def test_vector_to_string(self):
self.assertEqual(MCS_Util.vector_to_string(None), 'None')
self.assertEqual(MCS_Util.vector_to_string({
'x': 1,
'y': 2,
'z': 3
}), '(1,2,3)')
def test_generate_pretty_object_output(self):
object_list = [
MCS_Object(
uuid='id1',
held=True,
visible=True,
distance=0,
direction=None
),
MCS_Object(
uuid='really_long_id2',
held=False,
visible=False,
distance=1234.5678,
direction={
'x': 10,
'y': 20,
'z': 30
}
)
]
self.assertEqual(MCS_Util.generate_pretty_object_output(object_list), [
'OBJECT ID HELD VISIBLE DISTANCE DIRECTION ',
'id1 True True 0 None ',
'really_long_id2 False False 1234.5678 (10,20,30)'
])
def step(self, action, **kwargs):
super().step(action, **kwargs)
if self.__goal.last_step is not None and self.__goal.last_step < self.__step_number:
print("MCS Warning: You have passed the last step of this scene. Skipping your action." + \
"Please call controller.end_scene() now.")
return None
if ',' in action:
action, kwargs = MCS_Util.input_to_action_and_params(action)
if not action in self.ACTION_LIST:
print("MCS Warning: The given action '" + action +
"' is not valid. Exchanging it with the 'Pass' action.")
action = "Pass"
self.__step_number += 1
if self.__debug_to_terminal:
print(
"==============================================================================="
)
print("STEP: " + str(self.__step_number))
print("ACTION: " + action)
params = self.validate_and_convert_params(action, **kwargs)
# Only call mcs_action_to_ai2thor_action AFTER calling validate_and_convert_params
action = self.mcs_action_to_ai2thor_action(action)
return self.wrap_output(
self.__controller.step(self.wrap_step(action=action, **params)))
def test_generate_pretty_object_output(self):
object_list = [
MCS_Object(uuid='id1',
held=True,
position=None,
distance_in_world=0,
direction=None),
MCS_Object(uuid='really_long_id2',
held=False,
position={
'x': 1,
'y': 2,
'z': 3
},
distance_in_world=1234567890987654321,
direction={
'x': 10000,
'y': 20000,
'z': 30000
})
]
self.assertEqual(MCS_Util.generate_pretty_object_output(object_list), [
'OBJECT ID HELD POSITION (WORLD) DISTANCE (WORLD) DIRECTION (WORLD) ',
'id1 True None 0 None ',
'really_long_id2 False (1,2,3) 1234567890987654321 (10000,20000,30000)'
])
def test_is_number(self):
self.assertEqual(MCS_Util.is_number('0'), True)
self.assertEqual(MCS_Util.is_number('1'), True)
self.assertEqual(MCS_Util.is_number('12.34'), True)
self.assertEqual(MCS_Util.is_number('01'), True)
self.assertEqual(MCS_Util.is_number(''), False)
self.assertEqual(MCS_Util.is_number('asdf'), False)
def test_input_to_action_and_params(self):
self.assertEqual(MCS_Util.input_to_action_and_params('MoveBack'), ('MoveBack', {}))
self.assertEqual(MCS_Util.input_to_action_and_params('RotateLook,rotation=12.34'), ('RotateLook', {
'rotation': 12.34
}))
self.assertEqual(MCS_Util.input_to_action_and_params('PickupObject,objectId=testId'), ('PickupObject', {
'objectId': 'testId'
}))
self.assertEqual(MCS_Util.input_to_action_and_params('PushObject,objectId=testId,force=12.34'), ('PushObject', {
'objectId': 'testId',
'force': 12.34
}))
self.assertEqual(MCS_Util.input_to_action_and_params('Foobar'), (None, {}))
self.assertEqual(MCS_Util.input_to_action_and_params('MoveBack,key:value'), ('MoveBack', None))
def wrap_output(self, scene_event):
if self.__debug_to_file and self.__output_folder is not None:
with open(
self.__output_folder + 'ai2thor_output_' +
str(self.__step_number) + '.json', 'w') as json_file:
json.dump({"metadata": scene_event.metadata},
json_file,
sort_keys=True,
indent=4)
image, depth_mask, object_mask = self.save_images(scene_event)
step_output = MCS_Step_Output(
action_list=self.retrieve_action_list(self.__goal,
self.__step_number),
depth_mask_list=[depth_mask],
goal=self.__goal,
head_tilt=self.retrieve_head_tilt(scene_event),
image_list=[image],
object_list=self.retrieve_object_list(scene_event),
object_mask_list=[object_mask],
pose=self.retrieve_pose(scene_event),
return_status=self.retrieve_return_status(scene_event),
step_number=self.__step_number)
self.__head_tilt = step_output.head_tilt
if self.__debug_to_terminal:
print("RETURN STATUS: " + step_output.return_status)
print("OBJECTS (" + str(len(step_output.object_list)) + " TOTAL):")
for line in MCS_Util.generate_pretty_object_output(
step_output.object_list):
print(" " + line)
if self.__debug_to_file and self.__output_folder is not None:
with open(
self.__output_folder + 'mcs_output_' +
str(self.__step_number) + '.json', 'w') as json_file:
json_file.write(str(step_output))
return step_output
def input_commands(controller):
print('Enter your command:')
userInput = input().split(',')
if(userInput[0] == 'exit'):
print("Exiting Human Input Mode")
return
if(userInput[0] == 'help'):
print_commands()
return input_commands(controller)
# Check for shortcut key, if attempted shortcut key, map and check valid key
try:
if len(userInput[0]) == 1:
userInput[0] = MCS_Action[MCS_Action_Keys(userInput[0] ).name].value
except:
print("You entered an invalid shortcut key, please try again. (Type 'help' to display commands again)")
print("You entered: " + userInput[0])
return input_commands(controller)
print('You entered command: ')
print(*userInput)
action, params = MCS_Util.input_to_action_and_params(','.join(userInput))
if action is None:
print("You entered an invalid command, please try again. (Type 'help' to display commands again)")
return input_commands(controller)
if params is None:
print("ERROR: Parameters should be separated by commas, and look like this example: rotation=45")
return input_commands(controller)
output = controller.step(action, **params);
return input_commands(controller)
def test_class_to_str_with_empty_class(self):
self.assertEqual(MCS_Util.class_to_str(My_Emptyclass()), "{}")
def test_value_to_str_with_dict(self):
self.assertEqual(MCS_Util.value_to_str({}), "{}")
self.assertEqual(MCS_Util.value_to_str({
"number": 1,
"string": "a"
}), "{\n \"number\": 1,\n \"string\": \"a\"\n}")
def test_verify_material_enum_string(self):
self.assertEqual(MCS_Util.verify_material_enum_string('Ceramic'), True)
self.assertEqual(MCS_Util.verify_material_enum_string('Plastic'), True)
self.assertEqual(MCS_Util.verify_material_enum_string('Foobar'), False)
self.assertEqual(MCS_Util.verify_material_enum_string(''), False)
def test_class_to_str_with_class(self):
self.maxDiff = 10000
expected = "{\n \"my_boolean\": True,\n \"my_float\": 1.234,\n \"my_integer\": 0,\n \"my_string\": \"a\",\n \"my_list\": [\n 1,\n \"b\",\n {\n \"my_integer\": 2,\n \"my_string\": \"c\",\n \"my_list\": [\n 3,\n \"d\"\n ]\n }\n ],\n \"my_dict\": {\n \"my_integer\": 4,\n \"my_string\": \"e\",\n \"my_list\": [\n 5,\n \"f\"\n ],\n \"my_dict\": {\n \"my_integer\": 6,\n \"my_string\": \"g\"\n }\n },\n \"my_list_empty\": [],\n \"my_dict_empty\": {},\n \"my_subclass\": {\n \"my_integer\": 7,\n \"my_string\": \"h\",\n \"my_list\": [\n 8,\n \"i\"\n ],\n \"my_dict\": {\n \"my_integer\": 9,\n \"my_string\": \"j\"\n }\n }\n}"
self.assertEqual(MCS_Util.class_to_str(My_Class()), expected)
def test_value_to_str_with_string(self):
self.assertEqual(MCS_Util.value_to_str(""), "\"\"")
self.assertEqual(MCS_Util.value_to_str("a b c d"), "\"a b c d\"")
def validate_and_convert_params(self, action, **kwargs):
moveMagnitude = self.MAX_MOVE_DISTANCE
rotation = kwargs.get(self.ROTATION_KEY, self.DEFAULT_ROTATION)
horizon = kwargs.get(self.HORIZON_KEY, self.DEFAULT_HORIZON)
amount = kwargs.get(self.AMOUNT_KEY, self.DEFAULT_AMOUNT)
force = kwargs.get(self.FORCE_KEY, self.DEFAULT_FORCE)
objectDirectionX = kwargs.get(self.OBJECT_DIRECTION_X_KEY,
self.DEFAULT_DIRECTION)
objectDirectionY = kwargs.get(self.OBJECT_DIRECTION_Y_KEY,
self.DEFAULT_DIRECTION)
objectDirectionZ = kwargs.get(self.OBJECT_DIRECTION_Z_KEY,
self.DEFAULT_DIRECTION)
receptacleObjectDirectionX = kwargs.get(self.RECEPTACLE_DIRECTION_X,
self.DEFAULT_DIRECTION)
receptacleObjectDirectionY = kwargs.get(self.RECEPTACLE_DIRECTION_Y,
self.DEFAULT_DIRECTION)
receptacleObjectDirectionZ = kwargs.get(self.RECEPTACLE_DIRECTION_Z,
self.DEFAULT_DIRECTION)
# Check params that should be numbers
if not MCS_Util.is_number(rotation, self.ROTATION_KEY):
rotation = self.DEFAULT_ROTATION
if not MCS_Util.is_number(horizon, self.HORIZON_KEY):
horizon = self.DEFAULT_HORIZON
if not MCS_Util.is_number(amount, self.AMOUNT_KEY):
# The default for open/close is 1, the default for "Move" actions is 0.5
if action in self.OBJECT_MOVE_ACTIONS:
amount = self.DEFAULT_OBJECT_MOVE_AMOUNT
else:
amount = self.DEFAULT_AMOUNT
if not MCS_Util.is_number(force, self.FORCE_KEY):
force = self.DEFAULT_FORCE
# Check object directions are numbers
if not MCS_Util.is_number(objectDirectionX,
self.OBJECT_DIRECTION_X_KEY):
objectDirectionX = self.DEFAULT_DIRECTION
if not MCS_Util.is_number(objectDirectionY,
self.OBJECT_DIRECTION_Y_KEY):
objectDirectionY = self.DEFAULT_DIRECTION
if not MCS_Util.is_number(objectDirectionZ,
self.OBJECT_DIRECTION_Z_KEY):
objectDirectionZ = self.DEFAULT_DIRECTION
# Check receptacle directions are numbers
if not MCS_Util.is_number(receptacleObjectDirectionX,
self.RECEPTACLE_DIRECTION_X):
receptacleObjectDirectionX = self.DEFAULT_DIRECTION
if not MCS_Util.is_number(receptacleObjectDirectionY,
self.RECEPTACLE_DIRECTION_Y):
receptacleObjectDirectionY = self.DEFAULT_DIRECTION
if not MCS_Util.is_number(receptacleObjectDirectionZ,
self.RECEPTACLE_DIRECTION_Z):
receptacleObjectDirectionZ = self.DEFAULT_DIRECTION
# Check that params that should fall in a range are in that range
horizon = MCS_Util.is_in_range(horizon, self.MIN_HORIZON, self.MAX_HORIZON, self.DEFAULT_HORIZON, \
self.HORIZON_KEY)
amount = MCS_Util.is_in_range(amount, self.MIN_AMOUNT, self.MAX_AMOUNT,
self.DEFAULT_AMOUNT, self.AMOUNT_KEY)
force = MCS_Util.is_in_range(force, self.MIN_FORCE, self.MAX_FORCE,
self.DEFAULT_FORCE, self.FORCE_KEY)
# TODO Consider the current "head tilt" value while validating the input "horizon" value.
# Set the Move Magnitude to the appropriate amount based on the action
if action in self.FORCE_ACTIONS:
moveMagnitude = force * self.MAX_BABY_FORCE
if action in self.OBJECT_MOVE_ACTIONS:
moveMagnitude = amount
if action in self.MOVE_ACTIONS:
moveMagnitude = amount * self.MAX_MOVE_DISTANCE
rotation_vector = {}
rotation_vector['y'] = rotation
object_vector = {}
object_vector['x'] = objectDirectionX
object_vector['y'] = objectDirectionY
object_vector['z'] = objectDirectionZ
receptacle_vector = {}
receptacle_vector['x'] = receptacleObjectDirectionX
receptacle_vector['y'] = receptacleObjectDirectionY
receptacle_vector['z'] = receptacleObjectDirectionZ
return dict(objectId=kwargs.get("objectId", None),
receptacleObjectId=kwargs.get("receptacleObjectId", None),
rotation=rotation_vector,
horizon=horizon,
moveMagnitude=moveMagnitude,
objectDirection=object_vector,
receptacleObjectDirection=receptacle_vector)
def test_value_to_str_with_list(self):
self.assertEqual(MCS_Util.value_to_str([]), "[]")
self.assertEqual(MCS_Util.value_to_str([1, "a"]),
"[\n 1,\n \"a\"\n]")
def test_value_to_str_with_integer(self):
self.assertEqual(MCS_Util.value_to_str(0), "0")
self.assertEqual(MCS_Util.value_to_str(1234), "1234")
def test_is_in_range(self):
self.assertEqual(MCS_Util.is_in_range(0, 0, 1, 1234), 0)
self.assertEqual(MCS_Util.is_in_range(0.5, 0, 1, 1234), 0.5)
self.assertEqual(MCS_Util.is_in_range(1, 0, 1, 1234), 1)
self.assertEqual(MCS_Util.is_in_range(-1, 0, 1, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(1.01, 0, 1, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(100, 0, 1, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(2, 2, 4, 1234), 2)
self.assertEqual(MCS_Util.is_in_range(2.1, 2, 4, 1234), 2.1)
self.assertEqual(MCS_Util.is_in_range(4, 2, 4, 1234), 4)
self.assertEqual(MCS_Util.is_in_range(1.9, 2, 4, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(-3, 2, 4, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(4.1, 2, 4, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(-2, -2, 2, 1234), -2)
self.assertEqual(MCS_Util.is_in_range(0, -2, 2, 1234), 0)
self.assertEqual(MCS_Util.is_in_range(2, -2, 2, 1234), 2)
self.assertEqual(MCS_Util.is_in_range(-2.1, -2, 2, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(2.1, -2, 2, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(200, -2, 2, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(-4, -4, -2, 1234), -4)
self.assertEqual(MCS_Util.is_in_range(-2.1, -4, -2, 1234), -2.1)
self.assertEqual(MCS_Util.is_in_range(-2, -4, -2, 1234), -2)
self.assertEqual(MCS_Util.is_in_range(-5, -4, -2, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(-1, -4, -2, 1234), 1234)
self.assertEqual(MCS_Util.is_in_range(3, -4, -2, 1234), 1234)
def __str__(self):
return MCS_Util.class_to_str(self)
def test_value_to_str_with_boolean(self):
self.assertEqual(MCS_Util.value_to_str(True), "True")
self.assertEqual(MCS_Util.value_to_str(False), "False")
def test_value_to_str_with_float(self):
self.assertEqual(MCS_Util.value_to_str(0.0), "0.0")
self.assertEqual(MCS_Util.value_to_str(1234.5678), "1234.5678")
def input_commands(controller, previous_output, config_data):
if previous_output.action_list is not None and len(
previous_output.action_list) < len(commandList):
print('Only actions available during this step:')
for action in previous_output.action_list:
print(' ' + action)
else:
print('All actions available during this step.')
if previous_output.action_list is not None and len(
previous_output.action_list) == 1:
print('Automatically selecting the only available action...')
userInput = previous_output.action_list[1]
else:
print('Enter your command:')
userInput = input().split(',')
if (userInput[0].lower() == 'exit'):
print("Exiting Human Input Mode")
return
if (userInput[0].lower() == 'help'):
print_commands()
return input_commands(controller, previous_output, config_data)
if (userInput[0].lower() == 'reset'):
output = controller.start_scene(config_data)
return input_commands(controller, output, config_data)
# Check for shortcut key, if attempted shortcut key, map and check valid key
try:
if len(userInput[0]) == 1:
userInput[0] = MCS_Action[MCS_Action_Keys(userInput[0]).name].value
except:
print(
"You entered an invalid shortcut key, please try again. (Type 'help' to display commands again)"
)
print("You entered: " + userInput[0])
return input_commands(controller, previous_output, config_data)
print('You entered command:')
print(*userInput)
action, params = MCS_Util.input_to_action_and_params(','.join(userInput))
if action is None:
print(
"You entered an invalid command, please try again. (Type 'help' to display commands again)"
)
return input_commands(controller, previous_output, config_data)
if params is None:
print(
"ERROR: Parameters should be separated by commas, and look like this example: rotation=45"
)
return input_commands(controller, previous_output, config_data)
output = controller.step(action, **params)
print(
'==============================================================================='
)
return input_commands(controller, output, config_data)