update the generation code compatible with ai2thor 2.4.0 (latest)

env/thor_env.py

@@ -4,14 +4,15 @@
 import numpy as np
 from collections import Counter, OrderedDict
 from env.tasks import get_task
+import ai2thor
 from ai2thor.controller import Controller
 import gen.utils.image_util as image_util
 from gen.utils import game_util
 from gen.utils.game_util import get_objects_of_type, get_obj_of_type_closest_to_obj
 
 
 DEFAULT_RENDER_SETTINGS = {'renderImage': True,
-                           'renderDepthImage': False,
+                           'renderDepthImage': True,
                            'renderClassImage': False,
                            'renderObjectImage': False,
                            }
@@ -26,13 +27,13 @@ def __init__(self, x_display=constants.X_DISPLAY,
                  quality='MediumCloseFitShadows',
                  build_path=constants.BUILD_PATH):
 
-        super().__init__(quality=quality)
-        self.local_executable_path = build_path
-        self.start(x_display=x_display,
-                   player_screen_height=player_screen_height,
-                   player_screen_width=player_screen_width)
         self.task = None
 
+        super().__init__(quality=quality, 
+                        x_display=x_display, 
+                        height=player_screen_height, 
+                        width=player_screen_width)
+
         # internal states
         self.cleaned_objects = set()
         self.cooled_objects = set()
@@ -62,7 +63,6 @@ def reset(self, scene_name_or_num,
         event = super().step(dict(
             action='Initialize',
             gridSize=grid_size,
-            cameraY=camera_y,
             renderImage=render_image,
             renderDepthImage=render_depth_image,
             renderClassImage=render_class_image,
@@ -95,24 +95,31 @@ def restore_scene(self, object_poses, object_toggles, dirty_and_empty):
         super().step(dict(
             action='Initialize',
             gridSize=constants.AGENT_STEP_SIZE / constants.RECORD_SMOOTHING_FACTOR,
-            cameraY=constants.CAMERA_HEIGHT_OFFSET,
             renderImage=constants.RENDER_IMAGE,
             renderDepthImage=constants.RENDER_DEPTH_IMAGE,
             renderClassImage=constants.RENDER_CLASS_IMAGE,
             renderObjectImage=constants.RENDER_OBJECT_IMAGE,
             visibility_distance=constants.VISIBILITY_DISTANCE,
             makeAgentsVisible=False,
         ))
-        if len(object_toggles) > 0:
-            super().step((dict(action='SetObjectToggles', objectToggles=object_toggles)))
 
+
+
+        if len(object_toggles) > 0:
+            # TODO: problem here: the API has change on these two attributes.
+            for o in object_toggles:
+                super().step((dict(action='SetObjectStates', 
+                                SetObjectStates=o)))
+
         if dirty_and_empty:
-            super().step(dict(action='SetStateOfAllObjects',
-                               StateChange="CanBeDirty",
-                               forceAction=True))
-            super().step(dict(action='SetStateOfAllObjects',
-                               StateChange="CanBeFilled",
-                               forceAction=False))
+            # TODO: problem here: the API also change on these two attributes.
+            for o in object_poses:
+                super().step(dict(action='SetObjectStates',
+                    SetObjectStates={'objectType': o['objectName'].split('_')[0], 'stateChange': 'dirtyable', 'isDirty': True}))
+
+                super().step(dict(action='SetObjectStates',
+                    SetObjectStates={'objectType': o['objectName'].split('_')[0], 'stateChange': 'canFillWithLiquid', 'isFilledWithLiquid': False}))
+
         super().step((dict(action='SetObjectPoses', objectPoses=object_poses)))
 
     def set_task(self, traj, args, reward_type='sparse', max_episode_length=2000):
@@ -126,22 +133,25 @@ def step(self, action, smooth_nav=False):
         '''
         overrides ai2thor.controller.Controller.step() for smooth navigation and goal_condition updates
         '''
-        if smooth_nav:
-            if "MoveAhead" in action['action']:
-                self.smooth_move_ahead(action)
-            elif "Rotate" in action['action']:
-                self.smooth_rotate(action)
-            elif "Look" in action['action']:
-                self.smooth_look(action)
+        if 'action' in action:
+            if smooth_nav:
+                if "MoveAhead" in action['action']:
+                    self.smooth_move_ahead(action)
+                elif "Rotate" in action['action']:
+                    self.smooth_rotate(action)
+                elif "Look" in action['action']:
+                    self.smooth_look(action)
+                else:
+                    super().step(action)
             else:
-                super().step(action)
+                if "LookUp" in action['action']:
+                    self.look_angle(-constants.AGENT_HORIZON_ADJ)
+                elif "LookDown" in action['action']:
+                    self.look_angle(constants.AGENT_HORIZON_ADJ)
+                else:
+                    super().step(action)
         else:
-            if "LookUp" in action['action']:
-                self.look_angle(-constants.AGENT_HORIZON_ADJ)
-            elif "LookDown" in action['action']:
-                self.look_angle(constants.AGENT_HORIZON_ADJ)
-            else:
-                super().step(action)
+            super().step(action)
 
         event = self.update_states(action)
         self.check_post_conditions(action)
@@ -151,8 +161,9 @@ def check_post_conditions(self, action):
         '''
         handle special action post-conditions
         '''
-        if action['action'] == 'ToggleObjectOn':
-            self.check_clean(action['objectId'])
+        if 'action' in action:
+            if action['action'] == 'ToggleObjectOn':
+                self.check_clean(action['objectId'])
 
     def update_states(self, action):
         '''
@@ -162,20 +173,21 @@ def update_states(self, action):
         event = self.last_event
         if event.metadata['lastActionSuccess']:
             # clean
-            if action['action'] == 'ToggleObjectOn' and "Faucet" in action['objectId']:
-                sink_basin = get_obj_of_type_closest_to_obj('SinkBasin', action['objectId'], event.metadata)
-                cleaned_object_ids = sink_basin['receptacleObjectIds']
-                self.cleaned_objects = self.cleaned_objects | set(cleaned_object_ids) if cleaned_object_ids is not None else set()
-            # heat
-            if action['action'] == 'ToggleObjectOn' and "Microwave" in action['objectId']:
-                microwave = get_objects_of_type('Microwave', event.metadata)[0]
-                heated_object_ids = microwave['receptacleObjectIds']
-                self.heated_objects = self.heated_objects | set(heated_object_ids) if heated_object_ids is not None else set()
-            # cool
-            if action['action'] == 'CloseObject' and "Fridge" in action['objectId']:
-                fridge = get_objects_of_type('Fridge', event.metadata)[0]
-                cooled_object_ids = fridge['receptacleObjectIds']
-                self.cooled_objects = self.cooled_objects | set(cooled_object_ids) if cooled_object_ids is not None else set()
+            if 'action' in action:
+                if action['action'] == 'ToggleObjectOn' and "Faucet" in action['objectId']:
+                    sink_basin = get_obj_of_type_closest_to_obj('SinkBasin', action['objectId'], event.metadata)
+                    cleaned_object_ids = sink_basin['receptacleObjectIds']
+                    self.cleaned_objects = self.cleaned_objects | set(cleaned_object_ids) if cleaned_object_ids is not None else set()
+                # heat
+                if action['action'] == 'ToggleObjectOn' and "Microwave" in action['objectId']:
+                    microwave = get_objects_of_type('Microwave', event.metadata)[0]
+                    heated_object_ids = microwave['receptacleObjectIds']
+                    self.heated_objects = self.heated_objects | set(heated_object_ids) if heated_object_ids is not None else set()
+                # cool
+                if action['action'] == 'CloseObject' and "Fridge" in action['objectId']:
+                    fridge = get_objects_of_type('Fridge', event.metadata)[0]
+                    cooled_object_ids = fridge['receptacleObjectIds']
+                    self.cooled_objects = self.cooled_objects | set(cooled_object_ids) if cooled_object_ids is not None else set()
 
         return event
 
@@ -428,8 +440,7 @@ def to_thor_api_exec(self, action, object_id="", smooth_nav=False):
         elif "PutObject" in action:
             inventory_object_id = self.last_event.metadata['inventoryObjects'][0]['objectId']
             action = dict(action="PutObject",
-                          objectId=inventory_object_id,
-                          receptacleObjectId=object_id,
+                          objectId=object_id,
                           forceAction=True,
                           placeStationary=True)
             event = self.step(action)

gen/constants.py

@@ -32,14 +32,15 @@
 ########################################################################################################################
 # Goals
 
-GOALS = ["pick_and_place_simple",
-         "pick_two_obj_and_place",
-         "look_at_obj_in_light",
+GOALS = [
+        "pick_and_place_simple",
+         "pick_two_obj_and_place",    
+        "look_at_obj_in_light",
          "pick_clean_then_place_in_recep",
          "pick_heat_then_place_in_recep",
          "pick_cool_then_place_in_recep",
-         "pick_and_place_with_movable_recep"]
-
+         "pick_and_place_with_movable_recep",
+        ]
 GOALS_VALID = {"pick_and_place_simple": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"},
                "pick_two_obj_and_place": {"Kitchen", "LivingRoom", "Bathroom", "Bedroom"},
                "look_at_obj_in_light": {"LivingRoom", "Bedroom"},
@@ -88,11 +89,11 @@
 X_DISPLAY = '0'
 
 AGENT_STEP_SIZE = 0.25
-AGENT_HORIZON_ADJ = 15
+AGENT_HORIZON_ADJ = 30
 AGENT_ROTATE_ADJ = 90
 CAMERA_HEIGHT_OFFSET = 0.75
 VISIBILITY_DISTANCE = 1.5
-HORIZON_GRANULARITY = 15
+HORIZON_GRANULARITY = 30
 
 RENDER_IMAGE = True
 RENDER_DEPTH_IMAGE = True