def task_stack_push(
self, task: Task, parent_memid: str = None, chat_effect: bool = False
) -> "TaskNode":
"""Create a task object in memory, add triples and add to task stack
Args:
task (Task): The task to be pushed
parent_memid (string): Memory ID of the task's parent
chat_effect (bool): If the task was a result of a chat, add the triple.
Returns:
TaskNode: A TaskNode object
Examples ::
>>> task = Move(agent, {"target": pos_to_np([0, 0 , 0]), "approx" : 3})
>>> parent_memid = '10517cc584844659907ccfa6161e9d32'
>>> task_stack_push(task, parent_memid)
"""
memid = TaskNode.create(self, task)
# Relations
if parent_memid:
self.add_triple(subj=memid, pred_text="_has_parent_task", obj=parent_memid)
if chat_effect:
chat = self.get_most_recent_incoming_chat()
assert chat is not None, "chat_effect=True with no incoming chats"
self.add_triple(subj=chat.memid, pred_text="chat_effect_", obj=memid)
# Return newly created object
return TaskNode(self, memid)
def task_stack_find_lowest_instance(
self, cls_names: Union[str, Sequence[str]]
) -> Optional["TaskNode"]:
"""Find and return the lowest item in the stack of the given class(es)
Args:
cls_names (Sequence): Class names of tasks
Returns:
TaskNode: A TaskNode object
Examples ::
>>> cls_names = 'Move'
>>> task_stack_find_lowest_instance(cls_names)
"""
names = [cls_names] if type(cls_names) == str else cls_names
(memid,) = self._db_read_one(
"SELECT uuid FROM Tasks WHERE {} ORDER BY created LIMIT 1".format(
" OR ".join(["action_name=?" for _ in names])
),
*names,
)
if memid is not None:
return TaskNode(self, memid)
else:
return None
def __init__(self, agent, task_data):
super().__init__(agent)
self.schematic = task_data["schematic"] # a list of xyz tuples
self.block_idm = task_data.get("block_idm", (2, 0)) # default 2: grass
self.build_task = None
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data, featurizer=None):
super().__init__(agent, task_data)
self.target = np.array(task_data["target"])
self.is_relative = task_data.get("is_relative", 0)
self.path = None
self.command_sent = False
TaskNode(agent.memory, self.memid).update_task(task=self)
def task_stack_push(
self, task: Task, parent_memid: str = None, chat_effect: bool = False
) -> "TaskNode":
memid = TaskNode.create(self, task)
# Relations
if parent_memid:
self.add_triple(subj=memid, pred_text="_has_parent_task", obj=parent_memid)
if chat_effect:
chat = self.get_most_recent_incoming_chat()
assert chat is not None, "chat_effect=True with no incoming chats"
self.add_triple(subj=chat.memid, pred_text="chat_effect_", obj=memid)
# Return newly created object
return TaskNode(self, memid)
def __init__(self, agent, task_data):
super().__init__(agent)
self.target = task_data.get("target")
self.yaw = task_data.get("yaw")
self.pitch = task_data.get("pitch")
assert self.yaw or self.pitch or self.target
self.command_sent = False
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
self.object_idm = task_data["object_idm"]
self.mobtype = MOBS_BY_ID[self.object_idm[1]]
self.pos = task_data["pos"]
self.PLACE_REACH = task_data.get("PLACE_REACH", 3)
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def task_stack_get_all(self) -> List["TaskNode"]:
r = self._db_read("""
SELECT uuid
FROM Tasks
WHERE paused=0 AND finished_at<0
ORDER BY created_at
""")
return [TaskNode(self, memid) for memid, in r]
def __init__(self, agent, task_data):
super().__init__(agent)
self.schematic = task_data["schematic"] # list[(xyz, idm)]
self.dig_message = True if "dig_message" in task_data else False
self.build_task = None
self.DIG_REACH = task_data.get("DIG_REACH", 3)
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
self.origin = task_data["origin"]
self.length = task_data["length"]
self.width = task_data["width"]
self.depth = task_data["depth"]
self.destroy_task = None
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent, task_data)
if self.finished:
return
self.target = to_block_pos(np.array(task_data["target"]))
self.approx = task_data.get("approx", 1)
self.path = None
self.replace = set()
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
self.idm = task_data["idm"]
self.pos = task_data["pos"]
self.eid = task_data["eid"]
self.memid = task_data["memid"]
self.approx = 1
self.attempts = 10
self.item_count_before_get = agent.get_inventory_item_count(
self.idm[0], self.idm[1])
TaskNode(agent.memory, self.memid).update_task(task=self)
def task_stack_peek(self) -> Optional["TaskNode"]:
r = self._db_read_one("""
SELECT uuid
FROM Tasks
WHERE finished_at < 0 AND paused = 0
ORDER BY created_at DESC
LIMIT 1
""")
if r:
return TaskNode(self, r[0])
else:
return None
def __init__(self, agent, task_data):
super(DanceMove, self).__init__(agent)
self.relative_yaw = task_data.get("relative_yaw")
self.relative_pitch = task_data.get("relative_pitch")
# look_turn is (yaw, pitch). pitch = 0 is head flat
self.head_yaw_pitch = task_data.get("head_yaw_pitch")
self.head_xyz = task_data.get("head_xyz")
self.translate = task_data.get("translate")
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def step(self):
"""Ask a confirmation question and wait for response."""
# Step 1: ask the question
if not self.asked:
self.dialogue_stack.append_new(AwaitResponse)
self.dialogue_stack.append_new(Say, self.question)
self.asked = True
return "", None
# Step 2: check the response and add the task if necessary
self.finished = True
if len(self.progeny_data) == 0:
return None, None
if hasattr(self.progeny_data[-1]["response"], "chat_text"):
response_str = self.progeny_data[-1]["response"].chat_text
else:
response_str = "UNK"
if response_str in MAP_YES:
for task in self.tasks:
mem = TaskNode(self.agent.memory, task.memid)
mem.get_update_status({"prio": 1, "running": 1})
return None, None
def __init__(self, agent, task_data):
super().__init__(agent)
# get target should be a ReferenceObjectNode memid
self.get_target = task_data["get_target"]
self.give_target = task_data["give_target"]
# steps take values "not_started", "started", "complete"
if not self.give_target:
# TODO all movements simultaneous- change look while driving
# approach_pickup, look_at_object, grab
self.steps = ["not_started"] * 3
else:
# approach_pickup, look_at_object, grab, approach_dropoff, give/drop
self.steps = ["not_started"] * 5
TaskNode(agent.memory, self.memid).update_task(task=self)
def task_stack_find_lowest_instance(
self, cls_names: Union[str,
Sequence[str]]) -> Optional["TaskNode"]:
"""Find and return the lowest item in the stack of the given class(es)"""
names = [cls_names] if type(cls_names) == str else cls_names
memid, = self._db_read_one(
"SELECT uuid FROM Tasks WHERE {} ORDER BY created_at LIMIT 1".
format(" OR ".join(["action_name=?" for _ in names])),
*names,
)
if memid is not None:
return TaskNode(self, memid)
else:
return None
def step(self) -> Tuple[Optional[str], Any]:
assert self.action_dict["dialogue_type"] == "HUMAN_GIVE_COMMAND"
try:
actions = []
if "action" in self.action_dict:
actions.append(self.action_dict["action"])
elif "action_sequence" in self.action_dict:
actions = self.action_dict["action_sequence"]
if len(actions) == 0:
# The action dict is in an unexpected state
raise ErrorWithResponse(
"I thought you wanted me to do something, but now I don't know what"
)
tasks_to_push = []
for action_def in actions:
action_type = action_def["action_type"]
r = self.action_handlers[action_type](self.speaker, action_def)
if len(r) == 3:
task, response, dialogue_data = r
else:
# FIXME don't use this branch, uniformize the signatures
task = None
response, dialogue_data = r
if task:
tasks_to_push.append(task)
task_mem = None
if tasks_to_push:
T = maybe_task_list_to_control_block(tasks_to_push, self.agent)
task_mem = TaskNode(self.agent.memory, tasks_to_push[0].memid)
if task_mem:
chat = self.agent.memory.get_most_recent_incoming_chat()
TripleNode.create(
self.agent.memory,
subj=chat.memid,
pred_text="chat_effect_",
obj=task_mem.memid,
)
self.finished = True
return response, dialogue_data
except NextDialogueStep:
return None, None
except ErrorWithResponse as err:
self.finished = True
return err.chat, None
def task_stack_peek(self) -> Optional["TaskNode"]:
"""Return the top of task stack
Returns:
TaskNode: TaskNode object or None
Examples ::
>>> task_stack_peek()
"""
r = self._db_read_one(
"""
SELECT uuid
FROM Tasks
WHERE finished < 0 AND paused = 0 AND prio > 0
ORDER BY created DESC
LIMIT 1
"""
)
if r:
return TaskNode(self, r[0])
else:
return None
def get_last_finished_root_task(self,
action_name: str = None,
recency: int = None):
q = """
SELECT uuid
FROM Tasks
WHERE finished_at >= ? {}
ORDER BY created_at DESC
""".format(" AND action_name=?" if action_name else "")
if recency is None:
recency = self.time.round_time(300)
args: List = [self.get_time() - recency]
if action_name:
args.append(action_name)
memids = [r[0] for r in self._db_read(q, *args)]
for memid in memids:
if self._db_read_one(
"SELECT uuid FROM Triples WHERE pred_text='_has_parent_task' AND subj=?",
memid):
# not a root task
continue
return TaskNode(self, memid)
def get_last_finished_root_task(self, action_name: str = None, recency: int = None):
"""Get last task that was marked as finished
Args:
action_name (string): Name of action associated with task
recency (int): How recent should the task be
Returns:
TaskNode: A TaskNode object
Examples ::
>>> action_name = "BUILD"
>>> get_last_finished_root_task (action_name=action_name)
"""
q = """
SELECT uuid
FROM Tasks
WHERE finished >= ? {}
ORDER BY created DESC
""".format(
" AND action_name=?" if action_name else ""
)
if recency is None:
recency = self.time.round_time(300)
args: List = [self.get_time() - recency]
if action_name:
args.append(action_name)
memids = [r[0] for r in self._db_read(q, *args)]
for memid in memids:
if self._db_read_one(
"SELECT uuid FROM Triples WHERE pred_text='_has_parent_task' AND subj=?", memid
):
# not a root task
continue
return TaskNode(self, memid)
def __init__(self, agent, task_data):
super().__init__(agent)
# movement should be a Movement object from dance.py
self.movement = task_data.get("movement")
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
self.command_sent = False
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
# currently unused, we can expand this soon?
self.object_to_drop = task_data.get("object", None)
self.command_sent = False
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
# this is a ref object memid
self.target = task_data["target"]
self.command_sent = False
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data, featurizer=None):
super().__init__(agent)
# movement should be a Movement object from dance.py
self.movement = dance.DanceMovement(self.agent, None)
self.movement_type = task_data.get("movement_type", None)
TaskNode(self.agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super().__init__(agent)
self.to_undo_memid = task_data["memid"]
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def __init__(self, agent, task_data):
super(Point, self).__init__(agent)
self.target = task_data.get("target")
self.start_time = agent.memory.get_time()
self.last_stepped_time = agent.memory.get_time()
TaskNode(agent.memory, self.memid).update_task(task=self)
def get_task_by_id(self, memid: str) -> "TaskNode":
return TaskNode(self, memid)
def __init__(self, agent, task_data):
super().__init__(agent)
self.task_data = task_data
self.embed = task_data.get("embed", False)
self.schematic, _ = blocks_list_to_npy(task_data["blocks_list"])
self.origin = task_data["origin"]
self.verbose = task_data.get("verbose", True)
self.relations = task_data.get("relations", [])
self.default_behavior = task_data.get("default_behavior")
self.force = task_data.get("force", False)
self.attempts = 3 * np.ones(self.schematic.shape[:3], dtype=np.uint8)
self.fill_message = task_data.get("fill_message", False)
self.schematic_memid = task_data.get("schematic_memid", None)
self.schematic_tags = task_data.get("schematic_tags", [])
self.giving_up_message_sent = False
self.wait = False
self.old_blocks_list = None
self.old_origin = None
self.PLACE_REACH = task_data.get("PLACE_REACH", 3)
# negative schematic related
self.is_destroy_schm = task_data.get("is_destroy_schm", False)
self.dig_message = task_data.get("dig_message", False)
self.blockobj_memid = None
self.DIG_REACH = task_data.get("DIG_REACH", 3)
self.last_stepped_time = agent.memory.get_time()
if self.is_destroy_schm:
# is it destroying a whole block object? if so, save its tags
self.destroyed_block_object_triples = []
xyzs = set(strip_idmeta(task_data["blocks_list"]))
mem = agent.memory.get_block_object_by_xyz(next(iter(xyzs)))
# TODO what if there are several objects being destroyed?
if mem and all(xyz in xyzs for xyz in mem.blocks.keys()):
for pred in ["has_tag", "has_name", "has_colour"]:
self.destroyed_block_object_triples.extend(
agent.memory.get_triples(subj=mem.memid,
pred_text=pred))
logging.debug("Destroying block object {} tags={}".format(
mem.memid, self.destroyed_block_object_triples))
# modify the schematic to avoid placing certain blocks
for bad, good in BUILD_BLOCK_REPLACE_MAP.items():
self.schematic[self.schematic[:, :, :, 0] == bad] = good
self.new_blocks = [] # a list of (xyz, idm) of newly placed blocks
# snap origin to ground if bottom level has dirt blocks
# NOTE(kavyasrinet): except for when we are rebuilding the old dirt blocks, we
# don't want to change the origin then, hence the self.force check.
if not self.force and not self.embed and np.isin(
self.schematic[:, :, :, 0], (2, 3)).any():
h = ground_height(agent, self.origin, 0)
self.origin[1] = h[0, 0]
# get blocks occupying build area and save state for undo()
ox, oy, oz = self.origin
sy, sz, sx, _ = self.schematic.shape
current = agent.get_blocks(ox, ox + sx - 1, oy, oy + sy - 1, oz,
oz + sz - 1)
self.old_blocks_list = npy_to_blocks_list(current, self.origin)
if len(self.old_blocks_list) > 0:
self.old_origin = np.min(strip_idmeta(self.old_blocks_list),
axis=0)
TaskNode(agent.memory, self.memid).update_task(task=self)
