Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

6.0.0 Release changes #1235

Merged
merged 2 commits into from
Oct 8, 2024
Merged

6.0.0 Release changes #1235

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
020bb5b
Release changes
AlvaroHG Aug 22, 2024
803cbba
Deprecate ChangeFOV
AlvaroHG Oct 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 26 additions & 16 deletions ai2thor/controller.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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 = {}
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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]
Expand All @@ -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."
Expand Down Expand Up @@ -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:
Expand Down
73 changes: 51 additions & 22 deletions ai2thor/hooks/procedural_asset_hook.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
load_existing_thor_asset_file,
)

from objathor.dataset import load_assets_path, DatasetSaveConfig

logger = logging.getLogger(__name__)

EXTENSIONS_LOADABLE_IN_UNITY = {
Expand Down Expand Up @@ -248,7 +250,7 @@ def create_assets_if_not_exist(
# return evt


class ProceduralAssetHookRunner:
class ProceduralAssetActionCallback:
def __init__(
self,
asset_directory,
Expand All @@ -268,6 +270,7 @@ 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:
Expand All @@ -278,6 +281,10 @@ 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,
Expand Down Expand Up @@ -320,27 +327,49 @@ def GetHouseFromTemplate(self, action, controller):
)


class ObjaverseAssetHookRunner(object):
def __init__(self):
import objaverse

self.objaverse_uid_set = set(objaverse.load_uids())
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):
raise NotImplemented("Not yet implemented.")

house = action["house"]
asset_ids = list(set(obj["assetId"] for obj in house["objects"]))
evt = controller.step(action="AssetsInDatabase", assetIds=asset_ids)
asset_in_db = evt.metadata["actionReturn"]
assets_not_created = [asset_id for (asset_id, in_db) in asset_in_db.items() if in_db]
not_created_set = set(assets_not_created)
not_objeverse_not_created = not_created_set.difference(self.objaverse_uid_set)
if len(not_created_set):
raise ValueError(
f"Invalid asset ids are not in THOR AssetDatabase or part of objeverse: {not_objeverse_not_created}"
)

# TODO when transformed assets are in objaverse download them and create them
# objaverse.load_thor_objects
# create_assets()
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,
)
12 changes: 6 additions & 6 deletions tasks.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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
Expand Down Expand Up @@ -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(
Expand All @@ -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:
Expand Down
Loading
Loading