def step(self, action, object_id=None, receptacleObjectId=None, epsd_collector=None):
assert object_id is not None
object_id = PlanParser.map_legal_object_name_back(object_id)
if action in ["PickupObject", "OpenObject", "DropObject"]:
super().step(action=action, objectId=object_id)
elif action == "PutObjectIntoReceptacle":
assert receptacleObjectId is not None
receptacleObjectId = PlanParser.map_legal_object_name_back(receptacleObjectId)
super().step(action="PutObject", objectId=object_id, receptacleObjectId=receptacleObjectId)
if epsd_collector:
epsd_collector.add_experience(self.env.step_output, action)
def step(self,
action,
object_id=None,
receptacleObjectId=None,
from_playroom=None):
assert object_id is not None
object_id = PlanParser.map_legal_object_name_back(
object_id, from_playroom)
if action in [
"PickupObject", "OpenObject", "DropObject", "CloseObject"
]:
super().step(action=action, objectId=object_id)
elif action == "PutObjectIntoReceptacle":
assert receptacleObjectId is not None
receptacleObjectId = PlanParser.map_legal_object_name_back(
receptacleObjectId, from_playroom)
super().step(action="PutObject",
objectId=object_id,
receptacleObjectId=receptacleObjectId)
print(plan)
break
if result_plan[0]['action'] == "LookForObjectInReceptacle":
new_config = deepcopy(metaController.env.scene_config)
new_config['performerStart']['position'] = {
"x": metaController.env.step_output.position['x'],
"y": 0,
"z": metaController.env.step_output.position['z']
}
new_config['performerStart']['rotation'] = {
"y": metaController.env.step_output.rotation
}
new_config['goal'][
'category'] = 'searchObjectInReceptacleTraining'
new_config['goal']['metadata'][
'targetReceptacleId'] = PlanParser.map_legal_object_name_back(
result_plan[0]['receptacleId'])
file_name = new_config['name'].split(".")[0]
file_path = os.path.join(
'interaction_scenes', 'searchObjectInReceptacleTraining',
"{}_{}.json".format(file_name, search_cnt))
with open(file_path, 'w') as fp:
json.dump(new_config, fp, indent=4)
search_cnt += 1
success = metaController.step(result_plan[0])
if not success:
break
if result_plan[0]['action'] == "End":
break
meta_stage += 1
# time.sleep(2)