def navigate_to_goal(self, game_state, start_pose, end_pose):
# Look down
self.update_map(game_state.env)
start_angle = start_pose[3]
if start_angle > 180:
start_angle -= 360
if start_angle != 45: # pitch angle
# Perform initial tilt to get to 45 degrees.
tilt_pose = [pp for pp in start_pose]
tilt_pose[3] = 45
tilt_actions, _ = self.get_shortest_path(start_pose, tilt_pose)
for action in tilt_actions:
game_state.step(action)
start_pose = tuple(tilt_pose)
actions, path = self.get_shortest_path(start_pose, end_pose)
while len(actions) > 0:
for ii, (action, pose) in enumerate(zip(actions, path)):
game_state.step(action)
event = game_state.env.last_event
last_action_success = event.metadata['lastActionSuccess']
if not last_action_success:
# Can't traverse here, make sure the weight is correct.
if action['action'].startswith('Look') or action['action'].startswith('Rotate'):
raise Exception('Look action failed %s' % event.metadata['errorMessage'])
self.add_impossible_spot(path[ii + 1])
break
pose = game_util.get_pose(event)
actions, path = self.get_shortest_path(pose, end_pose)
def process_frame(self):
self.event = self.env.last_event
self.pose = game_util.get_pose(self.event)
self.s_t_orig = self.event.frame
self.s_t = game_util.imresize(self.event.frame,
(constants.SCREEN_HEIGHT, constants.SCREEN_WIDTH), rescale=False)
self.s_t_depth = game_util.imresize(self.event.depth_frame,
(constants.SCREEN_HEIGHT, constants.SCREEN_WIDTH), rescale=False)
def state_to_pddl(self, traj_data):
object_dict = game_util.get_object_dict(self.env.last_event.metadata)
domain = 'alfred'
problem_id = traj_data['task_id']
pddl_params = traj_data['pddl_params']
points_source = os.path.join(
alfworld.gen.__path__[0],
'layouts/%s-openable.json' % traj_data['scene']['floor_plan'])
with open(points_source, 'r') as f:
openable_object_to_point = json.load(f)
self.openable_object_to_point = openable_object_to_point
receptacle_types = copy.deepcopy(constants.RECEPTACLES) - set(
constants.MOVABLE_RECEPTACLES)
objects = copy.deepcopy(constants.OBJECTS_SET) - receptacle_types
object_str = '\n '.join([obj + ' # object' for obj in objects])
self.knife_obj = {'ButterKnife', 'Knife'
} if pddl_params['object_sliced'] else {}
otype_str = '\n '.join(
[obj + 'Type # otype' for obj in objects])
rtype_str = '\n '.join(
[obj + 'Type # rtype' for obj in receptacle_types])
pddl_goal = get_goal_pddl(traj_data)
pddl_start = '''
(define (problem plan_%s)
(:domain %s)
(:objects
agent1 # agent
%s
%s
%s
''' % (
problem_id,
domain,
object_str,
otype_str,
rtype_str,
)
pddl_init = '''
(:init
'''
pddl_start = fix_pddl_str_chars(pddl_start)
pddl_init = fix_pddl_str_chars(pddl_init)
pddl_goal = fix_pddl_str_chars(pddl_goal)
# pddl_mid section
pose = game_util.get_pose(self.env.last_event)
agent_location = 'loc|%d|%d|%d|%d' % (pose[0], pose[1], pose[2],
pose[3])
#agent_location = "Middle of the room."
agent_location_str = '\n (atLocation agent1 %s)' % agent_location
opened_receptacle_str = '\n '.join(
['(opened %s)' % obj for obj in list()])
movable_recep_cls_with_knife = []
in_receptacle_strs = []
was_in_receptacle_strs = []
for key, val in self.in_receptacle_ids.items():
if len(val) == 0:
continue
key_cls = object_dict[key]['objectType']
if key_cls in constants.MOVABLE_RECEPTACLES_SET:
recep_str = 'inReceptacleObject'
else:
recep_str = 'inReceptacle'
for vv in val:
vv_cls = object_dict[vv]['objectType']
if (vv_cls == pddl_params['object_target']
or (pddl_params['mrecep_target'] is not None
and vv_cls == pddl_params['mrecep_target']) or
(len(self.knife_obj) > 0 and vv_cls in self.knife_obj)):
# if knife is inside a movable receptacle, make sure to add it to the object list
if recep_str == 'inReceptacleObject':
movable_recep_cls_with_knife.append(key_cls)
in_receptacle_strs.append('(%s %s %s)' % (recep_str, vv, key))
# if key_cls not in constants.MOVABLE_RECEPTACLES_SET and vv_cls == pddl_params['object_target']:
# was_in_receptacle_strs.append('(wasInReceptacle %s %s)' % (vv, key))
in_receptacle_str = '\n '.join(in_receptacle_strs)
was_in_receptacle_str = '\n '.join(was_in_receptacle_strs)
# Note which openable receptacles we can safely open (precomputed).
openable_objects = self.openable_object_to_point.keys()
metadata_objects = self.env.last_event.metadata['objects']
receptacles = set({
obj['objectId']
for obj in metadata_objects
if obj['objectType'] in constants.RECEPTACLES
and obj['objectType'] not in constants.MOVABLE_RECEPTACLES_SET
})
objects = set({
obj['objectId']
for obj in metadata_objects
if (obj['objectType'] == pddl_params['object_target']
or obj['objectType'] in constants.MOVABLE_RECEPTACLES_SET or (
pddl_params['mrecep_target'] is not None
and obj['objectType'] == pddl_params['mrecep_target']) or
((pddl_params['toggle_target'] is not None
and obj['objectType'] == pddl_params['toggle_target']) or (
(len(self.knife_obj) > 0 and
(obj['objectType'] in self.knife_obj or
obj['objectType'] in movable_recep_cls_with_knife)))))
})
objects = set(obj['objectId'] for obj in metadata_objects
if obj['objectId'] not in receptacles)
#from ipdb import set_trace; set_trace()
if len(self.inventory_ids) > 0:
objects = objects | self.inventory_ids
if len(self.placed_items) > 0:
objects = objects | self.placed_items
receptacle_str = '\n '.join(
sorted(
[receptacle + ' # receptacle' for receptacle in receptacles]))
object_str = '\n '.join(
sorted([obj + ' # object' for obj in objects]))
locations = set()
for key, val in self.receptacle_to_point.items():
key_cls = object_dict[key]['objectType']
if key_cls not in constants.MOVABLE_RECEPTACLES_SET:
locations.add(tuple(val.tolist()))
# locations.add(key + "|loc")
for obj, loc in self.object_to_point.items():
obj_cls = object_dict[obj]['objectType']
# if (obj_cls == pddl_params['object_target'] or
# (pddl_params['toggle_target'] is not None and obj_cls == pddl_params['toggle_target']) or
# (len(self.knife_obj) > 0 and obj_cls in self.knife_obj) or
# (obj_cls in constants.MOVABLE_RECEPTACLES_SET)):
if obj_cls in constants.OBJECTS:
locations.add(tuple(loc))
location_str = ('\n '.join(
['loc|%d|%d|%d|%d # location' % (*loc, ) for loc in locations]) +
'\n %s # location' % agent_location)
#location_str = ('\n '.join(['loc|%d|%d|%d|%d # location' % (*loc,)
# location_str = ('\n '.join(['{loc} # location'.format(loc=loc) for loc in locations]) +
# '\n %s # location' % agent_location)
# location_str = '\n %s # location' % agent_location
if constants.PRUNE_UNREACHABLE_POINTS:
# don't flag problematic receptacleTypes for the planner.
receptacle_type_str = '\n '.join([
'(receptacleType %s %sType)' %
(receptacle, object_dict[receptacle]['objectType'])
for receptacle in receptacles
if object_dict[receptacle]['objectType'] not in
constants.OPENABLE_CLASS_SET or receptacle in openable_objects
])
else:
receptacle_type_str = '\n '.join([
'(receptacleType %s %sType)' %
(receptacle, object_dict[receptacle]['objectType'])
for receptacle in receptacles
])
object_type_str = '\n '.join([
'(objectType %s %sType)' % (obj, object_dict[obj]['objectType'])
for obj in objects
if object_dict[obj]['objectType'] in constants.OBJECTS
])
receptacle_objects_str = '\n '.join([
'(isReceptacleObject %s)' % (obj) for obj in objects if
object_dict[obj]['objectType'] in constants.MOVABLE_RECEPTACLES_SET
])
if constants.PRUNE_UNREACHABLE_POINTS:
openable_str = '\n '.join([
'(openable %s)' % receptacle for receptacle in receptacles
if object_dict[receptacle]['objectType'] in
constants.OPENABLE_CLASS_SET
])
else:
# don't flag problematic open objects as openable for the planner.
openable_str = '\n '.join([
'(openable %s)' % receptacle for receptacle in receptacles
if object_dict[receptacle]['objectType'] in
constants.OPENABLE_CLASS_SET and receptacle in openable_objects
])
# dists = []
# dist_points = list(locations | {(pose[0], pose[1], pose[2], pose[3])})
# for dd, l_start in enumerate(dist_points[:-1]):
# for l_end in dist_points[dd + 1:]:
# actions, path = self.gt_graph.get_shortest_path_unweighted(l_start, l_end)
# # Should cost one more for the trouble of going there at all. Discourages waypoints.
# dist = len(actions) + 1
# dists.append('(= (distance loc|%d|%d|%d|%d loc|%d|%d|%d|%d) %d)' % (
# l_start[0], l_start[1], l_start[2], l_start[3],
# l_end[0], l_end[1], l_end[2], l_end[3], dist))
# dists.append('(= (distance loc|%d|%d|%d|%d loc|%d|%d|%d|%d) %d)' % (
# l_end[0], l_end[1], l_end[2], l_end[3],
# l_start[0], l_start[1], l_start[2], l_start[3], dist))
# location_distance_str = '\n '.join(dists)
location_distance_str = ""
# pickupable objects
pickupable_str = '\n '.join([
'(pickupable %s)' % obj_id for obj_id in objects
if object_dict[obj_id]["pickupable"]
])
# clean objects
cleanable_str = '\n '.join([
'(cleanable %s)' % obj for obj in objects if object_dict[obj]
['objectType'] in constants.VAL_ACTION_OBJECTS['Cleanable']
])
is_clean_str = '\n '.join(([
'(isClean %s)' % obj for obj in self.cleaned_object_ids
if object_dict[obj]['objectType'] == pddl_params['object_target']
]))
# heat objects
heatable_str = '\n '.join([
'(heatable %s)' % obj for obj in objects if object_dict[obj]
['objectType'] in constants.VAL_ACTION_OBJECTS['Heatable']
])
is_hot_str = '\n '.join(([
'(isHot %s)' % obj for obj in self.hot_object_ids
if object_dict[obj]['objectType'] == pddl_params['object_target']
]))
# cool objects
coolable_str = '\n '.join([
'(coolable %s)' % obj for obj in objects if object_dict[obj]
['objectType'] in constants.VAL_ACTION_OBJECTS['Coolable']
])
# toggleable objects
toggleable_str = '\n '.join([
'(toggleable %s)' % obj for obj in objects if object_dict[obj]
['objectType'] in constants.VAL_ACTION_OBJECTS['Toggleable']
])
is_on_str = '\n '.join([
'(isOn %s)' % obj for obj in self.on_object_ids
if (pddl_params['toggle_target'] is not None and object_dict[obj]
['objectType'] == pddl_params['toggle_target'])
])
# sliceable objects
sliceable_str = '\n '.join([
'(sliceable %s)' % obj for obj in objects
if (object_dict[obj]['objectType'] in
constants.VAL_ACTION_OBJECTS['Sliceable'])
])
# sliced objects
# TODO cleanup: sliced_object_ids is never added to. Does that matter?
is_sliced_str = '\n '.join(([
'(isSliced %s)' % obj for obj in self.sliced_object_ids
if object_dict[obj]['objectType'] == pddl_params['object_target']
]))
# look for objects that are already cool
for (key, val) in self.was_in_receptacle_ids.items():
if 'Fridge' in key:
for vv in val:
self.cool_object_ids.add(vv)
is_cool_str = '\n '.join(([
'(isCool %s)' % obj for obj in self.cool_object_ids
if object_dict[obj]['objectType'] == pddl_params['object_target']
]))
# Receptacle Objects
recep_obj_str = '\n '.join([
'(isReceptacleObject %s)' % obj for obj in receptacles
if (object_dict[obj]['objectType'] in
constants.MOVABLE_RECEPTACLES_SET and
(pddl_params['mrecep_target'] is not None and object_dict[obj]
['objectType'] == pddl_params['mrecep_target']))
])
receptacle_nearest_point_strs = sorted(
# ['(receptacleAtLocation {obj} {loc})'.format(obj=obj_id, loc=obj_id + "|loc")
[
'(receptacleAtLocation %s loc|%d|%d|%d|%d)' % (obj_id, *point)
for obj_id, point in self.receptacle_to_point.items()
if (object_dict[obj_id]['objectType'] in constants.RECEPTACLES
and object_dict[obj_id]['objectType'] not in
constants.MOVABLE_RECEPTACLES_SET)
])
receptacle_at_location_str = '\n '.join(
receptacle_nearest_point_strs)
receptacle_can_holds = []
obj_types_in_scene = [
obj['objectType'] for obj in object_dict.values()
]
for recep in receptacles:
recep_type = object_dict[recep]['objectType']
for obj in constants.VAL_RECEPTACLE_OBJECTS[recep_type]:
if obj in obj_types_in_scene:
can_hold_str = '(canContain %sType %sType)' % (recep_type,
obj)
receptacle_can_holds.append(can_hold_str)
receptacle_can_holds_str = '\n '.join(receptacle_can_holds)
extra_facts = self.get_extra_facts()
# salient_mat_str = '\n '.join(['(salientMaterials %s %s)' % (obj, ','.join(object_dict[obj]['salientMaterials']))
# for obj in objects if object_dict[obj]['salientMaterials'] is not None])
# mass_props_str = '\n '.join(['(mass %s %s)' % (obj, str(object_dict[obj]['mass']))
# for obj in objects])
# temp_props_str = '\n '.join(['(temp %s %s)' % (obj, object_dict[obj]['ObjectTemperature'])
# for obj in objects])
pddl_mid_start = '''
%s
%s
%s
)
''' % (
object_str,
receptacle_str,
location_str,
)
pddl_mid_init = '''
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
%s
)
''' % (
receptacle_type_str,
object_type_str,
receptacle_can_holds_str,
# salient_mat_str,
# mass_props_str,
# temp_props_str,
pickupable_str,
receptacle_objects_str,
openable_str,
agent_location_str,
opened_receptacle_str,
cleanable_str,
is_clean_str,
heatable_str,
coolable_str,
is_hot_str,
is_cool_str,
toggleable_str,
is_on_str,
recep_obj_str,
sliceable_str,
is_sliced_str,
in_receptacle_str,
was_in_receptacle_str,
location_distance_str,
receptacle_at_location_str,
extra_facts,
)
pddl_mid_start = fix_pddl_str_chars(pddl_mid_start)
pddl_mid_init = fix_pddl_str_chars(pddl_mid_init)
pddl_str = (pddl_start + '\n' + pddl_mid_start + '\n' + pddl_init +
'\n' + pddl_mid_init + '\n' + pddl_goal)
return pddl_str
agent_height = env.last_event.metadata['agent']['position']['y']
action = {'action': 'TeleportFull',
'x': start_pose[0] * constants.AGENT_STEP_SIZE,
'y': agent_height,
'z': start_pose[1] * constants.AGENT_STEP_SIZE,
'rotateOnTeleport': True,
'rotation': start_pose[2],
'horizon': start_pose[3],
}
env.step(action)
actions, path = graph.get_shortest_path(start_pose, end_pose)
while len(actions) > 0:
for ii, (action, pose) in enumerate(zip(actions, path)):
env.step(action)
event = env.last_event
last_action_success = event.metadata['lastActionSuccess']
if not last_action_success:
# Can't traverse here, make sure the weight is correct.
if action['action'].startswith('Look') or action['action'].startswith('Rotate'):
raise Exception('Look action failed %s' % event.metadata['errorMessage'])
graph.add_impossible_spot(path[ii + 1])
break
pose = game_util.get_pose(event)
actions, path = graph.get_shortest_path(pose, end_pose)
if end_pose == pose:
print('made it')
else:
print('could not make it :(')
def reset(self, scene_num=None, use_gt=True, seed=None, max_num_repeats=constants.MAX_NUM_OF_OBJ_INSTANCES,
remove_prob=None, scene=None, objs=None):
# Reset should be called only when all information from a scene should be cleared.
self.current_frame_count = 0
self.timers = np.zeros((2, 2))
self.board = None
self.original_board = None
self.currently_opened_object_ids = SetWithGet()
self.cleaned_object_ids = SetWithGet()
self.hot_object_ids = SetWithGet()
self.cool_object_ids = SetWithGet()
self.on_object_ids = set()
self.toggleable_object_ids = set()
self.sliced_object_ids = set()
self.inventory_ids = SetWithGet()
self.scene_name = None
self.bounds = None
self.start_point = None
self.event = None
self.s_t = None
self.s_t_orig = None
self.s_t_depth = None
self.pose = None
self.agent_height = None
self.camera_height = None
new_scene = (self.gt_graph is None or self.gt_graph.scene_id is None or self.gt_graph.scene_id == scene_num)
self.scene_num = scene_num
if self.scene_num is None:
self.scene_num = self.local_random.choice(constants.SCENE_NUMBERS)
self.scene_num = self.scene_num
if scene is not None:
self.scene_num = scene['scene_num']
seed = scene['random_seed']
self.scene_name = 'FloorPlan%d' % self.scene_num
self.event = self.env.reset(self.scene_name)
if max_num_repeats is None:
self.event = self.env.random_initialize(seed)
else:
self.env.step(dict(
action='Initialize',
gridSize=constants.AGENT_STEP_SIZE / constants.RECORD_SMOOTHING_FACTOR,
cameraY=constants.CAMERA_HEIGHT_OFFSET,
renderImage=constants.RENDER_IMAGE,
renderDepthImage=constants.RENDER_DEPTH_IMAGE,
renderClassImage=constants.RENDER_CLASS_IMAGE,
renderObjectImage=constants.RENDER_OBJECT_IMAGE,
visibility_distance=constants.VISIBILITY_DISTANCE,
makeAgentsVisible=False,
))
free_per_receptacle = []
if objs is not None:
if 'sparse' in objs:
for o, c in objs['sparse']:
free_per_receptacle.append({'objectType': o, 'count': c})
if 'empty' in objs:
for o, c in objs['empty']:
free_per_receptacle.append({'objectType': o, 'count': c})
self.env.step(dict(action='InitialRandomSpawn', randomSeed=seed, forceVisible=False,
numRepeats=[{'objectType': o, 'count': c}
for o, c in objs['repeat']]
if objs is not None and 'repeat' in objs else None,
minFreePerReceptacleType=free_per_receptacle if objs is not None else None
))
# if 'clean' action, make everything dirty and empty out fillable things
if constants.pddl_goal_type == "pick_clean_then_place_in_recep":
self.env.step(dict(action='SetStateOfAllObjects',
StateChange="CanBeDirty",
forceAction=True))
self.env.step(dict(action='SetStateOfAllObjects',
StateChange="CanBeFilled",
forceAction=False))
if objs is not None and ('seton' in objs and len(objs['seton']) > 0):
self.env.step(dict(action='SetObjectToggles',
objectToggles=[{'objectType': o, 'isOn': v}
for o, v in objs['seton']]))
self.gt_graph = graph_obj.Graph(use_gt=True, construct_graph=True, scene_id=self.scene_num)
if seed is not None:
self.local_random.seed(seed)
print('set seed in game_state_base reset', seed)
self.bounds = np.array([self.gt_graph.xMin, self.gt_graph.yMin,
self.gt_graph.xMax - self.gt_graph.xMin + 1,
self.gt_graph.yMax - self.gt_graph.yMin + 1])
self.agent_height = self.env.last_event.metadata['agent']['position']['y']
self.camera_height = self.agent_height + constants.CAMERA_HEIGHT_OFFSET
start_point = self.local_random.randint(0, self.gt_graph.points.shape[0] - 1)
start_point = self.gt_graph.points[start_point, :].copy()
self.start_point = (start_point[0], start_point[1], self.local_random.randint(0, 3))
action = {'action': 'TeleportFull',
'x': self.start_point[0] * constants.AGENT_STEP_SIZE,
'y': self.agent_height,
'z': self.start_point[1] * constants.AGENT_STEP_SIZE,
'rotateOnTeleport': True,
'horizon': 30,
'rotation': self.start_point[2] * 90,
}
self.event = self.env.step(action)
constants.data_dict['scene']['scene_num'] = self.scene_num
constants.data_dict['scene']['init_action'] = action
constants.data_dict['scene']['floor_plan'] = self.scene_name
constants.data_dict['scene']['random_seed'] = seed
self.pose = game_util.get_pose(self.event)
# Manually populate parentReceptacles data based on existing ReceptableObjectIds.
objects = self.env.last_event.metadata['objects']
for idx in range(len(objects)):
if objects[idx]['parentReceptacles'] is None:
objects[idx]['parentReceptacles'] = []
for jdx in range(len(objects)):
if (objects[jdx]['receptacleObjectIds'] is not None
and objects[idx]['objectId'] in objects[jdx]['receptacleObjectIds']):
objects[idx]['parentReceptacles'].append(objects[jdx]['objectId'])
def step(self, action_or_ind, process_frame=True):
if self.event is None:
self.event = self.env.last_event
self.current_frame_count += 1
self.total_frame_count += 1
action, should_fail = self.get_action(action_or_ind)
if should_fail:
self.env.last_event.metadata['lastActionSuccess'] = False
else:
t_start = time.time()
start_pose = game_util.get_pose(self.event)
if 'action' not in action or action['action'] is None or action['action'] == 'None':
self.env.last_event.metadata['lastActionSuccess'] = True
else:
if constants.RECORD_VIDEO_IMAGES:
im_ind = len(glob.glob(constants.save_path + '/*.png'))
if 'Teleport' in action['action']:
position = self.env.last_event.metadata['agent']['position']
rotation = self.env.last_event.metadata['agent']['rotation']
start_horizon = self.env.last_event.metadata['agent']['cameraHorizon']
start_rotation = rotation['y']
if (np.abs(action['x'] - position['x']) > 0.001 or
np.abs(action['z'] - position['z']) > 0.001):
# Movement
for xx in np.arange(.1, 1, .1):
new_action = copy.deepcopy(action)
new_action['x'] = np.round(position['x'] * (1 - xx) + action['x'] * xx, 5)
new_action['z'] = np.round(position['z'] * (1 - xx) + action['z'] * xx, 5)
new_action['rotation'] = start_rotation
new_action['horizon'] = start_horizon
self.event = self.env.step(new_action)
cv2.imwrite(constants.save_path + '/%09d.png' % im_ind,
self.event.frame[:, :, ::-1])
# #game_util.store_image_name('%09d.png' % im_ind) # eww... seriously need to clean this up
im_ind += 1
if np.abs(action['horizon'] - self.env.last_event.metadata['agent']['cameraHorizon']) > 0.001:
end_horizon = action['horizon']
for xx in np.arange(.1, 1, .1):
new_action = copy.deepcopy(action)
new_action['horizon'] = np.round(start_horizon * (1 - xx) + end_horizon * xx, 3)
new_action['rotation'] = start_rotation
self.event = self.env.step(new_action)
cv2.imwrite(constants.save_path + '/%09d.png' % im_ind,
self.event.frame[:, :, ::-1])
#game_util.store_image_name('%09d.png' % im_ind)
im_ind += 1
if np.abs(action['rotation'] - rotation['y']) > 0.001:
end_rotation = action['rotation']
for xx in np.arange(.1, 1, .1):
new_action = copy.deepcopy(action)
new_action['rotation'] = np.round(start_rotation * (1 - xx) + end_rotation * xx, 3)
self.event = self.env.step(new_action)
cv2.imwrite(constants.save_path + '/%09d.png' % im_ind,
self.event.frame[:, :, ::-1])
#game_util.store_image_name('%09d.png' % im_ind)
im_ind += 1
self.event = self.env.step(action)
# elif 'MoveAhead' in action['action']:
# # self.store_ll_action(action)
# # self.save_image(1)
# events = self.env.smooth_move_ahead(action)
# # for event in events:
# # im_ind = len(glob.glob(constants.save_path + '/*.png'))
# # cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1])
# # #game_util.store_image_name('%09d.png' % im_ind)
#
# elif 'Rotate' in action['action']:
# # self.store_ll_action(action)
# # self.save_image(1)
# events = self.env.smooth_rotate(action)
# # for event in events:
# # im_ind = len(glob.glob(constants.save_path + '/*.png'))
# # cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1])
# # #game_util.store_image_name('%09d.png' % im_ind)
#
# elif 'Look' in action['action']:
# # self.store_ll_action(action)
# # self.save_image(1)
# events = self.env.smooth_look(action)
# # for event in events:
# # im_ind = len(glob.glob(constants.save_path + '/*.png'))
# # cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1])
# # #game_util.store_image_name('%09d.png' % im_ind)
elif 'OpenObject' in action['action']:
open_action = dict(action=action['action'],
objectId=action['objectId'],
moveMagnitude=1.0)
# self.store_ll_action(open_action)
# self.save_act_image(open_action, dir=constants.BEFORE)
self.event = self.env.step(open_action)
# self.save_act_image(open_action, dir=constants.AFTER)
self.check_action_success(self.event)
elif 'CloseObject' in action['action']:
close_action = dict(action=action['action'],
objectId=action['objectId'])
# self.store_ll_action(close_action)
# self.save_act_image(close_action, dir=constants.BEFORE)
self.event = self.env.step(close_action)
# self.save_act_image(close_action, dir=constants.AFTER)
self.check_action_success(self.event)
elif 'PickupObject' in action['action']:
# [hack] correct object ids of slices
action['objectId'] = self.correct_slice_id(action['objectId'])
# open the receptacle if needed
parent_recep = self.get_parent_receps(action['objectId'])
if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET:
self.open_recep(parent_recep) # stores LL action
# close/open the object if needed
pickup_obj = game_util.get_object(action['objectId'], self.env.last_event.metadata)
if pickup_obj['objectType'] in constants.FORCED_OPEN_STATE_ON_PICKUP:
if pickup_obj['isOpen'] != constants.FORCED_OPEN_STATE_ON_PICKUP[pickup_obj['objectType']]:
if pickup_obj['isOpen']:
self.close_recep(pickup_obj) # stores LL action
else:
self.open_recep(pickup_obj) # stores LL action
# pick up the object
self.check_obj_visibility(action, min_pixels=10)
pickup_action = dict(action=action['action'],
objectId=action['objectId'])
# self.store_ll_action(pickup_action)
# self.save_act_image(pickup_action, dir=constants.BEFORE)
self.event = self.env.step(pickup_action)
# self.save_act_image(pickup_action, dir=constants.AFTER)
self.check_action_success(self.event)
# close the receptacle if needed
if parent_recep is not None:
parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata)
self.close_recep(parent_recep) # stores LL action
elif 'PutObject' in action['action']:
if len(self.env.last_event.metadata['inventoryObjects']) > 0:
inv_obj = self.env.last_event.metadata['inventoryObjects'][0]['objectId']
else:
raise RuntimeError("Taking 'PutObject' action with no held inventory object")
action['objectId'] = inv_obj
# open the receptacle if needed
parent_recep = game_util.get_object(action['receptacleObjectId'], self.env.last_event.metadata)
if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET:
self.open_recep(parent_recep) # stores LL action
# Open the parent receptacle of the movable receptacle target.
elif parent_recep['objectType'] in constants.MOVABLE_RECEPTACLES_SET:
movable_parent_recep_ids = parent_recep['parentReceptacles']
if movable_parent_recep_ids is not None and len(movable_parent_recep_ids) > 0:
print(parent_recep['objectId'], movable_parent_recep_ids) # DEBUG
movable_parent_recep = game_util.get_object(movable_parent_recep_ids[0],
self.env.last_event.metadata)
if movable_parent_recep['objectType'] in constants.OPENABLE_CLASS_SET:
self.open_recep(movable_parent_recep) # stores LL action
# put the object
put_action = dict(action=action['action'],
objectId=action['objectId'],
receptacleObjectId=action['receptacleObjectId'],
forceAction=True,
placeStationary=True)
# self.store_ll_action(put_action)
# self.save_act_image(put_action, dir=constants.BEFORE)
self.event = self.env.step(put_action)
# self.save_act_image(put_action, dir=constants.AFTER)
self.check_obj_visibility(action)
self.check_action_success(self.event)
# close the receptacle if needed
if parent_recep is not None:
parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata)
self.close_recep(parent_recep) # stores LL action
elif 'CleanObject' in action['action']:
# put the object in the sink
sink_obj_id = self.get_some_visible_obj_of_name('SinkBasin')['objectId']
inv_obj = self.env.last_event.metadata['inventoryObjects'][0]
put_action = dict(action='PutObject',
objectId=inv_obj['objectId'],
receptacleObjectId=sink_obj_id,
forceAction=True,
placeStationary=True)
# self.store_ll_action(put_action)
# self.save_act_image(put_action, dir=constants.BEFORE)
self.event = self.env.step(put_action)
# self.save_act_image(put_action, dir=constants.AFTER)
self.check_obj_visibility(put_action)
self.check_action_success(self.event)
# turn on the tap
clean_action = copy.deepcopy(action)
clean_action['action'] = 'ToggleObjectOn'
clean_action['objectId'] = game_util.get_obj_of_type_closest_to_obj(
"Faucet", inv_obj['objectId'], self.env.last_event.metadata)['objectId']
# self.store_ll_action(clean_action)
# self.save_act_image(clean_action, dir=constants.BEFORE)
self.event = self.env.step({k: clean_action[k]
for k in ['action', 'objectId']})
# self.save_act_image(clean_action, dir=constants.AFTER)
self.check_action_success(self.event)
# Need to delay one frame to let `isDirty` update on stream-affected.
self.env.noop()
# Call built-in 'CleanObject' THOR action on every object in the SinkBasin.
# This means we clean everything in the sink, rather than just the things that happen to touch
# the water stream, which is the default simulator behavior but looks weird for our purposes.
sink_basin_obj = game_util.get_obj_of_type_closest_to_obj(
"SinkBasin", clean_action['objectId'], self.env.last_event.metadata)
for in_sink_obj_id in sink_basin_obj['receptacleObjectIds']:
if (game_util.get_object(in_sink_obj_id, self.env.last_event.metadata)['dirtyable']
and game_util.get_object(in_sink_obj_id, self.env.last_event.metadata)['isDirty']):
self.event = self.env.step({'action': 'CleanObject',
'objectId': in_sink_obj_id})
# turn off the tap
close_action = copy.deepcopy(clean_action)
close_action['action'] = 'ToggleObjectOff'
# self.store_ll_action(close_action)
# self.save_act_image(close_action, dir=constants.BEFORE)
self.event = self.env.step({k: close_action[k]
for k in ['action', 'objectId']})
# self.save_act_image(action, dir=constants.AFTER)
self.check_action_success(self.event)
# pick up the object from the sink
pickup_action = dict(action='PickupObject',
objectId=inv_obj['objectId'])
# self.store_ll_action(pickup_action)
# self.save_act_image(pickup_action, dir=constants.BEFORE)
self.event = self.env.step(pickup_action)
# self.save_act_image(pickup_action, dir=constants.AFTER)
self.check_obj_visibility(pickup_action)
self.check_action_success(self.event)
elif 'HeatObject' in action['action']:
# open the microwave
microwave_obj_id = self.get_some_visible_obj_of_name('Microwave')['objectId']
microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata)
self.open_recep(microwave_obj)
# put the object in the microwave
inv_obj = self.env.last_event.metadata['inventoryObjects'][0]
put_action = dict(action='PutObject',
objectId=inv_obj['objectId'],
receptacleObjectId=microwave_obj_id,
forceAction=True,
placeStationary=True)
# self.store_ll_action(put_action)
# self.save_act_image(put_action, dir=constants.BEFORE)
self.event = self.env.step(put_action)
# self.save_act_image(put_action, dir=constants.AFTER)
self.check_obj_visibility(put_action)
self.check_action_success(self.event)
# close the microwave
microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata)
self.close_recep(microwave_obj)
# turn on the microwave
heat_action = copy.deepcopy(action)
heat_action['action'] = 'ToggleObjectOn'
heat_action['objectId'] = microwave_obj_id
# self.store_ll_action(heat_action)
# self.save_act_image(heat_action, dir=constants.BEFORE)
self.event = self.env.step({k: heat_action[k]
for k in ['action', 'objectId']})
# self.save_act_image(heat_action, dir=constants.AFTER)
# turn off the microwave
stop_action = copy.deepcopy(heat_action)
stop_action['action'] = 'ToggleObjectOff'
# self.store_ll_action(stop_action)
# self.save_act_image(stop_action, dir=constants.BEFORE)
self.event = self.env.step({k: stop_action[k]
for k in ['action', 'objectId']})
# self.save_act_image(stop_action, dir=constants.AFTER)
# open the microwave
microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata)
self.open_recep(microwave_obj)
# pick up the object from the microwave
pickup_action = dict(action='PickupObject',
objectId=inv_obj['objectId'])
# self.store_ll_action(pickup_action)
# self.save_act_image(pickup_action, dir=constants.BEFORE)
self.event = self.env.step(pickup_action)
# self.save_act_image(pickup_action, dir=constants.AFTER)
self.check_obj_visibility(pickup_action)
self.check_action_success(self.event)
# close the microwave again
microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata)
self.close_recep(microwave_obj)
elif 'CoolObject' in action['action']:
# open the fridge
fridge_obj_id = self.get_some_visible_obj_of_name('Fridge')['objectId']
fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata)
self.open_recep(fridge_obj)
# put the object in the fridge
inv_obj = self.env.last_event.metadata['inventoryObjects'][0]
put_action = dict(action='PutObject',
objectId=inv_obj['objectId'],
receptacleObjectId=fridge_obj_id,
forceAction=True,
placeStationary=True)
# self.store_ll_action(put_action)
# self.save_act_image(put_action, dir=constants.BEFORE)
self.event = self.env.step(put_action)
# self.save_act_image(put_action, dir=constants.AFTER)
self.check_obj_visibility(put_action)
self.check_action_success(self.event)
# close and cool the object inside the frige
cool_action = dict(action='CloseObject',
objectId=action['objectId'])
# self.store_ll_action(cool_action)
# self.save_act_image(action, dir=constants.BEFORE)
self.event = self.env.step(cool_action)
# self.save_act_image(action, dir=constants.MIDDLE)
# self.save_act_image(action, dir=constants.AFTER)
# open the fridge again
fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata)
self.open_recep(fridge_obj)
# pick up the object from the fridge
pickup_action = dict(action='PickupObject',
objectId=inv_obj['objectId'])
# self.store_ll_action(pickup_action)
# self.save_act_image(pickup_action, dir=constants.BEFORE)
self.event = self.env.step(pickup_action)
# self.save_act_image(pickup_action, dir=constants.AFTER)
self.check_obj_visibility(pickup_action)
self.check_action_success(self.event)
# close the fridge again
fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata)
self.close_recep(fridge_obj)
elif 'ToggleObject' in action['action']:
on_action = dict(action=action['action'],
objectId=action['objectId'])
toggle_obj = game_util.get_object(action['objectId'], self.env.last_event.metadata)
on_action['action'] = 'ToggleObjectOff' if toggle_obj['isToggled'] else 'ToggleObjectOn'
# self.store_ll_action(on_action)
# self.save_act_image(on_action, dir=constants.BEFORE)
self.event = self.env.step(on_action)
# self.save_act_image(on_action, dir=constants.AFTER)
self.check_action_success(self.event)
elif 'SliceObject' in action['action']:
# open the receptacle if needed
parent_recep = self.get_parent_receps(action['objectId'])
if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET:
self.open_recep(parent_recep)
# slice the object
slice_action = dict(action=action['action'],
objectId=action['objectId'])
# self.store_ll_action(slice_action)
# self.save_act_image(slice_action, dir=constants.BEFORE)
self.event = self.env.step(slice_action)
# self.save_act_image(action, dir=constants.AFTER)
self.check_action_success(self.event)
# close the receptacle if needed
if parent_recep is not None:
parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata)
self.close_recep(parent_recep) # stores LL action
else:
# check that the object to pick is visible in the camera frame
if action['action'] == 'PickupObject':
self.check_obj_visibility(action)
# self.store_ll_action(action)
# self.save_act_image(action, dir=constants.BEFORE)
self.event = self.env.step(action)
# self.save_act_image(action, dir=constants.AFTER)
if action['action'] == 'PutObject':
self.check_obj_visibility(action)
else:
self.event = self.env.step(action)
new_pose = game_util.get_pose(self.event)
point_dists = np.sum(np.abs(self.gt_graph.points - np.array(new_pose)[:2]), axis=1)
if np.min(point_dists) > 0.0001:
# print('Point teleport failure')
self.event = self.env.step({
'action': 'Teleport',
'x': start_pose[0] * constants.AGENT_STEP_SIZE,
'y': self.agent_height,
'z': start_pose[1] * constants.AGENT_STEP_SIZE,
'rotateOnTeleport': True,
'rotation': new_pose[2] * 90,
})
self.env.last_event.metadata['lastActionSuccess'] = False
self.timers[0, 0] += time.time() - t_start
self.timers[0, 1] += 1
if self.timers[0, 1] % 100 == 0:
# print('env step time %.3f' % (self.timers[0, 0] / self.timers[0, 1]))
self.timers[0, :] = 0
if self.env.last_event.metadata['lastActionSuccess']:
if action['action'] == 'OpenObject':
self.currently_opened_object_ids.add(action['objectId'])
elif action['action'] == 'CloseObject':
self.currently_opened_object_ids.remove(action['objectId'])
elif action['action'] == 'PickupObject':
self.inventory_ids.add(action['objectId'])
elif action['action'] == 'PutObject':
self.inventory_ids.remove(action['objectId'])
if self.env.last_event.metadata['lastActionSuccess'] and process_frame:
self.process_frame()