def step(self, action, raise_for_failure=False):
if action['action'] == 'PutObject':
receptacle_type = action['receptacleObjectId'].split('|')[0]
object_type = action['objectId'].split('|')[0]
if object_type not in RECEPTACLE_OBJECTS[receptacle_type]:
new_event = ai2thor.server.Event(
json.loads(json.dumps(self.last_event.metadata)),
self.last_event.image_data)
new_event.metadata['lastActionSuccess'] = False
new_event.metadata[
'errorCode'] = 'ObjectNotAllowedInReceptacle'
self.last_event = new_event
return new_event
assert self.request_queue.empty()
# Converts numpy scalars to python scalars so they can be encoded in
# JSON.
action_filtered = {}
for k, v in action.items():
if isinstance(v, np.generic):
v = np.asscalar(v)
action_filtered[k] = v
action = action_filtered
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def start(self,
port=0,
start_unity=True,
player_screen_width=300,
player_screen_height=300,
x_display="0.0"):
env = os.environ.copy()
if platform.system() == 'Linux':
env['DISPLAY'] = ':' + x_display
self.download_binary()
self.server = ai2thor.server.Server(self.request_queue,
self.response_queue, port)
self.server_thread = threading.Thread(target=self._start_thread,
args=(env, player_screen_width,
player_screen_height, port,
start_unity))
self.server_thread.daemon = True
self.server_thread.start()
# receive the first request
self.last_event = queue_get(self.request_queue)
return self.last_event
def step(self, action, raise_for_failure=False):
if not self._check_action(action):
new_event = ai2thor.server.Event(
json.loads(json.dumps(self.last_event.metadata)),
self.last_event.image)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
# Converts numpy scalars to python scalars so they can be encoded in
# JSON.
action_filtered = {}
for k, v in action.items():
if isinstance(v, np.generic):
v = np.asscalar(v)
action_filtered[k] = v
action = action_filtered
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
#print(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def step(self, action, raise_for_failure=False):
if not self._check_action(action):
new_event = ai2thor.server.Event(
json.loads(json.dumps(self.last_event.metadata)),
self.last_event.image)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
# Converts numpy scalars to python scalars so they can be encoded in
# JSON.
action_filtered = {}
for k,v in action.items():
if isinstance(v, np.generic):
v = np.asscalar(v)
action_filtered[k] = v
action = action_filtered
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
#print(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def reset(self, scene='FloorPlan_Train1_1'):
if re.match(r'^FloorPlan[0-9]+$', scene):
scene = scene + "_physics"
if scene not in self.scenes_in_build:
def key_sort_func(scene_name):
m = re.search(
'FloorPlan[_]?([a-zA-Z\-]*)([0-9]+)_?([0-9]+)?.*$',
scene_name)
last_val = m.group(3) if m.group(3) is not None else -1
return m.group(1), int(m.group(2)), int(last_val)
raise ValueError(
"\nScene not contained in build (scene names are case sensitive)."
"\nPlease choose one of the following scene names:\n\n{}".
format(", ".join(
sorted(list(self.scenes_in_build), key=key_sort_func))))
self.response_queue.put_nowait(
dict(action='Reset', sceneName=scene, sequenceId=0))
self.last_event = queue_get(self.request_queue) # can this be deleted?
self.last_event = self.step(action='Initialize',
**self.initialization_parameters)
return self.last_event
def step(self, action, raise_for_failure=False):
# XXX should be able to get rid of this with some sort of deprecation warning
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
action['visibilityDistance'] = float(
os.environ['AI2THOR_VISIBILITY_DISTANCE'])
should_fail = False
self.last_action = action
if ('objectId' in action and (action['action'] == 'OpenObject'
or action['action'] == 'CloseObject')):
force_visible = action.get('forceVisible', False)
if not force_visible and self.last_event.instance_detections2D and action[
'objectId'] not in self.last_event.instance_detections2D:
should_fail = True
obj_metadata = self.last_event.get_object(action['objectId'])
if obj_metadata is None or obj_metadata['isopen'] == (
action['action'] == 'OpenObject'):
should_fail = True
elif action['action'] == 'PutObject':
receptacle_type = action['receptacleObjectId'].split('|')[0]
object_type = action['objectId'].split('|')[0]
if object_type not in RECEPTACLE_OBJECTS[receptacle_type]:
should_fail = True
if should_fail:
new_event = copy.deepcopy(self.last_event)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
# Converts numpy scalars to python scalars so they can be encoded in
# JSON.
action_filtered = {}
for k, v in action.items():
if isinstance(v, np.generic):
v = np.asscalar(v)
action_filtered[k] = v
action = action_filtered
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
if not self.last_event.metadata[
'lastActionSuccess'] and self.last_event.metadata[
'errorCode'] == 'InvalidAction':
raise ValueError(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def reset(self, scene_name=None):
if not scene_name.endswith('_physics'):
scene_name = scene_name + "_physics"
self.response_queue.put_nowait(
dict(action='Reset', sceneName=scene_name, sequenceId=0))
self.last_event = queue_get(self.request_queue)
return self.last_event
def step(self, action, raise_for_failure=False):
# prevent changes to the action from leaking
action = copy.deepcopy(action)
# XXX should be able to get rid of this with some sort of deprecation warning
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
action['visibilityDistance'] = float(
os.environ['AI2THOR_VISIBILITY_DISTANCE'])
should_fail = False
self.last_action = action
if ('objectId' in action and (action['action'] == 'OpenObject'
or action['action'] == 'CloseObject')):
force_visible = action.get('forceVisible', False)
if not force_visible and self.last_event.instance_detections2D and action[
'objectId'] not in self.last_event.instance_detections2D:
should_fail = True
obj_metadata = self.last_event.get_object(action['objectId'])
if obj_metadata is None or obj_metadata['isopen'] == (
action['action'] == 'OpenObject'):
should_fail = True
elif action['action'] == 'PutObject':
receptacle_type = action['receptacleObjectId'].split('|')[0]
object_type = action['objectId'].split('|')[0]
if object_type not in RECEPTACLE_OBJECTS[receptacle_type]:
should_fail = True
rotation = action.get('rotation')
if rotation is not None and type(rotation) != dict:
action['rotation'] = {}
action['rotation']['y'] = rotation
if should_fail:
new_event = copy.deepcopy(self.last_event)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
if not self.last_event.metadata[
'lastActionSuccess'] and self.last_event.metadata[
'errorCode'] == 'InvalidAction':
raise ValueError(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def step(self, action=None, **action_args):
if type(action) is dict:
action = copy.deepcopy(action) # prevent changes from leaking
else:
action = dict(action=action)
raise_for_failure = action_args.pop('raise_for_failure', False)
action.update(action_args)
if self.headless:
action["renderImage"] = False
# prevent changes to the action from leaking
action = copy.deepcopy(action)
# XXX should be able to get rid of this with some sort of deprecation warning
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
action['visibilityDistance'] = float(os.environ['AI2THOR_VISIBILITY_DISTANCE'])
should_fail = False
self.last_action = action
if ('objectId' in action and (action['action'] == 'OpenObject' or action['action'] == 'CloseObject')):
force_visible = action.get('forceVisible', False)
if not force_visible and self.last_event.instance_detections2D and action['objectId'] not in self.last_event.instance_detections2D:
should_fail = True
obj_metadata = self.last_event.get_object(action['objectId'])
if obj_metadata is None or obj_metadata['isOpen'] == (action['action'] == 'OpenObject'):
should_fail = True
rotation = action.get('rotation')
if rotation is not None and type(rotation) != dict:
action['rotation'] = {}
action['rotation']['y'] = rotation
if should_fail:
new_event = copy.deepcopy(self.last_event)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
if not self.last_event.metadata['lastActionSuccess'] and self.last_event.metadata['errorCode'] == 'InvalidAction':
raise ValueError(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def start(self,
port=0,
start_unity=True,
player_screen_width=300,
player_screen_height=300,
x_display=None):
if player_screen_height < 300 or player_screen_width < 300:
raise Exception("Screen resolution must be >= 300x300")
if self.server_thread is not None:
raise Exception(
"server has already been started - cannot start more than once"
)
env = os.environ.copy()
image_name = None
host = '127.0.0.1'
if start_unity:
if platform.system() == 'Linux':
if self.docker_enabled and ai2thor.docker.has_docker(
) and ai2thor.docker.nvidia_version() is not None:
image_name = ai2thor.docker.build_image()
host = ai2thor.docker.bridge_gateway()
else:
if x_display:
env['DISPLAY'] = ':' + x_display
elif 'DISPLAY' not in env:
env['DISPLAY'] = ':0.0'
self.download_binary()
else:
self.download_binary()
self.server = ai2thor.server.Server(self.request_queue,
self.response_queue,
host,
port=port)
self.server_thread = threading.Thread(
target=self._start_thread,
args=(env, player_screen_width, player_screen_height, host, port,
image_name, start_unity))
self.server_thread.daemon = True
self.server_thread.start()
# receive the first request
self.last_event = queue_get(self.request_queue)
return self.last_event
def start(
self,
port=0,
start_unity=True,
player_screen_width=300,
player_screen_height=300,
x_display="0.0"):
if player_screen_height < 300 or player_screen_width < 300:
raise Exception("Screen resolution must be >= 300x300")
if self.server_thread is not None:
raise Exception("server has already been started - cannot start more than once")
env = os.environ.copy()
image_name = None
host = '127.0.0.1'
if start_unity:
if platform.system() == 'Linux':
if self.docker_enabled and ai2thor.docker.has_docker() and ai2thor.docker.nvidia_version() is not None:
image_name = ai2thor.docker.build_image()
host = ai2thor.docker.bridge_gateway()
else:
env['DISPLAY'] = ':' + x_display
self.download_binary()
else:
self.download_binary()
self.server = ai2thor.server.Server(
self.request_queue,
self.response_queue,
host,
port=port)
self.server_thread = threading.Thread(
target=self._start_thread,
args=(env, player_screen_width, player_screen_height, host, port, image_name, start_unity))
self.server_thread.daemon = True
self.server_thread.start()
# receive the first request
self.last_event = queue_get(self.request_queue)
return self.last_event
def step(self, action, raise_for_failure=False):
if not self._check_action(action):
new_event = ai2thor.server.Event(
json.loads(json.dumps(self.last_event.metadata)),
self.last_event.image)
new_event.metadata['lastActionSuccess'] = False
self.last_event = new_event
return new_event
assert self.request_queue.empty()
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
#print(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def step(self, action, raise_for_failure=False):
# XXX should be able to get rid of this with some sort of deprecation warning
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
action['visibilityDistance'] = float(
os.environ['AI2THOR_VISIBILITY_DISTANCE'])
if action['action'] == 'PutObject':
receptacle_type = action['receptacleObjectId'].split('|')[0]
object_type = action['objectId'].split('|')[0]
if object_type not in RECEPTACLE_OBJECTS[receptacle_type]:
new_event = ai2thor.server.Event(
json.loads(json.dumps(self.last_event.metadata)),
self.last_event.image_data)
new_event.metadata['lastActionSuccess'] = False
new_event.metadata[
'errorCode'] = 'ObjectNotAllowedInReceptacle'
self.last_event = new_event
return new_event
assert self.request_queue.empty()
# Converts numpy scalars to python scalars so they can be encoded in
# JSON.
action_filtered = {}
for k, v in action.items():
if isinstance(v, np.generic):
v = np.asscalar(v)
action_filtered[k] = v
action = action_filtered
self.response_queue.put_nowait(action)
self.last_event = queue_get(self.request_queue)
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
return self.last_event
def start(self,
port=0,
start_unity=True,
player_screen_width=300,
player_screen_height=300,
x_display=None,
enable_remote_viewer=False):
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
import warnings
warnings.warn(
"AI2THOR_VISIBILITY_DISTANCE environment variable is deprecated, use the parameter visibilityDistance parameter with the Initialize action instead"
)
if player_screen_height < 300 or player_screen_width < 300:
raise Exception("Screen resolution must be >= 300x300")
if self.server_thread is not None:
raise Exception(
"server has already been started - cannot start more than once"
)
env = os.environ.copy()
image_name = None
remote_viewer_host = host = '127.0.0.1'
if self.docker_enabled:
self.check_docker()
host = ai2thor.docker.bridge_gateway()
remote_viewer_host = host
elif enable_remote_viewer:
host = '0.0.0.0'
remote_viewer_host = socket.gethostname()
self.server = ai2thor.server.Server(self.request_queue,
self.response_queue,
host,
port=port,
threaded=enable_remote_viewer)
_, port = self.server.wsgi_server.socket.getsockname()
if enable_remote_viewer:
print("Remote viewer: http://%s:%s/viewer" %
(remote_viewer_host, port))
self.server_thread = threading.Thread(target=self._start_server_thread)
self.server_thread.daemon = True
self.server_thread.start()
if start_unity:
if platform.system() == 'Linux':
if self.docker_enabled:
image_name = ai2thor.docker.build_image()
else:
if x_display:
env['DISPLAY'] = ':' + x_display
elif 'DISPLAY' not in env:
env['DISPLAY'] = ':0.0'
self.check_x_display(env['DISPLAY'])
self.download_binary()
unity_thread = threading.Thread(target=self._start_unity_thread,
args=(env, player_screen_width,
player_screen_height, host,
port, image_name))
unity_thread.daemon = True
unity_thread.start()
# receive the first request
self.last_event = queue_get(self.request_queue)
return self.last_event
def reset(self, scene_name=None):
self.response_queue.put_nowait(
dict(action='Reset', sceneName=scene_name, sequenceId=0))
self.last_event = queue_get(self.request_queue)
return self.last_event
def reset(self, scene_name=None):
self.response_queue.put_nowait(dict(action='Reset', sceneName=scene_name, sequenceId=0))
self.last_event = queue_get(self.request_queue)
return self.last_event
def start(
self,
port=0,
start_unity=True,
width=300,
height=300,
x_display=None,
host='127.0.0.1',
player_screen_width=None,
player_screen_height=None
):
if 'AI2THOR_VISIBILITY_DISTANCE' in os.environ:
import warnings
warnings.warn("AI2THOR_VISIBILITY_DISTANCE environment variable is deprecated, use \
the parameter visibilityDistance parameter with the Initialize action instead")
if player_screen_width is not None:
warnings.warn("'player_screen_width' parameter is deprecated, use the 'width'"
" parameter instead.")
width = player_screen_width
if player_screen_height is not None:
warnings.warn("'player_screen_height' parameter is deprecated, use the 'height'"
" parameter instead.")
height = player_screen_height
if height < 300 or width < 300:
raise Exception("Screen resolution must be >= 300x300")
if self.server_thread is not None:
import warnings
warnings.warn('start method depreciated. The server started when the Controller was initialized.')
# Stops the current server and creates a new one. This is done so
# that the arguments passed in will be used on the server.
self.stop()
env = os.environ.copy()
image_name = None
if self.docker_enabled:
self.check_docker()
host = ai2thor.docker.bridge_gateway()
self.server = ai2thor.server.Server(
self.request_queue,
self.response_queue,
host,
port=port,
depth_format=self.depth_format,
add_depth_noise=self.add_depth_noise,
width=width,
height=height
)
_, port = self.server.wsgi_server.socket.getsockname()
self.server_thread = threading.Thread(target=self._start_server_thread)
self.server_thread.daemon = True
self.server_thread.start()
if start_unity:
if platform.system() == 'Linux':
if self.docker_enabled:
image_name = ai2thor.docker.build_image()
else:
if x_display:
env['DISPLAY'] = ':' + x_display
elif 'DISPLAY' not in env:
env['DISPLAY'] = ':0.0'
self.check_x_display(env['DISPLAY'])
if not self.local_executable_path:
self.download_binary()
self.lock_release()
self.prune_releases()
unity_thread = threading.Thread(
target=self._start_unity_thread,
args=(env, width, height, host, port, image_name))
unity_thread.daemon = True
unity_thread.start()
# receive the first request
self.last_event = queue_get(self.request_queue)
return self.last_event
