def perceive(self, force=False):
if self.perceive_freq == 0 and not force:
return
if self.agent.count % self.perceive_freq != 0 and not force:
return
for obj in all_nearby_objects(self.agent.get_blocks, self.agent.pos):
BlockObjectNode.create(self.agent.memory, obj)
get_all_nearby_holes(self.agent, self.agent.pos, radius=self.radius)
get_nearby_airtouching_blocks(self.agent,
self.agent.pos,
radius=self.radius)
def perceive(self, force=False):
"""Called by the core event loop for the agent to run all perceptual
models and save their state to memory.
Args:
force (boolean): set to True to run all perceptual heuristics right now,
as opposed to waiting for perceive_freq steps (default: False)
"""
if self.perceive_freq == 0 and not force:
return
if self.agent.count % self.perceive_freq != 0 and not force:
return
if force or not self.agent.memory.task_stack_peek():
# perceive blocks in marked areas
for pos, radius in self.agent.areas_to_perceive:
for obj in all_nearby_objects(self.agent.get_blocks, pos,
radius):
memid = BlockObjectNode.create(self.agent.memory, obj)
color_tags = []
for idm in obj:
type_name = BLOCK_DATA["bid_to_name"][idm]
color_tags.extend(COLOUR_DATA["name_to_colors"].get(
type_name, []))
for color_tag in list(set(color_tags)):
self.agent.memory.add_triple(subj=memid,
pred_text="has_colour",
obj_text=color_tag)
get_all_nearby_holes(self.agent, pos, radius)
get_nearby_airtouching_blocks(self.agent, pos, radius)
# perceive blocks near the agent
for objs in all_nearby_objects(self.agent.get_blocks,
self.agent.pos):
memid = BlockObjectNode.create(self.agent.memory, objs)
color_tags = []
for obj in objs:
idm = obj[1]
type_name = BLOCK_DATA["bid_to_name"][idm]
color_tags.extend(COLOUR_DATA["name_to_colors"].get(
type_name, []))
for color_tag in list(set(color_tags)):
self.agent.memory.add_triple(subj=memid,
pred_text="has_colour",
obj_text=color_tag)
get_all_nearby_holes(self.agent,
self.agent.pos,
radius=self.radius)
get_nearby_airtouching_blocks(self.agent,
self.agent.pos,
radius=self.radius)
def get_object_by_id(self, memid: str, table="BlockObjects") -> "VoxelObjectNode":
if table == "BlockObjects":
return BlockObjectNode(self, memid)
elif table == "InstSeg":
return InstSegNode(self, memid)
else:
raise ValueError("Bad table={}".format(table))
def perceive(self, force=False):
if self.perceive_freq == 0 and not force:
return
if self.agent.count % self.perceive_freq != 0 and not force:
return
if force or not self.agent.memory.task_stack_peek():
# perceive blocks in marked areas
for pos, radius in self.agent.areas_to_perceive:
for obj in all_nearby_objects(self.agent.get_blocks, pos, radius):
BlockObjectNode.create(self.agent.memory, obj)
get_all_nearby_holes(self.agent, pos, radius)
get_nearby_airtouching_blocks(self.agent, pos, radius)
# perceive blocks near the agent
for obj in all_nearby_objects(self.agent.get_blocks, self.agent.pos):
BlockObjectNode.create(self.agent.memory, obj)
get_all_nearby_holes(self.agent, self.agent.pos, radius=self.radius)
get_nearby_airtouching_blocks(self.agent, self.agent.pos, radius=self.radius)
def get_object_by_id(self, memid: str, table="BlockObjects") -> "ObjectNode":
# sanity check...
r = self._db_read(
"SELECT x, y, z, bid, meta FROM {} WHERE uuid=? ORDER BY updated".format(table), memid
)
assert r, memid
# end sanity check
if table == "BlockObjects":
return BlockObjectNode(self, memid)
elif table == "ComponentObjects":
return ComponentObjectNode(self, memid)
else:
raise ValueError("Bad table={}".format(table))
def get_object_by_id(self,
memid: str,
table="BlockObjects") -> "VoxelObjectNode":
"""
Returns:
The memory node for the given memid
"""
if table == "BlockObjects":
return BlockObjectNode(self, memid)
elif table == "InstSeg":
return InstSegNode(self, memid)
else:
raise ValueError("Bad table={}".format(table))
def maybe_add_block_to_memory(self,
xyz: XYZ,
idm: IDM,
agent_placed=False):
if not agent_placed:
interesting, player_placed, agent_placed = self.is_placed_block_interesting(
xyz, idm[0])
else:
interesting = True
player_placed = False
if not interesting:
return
# TODO remove this, clean up
if agent_placed:
try:
self.pending_agent_placed_blocks.remove(xyz)
except:
pass
adjacent = [
self.memory.get_object_info_by_xyz(a,
"BlockObjects",
just_memid=False)
for a in diag_adjacent(xyz)
]
if idm[0] == 0:
# block removed / air block added
adjacent_memids = [
a[0][0] for a in adjacent if len(a) > 0 and a[0][1] == 0
]
else:
# normal block added
adjacent_memids = [
a[0][0] for a in adjacent if len(a) > 0 and a[0][1] > 0
]
adjacent_memids = list(set(adjacent_memids))
if len(adjacent_memids) == 0:
# new block object
BlockObjectNode.create(self.agent.memory, [(xyz, idm)])
elif len(adjacent_memids) == 1:
# update block object
memid = adjacent_memids[0]
self.memory.upsert_block((xyz, idm), memid, "BlockObjects",
player_placed, agent_placed)
self.memory.set_memory_updated_time(memid)
self.memory.set_memory_attended_time(memid)
else:
chosen_memid = adjacent_memids[0]
self.memory.set_memory_updated_time(chosen_memid)
self.memory.set_memory_attended_time(chosen_memid)
# merge tags
where = " OR ".join(["subj=?"] * len(adjacent_memids))
self.memory._db_write("UPDATE Triples SET subj=? WHERE " + where,
chosen_memid, *adjacent_memids)
# merge multiple block objects (will delete old ones)
where = " OR ".join(["uuid=?"] * len(adjacent_memids))
cmd = "UPDATE VoxelObjects SET uuid=? WHERE "
self.memory._db_write(cmd + where, chosen_memid, *adjacent_memids)
# insert new block
self.memory.upsert_block((xyz, idm), chosen_memid, "BlockObjects",
player_placed, agent_placed)