merge asset callback

ai2thor/controller.py

@@ -399,8 +399,8 @@ def __init__(
         server_timeout: Optional[float] = 100.0,
         server_start_timeout: float = 300.0,
         # objaverse_asset_ids=[], TODO add and implement when objaverse.load_thor_objects is available
-        action_hook_runner=None,
-        metadata_hook: Optional[MetadataHook] = None,
+        before_action_callback=None,
+        metadata_callback: Optional[MetadataHook] = None,
         **unity_initialization_parameters,
     ):
         self.receptacle_nearest_pivot_points = {}
@@ -443,18 +443,28 @@ def __init__(
             )
         )
 
-        self.action_hook_runner = action_hook_runner
-        self.action_hooks = (
+        if "action_hook_runner" in unity_initialization_parameters:
+            raise ValueError(
+                f"Deprecated argument 'action_hook_runner'. Use 'before_action_callback' instead."
+            )
+
+        if "metadata_hook" in unity_initialization_parameters:
+            raise ValueError(
+                f"Deprecated argument 'metadata_hook'. Use 'metadata_callback' instead."
+            )
+
+        self.before_action_callback = before_action_callback
+        self.action_callbacks = (
             {
                 func
-                for func in dir(action_hook_runner)
-                if callable(getattr(action_hook_runner, func)) and not func.startswith("__")
+                for func in dir(before_action_callback)
+                if callable(getattr(before_action_callback, func)) and not func.startswith("__")
             }
-            if self.action_hook_runner is not None
+            if self.before_action_callback is not None
             else None
         )
 
-        self.metadata_hook = metadata_hook
+        self.metadata_callback = metadata_callback
 
         if self.gpu_device is not None:
             # numbers.Integral works for numpy.int32/64 and Python int
@@ -971,11 +981,11 @@ def multi_step_physics(self, action, timeStep=0.05, max_steps=20):
 
         return events
 
-    def run_action_hook(self, action):
-        if self.action_hooks is not None and action["action"] in self.action_hooks:
+    def run_before_action_callback(self, action):
+        if self.action_callbacks is not None and action["action"] in self.action_callbacks:
             try:
                 # print(f"action hooks: {self.action_hooks}")
-                method = getattr(self.action_hook_runner, action["action"])
+                method = getattr(self.before_action_callback, action["action"])
                 event = method(action, self)
                 if isinstance(event, list):
                     self.last_event = event[-1]
@@ -984,18 +994,18 @@ def run_action_hook(self, action):
             except AttributeError:
                 traceback.print_stack()
                 raise NotImplementedError(
-                    "Action Hook Runner `{}` does not implement method `{}`,"
+                    "Action Callback `{}` does not implement method `{}`,"
                     " actions hooks are meant to run before an action, make sure that `action_hook_runner`"
                     " passed to the controller implements a method for the desired action.".format(
-                        self.action_hook_runner.__class__.__name__, action["action"]
+                        self.before_action_callback.__class__.__name__, action["action"]
                     )
                 )
             return True
         return False
 
     def run_metadata_hook(self, metadata: MetadataWrapper) -> bool:
-        if self.metadata_hook is not None:
-            out = self.metadata_hook(metadata=metadata, controller=self)
+        if self.metadata_callback is not None:
+            out = self.metadata_callback(metadata=metadata, controller=self)
             assert (
                 out is None
             ), "`metadata_hook` must return `None` and change the metadata in place."
@@ -1043,7 +1053,7 @@ def step(self, action: Union[str, Dict[str, Any]] = None, **action_args):
                 # not deleting to allow for older builds to continue to work
                 # del action[old]
 
-        self.run_action_hook(action)
+        self.run_before_action_callback(action)
 
         self.server.send(action)
         try:

ai2thor/hooks/procedural_asset_hook.py

@@ -258,7 +258,7 @@ def create_assets_if_not_exist(
     #         return evt
 
 
-class ProceduralAssetHookRunner:
+class ProceduralAssetActionCallback:
     def __init__(
         self,
         asset_directory: str,
@@ -278,6 +278,7 @@ def __init__(
         self.target_dir = target_dir
         self.extension = extension
         self.verbose = verbose
+        self.last_asset_id_set = set()
 
     def Initialize(self, action, controller):
         if self.asset_limit > 0:
@@ -288,6 +289,10 @@ def Initialize(self, action, controller):
     def CreateHouse(self, action, controller):
         house = action["house"]
         asset_ids = get_all_asset_ids_recursively(house["objects"], [])
+        asset_ids_set = set(asset_ids)
+        if not asset_ids_set.issubset(self.last_asset_id_set):
+            controller.step(action="DeleteLRUFromProceduralCache", assetLimit=0)
+            self.last_asset_id_set = set(asset_ids)
         return create_assets_if_not_exist(
             controller=controller,
             asset_ids=asset_ids,
@@ -330,6 +335,53 @@ def GetHouseFromTemplate(self, action, controller):
         )
 
 
+class DownloadObjaverseActionCallback(object):
+    def __init__(
+        self,
+        asset_dataset_version,
+        asset_download_path,
+        target_dir="processed_models",
+        asset_symlink=True,
+        load_file_in_unity=False,
+        stop_if_fail=False,
+        asset_limit=-1,
+        extension=None,
+        verbose=True,
+    ):
+        self.asset_download_path = asset_download_path
+        self.asset_symlink = asset_symlink
+        self.stop_if_fail = stop_if_fail
+        self.asset_limit = asset_limit
+        self.load_file_in_unity = load_file_in_unity
+        self.target_dir = target_dir
+        self.extension = extension
+        self.verbose = verbose
+        self.last_asset_id_set = set()
+        dsc = DatasetSaveConfig(
+            VERSION=asset_dataset_version,
+            BASE_PATH=asset_download_path,
+        )
+        self.asset_path = load_assets_path(dsc)
+
+    def CreateHouse(self, action, controller):
+        house = action["house"]
+        asset_ids = get_all_asset_ids_recursively(house["objects"], [])
+        asset_ids_set = set(asset_ids)
+        if not asset_ids_set.issubset(self.last_asset_id_set):
+            controller.step(action="DeleteLRUFromProceduralCache", assetLimit=0)
+            self.last_asset_id_set = set(asset_ids)
+        return create_assets_if_not_exist(
+            controller=controller,
+            asset_ids=asset_ids,
+            asset_directory=self.asset_path,
+            copy_to_dir=os.path.join(controller._build.base_dir, self.target_dir),
+            asset_symlink=self.asset_symlink,
+            stop_if_fail=self.stop_if_fail,
+            load_file_in_unity=self.load_file_in_unity,
+            extension=self.extension,
+            verbose=self.verbose,
+        )
+
 def download_with_progress_bar(save_path: str, url: str, verbose: bool = False):
     os.makedirs(os.path.dirname(save_path), exist_ok=True)
 

ai2thor/tests/data/arm-metadata-schema.json

@@ -462,7 +462,7 @@
           "type": "number"
         },
         "isStanding": {
-          "type": "boolean"
+          "type": ["boolean", "null"]
         },
         "inHighFrictionArea": {
           "type": "boolean"

ai2thor/tests/test_unity.py

@@ -1418,16 +1418,17 @@ def test_teleport_stretch(controller):
     agent = "stretch"
 
     event = controller.reset(agentMode=agent)
-    assert event.metadata["agent"]["isStanding"] is False, agent + " cannot stand!"
+    assert event.metadata["agent"]["isStanding"] is None, (
+        agent + " cannot stand so this should be None/null!"
+    )
 
-    # Only degrees of freedom on the locobot
     for action in ["Teleport", "TeleportFull"]:
         event = controller.step(
             action=action,
             position=dict(x=-1.5, y=0.9, z=-1.5),
             rotation=dict(x=0, y=90, z=0),
             horizon=30,
-            standing=True,
+            standing=None,
         )
 
         print(f"Error Message: {event.metadata['errorMessage']}")

tasks.py

@@ -4727,10 +4727,10 @@ def test_create_prefab(ctx, json_path):
 def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
     import json
     import ai2thor.controller
-    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetHookRunner
+    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetActionCallback
     from objathor.asset_conversion.util import view_asset_in_thor
 
-    hook_runner = ProceduralAssetHookRunner(
+    hook_runner = ProceduralAssetActionCallback(
         asset_directory=asset_dir,
         asset_symlink=True,
         verbose=True,
@@ -4747,7 +4747,7 @@ def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
         height=300,
         server_class=ai2thor.fifo_server.FifoServer,
         visibilityScheme="Distance",
-        action_hook_runner=hook_runner,
+        before_action_callback=hook_runner,
     )
 
     # TODO bug why skybox is not changing? from just procedural pipeline
@@ -4817,9 +4817,9 @@ def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
 def procedural_asset_cache_test(ctx, asset_dir, house_path, asset_ids="", cache_limit=1):
     import json
     import ai2thor.controller
-    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetHookRunner
+    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetActionCallback
 
-    hook_runner = ProceduralAssetHookRunner(
+    hook_runner = ProceduralAssetActionCallback(
         asset_directory=asset_dir, asset_symlink=True, verbose=True, asset_limit=1
     )
     controller = ai2thor.controller.Controller(
@@ -4834,7 +4834,7 @@ def procedural_asset_cache_test(ctx, asset_dir, house_path, asset_ids="", cache_
         height=300,
         server_class=ai2thor.wsgi_server.WsgiServer,
         visibilityScheme="Distance",
-        action_hook_runner=hook_runner,
+        before_action_callback=hook_runner,
     )
     asset_ids = asset_ids.split(",")
     with open(house_path, "r") as f:

unity/Assets/Scripts/AgentManager.cs

@@ -320,7 +320,7 @@ public void Initialize(ServerAction action) {
                 : action.dynamicServerAction.agentInitializationParams
         );
         Debug.Log(
-            $"Initialize of AgentController. lastActionSuccess: {primaryAgent.lastActionSuccess}, errorMessage: {primaryAgent.errorMessage}, actionReturn: {primaryAgent.actionReturn}, agentState: {primaryAgent.agentState}"
+            $"Initialize of AgentController.lastAction: {primaryAgent.lastAction} lastActionSuccess: {primaryAgent.lastActionSuccess}, errorMessage: {primaryAgent.errorMessage}, actionReturn: {primaryAgent.actionReturn}, agentState: {primaryAgent.agentState}"
         );
         Time.fixedDeltaTime = action.fixedDeltaTime.GetValueOrDefault(Time.fixedDeltaTime);
         if (action.targetFrameRate > 0) {

unity/Assets/Scripts/ArmAgentController.cs

@@ -266,6 +266,80 @@ public virtual IEnumerator RotateAgent(
             );
         }
 
+        public override void Teleport(
+            Vector3? position = null,
+            Vector3? rotation = null,
+            float? horizon = null,
+            bool? standing = null,
+            bool forceAction = false
+        ) {
+            //non-high level agents cannot set standing
+            if (standing != null) {
+                errorMessage = "Cannot set standing for arm/stretch agent";
+                actionFinishedEmit(success: false, actionReturn: null, errorMessage: errorMessage);
+                return;
+            }
+
+            TeleportFull(
+                position: position,
+                rotation: rotation,
+                horizon: horizon,
+                standing: standing,
+                forceAction: forceAction
+            );
+        }
+
+        public override void TeleportFull(
+            Vector3? position = null,
+            Vector3? rotation = null,
+            float? horizon = null,
+            bool? standing = null,
+            bool forceAction = false
+        ) {
+            //non-high level agents cannot set standing
+            if (standing != null) {
+                errorMessage = "Cannot set standing for arm/stretch agent";
+                actionFinishedEmit(success: false, actionReturn: null, errorMessage: errorMessage);
+                return;
+            }
+
+            //cache old values in case there is a failure
+            Vector3 oldPosition = transform.position;
+            Quaternion oldRotation = transform.rotation;
+            Quaternion oldCameraRotation = m_Camera.transform.localRotation;
+
+            try {
+                base.teleportFull(
+                    position: position,
+                    rotation: rotation,
+                    horizon: horizon,
+                    forceAction: forceAction
+                );
+
+                // add arm value cases
+                if (!forceAction) {
+                    if (Arm != null && Arm.IsArmColliding()) {
+                        throw new InvalidOperationException(
+                            "Mid Level Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
+                        );
+                    } else if (SArm != null && SArm.IsArmColliding()) {
+                        throw new InvalidOperationException(
+                            "Stretch Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
+                        );
+                    }
+                    base.assertTeleportedNearGround(targetPosition: position);
+                }
+            } catch (InvalidOperationException e) {
+                transform.position = oldPosition;
+                transform.rotation = oldRotation;
+                m_Camera.transform.localRotation = oldCameraRotation;
+
+                throw new InvalidOperationException(e.Message);
+            }
+
+            actionFinished(success: true);
+        }
+
         /*
         Rotates the wrist (in a relative fashion) given some input
         pitch, yaw, and roll offsets. Easiest to see how this works by

unity/Assets/Scripts/DiscreteHidenSeekAgentController.cs

@@ -264,10 +264,11 @@ void Update() {
                     ) && PhysicsController.ReadyForCommand
                 ) {
                     ServerAction action = new ServerAction();
-                    if (this.PhysicsController.isStanding()) {
+                    bool? wasStanding = this.PhysicsController.isStanding();
+                    if (wasStanding == true) {
                         action.action = "Crouch";
                         PhysicsController.ProcessControlCommand(action);
-                    } else {
+                    } else if (wasStanding == false) {
                         action.action = "Stand";
                         PhysicsController.ProcessControlCommand(action);
                     }