def _in_front_template(
figure: TemplateObjectVariable,
ground: TemplateObjectVariable,
background: Iterable[TemplateObjectVariable],
*,
is_training: bool,
is_near: bool,
speaker_root_node: OntologyNode = PERSON,
) -> Phase1SituationTemplate:
handle = "training" if is_training else "testing"
direction = Direction(positive=True,
relative_to_axis=FacingAddresseeAxis(ground))
speaker = standard_object("speaker",
speaker_root_node,
added_properties=[IS_SPEAKER])
addressee = standard_object("addressee",
LEARNER,
added_properties=[IS_ADDRESSEE])
computed_background = [speaker, addressee]
computed_background.extend(background)
return Phase1SituationTemplate(
f"preposition-{handle}-{figure.handle}-behind-{ground.handle}",
salient_object_variables=[figure, ground],
background_object_variables=computed_background,
asserted_always_relations=[
near(figure, ground, direction=direction)
if is_near else far(figure, ground, direction=direction)
],
gazed_objects=[figure],
)
def _beside_template(
figure: TemplateObjectVariable,
ground: TemplateObjectVariable,
background: Iterable[TemplateObjectVariable],
*,
is_right: bool,
is_training: bool,
) -> Phase1SituationTemplate:
direction_str = "right" if is_right else "left"
handle = "training" if is_training else "testing"
return Phase1SituationTemplate(
f"preposition-{handle}-{figure.handle}-beside-{ground.handle}-{direction_str}",
salient_object_variables=[figure, ground],
background_object_variables=background,
asserted_always_relations=[
near(
figure,
ground,
direction=Direction(
positive=is_right,
relative_to_axis=HorizontalAxisOfObject(ground, index=0),
),
)
],
gazed_objects=[figure],
)
def test_objects_in_something_not_implcitly_grounded():
box = situation_object(ontology_node=BOX)
ball = situation_object(ontology_node=BALL)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[box, ball],
always_relations=[
Relation(
IN_REGION,
ball,
Region(
box,
distance=PROXIMAL,
direction=Direction(
positive=True,
relative_to_axis=HorizontalAxisOfObject(box, index=0),
),
),
)
],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0)
)
first_frame = perception.frames[0]
ball_perception = perception_with_handle(first_frame, "**ball_0")
ground_perception = perception_with_handle(first_frame, "the ground")
box_perception = perception_with_handle(first_frame, "**box_0")
first_frame_relations = first_frame.relations
assert on(ball_perception, ground_perception)[0] in first_frame_relations
assert on(box_perception, ground_perception)[0] in first_frame_relations
def make_bird_flies_over_a_house():
bird = situation_object(BIRD)
house = situation_object(HOUSE)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[bird, house],
actions=[
Action(
FLY,
argument_roles_to_fillers=[(AGENT, bird)],
during=DuringAction(
at_some_point=[
Relation(
IN_REGION,
bird,
Region(
reference_object=house,
distance=DISTAL,
direction=Direction(
positive=True,
relative_to_axis=GRAVITATIONAL_AXIS_FUNCTION,
),
),
)
]
),
)
],
)
return situation
def _in_front_template(
figure: TemplateObjectVariable,
ground: TemplateObjectVariable,
background: Iterable[TemplateObjectVariable],
*,
is_training: bool,
is_near: bool,
background_relations: Iterable[Relation[Any]] = immutableset(),
) -> Phase1SituationTemplate:
handle = "training" if is_training else "testing"
direction = Direction(positive=True,
relative_to_axis=FacingAddresseeAxis(ground))
relations = [
near(figure, ground, direction=direction)
if is_near else far(figure, ground, direction=direction)
]
relations.extend(background_relations) # type: ignore
return Phase1SituationTemplate(
f"preposition-{handle}-{figure.handle}-behind-{ground.handle}",
salient_object_variables=[figure, ground],
background_object_variables=background,
asserted_always_relations=flatten_relations(relations),
gazed_objects=[figure],
)
def test_in_region_constraint() -> None:
ball = ObjectPerception(
"ball",
axes=Axes(
primary_axis=symmetric_vertical("ball-generating"),
orienting_axes=immutableset(
[symmetric("side-to-side0"), symmetric("side-to-side1")]
),
),
)
box = ObjectPerception(
"box",
axes=Axes(
primary_axis=straight_up("top_to_bottom"),
orienting_axes=immutableset(
[symmetric("side-to-side0"), symmetric("side-to-side1")]
),
),
)
aabb_ball = AxisAlignedBoundingBox.create_at_center_point(center=np.array([0, 0, 1]))
aabb_box = AxisAlignedBoundingBox.create_at_center_point(center=np.array([0, -2, 1]))
# specifying that the box should be to the right of the ball
direction = Direction(
positive=True, relative_to_axis=HorizontalAxisOfObject(ball, index=0)
)
region = Region(ball, PROXIMAL, direction)
obj_percept_to_aabb = {ball: aabb_ball, box: aabb_box}
in_region_relations = {box: [region]}
in_region_penalty = InRegionPenalty(obj_percept_to_aabb, {}, {}, in_region_relations)
box_penalty = in_region_penalty(box, immutableset([region]))
assert box_penalty > 0
# now with a box that *is* to the right of the ball
box2 = ObjectPerception(
"box2",
axes=Axes(
primary_axis=straight_up("top_to_bottom"),
orienting_axes=immutableset(
[symmetric("side-to-side0"), symmetric("side-to-side1")]
),
),
)
aabb_box2 = AxisAlignedBoundingBox.create_at_center_point(center=np.array([2, 0, 1]))
obj_percept_to_aabb = {ball: aabb_ball, box2: aabb_box2}
in_region_relations = {box2: [region]}
in_region_penalty = InRegionPenalty(obj_percept_to_aabb, {}, {}, in_region_relations)
box_penalty = in_region_penalty(box2, immutableset([region]))
assert box_penalty == 0
def background_relations_builder(
background_objects: Iterable[TemplateObjectVariable],
num_relations: int,
*,
target: Optional[TemplateObjectVariable] = None,
target_2: Optional[TemplateObjectVariable] = None,
add_noise: bool = True,
include_targets_in_noise: bool = False,
chooser: RandomChooser = RandomChooser.for_seed(0),
) -> Iterable[Relation[Any]]:
if add_noise:
potential_objects = list(background_objects)
if target and include_targets_in_noise:
potential_objects.append(target)
if target_2 and include_targets_in_noise:
potential_objects.append(target_2)
if len(potential_objects) < 2:
return immutableset()
relations = []
for _ in range(num_relations):
choice = chooser.choice(NOISE_RELATION_DSL_OPTIONS)
if choice == "on":
relations.append(
on(
chooser.choice(potential_objects),
chooser.choice(potential_objects),
))
elif choice == "beside":
obj_choice_2 = chooser.choice(potential_objects)
relations.append(
near(
chooser.choice(potential_objects),
obj_choice_2,
direction=Direction(
positive=chooser.choice(BOOL_SET),
relative_to_axis=HorizontalAxisOfObject(
obj_choice_2, index=0),
),
))
elif choice == "under":
relations.append(
strictly_under(
chooser.choice(potential_objects),
chooser.choice(potential_objects),
dist=DISTAL if chooser.choice(BOOL_SET) else PROXIMAL,
))
elif choice == "in_front":
obj_choice_2 = chooser.choice(potential_objects)
direction = Direction(
positive=chooser.choice(BOOL_SET),
relative_to_axis=FacingAddresseeAxis(obj_choice_2),
)
relations.append(
near(
chooser.choice(potential_objects),
obj_choice_2,
direction=direction,
) if chooser.choice(BOOL_SET) else far(
chooser.choice(potential_objects),
obj_choice_2,
direction=direction,
))
else:
raise RuntimeError(
"Invalid relation type in background relations")
return flatten_relations(relations)
else:
return immutableset()