def test_object_not_on_ground():
"""
Intended to test that one can specify an object is not on the ground
"""
table = situation_object(TABLE)
ground = situation_object(GROUND)
perception = _PERCEPTION_GENERATOR.generate_perception(
HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=immutableset([table]),
other_objects=immutableset([ground]),
always_relations=flatten_relations(negate(on(table, ground))),
),
chooser=RandomChooser.for_seed(0),
)
frame = perception.frames[0]
relations = frame.relations
table_perception = perception_with_handle(frame, "**table_0")
ground_perception = perception_with_handle(frame, "the ground")
assert not any(
relation.relation_type == IN_REGION
and relation.first_slot == table_perception
and isinstance(relation.second_slot, Region)
and relation.region.reference_object == ground_perception
and relation.region.distance == EXTERIOR_BUT_IN_CONTACT
for relation in relations
)
def test_dynamic_prepositions_implicit_grounding():
truck = situation_object(ontology_node=TRUCK)
baby = situation_object(ontology_node=BABY)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[baby, truck],
actions=[Action(FALL, argument_roles_to_fillers=[(THEME, baby)])],
after_action_relations=[on(baby, truck)],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0)
)
first_frame = perception.frames[0]
baby_perception = perception_with_handle(first_frame, "**baby_0")
ground_perception = perception_with_handle(first_frame, "the ground")
truck_perception = perception_with_handle(first_frame, "**truck_0")
first_frame_relations = first_frame.relations
second_frame_relations = perception.frames[1].relations
assert on(baby_perception, truck_perception)[0] not in first_frame_relations
assert on(baby_perception, truck_perception)[0] in second_frame_relations
assert on(baby_perception, ground_perception)[0] not in second_frame_relations
assert on(truck_perception, ground_perception)[0] in first_frame_relations
assert on(truck_perception, ground_perception)[0] in second_frame_relations
def test_person_and_ball_color():
person = situation_object(PERSON)
ball = situation_object(BALL, properties=[RED])
person_and_ball_situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY, salient_objects=[person, ball]
)
person_and_ball_perception = _PERCEPTION_GENERATOR.generate_perception(
person_and_ball_situation, chooser=RandomChooser.for_seed(0)
)
assert len(person_and_ball_perception.frames) == 1
frame = person_and_ball_perception.frames[0]
assert (
prop_assertion is PropertyPerception
for prop_assertion in frame.property_assertions
)
person_perception = perception_with_handle(frame, "**person_0")
ball_perception = perception_with_handle(frame, "**ball_0")
assert HasBinaryProperty(person_perception, ANIMATE) in frame.property_assertions
assert HasBinaryProperty(person_perception, SELF_MOVING) in frame.property_assertions
assert HasBinaryProperty(ball_perception, INANIMATE) in frame.property_assertions
assert any(
isinstance(property_, HasColor) and property_.perceived_object == ball_perception
for property_ in frame.property_assertions
)
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 test_gaze_specified():
cookie = situation_object(COOKIE)
table = situation_object(TABLE)
dad = situation_object(DAD)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[cookie, table, dad],
actions=[
Action(EAT,
argument_roles_to_fillers=[(AGENT, dad), (PATIENT, cookie)])
],
gazed_objects=[cookie],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0))
frame = perception.frames[0]
cookie_perception = perception_with_handle(frame, "**cookie_0")
dad_perception = perception_with_handle(frame, "**Dad_0")
table_perception = perception_with_handle(frame, "**table_0")
# only the cookie is gazed at, because the user said so.
assert HasBinaryProperty(cookie_perception,
GAZED_AT) in frame.property_assertions
assert HasBinaryProperty(dad_perception,
GAZED_AT) not in frame.property_assertions
assert HasBinaryProperty(table_perception,
GAZED_AT) not in frame.property_assertions
def test_colors_across_part_of_relations():
"""
Intended to test color inheritance across part-of relations
with objects that have a prototypical color
"""
learner_perception = _PERCEPTION_GENERATOR.generate_perception(
HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY, salient_objects=[situation_object(TRUCK)]
),
chooser=RandomChooser.for_seed(0),
)
frame = learner_perception.frames[0]
property_assertions = frame.property_assertions
truck_perception = perception_with_handle(frame, "**truck_0")
flatbed_perception = perception_with_handle(frame, "**flatbed_0")
tire0_perception = perception_with_handle(frame, "**tire_0")
tire1_perception = perception_with_handle(frame, "**tire_1")
tire2_perception = perception_with_handle(frame, "**tire_2")
tire3_perception = perception_with_handle(frame, "**tire_3")
tire4_perception = perception_with_handle(frame, "**tire_4")
tire5_perception = perception_with_handle(frame, "**tire_5")
tire6_perception = perception_with_handle(frame, "**tire_6")
tire7_perception = perception_with_handle(frame, "**tire_7")
blue_options = COLORS_TO_RGBS[BLUE]
blue_perceptions = [RgbColorPerception(r, g, b) for r, g, b in blue_options]
red_options = COLORS_TO_RGBS[RED]
red_perceptions = [RgbColorPerception(r, g, b) for r, g, b in red_options]
black_options = COLORS_TO_RGBS[BLACK]
black_perceptions = [RgbColorPerception(r, g, b) for r, g, b in black_options]
assert any(
HasColor(truck_perception, blue_perception) in property_assertions
for blue_perception in blue_perceptions
) or any(
HasColor(truck_perception, red_perception) in property_assertions
for red_perception in red_perceptions
)
assert any(
HasColor(flatbed_perception, blue_perception) in property_assertions
for blue_perception in blue_perceptions
) or any(
HasColor(flatbed_perception, red_perception) in property_assertions
for red_perception in red_perceptions
)
assert any(
(
HasColor(tire0_perception, black_perception)
and HasColor(tire1_perception, black_perception)
and HasColor(tire2_perception, black_perception)
and HasColor(tire3_perception, black_perception)
and HasColor(tire4_perception, black_perception)
and HasColor(tire5_perception, black_perception)
and HasColor(tire6_perception, black_perception)
and HasColor(tire7_perception, black_perception)
)
in property_assertions
for black_perception in black_perceptions
)
def test_perceive_explicit_relations():
# we want to test that relations explicitly called out in the situation are perceived.
# Such relations fall into three buckets:
# those which hold before an action,
# those which hold after an action,
# and those which hold both before and after an action.
# To test all three of these at once, we use a situation where
# (a) Mom is putting a ball on a table
# (b) before the action the ball is far from a box,
# (c) but after the action the ball is near the box,
# (d) throughout the action the box is on the table.
mom = situation_object(MOM)
ball = situation_object(BALL)
box = situation_object(BOX)
table = situation_object(TABLE)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[mom, box, ball, table],
always_relations=[on(ball, table)],
before_action_relations=[far(ball, box)],
after_action_relations=[near(ball, box)],
actions=[
Action(
PUT,
argument_roles_to_fillers=[
(AGENT, mom),
(THEME, ball),
(
GOAL,
Region(
reference_object=table,
distance=EXTERIOR_BUT_IN_CONTACT,
direction=GRAVITATIONAL_UP,
),
),
],
)
],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0)
)
ball_perception = perception_with_handle(perception.frames[0], "**ball_0")
box_perception = perception_with_handle(perception.frames[0], "**box_0")
table_perception = perception_with_handle(perception.frames[0], "**table_0")
assert only(on(ball_perception, table_perception)) in perception.frames[0].relations
assert only(on(ball_perception, table_perception)) in perception.frames[0].relations
assert only(far(ball_perception, box_perception)) in perception.frames[0].relations
assert (
only(far(ball_perception, box_perception)) not in perception.frames[1].relations
)
assert (
only(near(ball_perception, box_perception)) not in perception.frames[0].relations
)
assert only(near(ball_perception, box_perception)) in perception.frames[1].relations
def test_person_and_ball():
person = situation_object(PERSON)
ball = situation_object(BALL)
person_and_ball_situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY, salient_objects=[person, ball]
)
person_and_ball_perception = _PERCEPTION_GENERATOR.generate_perception(
person_and_ball_situation, chooser=RandomChooser.for_seed(0)
)
perceived_objects = person_and_ball_perception.frames[0].perceived_objects
object_handles = set(obj.debug_handle for obj in perceived_objects)
assert len(person_and_ball_perception.frames) == 1
assert object_handles == {
"**ball_0",
"**person_0",
"**head_0",
"**torso_0",
"**arm_0",
"**armsegment_0",
"**armsegment_1",
"**hand_0",
"**arm_1",
"**armsegment_2",
"**armsegment_3",
"**hand_1",
"**(animal) leg_0",
"**leg-segment_0",
"**leg-segment_1",
"**foot_0",
"**(animal) leg_1",
"**leg-segment_2",
"**leg-segment_3",
"**foot_1",
"the ground",
}
assert person_and_ball_perception.frames[0].relations
person_perception = perception_with_handle(
person_and_ball_perception.frames[0], "**person_0"
)
ball_perception = perception_with_handle(
person_and_ball_perception.frames[0], "**ball_0"
)
assert set(person_and_ball_perception.frames[0].property_assertions).issuperset(
{
HasBinaryProperty(person_perception, ANIMATE),
HasBinaryProperty(person_perception, SELF_MOVING),
HasBinaryProperty(ball_perception, INANIMATE),
}
)
def test_perceive_relations_during():
learner_perception = _PERCEPTION_GENERATOR.generate_perception(
make_bird_flies_over_a_house(), chooser=RandomChooser.for_seed(0)
)
assert learner_perception.during
bird = perception_with_handle(learner_perception.frames[0], "**bird_0")
house = perception_with_handle(learner_perception.frames[0], "**house_0")
bird_over_the_house = Relation(
IN_REGION,
bird,
Region(reference_object=house, distance=DISTAL, direction=GRAVITATIONAL_UP),
)
assert bird_over_the_house in learner_perception.during.at_some_point
def test_liquid_in_and_out_of_container():
juice = situation_object(JUICE)
box = situation_object(ontology_node=BOX)
table = situation_object(ontology_node=TABLE)
two_d_situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[juice, table],
always_relations=[on(juice, table)],
)
two_d_perception = _PERCEPTION_GENERATOR.generate_perception(
two_d_situation, chooser=RandomChooser.for_seed(0)
)
three_d_situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[juice, box],
always_relations=[
Relation(IN_REGION, juice, Region(box, distance=INTERIOR, direction=None))
],
)
three_d_perception = _PERCEPTION_GENERATOR.generate_perception(
three_d_situation, chooser=RandomChooser.for_seed(0)
)
two_perceived_objects = two_d_perception.frames[0].perceived_objects
two_object_handles = set(obj.debug_handle for obj in two_perceived_objects)
assert all(handle in two_object_handles for handle in {"**juice_0", "**table_0"})
three_perceived_objects = three_d_perception.frames[0].perceived_objects
three_object_handles = set(obj.debug_handle for obj in three_perceived_objects)
assert all(handle in three_object_handles for handle in {"**juice_0", "**box_0"})
assert any(
isinstance(p, HasBinaryProperty)
and perception_with_handle(two_d_perception.frames[0], "**juice_0")
== p.perceived_object
and p.binary_property == TWO_DIMENSIONAL
for p in two_d_perception.frames[0].property_assertions
)
assert not any(
isinstance(p, HasBinaryProperty)
and perception_with_handle(three_d_perception.frames[0], "**juice_0")
== p.perceived_object
and p.binary_property == TWO_DIMENSIONAL
for p in three_d_perception.frames[0].property_assertions
)
def test_path_from_action_description():
ball = situation_object(BALL)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[ball],
actions=[Action(FALL, argument_roles_to_fillers=[(THEME, ball)])],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0)
)
ball_perception = perception_with_handle(perception.frames[0], "**ball_0")
ground_perception = perception_with_handle(perception.frames[0], "the ground")
assert perception.during
assert perception.during.objects_to_paths
assert len(perception.during.objects_to_paths) == 1
path = only(perception.during.objects_to_paths[ball_perception])
assert path.reference_object == ground_perception
assert path.operator == TOWARD
def test_relations_between_objects_and_ground():
# person_put_ball_on_table
person = situation_object(ontology_node=PERSON)
ball = situation_object(ontology_node=BALL)
table = situation_object(ontology_node=TABLE)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[person, ball, table],
actions=[
# What is the best way of representing the destination in the high-level semantics?
# Here we represent it as indicating a relation which should be true.
Action(
PUT,
(
(AGENT, person),
(THEME, ball),
(
GOAL,
Region(
reference_object=table,
distance=EXTERIOR_BUT_IN_CONTACT,
direction=GRAVITATIONAL_UP,
),
),
),
)
],
)
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")
table_perception = perception_with_handle(first_frame, "**table_0")
first_frame_relations = first_frame.relations
second_frame_relations = perception.frames[1].relations
assert on(ball_perception, ground_perception)[0] in first_frame_relations
assert on(ball_perception, ground_perception)[0] not in second_frame_relations
assert on(table_perception, ground_perception)[0] in first_frame_relations
assert on(table_perception, ground_perception)[0] in second_frame_relations
def test_grounding_of_unsupported_objects():
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=INTERIOR))],
)
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] not in first_frame_relations
assert on(box_perception, ground_perception)[0] in first_frame_relations
def test_subobject_perception_has_appropriate_properties():
"""
Intended to test that an object's subobjects have their properties assigned to them properly
"""
learner_perception = _PERCEPTION_GENERATOR.generate_perception(
HighLevelSemanticsSituation(ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[situation_object(TABLE)]),
chooser=RandomChooser.for_seed(0),
)
frame = learner_perception.frames[0]
property_assertions = frame.property_assertions
leg_perceptions = [
perception_with_handle(frame, "**(furniture) leg_0"),
perception_with_handle(frame, "**(furniture) leg_1"),
perception_with_handle(frame, "**(furniture) leg_2"),
perception_with_handle(frame, "**(furniture) leg_3"),
]
assert all(
HasBinaryProperty(leg_perception, INANIMATE) in property_assertions
for leg_perception in leg_perceptions)
def test_person_put_ball_on_table():
person = situation_object(ontology_node=PERSON)
ball = situation_object(ontology_node=BALL)
table = situation_object(ontology_node=TABLE)
situation = HighLevelSemanticsSituation(
ontology=GAILA_PHASE_1_ONTOLOGY,
salient_objects=[person, ball, table],
actions=[
# What is the best way of representing the destination in the high-level semantics?
# Here we represent it as indicating a relation which should be true.
Action(
PUT,
(
(AGENT, person),
(THEME, ball),
(
GOAL,
Region(
reference_object=table,
distance=EXTERIOR_BUT_IN_CONTACT,
direction=GRAVITATIONAL_UP,
),
),
),
)
],
)
perception = _PERCEPTION_GENERATOR.generate_perception(
situation, chooser=RandomChooser.for_seed(0)
)
assert len(perception.frames) == 2
first_frame = perception.frames[0]
person_perception = perception_with_handle(first_frame, "**person_0")
ball_perception = perception_with_handle(first_frame, "**ball_0")
table_perception = perception_with_handle(first_frame, "**table_0")
hand_perception = perception_with_handle(first_frame, "**hand_0")
assert (
HasBinaryProperty(person_perception, ANIMATE) in first_frame.property_assertions
)
assert (
HasBinaryProperty(person_perception, SELF_MOVING)
in first_frame.property_assertions
)
assert (
HasBinaryProperty(ball_perception, INANIMATE) in first_frame.property_assertions
)
assert (
HasBinaryProperty(table_perception, INANIMATE) in first_frame.property_assertions
)
first_frame_relations = first_frame.relations
second_frame_relations = perception.frames[1].relations
# assert we generate at least some relations in each frame
assert first_frame_relations
assert second_frame_relations
assert (
Relation(SMALLER_THAN, ball_perception, person_perception)
in first_frame_relations
)
# Disabled because of https://github.com/isi-vista/adam/issues/673
# assert Relation(PART_OF, hand_perception, person_perception) in first_frame_relations
assert (
Relation(
IN_REGION,
ball_perception,
Region(reference_object=hand_perception, distance=EXTERIOR_BUT_IN_CONTACT),
)
in first_frame_relations
)
# continuing relations:
assert (
Relation(SMALLER_THAN, ball_perception, person_perception)
in second_frame_relations
)
# new relations:
ball_on_table_relation = Relation(
IN_REGION,
ball_perception,
Region(
table_perception, distance=EXTERIOR_BUT_IN_CONTACT, direction=GRAVITATIONAL_UP
),
)
assert ball_on_table_relation in second_frame_relations
# removed relations:
assert (
Relation(
IN_REGION,
ball_perception,
Region(reference_object=hand_perception, distance=EXTERIOR_BUT_IN_CONTACT),
)
not in second_frame_relations
)
# proto-role properties
assert (
HasBinaryProperty(person_perception, VOLITIONALLY_INVOLVED)
in first_frame.property_assertions
)
assert (
HasBinaryProperty(person_perception, CAUSES_CHANGE)
in first_frame.property_assertions
)
assert (
HasBinaryProperty(ball_perception, UNDERGOES_CHANGE)
in first_frame.property_assertions
)
assert (
HasBinaryProperty(table_perception, STATIONARY) in first_frame.property_assertions
)
