def get_parent_receps(self, object_id): obj = game_util.get_object(object_id, self.env.last_event.metadata) if obj is None or obj['parentReceptacles'] is None: return None parent_receps = [game_util.get_object(recep, self.env.last_event.metadata) for recep in obj['parentReceptacles']] parent_receps = [recep for recep in parent_receps if recep['objectType'] in constants.OPENABLE_CLASS_SET] if len(parent_receps) > 0: return parent_receps[0] else: return None
def get_reward(self, state, prev_state, expert_plan, goal_idx): if state.metadata['lastAction'] not in self.valid_actions: reward, done = self.rewards['invalid_action'], False return reward, done subgoal = expert_plan[goal_idx]['planner_action'] curr_pose = state.pose_discrete prev_pose = prev_state.pose_discrete tar_pose = tuple([int(i) for i in subgoal['location'].split('|')[1:]]) prev_actions, _ = self.gt_graph.get_shortest_path(prev_pose, tar_pose) curr_actions, _ = self.gt_graph.get_shortest_path(curr_pose, tar_pose) prev_distance = len(prev_actions) curr_distance = len(curr_actions) reward = (prev_distance - curr_distance) * 0.2 # distance reward factor? # Consider navigation a success if we can see the target object in the next step from here. assert len(expert_plan) > goal_idx + 1 next_subgoal = expert_plan[goal_idx + 1]['planner_action'] next_goal_object = game_util.get_object(next_subgoal['objectId'], state.metadata) done = next_goal_object[ 'visible'] and curr_distance < self.rewards['min_reach_distance'] if done: reward += self.rewards['positive'] return reward, done
def correct_slice_id(self, object_id): main_obj = game_util.get_object(object_id, self.env.last_event.metadata) if (main_obj is not None and main_obj['objectType'] in constants.VAL_ACTION_OBJECTS['Sliceable'] and main_obj['isSliced']): slice_obj_type = main_obj['objectType'] + "Sliced" # Iterate through slices and pick up the one closest to the agent according to the 'distance' metadata. min_d = None best_slice_id = None sidx = 1 while True: slice_obj_id = main_obj['objectId'] + "|" + slice_obj_type + "_%d" % sidx slice_obj = game_util.get_object(slice_obj_id, self.env.last_event.metadata) if slice_obj is None: break if min_d is None or slice_obj['distance'] < min_d: min_d = slice_obj['distance'] best_slice_id = slice_obj_id sidx += 1 return best_slice_id return object_id
def check_clean(self, object_id): ''' Handle special case when Faucet is toggled on. In this case, we need to execute a `CleanAction` in the simulator on every object in the corresponding basin. This is to clean everything in the sink rather than just things touching the stream. ''' event = self.last_event if event.metadata['lastActionSuccess'] and 'Faucet' in object_id: # Need to delay one frame to let `isDirty` update on stream-affected. event = self.step({'action': 'Pass'}) sink_basin_obj = game_util.get_obj_of_type_closest_to_obj( 'SinkBasin', object_id, event.metadata) for in_sink_obj_id in sink_basin_obj['receptacleObjectIds']: if (game_util.get_object(in_sink_obj_id, event.metadata)['dirtyable'] and game_util.get_object(in_sink_obj_id, event.metadata)['isDirty']): event = self.step({ 'action': 'CleanObject', 'objectId': in_sink_obj_id }) return event
def get_reward(self, state, prev_state, expert_plan, goal_idx): if state.metadata['lastAction'] not in self.valid_actions: reward, done = self.rewards['invalid_action'], False return reward, done subgoal = expert_plan[goal_idx]['planner_action'] reward, done = self.rewards['neutral'], False clean_object = game_util.get_object(subgoal['cleanObjectId'], state.metadata) if clean_object is not None: is_obj_clean = clean_object['objectId'] in self.env.cleaned_objects reward, done = (self.rewards['positive'], True) if is_obj_clean else ( self.rewards['negative'], False) return reward, done
def get_reward(self, state, prev_state, expert_plan, goal_idx): if state.metadata['lastAction'] not in self.valid_actions: reward, done = self.rewards['invalid_action'], False return reward, done subgoal = expert_plan[goal_idx]['planner_action'] reward, done = self.rewards['neutral'], False target_object = game_util.get_object(subgoal['objectId'], state.metadata) if target_object is not None: is_target_sliced = target_object['isSliced'] reward, done = (self.rewards['positive'], True) if is_target_sliced else ( self.rewards['negative'], False) return reward, done
def get_reward(self, state, prev_state, expert_plan, goal_idx): if state.metadata['lastAction'] not in self.valid_actions: reward, done = self.rewards['invalid_action'], False return reward, done reward, done = self.rewards['neutral'], False next_put_goal_idx = goal_idx + 2 # (+1) GotoLocation -> (+2) PutObject (get the objectId from the PutObject action) if next_put_goal_idx < len(expert_plan): cool_object_id = expert_plan[next_put_goal_idx]['planner_action'][ 'objectId'] cool_object = game_util.get_object(cool_object_id, state.metadata) is_obj_cool = cool_object['objectId'] in self.env.cooled_objects reward, done = (self.rewards['positive'], True) if is_obj_cool else ( self.rewards['negative'], False) return reward, done
def step(self, action_or_ind, process_frame=True): if self.event is None: self.event = self.env.last_event self.current_frame_count += 1 self.total_frame_count += 1 action, should_fail = self.get_action(action_or_ind) if should_fail: self.env.last_event.metadata['lastActionSuccess'] = False else: t_start = time.time() start_pose = game_util.get_pose(self.event) if 'action' not in action or action['action'] is None or action['action'] == 'None': self.env.last_event.metadata['lastActionSuccess'] = True else: if constants.RECORD_VIDEO_IMAGES: im_ind = len(glob.glob(constants.save_path + '/*.png')) if 'Teleport' in action['action']: position = self.env.last_event.metadata['agent']['position'] rotation = self.env.last_event.metadata['agent']['rotation'] start_horizon = self.env.last_event.metadata['agent']['cameraHorizon'] start_rotation = rotation['y'] if (np.abs(action['x'] - position['x']) > 0.001 or np.abs(action['z'] - position['z']) > 0.001): # Movement for xx in np.arange(.1, 1, .1): new_action = copy.deepcopy(action) new_action['x'] = np.round(position['x'] * (1 - xx) + action['x'] * xx, 5) new_action['z'] = np.round(position['z'] * (1 - xx) + action['z'] * xx, 5) new_action['rotation'] = start_rotation new_action['horizon'] = start_horizon self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) # eww... seriously need to clean this up im_ind += 1 if np.abs(action['horizon'] - self.env.last_event.metadata['agent']['cameraHorizon']) > 0.001: end_horizon = action['horizon'] for xx in np.arange(.1, 1, .1): new_action = copy.deepcopy(action) new_action['horizon'] = np.round(start_horizon * (1 - xx) + end_horizon * xx, 3) new_action['rotation'] = start_rotation self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) im_ind += 1 if np.abs(action['rotation'] - rotation['y']) > 0.001: end_rotation = action['rotation'] for xx in np.arange(.1, 1, .1): new_action = copy.deepcopy(action) new_action['rotation'] = np.round(start_rotation * (1 - xx) + end_rotation * xx, 3) self.event = self.env.step(new_action) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, self.event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) im_ind += 1 self.event = self.env.step(action) elif 'MoveAhead' in action['action']: self.store_ll_action(action) self.save_image(1) events = self.env.smooth_move_ahead(action) for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) elif 'Rotate' in action['action']: self.store_ll_action(action) self.save_image(1) events = self.env.smooth_rotate(action) for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) elif 'Look' in action['action']: self.store_ll_action(action) self.save_image(1) events = self.env.smooth_look(action) for event in events: im_ind = len(glob.glob(constants.save_path + '/*.png')) cv2.imwrite(constants.save_path + '/%09d.png' % im_ind, event.frame[:, :, ::-1]) game_util.store_image_name('%09d.png' % im_ind) elif 'OpenObject' in action['action']: open_action = dict(action=action['action'], objectId=action['objectId'], moveMagnitude=1.0) self.store_ll_action(open_action) self.save_act_image(open_action, dir=constants.BEFORE) self.event = self.env.step(open_action) self.save_act_image(open_action, dir=constants.AFTER) self.check_action_success(self.event) elif 'CloseObject' in action['action']: close_action = dict(action=action['action'], objectId=action['objectId']) self.store_ll_action(close_action) self.save_act_image(close_action, dir=constants.BEFORE) self.event = self.env.step(close_action) self.save_act_image(close_action, dir=constants.AFTER) self.check_action_success(self.event) elif 'PickupObject' in action['action']: # [hack] correct object ids of slices action['objectId'] = self.correct_slice_id(action['objectId']) # open the receptacle if needed parent_recep = self.get_parent_receps(action['objectId']) if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET: self.open_recep(parent_recep) # stores LL action # close/open the object if needed pickup_obj = game_util.get_object(action['objectId'], self.env.last_event.metadata) if pickup_obj['objectType'] in constants.FORCED_OPEN_STATE_ON_PICKUP: if pickup_obj['isOpen'] != constants.FORCED_OPEN_STATE_ON_PICKUP[pickup_obj['objectType']]: if pickup_obj['isOpen']: self.close_recep(pickup_obj) # stores LL action else: self.open_recep(pickup_obj) # stores LL action # pick up the object self.check_obj_visibility(action, min_pixels=10) pickup_action = dict(action=action['action'], objectId=action['objectId']) self.store_ll_action(pickup_action) self.save_act_image(pickup_action, dir=constants.BEFORE) self.event = self.env.step(pickup_action) self.save_act_image(pickup_action, dir=constants.AFTER) self.check_action_success(self.event) # close the receptacle if needed if parent_recep is not None: parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata) self.close_recep(parent_recep) # stores LL action elif 'PutObject' in action['action']: if len(self.env.last_event.metadata['inventoryObjects']) > 0: inv_obj = self.env.last_event.metadata['inventoryObjects'][0]['objectId'] else: raise RuntimeError("Taking 'PutObject' action with no held inventory object") action['objectId'] = inv_obj # open the receptacle if needed parent_recep = game_util.get_object(action['receptacleObjectId'], self.env.last_event.metadata) if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET: self.open_recep(parent_recep) # stores LL action # Open the parent receptacle of the movable receptacle target. elif parent_recep['objectType'] in constants.MOVABLE_RECEPTACLES_SET: movable_parent_recep_ids = parent_recep['parentReceptacles'] if movable_parent_recep_ids is not None and len(movable_parent_recep_ids) > 0: print(parent_recep['objectId'], movable_parent_recep_ids) # DEBUG movable_parent_recep = game_util.get_object(movable_parent_recep_ids[0], self.env.last_event.metadata) if movable_parent_recep['objectType'] in constants.OPENABLE_CLASS_SET: self.open_recep(movable_parent_recep) # stores LL action # put the object put_action = dict(action=action['action'], objectId=action['objectId'], receptacleObjectId=action['receptacleObjectId'], forceAction=True, placeStationary=True) self.store_ll_action(put_action) self.save_act_image(put_action, dir=constants.BEFORE) self.event = self.env.step(put_action) self.save_act_image(put_action, dir=constants.AFTER) self.check_obj_visibility(action) self.check_action_success(self.event) # close the receptacle if needed if parent_recep is not None: parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata) self.close_recep(parent_recep) # stores LL action elif 'CleanObject' in action['action']: # put the object in the sink sink_obj_id = self.get_some_visible_obj_of_name('SinkBasin')['objectId'] inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', objectId=inv_obj['objectId'], receptacleObjectId=sink_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) self.save_act_image(put_action, dir=constants.BEFORE) self.event = self.env.step(put_action) self.save_act_image(put_action, dir=constants.AFTER) self.check_obj_visibility(put_action) self.check_action_success(self.event) # turn on the tap clean_action = copy.deepcopy(action) clean_action['action'] = 'ToggleObjectOn' clean_action['objectId'] = game_util.get_obj_of_type_closest_to_obj( "Faucet", inv_obj['objectId'], self.env.last_event.metadata)['objectId'] self.store_ll_action(clean_action) self.save_act_image(clean_action, dir=constants.BEFORE) self.event = self.env.step({k: clean_action[k] for k in ['action', 'objectId']}) self.save_act_image(clean_action, dir=constants.AFTER) self.check_action_success(self.event) # Need to delay one frame to let `isDirty` update on stream-affected. self.env.noop() # Call built-in 'CleanObject' THOR action on every object in the SinkBasin. # This means we clean everything in the sink, rather than just the things that happen to touch # the water stream, which is the default simulator behavior but looks weird for our purposes. sink_basin_obj = game_util.get_obj_of_type_closest_to_obj( "SinkBasin", clean_action['objectId'], self.env.last_event.metadata) for in_sink_obj_id in sink_basin_obj['receptacleObjectIds']: if (game_util.get_object(in_sink_obj_id, self.env.last_event.metadata)['dirtyable'] and game_util.get_object(in_sink_obj_id, self.env.last_event.metadata)['isDirty']): self.event = self.env.step({'action': 'CleanObject', 'objectId': in_sink_obj_id}) # turn off the tap close_action = copy.deepcopy(clean_action) close_action['action'] = 'ToggleObjectOff' self.store_ll_action(close_action) self.save_act_image(close_action, dir=constants.BEFORE) self.event = self.env.step({k: close_action[k] for k in ['action', 'objectId']}) self.save_act_image(action, dir=constants.AFTER) self.check_action_success(self.event) # pick up the object from the sink pickup_action = dict(action='PickupObject', objectId=inv_obj['objectId']) self.store_ll_action(pickup_action) self.save_act_image(pickup_action, dir=constants.BEFORE) self.event = self.env.step(pickup_action) self.save_act_image(pickup_action, dir=constants.AFTER) self.check_obj_visibility(pickup_action) self.check_action_success(self.event) elif 'HeatObject' in action['action']: # open the microwave microwave_obj_id = self.get_some_visible_obj_of_name('Microwave')['objectId'] microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata) self.open_recep(microwave_obj) # put the object in the microwave inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', objectId=inv_obj['objectId'], receptacleObjectId=microwave_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) self.save_act_image(put_action, dir=constants.BEFORE) self.event = self.env.step(put_action) self.save_act_image(put_action, dir=constants.AFTER) self.check_obj_visibility(put_action) self.check_action_success(self.event) # close the microwave microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata) self.close_recep(microwave_obj) # turn on the microwave heat_action = copy.deepcopy(action) heat_action['action'] = 'ToggleObjectOn' heat_action['objectId'] = microwave_obj_id self.store_ll_action(heat_action) self.save_act_image(heat_action, dir=constants.BEFORE) self.event = self.env.step({k: heat_action[k] for k in ['action', 'objectId']}) self.save_act_image(heat_action, dir=constants.AFTER) # turn off the microwave stop_action = copy.deepcopy(heat_action) stop_action['action'] = 'ToggleObjectOff' self.store_ll_action(stop_action) self.save_act_image(stop_action, dir=constants.BEFORE) self.event = self.env.step({k: stop_action[k] for k in ['action', 'objectId']}) self.save_act_image(stop_action, dir=constants.AFTER) # open the microwave microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata) self.open_recep(microwave_obj) # pick up the object from the microwave pickup_action = dict(action='PickupObject', objectId=inv_obj['objectId']) self.store_ll_action(pickup_action) self.save_act_image(pickup_action, dir=constants.BEFORE) self.event = self.env.step(pickup_action) self.save_act_image(pickup_action, dir=constants.AFTER) self.check_obj_visibility(pickup_action) self.check_action_success(self.event) # close the microwave again microwave_obj = game_util.get_object(microwave_obj_id, self.env.last_event.metadata) self.close_recep(microwave_obj) elif 'CoolObject' in action['action']: # open the fridge fridge_obj_id = self.get_some_visible_obj_of_name('Fridge')['objectId'] fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata) self.open_recep(fridge_obj) # put the object in the fridge inv_obj = self.env.last_event.metadata['inventoryObjects'][0] put_action = dict(action='PutObject', objectId=inv_obj['objectId'], receptacleObjectId=fridge_obj_id, forceAction=True, placeStationary=True) self.store_ll_action(put_action) self.save_act_image(put_action, dir=constants.BEFORE) self.event = self.env.step(put_action) self.save_act_image(put_action, dir=constants.AFTER) self.check_obj_visibility(put_action) self.check_action_success(self.event) # close and cool the object inside the frige cool_action = dict(action='CloseObject', objectId=action['objectId']) self.store_ll_action(cool_action) self.save_act_image(action, dir=constants.BEFORE) self.event = self.env.step(cool_action) self.save_act_image(action, dir=constants.MIDDLE) self.save_act_image(action, dir=constants.AFTER) # open the fridge again fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata) self.open_recep(fridge_obj) # pick up the object from the fridge pickup_action = dict(action='PickupObject', objectId=inv_obj['objectId']) self.store_ll_action(pickup_action) self.save_act_image(pickup_action, dir=constants.BEFORE) self.event = self.env.step(pickup_action) self.save_act_image(pickup_action, dir=constants.AFTER) self.check_obj_visibility(pickup_action) self.check_action_success(self.event) # close the fridge again fridge_obj = game_util.get_object(fridge_obj_id, self.env.last_event.metadata) self.close_recep(fridge_obj) elif 'ToggleObject' in action['action']: on_action = dict(action=action['action'], objectId=action['objectId']) toggle_obj = game_util.get_object(action['objectId'], self.env.last_event.metadata) on_action['action'] = 'ToggleObjectOff' if toggle_obj['isToggled'] else 'ToggleObjectOn' self.store_ll_action(on_action) self.save_act_image(on_action, dir=constants.BEFORE) self.event = self.env.step(on_action) self.save_act_image(on_action, dir=constants.AFTER) self.check_action_success(self.event) elif 'SliceObject' in action['action']: # open the receptacle if needed parent_recep = self.get_parent_receps(action['objectId']) if parent_recep is not None and parent_recep['objectType'] in constants.OPENABLE_CLASS_SET: self.open_recep(parent_recep) # slice the object slice_action = dict(action=action['action'], objectId=action['objectId']) self.store_ll_action(slice_action) self.save_act_image(slice_action, dir=constants.BEFORE) self.event = self.env.step(slice_action) self.save_act_image(action, dir=constants.AFTER) self.check_action_success(self.event) # close the receptacle if needed if parent_recep is not None: parent_recep = game_util.get_object(parent_recep['objectId'], self.env.last_event.metadata) self.close_recep(parent_recep) # stores LL action else: # check that the object to pick is visible in the camera frame if action['action'] == 'PickupObject': self.check_obj_visibility(action) self.store_ll_action(action) self.save_act_image(action, dir=constants.BEFORE) self.event = self.env.step(action) self.save_act_image(action, dir=constants.AFTER) if action['action'] == 'PutObject': self.check_obj_visibility(action) else: self.event = self.env.step(action) new_pose = game_util.get_pose(self.event) point_dists = np.sum(np.abs(self.gt_graph.points - np.array(new_pose)[:2]), axis=1) if np.min(point_dists) > 0.0001: print('Point teleport failure') self.event = self.env.step({ 'action': 'Teleport', 'x': start_pose[0] * constants.AGENT_STEP_SIZE, 'y': self.agent_height, 'z': start_pose[1] * constants.AGENT_STEP_SIZE, 'rotateOnTeleport': True, 'rotation': new_pose[2] * 90, }) self.env.last_event.metadata['lastActionSuccess'] = False self.timers[0, 0] += time.time() - t_start self.timers[0, 1] += 1 if self.timers[0, 1] % 100 == 0: print('env step time %.3f' % (self.timers[0, 0] / self.timers[0, 1])) self.timers[0, :] = 0 if self.env.last_event.metadata['lastActionSuccess']: if action['action'] == 'OpenObject': self.currently_opened_object_ids.add(action['objectId']) elif action['action'] == 'CloseObject': self.currently_opened_object_ids.remove(action['objectId']) elif action['action'] == 'PickupObject': self.inventory_ids.add(action['objectId']) elif action['action'] == 'PutObject': self.inventory_ids.remove(action['objectId']) if self.env.last_event.metadata['lastActionSuccess'] and process_frame: self.process_frame()
def step(self, action_or_ind): # refresh every step self.update_receptacle_nearest_points() action, should_fail = self.get_action(action_or_ind) if 'objectId' in action: assert isinstance(action['objectId'], str) if 'receptacleObjectId' in action: assert isinstance(action['receptacleObjectId'], str) if action['action'] == 'PutObject' and self.env.last_event.metadata['lastActionSuccess']: object_cls = constants.OBJECT_CLASS_TO_ID[action['objectId'].split('|')[0]] receptacle_cls = constants.OBJECT_CLASS_TO_ID[action['receptacleObjectId'].split('|')[0]] if object_cls == self.object_target and receptacle_cls == self.parent_target: pass if constants.DEBUG: print('step action', game_util.get_action_str(action)) GameStateBase.step(self, action_or_ind) if action['action'] == 'PickupObject': if 'receptacleObjectId' in action: # Could be false in the case of slice if action['objectId'] in self.in_receptacle_ids[action['receptacleObjectId']]: self.in_receptacle_ids[action['receptacleObjectId']].remove(action['objectId']) elif action['action'] == 'PutObject': key = action['receptacleObjectId'] assert isinstance(key, str) if key not in self.in_receptacle_ids: self.in_receptacle_ids[key] = set() self.in_receptacle_ids[key].add(action['objectId']) elif action['action'] == 'CleanObject': if self.env.last_event.metadata['lastActionSuccess']: self.cleaned_object_ids.add(action['objectId']) elif action['action'] == 'HeatObject': pass elif action['action'] == "ToggleObject": pass elif action['action'] == 'CoolObject': pass elif action['action'] == 'SliceObject': pass visible_objects = self.event.instance_detections2D.keys() if self.event.instance_detections2D != None else [] for obj in visible_objects: obj = game_util.get_object(obj, self.env.last_event.metadata) if obj is None: continue cls = obj['objectType'] obj_id = obj['objectId'] if cls not in constants.OBJECTS_SET: continue # Instantiate list of the same shape as bounds3d but with min and max point set to obj position. if type(obj['parentReceptacles']) is list: if len(obj['parentReceptacles']) == 1: parent = obj['parentReceptacles'][0] if len(obj['parentReceptacles']) > 1: print("Warning: selecting first parent of " + str(obj_id) + " from list " + str(obj['parentReceptacles'])) else: parent = None else: parent = obj['parentReceptacles'] if parent is not None and len(parent) > 0: # TODA (cleanup): remove hack fix_basin = False if parent.startswith('Sink') and not parent.endswith('Basin'): parent = parent + "|SinkBasin" fix_basin = True elif parent.startswith('Bathtub') and not parent.endswith('Basin'): parent = parent + "|BathtubBasin" fix_basin = True if fix_basin: try: parent = game_util.get_object(parent, self.env.last_event.metadata) except KeyError: raise Exception('No object named %s in scene %s' % (parent, self.scene_name)) else: parent = game_util.get_object(parent, self.env.last_event.metadata) if not parent['openable'] or parent['isOpen']: parent_receptacle = parent['objectId'] self.in_receptacle_ids[parent_receptacle].add(obj_id) self.object_to_point[obj_id] = self.receptacle_to_point[parent_receptacle] self.point_to_object[tuple(self.receptacle_to_point[parent_receptacle].tolist())] = obj_id self.need_plan_update = True