initial code.

.gitignore

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+*.DS_Store
+unity-build/packing*
+unity-build/precompute*
+unity-build/Resources*
+unity-build/StreamingAssets*

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2020, Princeton University
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+<img src="images/packit.gif" align="right" width="30%"/>
+
+**PackIt: A Virtual Environment for Geometric Planning**
+[Ankit Goyal](http://imankgoyal.github.io), [Jia Deng](https://www.cs.princeton.edu/~jiadeng/)  
+*International Conference on Machine Learning (ICML), 2020*
+```
+@inproceedings{goyal2020packit,
+  title={PackIt: A Virtual Environment for Geometric Planning},
+  author={Goyal, Ankit and Deng, Jia},
+  booktitle={International Conference on Machine Learning},
+  year={2020},
+}
+```
+*For reproducing the results of the paper and using our generated dataset, use the [main repository](https://github.com/princeton-vl/PackIt). This repository contains code for generating more data. We recommend using the main repository first and only use this one if more data is required.* 
+
+
+## Getting Started
+
+First download/clone the repository. We would refer to the directory containing the code as `<packit_dir>`.
+
+```
+git clone [email protected]:princeton-vl/PackIt_Extra.git
+```
+
+#### Requirements
+The PackIt environment is build using [Unity ML-agents](https://github.com/Unity-Technologies/ml-agents/tree/0.4.0) version **0.4.0**.
+We provide standlone [Unity builds for Linux x86_64 platform](https://docs.unity3d.com/2017.4/Documentation/Manual/BuildSettingsStandalone.html).
+For creating the builds, we use [Unity](https://unity.com/) version **2017.4.3**.  
+
+#### Download Data
+Make sure you are in `<packit_dir>`. `download.sh` script downloads all the data, unzips them and, places them at correct locations. Note that symbolic links are created between the `<packit_dir>/unity-build/StreamingAssets` folder and appropriate locations inside the unity data directory. This is necessary so that the data is accessible from the build unity game.
+```
+chmod +x download.sh
+./download.sh
+```
+
+## Code Organization
+- `<packit_dir>/unity-assets`: Unity levels and C# scripts used for making unity builds from scratch.
+
+- `<packit_dir>/unity-build`: Prebuild unity games and data for generating new packs.
+
+
+## Evolving new packs
+1. Make sure you have downloded everything before this step.  
+1. To generate a new pack, use the `<packit_dir>/unity-build/generate.sh` script. To generate 5 new packs for the training data first `cd unity-build` and the use the command `./generate.sh --dataset tr --num_packs 5 --run 201`. This would generate packs at `<packit_dir>/unity-build/StreamingAssets/pack_tr/201_tr`. For faster loading of data, we precompute some voxel features which would be generated in `<packit_dir>/unity-build/StreamingAssets/pack_tr_precompute_<unity/python>/201_tr_<0/1/2/3/4>`.
+
+## Code for making you own unity build 
+We provide standlone unity build. In case you want to create your own unity builds follow the following steps. We strongly recommend familiarizing oneself with [Unity](https://unity.com/) first. Follow the steps below before making any unity build.
+
+1. Download and install [Unity 3D](https://unity.com/). We recommend installing version **2017.4.3**. Make sure you select the required `Build Support` while installing Unity. For example, select `Linux Build Support` if you want to make builds for Linux.
+
+1. Place the contents of `<packit_dir>/unity-assets` inside  the `Assets` folder. The `Assets` folder should look like the following:
+
+    ![Assets](images/assets.png)
+
+1. To [set up ML-Agents inside Unity](https://github.com/Unity-Technologies/ml-agents/blob/0.4.0/docs/Basic-Guide.md), go to **Edit > Project Settings > Player**. In **(PC, Mac and Linux Standalone, iOS or Android)**, go to the **Other Settings** section.
+Then, select **Scripting Runtime Version to Experimental (.NET 4.6 Equivalent)** option. 
+
+1. (Optional) You can place the `<packit_dir>/unity-build/StreamingAssets` folder inside `Assets`. This would allow running the environment inside the editor.
+
+1. Now follow the steps of the particular unity build you want to make:
+
+- #### Packing
+  This unity build, along with `Precompute` is used for generating packs. 
+  After running `download.sh`, this build is placed at `<packit_dir>/unity-build/packing<_Data/.x86_64>`. 
+  Following are the steps to make this build:  
+
+  1. Go to **File > Build Settings**.
+  1. Select **only** the `Level-Packing` in the **Scenes In Build** option. You might have to first open `Level-Packing` and then click `Add Open Scenes`. 
+  1. Select the **Target Platform** and press **Build**. A sample image can be found below.
+
+      ![Build](images/build.png)
+
+  1. In case you didn't place the `<packit_dir>/unity-build/StreamingAssets` folder inside `Assets`, you would have to create a symbolic link as done [here](https://github.com/princeton-vl/Packit_Extra/blob/master/download.sh#L19) for a Linux Build.
+
+- #### Precompute
+  This unity build, along with `Packing` is used for generating packs.
+  After running `download.sh`, this build is placed at `<packit_dir>/unity-build/precompute<_Data/.x86_64>`. 
+  Following are the steps to make this build:
+
+  1. Go to **File > Build Settings**.
+  1. Select **only** the **Level-Precompute** in the **Scenes In Build** option. You might have to first open **Level-Precompute** and then click **Add Open Scenes**. 
+  1. Select the **Target Platform** and press **Build**.
+  1. In case you didn't place the `<packit_dir>/unity-build/StreamingAssets` folder inside `Assets`, you would have to create a symbolic link as done [here](https://github.com/princeton-vl/Packit_Extra/blob/master/download.sh#L19) for a Linux Build.
+
+- #### PackIt Env
+  This unity build is used for the packit environment in the [main repository](https://github.com/princeton-vl/PackIt). 
+  After running `download.sh` in the [main repository](https://github.com/princeton-vl/PackIt), this build is placed at `<packit_dir>/unity/envs/packit_<_Data/.x86_64>`.
+  Following are the steps to make this build:
+
+  1. Update all the arguments in [`Assets/Scripts/PackingEnv/PackingAgent`](https://github.com/princeton-vl/PackIt/blob/master/unity-assets/Scripts/PackingEnv/PackingAgent.cs#L48-L57) for unity agent.
+  1. Open **Level-Main** and click **Academy > Brain**. 
+  1. In the **Brain Type** option, select **External**. Save the **Level-Main** scene.
+
+      ![Brain-External](images/brain_external.png)
+
+  1. Go to **File > Build Settings**.
+  1. Select **only** the **Level-Main** in the **Scenes In Build** option. You might have to first open **Level-Main** and then click **Add Open Scenes**. 
+  1. Select the **Target Platform** and press **Build**.
+  1. In case you didn't place the `<packit_dir>/unity-build/StreamingAssets` folder inside `Assets`, you would have to create a symbolic link as done [here](https://github.com/princeton-vl/Packit_Extra/blob/master/download.sh#L19) for a Linux Build.
+
+- #### PackIt Viz Env
+  This unity build is used for the packit environment in the [main repository](https://github.com/princeton-vl/PackIt).
+  After running `download.sh` in the [main repository](https://github.com/princeton-vl/PackIt), this build is placed at `<packit_dir>/unity/envs/packit_viz<_Data/.x86_64/_mac.app>`. 
+  Following are the steps to make this build:
+
+  1. Update all the arguments in [`Assets/Scripts/PackingEnv/PackingAgent`](https://github.com/princeton-vl/PackIt/blob/master/unity-assets/Scripts/PackingEnv/PackingAgent.cs#L48-L57) for visualizer.
+  1. Open **Level-Main** and click **Academy > Brain**. 
+  1. In the **Brain Type** option, select **Player**. Save the **Level-Main** scene.
+
+      ![Brain-Player](images/brain_player.png)
+
+  1. (Optional) In case you moved the `StreamingAssets` folder insider `Assets`, you can check the visualizer inside the Unity Editor. On clicking **Play**, the game would look as follows. Press `a` to execute the next action.
+
+     ![Play](images/play.png)
+
+  1. Go to **File > Build Settings**.
+  1. Select **only** the **Level-Main** in the **Scenes In Build** option. You might have to first open **Level-Main** and then click **Add Open Scenes**. 
+  1. Select the **Target Platform** and press **Build**.
+  1. In case you didn't place the `<packit_dir>/unity-build/StreamingAssets` folder inside `Assets`, you would have to create a symbolic link as done [here](https://github.com/princeton-vl/Packit_Extra/blob/master/download.sh#L19) for a Linux Build.
+

download.sh

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+
+wgetgdrive(){
+  # $1 = file ID
+  # $2 = file name
+
+  URL="https://docs.google.com/uc?export=download&id=$1"
+
+  wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate $URL -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$1" -O $2 && rm -rf /tmp/cookies.txt
+}
+
+mkdir tmp
+wgetgdrive 1DD7bdRJSPbEIXe8qXzrD3lEz0nzfbGbU tmp/data.zip
+wgetgdrive 1Y7xYBl2Nu8NlD-6rvmCf4iNJvxokS2PE tmp/precompute.zip
+wgetgdrive 15fd9EcSdJPyG5x3AycWHRl8j1keKDnwh tmp/packing.zip
+wgetgdrive 16vRzNlBRV3XNdzmOnqTqCnLaweeOfUSq tmp/resources.zip
+
+unzip tmp/data.zip -d unity-build
+unzip tmp/precompute.zip -d unity-build
+ln -s ../StreamingAssets unity-build/precompute_Data/StreamingAssets
+unzip tmp/packing.zip -d unity-build
+ln -s ../StreamingAssets unity-build/packing_Data/StreamingAssets
+unzip tmp/resources.zip -d unity-build
+
+rm -r tmp