording.")
         env = get_or_create_env('behavior')
         assert isinstance(env, BehaviorEnv)
-        start_time = time.time()
-        while time.time() - start_time < 30.0:
+        win = curses.initscr()
+        win.nodelay(True)
+        win.addstr(
+            0, 0,
+            "VIDEO CREATION MODE: You have time to position the iggui window \
+            to the location you want for recording. Type 'q' to indicate you \
+            have finished positioning: ")
+        flag = win.getch()
+        while flag == -1 or chr(flag) != 'q':
             env.igibson_behavior_env.step(np.zeros(env.action_space.shape))
+            flag = win.getch()
+        curses.endwin()
         logging.info("VIDEO CREATION MODE: Starting planning.")
 
     if CFG.sesame_task_planner == "astar":

diff --git a/setup.py b/setup.py
@@ -1,6 +1,8 @@
 """Setup script."""
 from setuptools import find_packages, setup
 
+# NOTE: Windows users will have to install windows-curses
+# (https://pypi.org/project/windows-curses/)
 setup(name="predicators",
       version="0.1.0",
       packages=find_packages(include=["predicators", "predicators.*"]),