def determinism_test(all_tests):
# Redo the actions 20 times:
# only do this if an object is picked up
for k, test_point in all_tests.items():
initial_location = test_point['initial_location']
initial_rotation = test_point['initial_rotation']
all_commands = test_point['all_commands']
final_state = test_point['final_state']
initial_pose = test_point['initial_pose']
scene_name = test_point['scene_name']
controller.reset(scene_name)
event1 = controller.step(action='TeleportFull',
x=initial_location['x'],
y=initial_location['y'],
z=initial_location['z'],
rotation=dict(x=0, y=initial_rotation, z=0),
horizon=10)
controller.step('PausePhysicsAutoSim')
for cmd in all_commands:
execute_command(controller, cmd, ADITIONAL_ARM_ARGS)
last_event_success = controller.last_event.metadata[
'lastActionSuccess']
current_state = get_current_full_state(controller)
if not two_dict_equal(final_state, current_state):
print('not deterministic')
print('scene name', controller.last_event.metadata['sceneName'])
print('initial pose', initial_pose)
print('list of actions', all_commands)
pdb.set_trace()
else:
print('test {} passed'.format(k))
def test_fast_emit_disabled(controller):
event = controller.step(dict(action='RotateRight'))
event_fast_emit = controller.step(dict(action='TestFastEmit',
rvalue='foo'))
# assert that when actionFastEmit is off that the objects are different
assert id(event.metadata['objects']) != id(
event_fast_emit.metadata['objects'])
def test_update_third_party_camera(controller):
expectedPosition = dict(x=2.2, y=3.3, z=4.4)
expectedRotation = dict(x=10, y=20, z=30)
expectedInitialFieldOfView = 45.0
expectedFieldOfView2 = 55.0
expectedFieldOfViewDefault = 90.0
assert len(controller.last_event.metadata[
MultiAgentMetadata.thirdPartyCameras]) == 1, 'there should be 1 camera'
e = controller.step(
dict(action=Actions.UpdateThirdPartyCamera,
thirdPartyCameraId=0,
position=expectedPosition,
rotation=expectedRotation))
camera = e.metadata[MultiAgentMetadata.thirdPartyCameras][0]
assert_near(camera[ThirdPartyCameraMetadata.position], expectedPosition,
'position should have been updated')
assert_near(camera[ThirdPartyCameraMetadata.rotation], expectedRotation,
'rotation should have been updated')
assert camera[
ThirdPartyCameraMetadata.
fieldOfView] == expectedInitialFieldOfView, 'fieldOfView should not have changed'
# 0 is a special case, since nullable float does not get encoded properly, we need to pass 0 as null
e = controller.step(
dict(action=Actions.UpdateThirdPartyCamera,
thirdPartyCameraId=0,
fieldOfView=0))
camera = e.metadata[MultiAgentMetadata.thirdPartyCameras][0]
assert camera[
ThirdPartyCameraMetadata.
fieldOfView] == expectedInitialFieldOfView, 'fieldOfView should have been updated'
e = controller.step(
dict(action=Actions.UpdateThirdPartyCamera,
thirdPartyCameraId=0,
fieldOfView=expectedFieldOfView2))
camera = e.metadata[MultiAgentMetadata.thirdPartyCameras][0]
assert camera[
ThirdPartyCameraMetadata.
fieldOfView] == expectedFieldOfView2, 'fieldOfView should have been updated'
e = controller.step(
dict(action=Actions.UpdateThirdPartyCamera,
thirdPartyCameraId=0,
fieldOfView=-1))
camera = e.metadata[MultiAgentMetadata.thirdPartyCameras][0]
assert camera[
ThirdPartyCameraMetadata.
fieldOfView] == expectedFieldOfViewDefault, 'fieldOfView should have been updated to default'
e = controller.step(
dict(action=Actions.UpdateThirdPartyCamera,
thirdPartyCameraId=0,
fieldOfView=181))
camera = e.metadata[MultiAgentMetadata.thirdPartyCameras][0]
assert camera[
ThirdPartyCameraMetadata.
fieldOfView] == expectedFieldOfViewDefault, 'fieldOfView should have been updated to default'
def test_simple_example():
"""
Taken from here: http://ai2thor.allenai.org/tutorials/examples
"""
controller = ai2thor.controller.Controller()
controller.start()
# Kitchens: FloorPlan1 - FloorPlan30
# Living rooms: FloorPlan201 - FloorPlan230
# Bedrooms: FloorPlan301 - FloorPlan330
# Bathrooms: FloorPLan401 - FloorPlan430
controller.reset('FloorPlan28')
controller.step(dict(action='Initialize', gridSize=0.25))
event = controller.step(dict(action='MoveAhead'))
# Numpy Array - shape (width, height, channels), channels are in RGB order
event.frame
# Numpy Array in BGR order suitable for use with OpenCV
event.cv2img
# current metadata dictionary that includes the state of the scene
event.metadata
def dump_scene_controller(base_dir, controller):
if controller.last_event is None:
raise Exception("Controller must be reset and intialized to a scene")
scene_name = controller.last_event.metadata['sceneName']
fc = FrameCounter()
shutil.rmtree("%s/%s" % (base_dir, scene_name), ignore_errors=True)
event = controller.step(action='GetReachablePositions')
for p in event.metadata['reachablePositions']:
action = copy.deepcopy(p)
action['action'] = 'TeleportFull'
action['horizon'] = 0.0
action['forceAction'] = True
action['rotation'] = dict(y=0.0)
event = controller.step(action)
print(fc.counter)
if event.metadata['lastActionSuccess']:
look_up_down_write(controller, base_dir, fc, scene_name)
for i in range(3):
event = controller.step(action='RotateRight')
look_up_down_write(controller, base_dir, fc, scene_name)
index_metadata(base_dir, scene_name)
def determinism_test(all_tests):
# Redo the actions 20 times:
# only do this if an object is picked up
for k, test_point in all_tests.items():
initial_location = test_point["initial_location"]
initial_rotation = test_point["initial_rotation"]
all_commands = test_point["all_commands"]
final_state = test_point["final_state"]
initial_pose = test_point["initial_pose"]
scene_name = test_point["scene_name"]
controller.reset(scene_name)
controller.step(
action="TeleportFull",
x=initial_location["x"],
y=initial_location["y"],
z=initial_location["z"],
rotation=dict(x=0, y=initial_rotation, z=0),
horizon=10,
)
controller.step("PausePhysicsAutoSim")
for cmd in all_commands:
execute_command(controller, cmd, ADITIONAL_ARM_ARGS)
current_state = get_current_full_state(controller)
if not two_dict_equal(final_state, current_state):
print("not deterministic")
print("scene name", controller.last_event.metadata["sceneName"])
print("initial pose", initial_pose)
print("list of actions", all_commands)
pdb.set_trace()
else:
print("test {} passed".format(k))
def standard_pose():
controller.step(action='TeleportFull',
x=-1,
y=0.9009995460510254,
z=1,
rotation=dict(x=0, y=180, z=0),
horizon=10)
controller.step('PausePhysicsAutoSim')
pose = {
"x": -1.0,
"y": 0.9009995460510254,
"z": 1.0,
"rotation": 0,
"horizon": 10
}
controller.step(action='TeleportFull',
x=pose['x'],
y=pose['y'],
z=pose['z'],
rotation=dict(x=0.0, y=pose['rotation'], z=0.0),
horizon=pose['horizon'])
controller.step(action='MoveMidLevelArm',
disableRendering=False,
position=dict(x=0.00, y=0, z=0.35),
speed=2,
returnToStart=False,
handCameraSpace=False)
controller.step(action='MoveMidLevelArmHeight',
disableRendering=False,
y=0.8,
speed=2,
returnToStart=False)
def handle_open():
global event
global current_location
objects_map = {}
for o in event.metadata['objects']:
if o['visible'] and o['openable']:
objects_map[o['objectId']] = o
if not objects_map:
return
objectId = ask_questions("Which Object you want to open/close?",
objects_map)
open_status = objects_map[objectId]['isopen']
if open_status:
event = controller.step(dict(action='CloseObject', objectId=objectId))
if event.metadata["lastActionSuccess"] == False:
print("Close Failed: " + event.metadata["errorMessage"])
else:
writefile("(Close {0} {1})".format(current_location,
objects_map[objectId]['name']))
else:
event = controller.step(dict(action='OpenObject', objectId=objectId))
if event.metadata["lastActionSuccess"] == False:
print("Open Failed: " + event.metadata["errorMessage"])
else:
writefile("(Open {0} {1})".format(current_location,
objects_map[objectId]['name']))
def handle_toggle():
global event
objects_map = get_toggle_objects_map(event)
if not objects_map:
return
objectId = ask_questions("Which Object you want to On/Off?", objects_map)
toggle_status = objects_map[objectId]['istoggled']
if toggle_status:
event = controller.step(
dict(action='ToggleObjectOff', objectId=objectId))
if event.metadata["lastActionSuccess"] == False:
print("Turn Off Failed: " + event.metadata["errorMessage"])
else:
writefile("(TurnOff {0})".format(objects_map[objectId]['name']))
else:
event = controller.step(
dict(action='ToggleObjectOn', objectId=objectId))
if event.metadata["lastActionSuccess"] == False:
print("Toggle On Failed: " + event.metadata["errorMessage"])
else:
writefile("(TurnOn {0})".format(objects_map[objectId]['name']))
def test_moveahead_mag():
controller.step(dict(action='Teleport', x=-1.5, z=-1.5, y=1.0),
raise_for_failure=True)
controller.step(dict(action='MoveAhead', moveMagnitude=0.5),
raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert position == dict(x=-1.0, z=-1.5, y=0.9799989461898804)
def test_moveahead_mag(controller):
controller.step(dict(action='Teleport', x=-1.5, z=-1.5, y=1.1),
raise_for_failure=True)
controller.step(dict(action='MoveAhead', moveMagnitude=0.5),
raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert_near(position, dict(x=-1.0, z=-1.5, y=0.9009983))
def test_change_resolution():
event = controller.step(dict(action='Pass'), raise_for_failure=True)
assert event.frame.shape == (300,300,3)
event = controller.step(dict(action='ChangeResolution', x=400, y=400), raise_for_failure=True)
assert event.frame.shape == (400,400,3)
assert event.screen_width == 400
assert event.screen_height == 400
event = controller.step(dict(action='ChangeResolution', x=300, y=300), raise_for_failure=True)
def look_up_down_write(controller, base_dir, fc, scene_name):
fc.inc()
write_frame(controller.step(action='LookUp'), base_dir, scene_name, fc.counter)
fc.inc()
write_frame(controller.step(action='LookDown'), base_dir, scene_name, fc.counter)
fc.inc()
write_frame(controller.step(action='LookDown'), base_dir, scene_name, fc.counter)
controller.step(action='LookUp')
def test_teleport():
controller.step(dict(action='Teleport', x=-1.5, z=-1.5, y=1.0), raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert_near(position, dict(x=-1.5, z=-1.5, y=0.901))
controller.step(dict(action='Teleport', x=-2.0, z=-2.5, y=1.0), raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert_near(position, dict(x=-2.0, z=-2.5, y=0.901))
def test_teleport():
controller.step(dict(action='Teleport', x=-1.5, z=-1.5, y=1.0),
raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert position == dict(x=-1.5, z=-1.5, y=0.9799992442131042)
controller.step(dict(action='Teleport', x=-2.0, z=-2.5, y=1.0),
raise_for_failure=True)
position = controller.last_event.metadata['agent']['position']
assert position == dict(x=-2.0, z=-2.5, y=0.9799990057945251)
def include_object_data(controller: ai2thor.controller.Controller):
needs_reset = len(controller.last_event.metadata["objects"]) == 0
try:
if needs_reset:
controller.step("ResetObjectFilter")
assert controller.last_event.metadata["lastActionSuccess"]
yield None
finally:
if needs_reset:
controller.step("SetObjectFilter", objectIds=[])
assert controller.last_event.metadata["lastActionSuccess"]
def test_lookup():
e = controller.step(dict(action='RotateLook', rotation=0, horizon=0))
position = controller.last_event.metadata['agent']['position']
horizon = controller.last_event.metadata['agent']['cameraHorizon']
assert horizon == 0.0
e = controller.step(dict(action='LookUp'))
assert e.metadata['agent']['position'] == position
assert e.metadata['agent']['cameraHorizon'] == -30.0
assert e.metadata['agent']['rotation'] == dict(x=0, y=0, z=0)
e = controller.step(dict(action='LookUp'))
assert e.metadata['agent']['cameraHorizon'] == -30.0
def test_rotate_look():
e = controller.step(dict(action='RotateLook', rotation=0, horizon=0))
position = controller.last_event.metadata['agent']['position']
rotation = controller.last_event.metadata['agent']['rotation']
assert rotation == dict(x=0, y=0, z=0)
e = controller.step(dict(action='RotateLook', rotation=90, horizon=31))
assert e.metadata['agent']['position'] == position
assert int(e.metadata['agent']['cameraHorizon']) == 31
assert e.metadata['agent']['rotation']['y'] == 90.0
assert e.metadata['agent']['rotation']['x'] == 0.0
assert e.metadata['agent']['rotation']['z'] == 0.0
def test_add_third_party_camera():
assert len(controller.last_event.metadata['thirdPartyCameras']) == 0
e = controller.step(dict(action='AddThirdPartyCamera', position=dict(x=1.2, y=2.3, z=3.4), rotation=dict(x=30, y=40,z=50)))
assert len(e.metadata['thirdPartyCameras']) == 1
assert_near(e.metadata['thirdPartyCameras'][0]['position'], dict(x=1.2, y=2.3, z=3.4))
assert_near(e.metadata['thirdPartyCameras'][0]['rotation'], dict(x=30, y=40, z=50))
assert len(e.third_party_camera_frames) == 1
assert e.third_party_camera_frames[0].shape == (300,300,3)
e = controller.step(dict(action='UpdateThirdPartyCamera', thirdPartyCameraId=0, position=dict(x=2.2, y=3.3, z=4.4), rotation=dict(x=10, y=20,z=30)))
assert_near(e.metadata['thirdPartyCameras'][0]['position'], dict(x=2.2, y=3.3, z=4.4))
assert_near(e.metadata['thirdPartyCameras'][0]['rotation'], dict(x=10, y=20, z=30))
def test_rotate_right():
e = controller.step(dict(action='RotateLook', rotation=0, horizon=0))
position = controller.last_event.metadata['agent']['position']
rotation = controller.last_event.metadata['agent']['rotation']
assert rotation == dict(x=0, y=0, z=0)
horizon = controller.last_event.metadata['agent']['cameraHorizon']
e = controller.step(dict(action='RotateRight'))
assert e.metadata['agent']['position'] == position
assert e.metadata['agent']['cameraHorizon'] == horizon
assert e.metadata['agent']['rotation']['y'] == 90.0
assert e.metadata['agent']['rotation']['x'] == 0.0
assert e.metadata['agent']['rotation']['z'] == 0.0
def test_lookdown(controller):
e = controller.step(dict(action='RotateLook', rotation=0, horizon=0))
position = controller.last_event.metadata['agent']['position']
horizon = controller.last_event.metadata['agent']['cameraHorizon']
assert horizon == 0.0
e = controller.step(dict(action='LookDown'))
assert e.metadata['agent']['position'] == position
assert round(e.metadata['agent']['cameraHorizon']) == 30
assert e.metadata['agent']['rotation'] == dict(x=0, y=0, z=0)
e = controller.step(dict(action='LookDown'))
assert round(e.metadata['agent']['cameraHorizon']) == 60
e = controller.step(dict(action='LookDown'))
assert round(e.metadata['agent']['cameraHorizon']) == 60
def arrange(controller, layout):
try:
params = layout_dict[layout]
except KeyError:
print("Layout not found")
sys.exit(1)
for move in params[0]:
event = controller.step(
dict(action='TeleportObject', objectId=objectId_dict[move[0]], x=move[1], y=move[2], z=move[3]))
if params[1]:
controller.step(dict(action='LookUp'))
event = controller.step(dict(action='LookDown'))
return event
def dump_scene(scene_name, base_dir, renderObjectImage=False, renderDepthImage=False, renderClassImage=False):
controller = ai2thor.controller.Controller()
controller.start(player_screen_height=448, player_screen_width=448)
controller.reset(scene_name)
event = controller.step(dict(action='Initialize', fieldOfView=90, gridSize=0.25, renderDepthImage=renderDepthImage, renderObjectImage=renderObjectImage, renderClassImage=renderClassImage))
dump_scene_controller(base_dir, controller)
controller.stop()
def main():
wait = True
offscreen_z = -3 # set z to here to teleport object off-screen
# should work for objects we're using... if object still visible, decrease number
controller = ai2thor.controller.Controller(quality='High')
controller.start(player_screen_height=player_screen_height,
player_screen_width=player_screen_width)
controller.reset('FloorPlan1')
controller.step(dict(action='Initialize', gridsize=0.25))
# move unnecessary objects offscreen
# controller.step(dict(action='TeleportObject', objectId=objectId_dict['apple'], z=offscreen_z))
# controller.step(dict(action='TeleportObject', objectId=objectId_dict['bread'], z=offscreen_z))
# controller.step(dict(action='TeleportObject', objectId=objectId_dict['butter_knife'], z=offscreen_z))
# controller.step(dict(action='TeleportObject', objectId=objectId_dict['butter_knife'], z=offscreen_z))
# controller.step(dict(action='TeleportFull', x=0, y=1, z=-1.75, rotation=180, horizon=0))
if wait:
input("press enter to close...")
def pickUp(event):
for o in event.metadata['objects']:
if o['visible'] and o['pickupable']:
event = controller.step(dict(action='PickupObject',
objectId=o['objectId']),
raise_for_failure=True)
object_id = o['objectId']
break
def test_action_dispatch_invalid_action(controller):
caught_exception = False
try:
event = controller.step(dict(action='TestActionDispatchNoopFoo'))
except ValueError as e:
caught_exception = True
assert caught_exception
assert controller.last_event.metadata['errorCode'] == 'InvalidAction'
def run(file_name=None):
# file_name = file_path.split('/')[-1].split('.')[0]
controller = ai2thor.controller.Controller()
controller.start()
controller.reset("FloorPlan203")
y_coord = 1.25
event = controller.step(
dict(action='Initialize',
gridSize=0.5,
cameraY=y_coord,
visibilityDistance=1.0))
all_visible_objects = list(
np.unique([obj['objectType'] for obj in event.metadata['objects']]))
rotation = 0.0
while True: # making a loop
try: # used try so that if user pressed other than the given key error will not be shown
key = click.getchar()
if key == 'a': # Rotate Left
rotation -= 22.5
if rotation < 0:
rotation = rotation + 360
event = controller.step(
dict(action='Rotate', rotation=rotation))
elif key == 'd':
rotation += 22.5
if rotation > 360:
rotation = rotation - 360
event = controller.step(
dict(action='Rotate', rotation=rotation))
elif key == 'w':
event = controller.step(dict(action='MoveAhead'))
elif key == 's':
event = controller.step(dict(action='MoveBack'))
elif key == 'z':
event = controller.step(dict(action='LookDown'))
elif key == 'x':
event = controller.step(dict(action='LookUp'))
elif key == 'q':
controller.stop()
break
elif key == 'r':
scene = input("Scene id: ")
controller.reset('FloorPlan{}'.format(scene))
event = controller.step(
dict(action='Initialize', gridSize=0.5, cameraY=y_coord))
else:
print("Key not supported! Try a, d, w, s, q, r.")
print((event.metadata['agent']['position']['x'],
event.metadata['agent']['position']['z'],
event.metadata['agent']['rotation']))
# print([(obj['objectType'], obj['distance']) for obj in event.metadata['objects'] if obj['visible']])
except:
print("Key not supported! Try a, d, w, s, q, r.")
def test_rectangle_aspect():
controller = ai2thor.controller.Controller()
controller.releases_dir = releases_dir.__get__(
controller, ai2thor.controller.Controller)
print("trying to start unity")
controller.start(player_screen_width=600, player_screen_height=300)
print("started")
controller.reset('FloorPlan28')
event = controller.step(dict(action='Initialize', gridSize=0.25))
assert event.frame.shape == (300, 600, 3)
def test_simobj_filter(controller):
objects = controller.last_event.metadata['objects']
unfiltered_object_ids = sorted([o['objectId'] for o in objects])
filter_object_ids = sorted([o['objectId'] for o in objects[0:3]])
e = controller.step(
dict(action='SetObjectFilter', objectIds=filter_object_ids))
assert len(e.metadata['objects']) == len(filter_object_ids)
filtered_object_ids = sorted(
[o['objectId'] for o in e.metadata['objects']])
assert filtered_object_ids == filter_object_ids
e = controller.step(dict(action='SetObjectFilter', objectIds=[]))
assert len(e.metadata['objects']) == 0
e = controller.step(dict(action='ResetObjectFilter'))
reset_filtered_object_ids = sorted(
[o['objectId'] for o in e.metadata['objects']])
assert unfiltered_object_ids == reset_filtered_object_ids
def test_action_dispatch_missing_args(controller):
caught_exception = False
try:
event = controller.step(
dict(action='TestActionDispatchNoop', param6='foo'))
print(event.metadata['actionReturn'])
except ValueError as e:
caught_exception = True
assert caught_exception
assert controller.last_event.metadata['errorCode'] == 'MissingArguments'
