def __init__(self, agent, task_data, featurizer=None):
super(Build, self).__init__(featurizer=featurizer)
self.task_data = task_data
self.embed = task_data.get("embed", False)
self.schematic, _ = blocks_list_to_npy(task_data["blocks_list"])
self.origin = task_data["origin"]
self.verbose = task_data.get("verbose", True)
self.relations = task_data.get("relations", [])
self.default_behavior = task_data.get("default_behavior")
self.force = task_data.get("force", False)
self.block_memory = None
self.attempts = 3 * np.ones(self.schematic.shape[:3], dtype=np.uint8)
self.fill_message = task_data.get("fill_message", False)
self.schematic_memid = task_data.get("schematic_memid", None)
self.schematic_tags = task_data.get("schematic_tags", [])
self.giving_up_message_sent = False
self.wait = False
self.old_blocks_list = None
self.old_origin = None
# modify the schematic to avoid placing certain blocks
for bad, good in BUILD_BLOCK_REPLACE_MAP.items():
self.schematic[self.schematic[:, :, :, 0] == bad] = good
self.new_blocks = [] # a list of (xyz, idm) of newly placed blocks
# snap origin to ground if bottom level has dirt blocks
# NOTE(kavyasrinet): except for when we are rebuilding the old dirt blocks, we
# don't want to change the origin then, hence the self.force check.
if not self.force and not self.embed and np.isin(self.schematic[:, :, :, 0], (2, 3)).any():
h = perception.ground_height(agent, self.origin, 0)
self.origin[1] = h[0, 0]
def __init__(self, agent, task_data):
super(Build, self).__init__()
self.task_data = task_data
self.embed = task_data.get("embed", False)
self.schematic, _ = blocks_list_to_npy(task_data["blocks_list"])
self.origin = task_data["origin"]
self.verbose = task_data.get("verbose", True)
self.relations = task_data.get("relations", [])
self.default_behavior = task_data.get("default_behavior")
self.force = task_data.get("force", False)
self.attempts = 3 * np.ones(self.schematic.shape[:3], dtype=np.uint8)
self.fill_message = task_data.get("fill_message", False)
self.schematic_memid = task_data.get("schematic_memid", None)
self.schematic_tags = task_data.get("schematic_tags", [])
self.giving_up_message_sent = False
self.wait = False
self.old_blocks_list = None
self.old_origin = None
self.PLACE_REACH = task_data.get("PLACE_REACH", 3)
# negative schematic related
self.is_destroy_schm = task_data.get("is_destroy_schm", False)
self.dig_message = task_data.get("dig_message", False)
self.blockobj_memid = None
self.DIG_REACH = task_data.get("DIG_REACH", 3)
self.last_stepped_time = agent.memory.get_time()
if self.is_destroy_schm:
# is it destroying a whole block object? if so, save its tags
self.destroyed_block_object_triples = []
xyzs = set(strip_idmeta(task_data["blocks_list"]))
mem = agent.memory.get_block_object_by_xyz(next(iter(xyzs)))
# TODO what if there are several objects being destroyed?
if mem and all(xyz in xyzs for xyz in mem.blocks.keys()):
for pred in ["has_tag", "has_name", "has_colour"]:
self.destroyed_block_object_triples.extend(
agent.memory.get_triples(subj=mem.memid,
pred_text=pred))
logging.info("Destroying block object {} tags={}".format(
mem.memid, self.destroyed_block_object_triples))
# modify the schematic to avoid placing certain blocks
for bad, good in BUILD_BLOCK_REPLACE_MAP.items():
self.schematic[self.schematic[:, :, :, 0] == bad] = good
self.new_blocks = [] # a list of (xyz, idm) of newly placed blocks
# snap origin to ground if bottom level has dirt blocks
# NOTE(kavyasrinet): except for when we are rebuilding the old dirt blocks, we
# don't want to change the origin then, hence the self.force check.
if not self.force and not self.embed and np.isin(
self.schematic[:, :, :, 0], (2, 3)).any():
h = ground_height(agent, self.origin, 0)
self.origin[1] = h[0, 0]
# get blocks occupying build area and save state for undo()
ox, oy, oz = self.origin
sy, sz, sx, _ = self.schematic.shape
current = agent.get_blocks(ox, ox + sx - 1, oy, oy + sy - 1, oz,
oz + sz - 1)
self.old_blocks_list = npy_to_blocks_list(current, self.origin)
if len(self.old_blocks_list) > 0:
self.old_origin = np.min(strip_idmeta(self.old_blocks_list),
axis=0)