def step(self, action=None, **action_args):
if type(action) is dict:
action = copy.deepcopy(action) # prevent changes from leaking
else:
action = dict(action=action)
raise_for_failure = action_args.pop('raise_for_failure', False)
action.update(action_args)
if self.headless:
action["renderImage"] = False
action['sequenceId'] = self.sequence_id
action['agentId'] = self.agent_id
self.last_action = action
rotation = action.get('rotation')
if rotation is not None and type(rotation) != dict:
action['rotation'] = {}
action['rotation']['y'] = rotation
payload = self._post_event('step', action)
events = []
for i, agent_metadata in enumerate(payload['metadata']['agents']):
event = Event(agent_metadata)
image_mapping = dict(
image=lambda x: event.add_image(
x, flip_y=False, flip_rb_colors=False),
image_depth=lambda x: event.add_image_depth_robot(
x,
self.depth_format,
camera_near_plane=self.camera_near_plane,
camera_far_plane=self.camera_far_plane,
flip_y=False,
dtype=np.float64))
for key in image_mapping.keys():
if key in payload and len(payload[key]) > i:
image_mapping[key](payload[key][i])
events.append(event)
if len(events) > 1:
self.last_event = MultiAgentEvent(self.agent_id, events)
else:
self.last_event = events[0]
if not self.last_event.metadata[
'lastActionSuccess'] and self.last_event.metadata[
'errorCode'] == 'InvalidAction':
raise ValueError(self.last_event.metadata['errorMessage'])
if raise_for_failure:
assert self.last_event.metadata['lastActionSuccess']
# pprint("Display event:")
# Controller._display_step_event(self.last_event)
return self.last_event
def test_failure():
fake_event = Event(dict(screenWidth=300, screenHeight=300, colors=[], lastActionSuccess=False, errorCode='NotOpen'))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='MoveAhead')
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
e = c.step(action1)
assert c.last_action == action1
assert not e.metadata['lastActionSuccess']
def test_raise_for_failure():
fake_event = Event(dict(screenWidth=300, screenHeight=300, colors=[], lastActionSuccess=False, errorCode='NotOpen'))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='MoveAhead')
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
with pytest.raises(AssertionError):
c.step(action1, raise_for_failure=True)
def test_invalid_action():
fake_event = Event(dict(screenWidth=300, screenHeight=300, colors=[], lastActionSuccess=False, errorCode='InvalidAction', errorMessage='Invalid method: moveaheadbadmethod'))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='MoveaheadbadMethod')
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
with pytest.raises(ValueError) as excinfo:
c.step(action1, raise_for_failure=True)
assert excinfo.value.args == ('Invalid method: moveaheadbadmethod',)
def test_step_put_object_in_wrong_receptacle():
fake_event = Event(
dict(screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=True))
c = ai2thor.controller.Controller()
c.last_event = fake_event
e = c.step(
dict(action='PutObject',
objectId='Mug|1.2|3.4|5.6',
receptacleObjectId="Box|5.6|4.3|2.1"))
assert not e.metadata['lastActionSuccess']
def test_fix_visibility_distance_env():
os.environ['AI2THOR_VISIBILITY_DISTANCE'] = '2.0'
fake_event = Event(dict(screenWidth=300, screenHeight=300, colors=[], lastActionSuccess=True))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='Initialize', gridSize=0.25)
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
c.step(action1)
filtered_action = c.response_queue.get()
print(filtered_action)
assert filtered_action == {'action': 'Initialize', 'gridSize': 0.25, 'visibilityDistance':2.0}
del(os.environ['AI2THOR_VISIBILITY_DISTANCE'])
def test_cast_numpy_generic():
fake_event = Event(
dict(screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=True))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='MoveAhead', moveMagnitude=np.ones(1)[0])
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
c.step(action1)
filtered_action = c.response_queue.get()
print(filtered_action)
assert filtered_action == {'action': 'MoveAhead', 'moveMagnitude': 1.0}
assert type(filtered_action['moveMagnitude']) is float
def test_failure():
fake_event = Event(
dict(
screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=False,
errorCode="NotOpen",
))
c = controller()
c.last_event = fake_event
action1 = dict(action="MoveAhead")
c.server.request_queue.put_nowait(fake_event)
e = c.step(action1)
assert c.last_action == action1
assert not e.metadata["lastActionSuccess"]
def test_raise_for_failure():
fake_event = Event(
dict(
screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=False,
errorCode="NotOpen",
))
c = controller()
c.last_event = fake_event
action1 = dict(action="MoveAhead")
c.server.request_queue.put_nowait(fake_event)
with pytest.raises(RuntimeError):
c.step(action1, raise_for_failure=True)
def test_last_action():
fake_event = Event(dict(screenWidth=300, screenHeight=300, colors=[], lastActionSuccess=True))
c = ai2thor.controller.Controller()
c.last_event = fake_event
action1 = dict(action='RotateRight')
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
e = c.step(action1)
assert c.last_action == action1
assert e.metadata['lastActionSuccess']
c = ai2thor.controller.Controller()
c.last_event = fake_event
action2 = dict(action='RotateLeft')
c.request_queue = FakeQueue()
c.request_queue.put_nowait(fake_event)
e = c.step(action2)
assert c.last_action == action2
assert e.metadata['lastActionSuccess']
def test_fix_visibility_distance_env():
try:
os.environ["AI2THOR_VISIBILITY_DISTANCE"] = "2.0"
fake_event = Event(
dict(screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=True))
c = controller()
c.last_event = fake_event
action1 = dict(action="Initialize", gridSize=0.25)
c.server.request_queue.put_nowait(fake_event)
c.step(action1)
filtered_action = c.server.response_queue.get()
assert filtered_action == {
"action": "Initialize",
"gridSize": 0.25,
"visibilityDistance": 2.0,
}
finally:
del os.environ["AI2THOR_VISIBILITY_DISTANCE"]
def test_last_action():
fake_event = Event(
dict(screenWidth=300,
screenHeight=300,
colors=[],
lastActionSuccess=True))
c = controller()
c.last_event = fake_event
action1 = dict(action="RotateRight")
c.server.request_queue.put_nowait(fake_event)
e = c.step(action1)
assert c.last_action == action1
assert e.metadata["lastActionSuccess"]
c = controller()
c.last_event = fake_event
action2 = dict(action="RotateLeft")
c.server.request_queue.put_nowait(fake_event)
e = c.step(action2)
assert c.last_action == action2
assert e.metadata["lastActionSuccess"]