From 46e9009fb7d09861956d3be46fa0b86a4c5be200 Mon Sep 17 00:00:00 2001 From: Amit Parekh <7276308+amitkparekh@users.noreply.github.com> Date: Tue, 5 Dec 2023 12:01:12 +0800 Subject: [PATCH] chore: squash commits for release --- .editorconfig | 34 + .flake8 | 130 + .github/labels.yml | 90 + .github/workflows/continuous_integration.yml | 170 + .github/workflows/pr-lint.yml | 42 + .github/workflows/release.yml | 29 + .github/workflows/tests.yml | 73 + .gitignore | 595 +++ .kodiak.toml | 15 + .mypy.ini | 40 + .pre-commit-config.yaml | 156 + .releaserc.js | 71 + .vscode/launch.json | 49 + CHANGELOG.md | 945 +++++ LICENSE | 21 + README.md | 99 + poetry.lock | 3562 +++++++++++++++++ pyproject.toml | 89 + scripts/compare_t1_data.py | 102 + scripts/fetch-arena-data.sh | 6 + scripts/fetch-arena.sh | 7 + scripts/prepare-user-area.sh | 73 + src/arena_missions/__init__.py | 4 + src/arena_missions/builders/__init__.py | 7 + .../builders/challenge_builder.py | 138 + .../builders/mission_builder.py | 93 + .../builders/required_objects_builder.py | 290 ++ src/arena_missions/challenges/__init__.py | 0 .../challenges/ambiguous_pickup.py | 152 + .../challenges/breaking_things.py | 300 ++ .../challenges/clean_dirty_plate.py | 189 + .../challenges/fill_object_in_sink.py | 182 + .../challenges/objects_in_containers.py | 462 +++ .../challenges/operate_carrot_maker.py | 162 + .../challenges/operate_microwave.py | 326 ++ .../challenges/operate_printer.py | 133 + .../challenges/operate_time_machine.py | 371 ++ .../challenges/pickup_from_printer.py | 133 + src/arena_missions/challenges/pickup_stack.py | 186 + src/arena_missions/challenges/place_stack.py | 307 ++ .../challenges/using_coffee_unmaker.py | 224 ++ .../challenges/using_color_changer.py | 139 + src/arena_missions/constants/__init__.py | 0 src/arena_missions/constants/arena.py | 467 +++ .../constants/object_id_to_readable_name.json | 346 ++ src/arena_missions/load_challenges.py | 52 + src/arena_missions/structures/__init__.py | 40 + src/arena_missions/structures/cdf.py | 116 + .../structures/high_level_key.py | 122 + src/arena_missions/structures/mission.py | 93 + src/arena_missions/structures/object_id.py | 106 + .../structures/required_object.py | 209 + .../structures/state_condition.py | 348 ++ src/arena_missions/structures/task_goal.py | 186 + src/arena_wrapper/__init__.py | 9 + src/arena_wrapper/arena_controller.py | 192 + src/arena_wrapper/arena_orchestrator.py | 306 ++ src/arena_wrapper/arena_request_builder.py | 518 +++ src/arena_wrapper/constants.py | 37 + src/arena_wrapper/enums/__init__.py | 0 .../enums/object_output_wrapper.py | 7 + src/arena_wrapper/exceptions.py | 2 + src/arena_wrapper/util/__init__.py | 59 + .../util/object_class_decoder.py | 729 ++++ src/simbot_offline_inference/__init__.py | 0 src/simbot_offline_inference/__main__.py | 32 + src/simbot_offline_inference/_version.py | 7 + .../arena_action_builder.py | 95 + .../arena_evaluator.py | 183 + .../challenge_validator.py | 106 + .../commands/__init__.py | 13 + .../commands/generate_trajectories.py | 91 + .../commands/run_background_services.py | 19 + .../commands/run_their_evaluation.py | 104 + .../commands/run_trajectories_in_arena.py | 55 + .../commands/validate_cdfs.py | 89 + .../inference_controller.py | 217 + .../metrics/__init__.py | 6 + .../metrics/evaluation.py | 115 + src/simbot_offline_inference/metrics/wandb.py | 264 ++ src/simbot_offline_inference/orchestrators.py | 377 ++ src/simbot_offline_inference/settings.py | 80 + storage/cdfs/01.json | 781 ++++ storage/cdfs/07.json | 705 ++++ storage/cdfs/08.json | 737 ++++ storage/cdfs/40.json | 783 ++++ tests/__init__.py | 0 tests/conftest.py | 23 + tests/test_generated_missions.py | 78 + 89 files changed, 19100 insertions(+) create mode 100644 .editorconfig create mode 100644 .flake8 create mode 100644 .github/labels.yml create mode 100644 .github/workflows/continuous_integration.yml create mode 100644 .github/workflows/pr-lint.yml create mode 100644 .github/workflows/release.yml create mode 100644 .github/workflows/tests.yml create mode 100644 .gitignore create mode 100644 .kodiak.toml create mode 100644 .mypy.ini create mode 100644 .pre-commit-config.yaml create mode 100644 .releaserc.js create mode 100644 .vscode/launch.json create mode 100644 CHANGELOG.md create mode 100644 LICENSE create mode 100644 README.md create mode 100644 poetry.lock create mode 100644 pyproject.toml create mode 100644 scripts/compare_t1_data.py create mode 100644 scripts/fetch-arena-data.sh create mode 100644 scripts/fetch-arena.sh create mode 100644 scripts/prepare-user-area.sh create mode 100644 src/arena_missions/__init__.py create mode 100644 src/arena_missions/builders/__init__.py create mode 100644 src/arena_missions/builders/challenge_builder.py create mode 100644 src/arena_missions/builders/mission_builder.py create mode 100644 src/arena_missions/builders/required_objects_builder.py create mode 100644 src/arena_missions/challenges/__init__.py create mode 100644 src/arena_missions/challenges/ambiguous_pickup.py create mode 100644 src/arena_missions/challenges/breaking_things.py create mode 100644 src/arena_missions/challenges/clean_dirty_plate.py create mode 100644 src/arena_missions/challenges/fill_object_in_sink.py create mode 100644 src/arena_missions/challenges/objects_in_containers.py create mode 100644 src/arena_missions/challenges/operate_carrot_maker.py create mode 100644 src/arena_missions/challenges/operate_microwave.py create mode 100644 src/arena_missions/challenges/operate_printer.py create mode 100644 src/arena_missions/challenges/operate_time_machine.py create mode 100644 src/arena_missions/challenges/pickup_from_printer.py create mode 100644 src/arena_missions/challenges/pickup_stack.py create mode 100644 src/arena_missions/challenges/place_stack.py create mode 100644 src/arena_missions/challenges/using_coffee_unmaker.py create mode 100644 src/arena_missions/challenges/using_color_changer.py create mode 100644 src/arena_missions/constants/__init__.py create mode 100644 src/arena_missions/constants/arena.py create mode 100644 src/arena_missions/constants/object_id_to_readable_name.json create mode 100644 src/arena_missions/load_challenges.py create mode 100644 src/arena_missions/structures/__init__.py create mode 100644 src/arena_missions/structures/cdf.py create mode 100644 src/arena_missions/structures/high_level_key.py create mode 100644 src/arena_missions/structures/mission.py create mode 100644 src/arena_missions/structures/object_id.py create mode 100644 src/arena_missions/structures/required_object.py create mode 100644 src/arena_missions/structures/state_condition.py create mode 100644 src/arena_missions/structures/task_goal.py create mode 100644 src/arena_wrapper/__init__.py create mode 100644 src/arena_wrapper/arena_controller.py create mode 100644 src/arena_wrapper/arena_orchestrator.py create mode 100644 src/arena_wrapper/arena_request_builder.py create mode 100644 src/arena_wrapper/constants.py create mode 100644 src/arena_wrapper/enums/__init__.py create mode 100644 src/arena_wrapper/enums/object_output_wrapper.py create mode 100644 src/arena_wrapper/exceptions.py create mode 100644 src/arena_wrapper/util/__init__.py create mode 100644 src/arena_wrapper/util/object_class_decoder.py create mode 100644 src/simbot_offline_inference/__init__.py create mode 100644 src/simbot_offline_inference/__main__.py create mode 100644 src/simbot_offline_inference/_version.py create mode 100644 src/simbot_offline_inference/arena_action_builder.py create mode 100644 src/simbot_offline_inference/arena_evaluator.py create mode 100644 src/simbot_offline_inference/challenge_validator.py create mode 100644 src/simbot_offline_inference/commands/__init__.py create mode 100644 src/simbot_offline_inference/commands/generate_trajectories.py create mode 100644 src/simbot_offline_inference/commands/run_background_services.py create mode 100644 src/simbot_offline_inference/commands/run_their_evaluation.py create mode 100644 src/simbot_offline_inference/commands/run_trajectories_in_arena.py create mode 100644 src/simbot_offline_inference/commands/validate_cdfs.py create mode 100644 src/simbot_offline_inference/inference_controller.py create mode 100644 src/simbot_offline_inference/metrics/__init__.py create mode 100644 src/simbot_offline_inference/metrics/evaluation.py create mode 100644 src/simbot_offline_inference/metrics/wandb.py create mode 100644 src/simbot_offline_inference/orchestrators.py create mode 100644 src/simbot_offline_inference/settings.py create mode 100644 storage/cdfs/01.json create mode 100644 storage/cdfs/07.json create mode 100644 storage/cdfs/08.json create mode 100644 storage/cdfs/40.json create mode 100644 tests/__init__.py create mode 100644 tests/conftest.py create mode 100644 tests/test_generated_missions.py diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000..1e1dd28 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,34 @@ +root = true + +[*] +end_of_line = lf +trim_trailing_whitespace = true +insert_final_newline = true +charset = utf-8 +indent_style = tab +indent_size = 2 + +# YAML doesn't support hard tabs +# Templates that will be weird with hard tabs in the website editor +[*.{yml,yaml,md}] +indent_style = space +indent_size = 2 + +# Force python to be as python demands +[*.{py,ipynb}] +indent_size = 4 +indent_style = space + +[{**.*sh}] +indent_size = 2 +indent_style = tab + +shell_variant = bash +binary_next_line = false # like -bn +switch_case_indent = true # like -ci +space_redirects = true # like -sr +keep_padding = false # like -kp +end_of_line = lf +charset = utf-8 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/.flake8 b/.flake8 new file mode 100644 index 0000000..dac69f6 --- /dev/null +++ b/.flake8 @@ -0,0 +1,130 @@ +[flake8] +extend-ignore = + # Allow function call as argument default + B008, + # Do not enforce trailing comma (lets Black decide what is best) + C812,C813,C814,C815,C816,C818,C819, + # Don't ask for docstring at top of module --- put it in the functions/classes + D100, + # Do not check for docstring within __init__ method + D107, + # Ignore whitespace before ';' + E203, + # Don't ask about line length, Black recommends using bugbear B950 instead + E501, + # Stop finding commented out code because it's mistaking shape annotations for code + E800, + # Stop complaining about subprocess, we need it for this project + S404,S602,S603,S607, + # Stop complaining about using functions from random + S311, + # Ignore errors for internal mypy traceback, stderr output, or an unmatched line. + T499, + # Do not complain about line-break before binary operator (caused by Black) + W503, + # Do not warn on too many imports. + WPS201, + # Do not warn on too many module members + WPS202, + # Do not warn when too many arguments in functions + WPS211, + # Do not warn on too many methods + WPS214, + # Allow lots of importing from the same module --- it can happen and thats okay! + WPS235, + # Do not warn on complex f-string + WPS237, + # Allow relative module references + WPS300, + # Allow f-strings + WPS305, + # Do not force base classes to inherit object + WPS306, + # Allow return statement that simply returns a prior statement + WPS331, + # Allow new lines to start with a dot (caused by Black) + WPS348, + # Allow logic in __init__ modules + WPS412, + # we use magics because we need to. + WPS609, + # Google Python style is not RST until after processed by Napoleon + # See https://github.com/peterjc/flake8-rst-docstrings/issues/17 + RST201,RST203,RST301, +extend-select = + # Should raise AssertionError instead of assert False + B011, + # Use of break, continue or return in finally blocks will silence exceptions. + B012, + # Redundant exception types in except + B014, + # Pointless comparisons + B015, + # Cannot raise a literal + B016, + # Do not use `self.assertRaises(Exception)` + B017, + # Find useless expressions + B018, + # Use namedtuple instead of dataclass when only `__init__` attributes are set + B903, + # Within an except clause, raise exceptions with `raise ... from err` or `raise ... + # from None` to distinguish them from errors in exception handling + B904, + # Counterpart to W503, enforce having the operator at the start of a new line. + W504, + +max-line-length = 99 +max-complexity = 18 +max-methods = 10 +max-line-complexity = 18 +max-local-variables = 20 +max-expressions = 20 +max-function-expressions = 10 +max-module-expressions = 20 +max-string-usages = 10 +max-annotation-complexity = 4 +min-name-length = 1 +max-try-body-length = 2 +exps-for-one-empty-line = 1 +max-access-level = 5 +show-violation-links = true +format = wemake + +# Black enforces double quotes. +inline-quotes = double + +docstring-convention = google + +# Darglint +docstring_style = google +strictness = long + +nested-classes-whitelist = + Meta + Params + Config + +allowed-domain-names = + data + utils + util + params + +per-file-ignores = + src/*/_version.py:WPS410 + src/**/__init__.py:D,F401,WPS436 + src/*/__main__.py:WPS404 + src/arena_missions/challenges/*:WPS226,WPS430 + src/arena_missions/challenges/__init__.py:D + src/arena_missions/builders/required_objects_builder.py:WPS226 + tests/*:D,F401,WPS118,WPS202,WPS204,WPS214,WPS218,WPS226,WPS231,WPS232,WPS235,WPS301,WPS404,WPS432,WPS437,WPS442,S101 + +extend-exclude= + .venv/, + *_cache/, + .cache/, + logs/, + storage/, + docs/, + src/arena_wrapper/ diff --git a/.github/labels.yml b/.github/labels.yml new file mode 100644 index 0000000..43c77b3 --- /dev/null +++ b/.github/labels.yml @@ -0,0 +1,90 @@ +--- +# Labels names are important as they are used by Release Drafter to decide +# regarding where to record them in changelog or if to skip them. +# +# The repository labels will be automatically configured using this file and +# the GitHub Action https://github.com/marketplace/actions/github-labeler. +## more info https://github.com/crazy-max/ghaction-github-labeler + +# ------------------------- Conventional Commit types ------------------------ # +# From https://github.com/commitizen/conventional-commit-types/blob/master/index.json + +- name: feature + description: A new enhancement or feature + color: 0A8844 + from_name: "enhancement" + +- name: fix + description: A bug fix + color: d23832 + from_name: "bug" + +- name: documentation + description: Documentation changes only + color: 8AD9F5 + +- name: style + description: Changes that do not affect meaning of code (formatting, etc.) + color: F9CD8E + +- name: refactor + description: Code change that neither fixes a bug nor adds a feature + color: FBCA0C + from_name: refactoring + +- name: performance + description: Code change that improves performance + color: F2A33C + +- name: test + description: Adding missing tests or correcting existing tests + color: 34FFB3 + +- name: build + description: Changes that affect the build system or external dependencies + color: 8F4FBB + +- name: continuous integration + description: Changes to CI configuration and scripts + color: FCBFE3 + +- name: chore + description: Other changes that don't modify src or test files + color: d3d3d3 + +- name: revert + description: Revert a previous commit + color: 1e1e1e + +- name: backwards incompatible + description: incompatible changes to how the application works + color: AB2232 + +- name: question + description: Further information is requested + color: EE328E + +# ------------------------------- Dependencies ------------------------------- # +- name: dependencies + description: Pull requests that update dependencies + color: 0366d6 + +# ------------------------------ Utility labels ------------------------------ # +- name: automerge + color: "ffffff" + description: "Automerge this PR" + +- name: "stale" + color: "ffffff" + description: "" +# - name: duplicate +# description: This issue or pull request already exists +# color: ffffff + +# - name: invalid +# description: This doesn't seem right +# color: ffffff + +# - name: wontfix +# description: This will not be worked on +# color: ffffff diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml new file mode 100644 index 0000000..38ecb8b --- /dev/null +++ b/.github/workflows/continuous_integration.yml @@ -0,0 +1,170 @@ +name: Continuous Integration + +on: + workflow_dispatch: + workflow_call: + pull_request: + types: [opened, reopened, synchronize, ready_for_review] + branches: + - main + +env: + PYTHON_VERSION: 3.9 + +jobs: + changes: + name: Check for Python file changes + runs-on: ubuntu-latest + if: ${{ !github.event.pull_request.draft }} + outputs: + python: ${{steps.filter.outputs.python}} + steps: + - name: Checkout repository + uses: actions/checkout@v3 + - uses: dorny/paths-filter@v2 + id: filter + with: + filters: | + python: + - '**/*.py' + - 'pyproject.toml' + - 'poetry.lock' + - '.github/workflows/continuous_integration.yml' + - '.mypy.ini' + - '.flake8' + + typecheck: + name: Type check Python + needs: [changes] + if: ${{needs.changes.outputs.python == 'true' && !github.event.pull_request.draft }} + runs-on: ubuntu-latest + steps: + - name: Checkout the repository + uses: actions/checkout@v4 + + - name: Setup reviewdog + uses: reviewdog/action-setup@v1 + + - name: Install Poetry + run: pipx install poetry + + - name: Set up Python ${{ env.PYTHON_VERSION }} + uses: actions/setup-python@v4 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: "poetry" + + - name: Install dependencies + run: poetry install + + - name: Load mypy cache + uses: actions/cache@v3 + id: mypy-cache + with: + path: .mypy_cache + key: ${{ runner.os }}-mypy-cache-${{ hashFiles('poetry.lock') }}-${{hashFiles('pyproject.toml') }} + restore-keys: | + ${{ runner.os }}-mypy-cache-${{ hashFiles('poetry.lock') }}-${{hashFiles('pyproject.toml') }} + ${{ runner.os }}-mypy-cache- + + - name: Run mypy with reviewdog + env: + REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} + GITHUB_EVENT_NAME: ${{ github.event_name }} + run: | + exit_val="0" + [[ $GITHUB_EVENT_NAME == "pull_request" ]] && reporter="github-pr-review" || reporter="github-check" + poetry run mypy \ + --show-column-numbers \ + --show-absolute-path \ + --no-error-summary . 2>&1 | reviewdog \ + -efm="%f:%l:%c: %t%*[^:]: %m" \ + -name="mypy" \ + -filter-mode=nofilter \ + -fail-on-error \ + -reporter="${reporter}" || exit_val="$?" + if [[ "${exit_val}" -ne '0' ]]; then + exit 1 + fi + + lint: + name: Lint Python + needs: [changes] + if: ${{needs.changes.outputs.python == 'true' && !github.event.pull_request.draft }} + runs-on: ubuntu-latest + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Setup reviewdog + uses: reviewdog/action-setup@v1 + + - name: Install Poetry + run: pipx install poetry + + - name: Set up Python ${{ env.PYTHON_VERSION }} + uses: actions/setup-python@v4 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: "poetry" + + - name: Install dependencies + run: poetry install + + - name: Run flake8 + env: + REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} + GITHUB_EVENT_NAME: ${{ github.event_name }} + run: | + exit_val="0" + [[ $GITHUB_EVENT_NAME == "pull_request" ]] && reporter="github-pr-review" || reporter="github-check" + poetry run flake8 \ + --format=default . 2>&1 | reviewdog \ + -f=pep8 \ + -name="flake8" \ + -fail-on-error \ + -filter-mode=file \ + -reporter="${reporter}" || exit_val="$?" + if [[ "${exit_val}" -ne '0' ]]; then + exit 1 + fi + + format: + name: Format + runs-on: ubuntu-latest + if: ${{ !github.event.pull_request.draft }} + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up Python ${{ env.PYTHON_VERSION }} + uses: actions/setup-python@v4 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: "pip" + + - name: Install pre-commit + run: | + pip install pre-commit + + - name: Load cached pre-commit environment + uses: actions/cache@v3 + id: pre-commit-cache + with: + path: ~/.cache/pre-commit + key: ${{ runner.os }}-pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} + restore-keys: | + ${{ runner.os }}-pre-commit- + + - name: Run pre-commit hook + id: run-pre-commit-hooks + run: | + git add .pre-commit-config.yaml + pre-commit run --color=always --all-files + + - name: Annotate any changes using reviewdog + if: ${{ failure() }} + id: reviewdog-suggester + uses: reviewdog/action-suggester@v1 + with: + tool_name: pre-commit diff --git a/.github/workflows/pr-lint.yml b/.github/workflows/pr-lint.yml new file mode 100644 index 0000000..2c917a9 --- /dev/null +++ b/.github/workflows/pr-lint.yml @@ -0,0 +1,42 @@ +name: "Lint PR" + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + main: + name: Validate PR title + runs-on: ubuntu-latest + steps: + - name: Validate PR title + uses: amannn/action-semantic-pull-request@v5 + id: lint_pr_title + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + # When the previous steps fails, the workflow would stop. By adding this + # condition you can continue the execution with the populated error message. + - name: Create error message if validation fails + uses: marocchino/sticky-pull-request-comment@v2 + if: always() && (steps.lint_pr_title.outputs.error_message != null) + with: + header: pr-title-lint-error + message: | + Hey there and thank you for opening this pull request! 👋🏼 + We require pull request titles to follow the [Conventional Commits specification](https://www.conventionalcommits.org/en/v1.0.0/) and it looks like your proposed title needs to be adjusted. + + Details: + ``` + ${{ steps.lint_pr_title.outputs.error_message }} + ``` + + - name: Delete previous comment when issue is resolved + if: ${{ steps.lint_pr_title.outputs.error_message == null }} + uses: marocchino/sticky-pull-request-comment@v2 + with: + header: pr-title-lint-error + delete: true diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml new file mode 100644 index 0000000..461c709 --- /dev/null +++ b/.github/workflows/release.yml @@ -0,0 +1,29 @@ +name: Releases + +on: + push: + branches: [main] + +env: + PYTHON_VERSION: 3.9 + +jobs: + labeler: + name: Update labels + runs-on: ubuntu-latest + steps: + - name: Check out the repository + uses: actions/checkout@v4 + + - name: Run Labeler + uses: crazy-max/ghaction-github-labeler@v4.1.0 + + continuous-integration: + name: Continuous Integration + uses: "./.github/workflows/continuous_integration.yml" + secrets: inherit + + tests: + name: Tests + uses: "./.github/workflows/tests.yml" + secrets: inherit diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml new file mode 100644 index 0000000..76d5b5b --- /dev/null +++ b/.github/workflows/tests.yml @@ -0,0 +1,73 @@ +name: Tests + +on: + workflow_dispatch: + workflow_call: + pull_request: + branches: [main] + paths-ignore: ["**/*.md", "**/*.rst"] + +env: + PYTHON_VERSION: 3.9 + # Disable tokenizers parallelism because this doesn't help, and can cause issues in distributed tests. + TOKENIZERS_PARALLELISM: "false" + # Disable multithreading with OMP because this can lead to dead-locks in distributed tests. + OMP_NUM_THREADS: "1" + # See https://github.com/pytorch/pytorch/issues/37377#issuecomment-677851112. + MKL_THREADING_LAYER: "GNU" + +jobs: + changes: + name: Check for Python file changes + runs-on: ubuntu-latest + if: ${{ !github.event.pull_request.draft }} + outputs: + python: ${{steps.filter.outputs.python}} + steps: + - name: Checkout repository + uses: actions/checkout@v3 + - uses: dorny/paths-filter@v2 + id: filter + with: + filters: | + python: + - '**/*.py' + - 'storage/fixtures/**/*' + - 'pyproject.toml' + - 'poetry.lock' + - '.github/workflows/tests.yml' + + python: + name: Run Python test suite + defaults: + run: + shell: bash + + runs-on: ubuntu-latest + needs: [changes] + if: ${{needs.changes.outputs.python == 'true' && !github.event.pull_request.draft }} + steps: + - name: Checkout the repository + uses: actions/checkout@v4 + + - name: Install Poetry + run: pipx install poetry + + - name: Set up Python ${{ env.PYTHON_VERSION }} + uses: actions/setup-python@v4 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: "poetry" + + - name: Install dependencies + run: poetry install + + - name: Run test suite + run: poetry run poe test-everything | tee pytest-coverage.txt + + - name: Comment the coverage + if: ${{ always() && github.event_name == 'pull_request' && github.actor != 'dependabot[bot]' }} + uses: MishaKav/pytest-coverage-comment@main + with: + pytest-coverage-path: ./pytest-coverage.txt + junitxml-path: ./pytest.xml diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..b22618d --- /dev/null +++ b/.gitignore @@ -0,0 +1,595 @@ +# Created by https://www.toptal.com/developers/gitignore/api/visualstudiocode,jetbrains+all,python,jupyternotebooks,node,data,images,video + +.rtx.toml + +# Edit at https://www.toptal.com/developers/gitignore?templates=visualstudiocode,jetbrains+all,python,jupyternotebooks,node,data,images,video + +### Data ### +*.csv +*.dat +*.efx +*.gbr +*.key +*.pps +*.ppt +*.pptx +*.sdf +*.tax2010 +*.vcf +*.xml + +### Images ### +# JPEG +*.jpg +*.jpeg +*.jpe +*.jif +*.jfif +*.jfi + +# JPEG 2000 +*.jp2 +*.j2k +*.jpf +*.jpx +*.jpm +*.mj2 + +# JPEG XR +*.jxr +*.hdp +*.wdp + +# Graphics Interchange Format +*.gif + +# RAW +*.raw + +# Web P +*.webp + +# Portable Network Graphics +*.png + +# Animated Portable Network Graphics +*.apng + +# Multiple-image Network Graphics +*.mng + +# Tagged Image File Format +*.tiff +*.tif + +# Scalable Vector Graphics +*.svg +*.svgz + +# Portable Document Format +*.pdf + +# X BitMap +*.xbm + +# BMP +*.bmp +*.dib + +# ICO +*.ico + +# 3D Images +*.3dm +*.max + +### JetBrains+all ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# AWS User-specific +.idea/**/aws.xml + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/artifacts +# .idea/compiler.xml +# .idea/jarRepositories.xml +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# SonarLint plugin +.idea/sonarlint/ + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +### JetBrains+all Patch ### +# Ignore everything but code style settings and run configurations +# that are supposed to be shared within teams. + +.idea/* + +!.idea/codeStyles +!.idea/runConfigurations + +### JupyterNotebooks ### +# gitignore template for Jupyter Notebooks +# website: http://jupyter.org/ + +.ipynb_checkpoints +*/.ipynb_checkpoints/* + +# IPython +profile_default/ +ipython_config.py + +# Remove previous ipynb_checkpoints +# git rm -r .ipynb_checkpoints/ + +### Node ### +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +lerna-debug.log* +.pnpm-debug.log* + +# Diagnostic reports (https://nodejs.org/api/report.html) +report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json + +# Runtime data +pids +*.pid +*.seed +*.pid.lock + +# Directory for instrumented libs generated by jscoverage/JSCover +lib-cov + +# Coverage directory used by tools like istanbul +coverage +*.lcov + +# nyc test coverage +.nyc_output + +# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files) +.grunt + +# Bower dependency directory (https://bower.io/) +bower_components + +# node-waf configuration +.lock-wscript + +# Compiled binary addons (https://nodejs.org/api/addons.html) +build/Release + +# Dependency directories +node_modules/ +jspm_packages/ + +# Snowpack dependency directory (https://snowpack.dev/) +web_modules/ + +# TypeScript cache +*.tsbuildinfo + +# Optional npm cache directory +.npm + +# Optional eslint cache +.eslintcache + +# Optional stylelint cache +.stylelintcache + +# Microbundle cache +.rpt2_cache/ +.rts2_cache_cjs/ +.rts2_cache_es/ +.rts2_cache_umd/ + +# Optional REPL history +.node_repl_history + +# Output of 'npm pack' +*.tgz + +# Yarn Integrity file +.yarn-integrity + +# dotenv environment variable files +.envrc +.env +.env.development.local +.env.test.local +.env.production.local +.env.local + +# parcel-bundler cache (https://parceljs.org/) +.cache +.parcel-cache + +# Next.js build output +.next +out + +# Nuxt.js build / generate output +.nuxt +dist + +# Gatsby files +.cache/ +# Comment in the public line in if your project uses Gatsby and not Next.js +# https://nextjs.org/blog/next-9-1#public-directory-support +# public + +# vuepress build output +.vuepress/dist + +# vuepress v2.x temp and cache directory +.temp + +# Docusaurus cache and generated files +.docusaurus + +# Serverless directories +.serverless/ + +# FuseBox cache +.fusebox/ + +# DynamoDB Local files +.dynamodb/ + +# TernJS port file +.tern-port + +# Stores VSCode versions used for testing VSCode extensions +.vscode-test + +# yarn v2 +.yarn/cache +.yarn/unplugged +.yarn/build-state.yml +.yarn/install-state.gz +.pnp.* + +### Node Patch ### +# Serverless Webpack directories +.webpack/ + +# Optional stylelint cache + +# SvelteKit build / generate output +.svelte-kit + +### Python ### +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook + +# IPython + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock +poetry.toml + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ + +### Video ### +*.3g2 +*.3gp +*.asf +*.asx +*.avi +*.flv +*.mkv +*.mov +*.mp4 +*.mpg +*.ogv +*.rm +*.swf +*.vob +*.wmv +*.webm + +### VisualStudioCode ### +.vscode/* +# !.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + +### VisualStudioCode Patch ### +# Ignore all local history of files +.history +.ionide + +# Support for Project snippet scope +.vscode/*.code-snippets + +# Ignore code-workspaces +*.code-workspace + +# End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,jetbrains+all,python,jupyternotebooks,node,data,images,video + +# Created by https://www.toptal.com/developers/gitignore/api/terraform,terragrunt +# Edit at https://www.toptal.com/developers/gitignore?templates=terraform,terragrunt + +### Terraform ### +# Local .terraform directories +**/.terraform/* + +# .tfstate files +*.tfstate +*.tfstate.* + +# Crash log files +crash.log +crash.*.log + +# Exclude all .tfvars files, which are likely to contain sensitive data, such as +# password, private keys, and other secrets. These should not be part of version +# control as they are data points which are potentially sensitive and subject +# to change depending on the environment. +*.tfvars +*.tfvars.json + +# Ignore override files as they are usually used to override resources locally and so +# are not checked in +override.tf +override.tf.json +*_override.tf +*_override.tf.json + +# Include override files you do wish to add to version control using negated pattern +# !example_override.tf + +# Include tfplan files to ignore the plan output of command: terraform plan -out=tfplan +# example: *tfplan* + +# Ignore CLI configuration files +.terraformrc +terraform.rc + +### Terragrunt ### +# terragrunt cache directories +**/.terragrunt-cache/* + +# Terragrunt debug output file (when using `--terragrunt-debug` option) +# See: https://terragrunt.gruntwork.io/docs/reference/cli-options/#terragrunt-debug +terragrunt-debug.tfvars.json + +# End of https://www.toptal.com/developers/gitignore/api/terraform,terragrunt + +storage/* +!storage/**/.gitkeep +!storage/cdfs +storage/cdfs/missions/ + +# ignore wandb +wandb/ + +# Ignore the docker dir symlink +docker/ +docker + +# Handle ignoring files within the bin +bin/**/build +!bin/**/*.png +!bin/**/*.ico diff --git a/.kodiak.toml b/.kodiak.toml new file mode 100644 index 0000000..de128d4 --- /dev/null +++ b/.kodiak.toml @@ -0,0 +1,15 @@ +version = 1 + +[merge.automerge_dependencies] +# only auto merge "minor" and "patch" version upgrades. +# do not automerge "major" version upgrades. +versions = ["minor", "patch"] +usernames = ["dependabot"] + +# allow dependabot to update and close stale dependency upgrades. +[update] +ignored_usernames = ["dependabot"] + +# Automatically approve when using automerge label +[approve] +auto_approve_usernames = ["dependabot"] diff --git a/.mypy.ini b/.mypy.ini new file mode 100644 index 0000000..af1888d --- /dev/null +++ b/.mypy.ini @@ -0,0 +1,40 @@ +[mypy] + +python_version = 3.9 +exclude = (?x)(configs | storage | logs | docs | src/arena_wrapper) + +# Import discovery +ignore_missing_imports = true +namespace_packages = true + +# Untyped definitions and calls +disallow_untyped_defs = true +disallow_incomplete_defs = true +check_untyped_defs = true +disallow_any_generics = true +disallow_subclassing_any = true +disallow_untyped_decorators = false + +# None and Optional handling +no_implicit_optional = true + +# Warnings +warn_redundant_casts = true +warn_unused_ignores = true +warn_unused_configs = true +warn_unreachable = true + +# Config error messages +show_error_context = false +show_column_numbers = true +show_error_codes = true +pretty = false + +plugins = pydantic.mypy + +[mypy-tests.*] +disallow_untyped_defs = false + +[pydantic-mypy] +init_typed = true +warn_untyped_fields = true diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..f328f3f --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,156 @@ +# using default_language_version +default_language_version: + node: 16.14.2 + +repos: + # -------------------------- Version control checks -------------------------- # + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 + hooks: + - id: check-merge-conflict + name: Check for merge conflicts + - id: check-vcs-permalinks + name: Ensure links to VCS websites are permalinks + - id: detect-private-key + name: Detect private key + - id: check-case-conflict + name: Check issues with file name casing + - id: check-symlinks + name: Check for symlinks which point to nothing + - id: destroyed-symlinks + name: Check for destroyed symlinks + + - repo: https://github.com/sirosen/check-jsonschema + rev: 0.27.2 + hooks: + - id: check-github-workflows + name: Validate GitHub workflows + types: [yaml] + + # --------------------------- Commit message check --------------------------- # + - repo: https://github.com/compilerla/conventional-pre-commit + rev: v3.0.0 + hooks: + - id: conventional-pre-commit + name: Check commit message follows Conventional Commits + stages: [commit-msg] + + # ----------------------------- Check file issues ---------------------------- # + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 + hooks: + - id: check-toml + name: Check TOML + types: [toml] + - id: check-yaml + name: Check YAML + args: [--allow-multiple-documents] + types: [yaml] + - id: end-of-file-fixer + name: Fix end of files + types: [text] + - id: trailing-whitespace + name: Trim trailing whitespace + args: [--markdown-linebreak-ext=md] + types: [text] + - id: mixed-line-ending + name: Check line endings + - id: fix-encoding-pragma + name: Remove any encoding pragma + args: [--remove] + + # ------------------------------ Python checking ----------------------------- # + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.5.0 + hooks: + - id: debug-statements + name: Check for debugger statements + types: [python] + + - repo: https://github.com/pre-commit/pygrep-hooks + rev: v1.10.0 + hooks: + - id: python-use-type-annotations + name: Using type annotations over comments + types: [python] + - id: python-check-blanket-noqa + name: Check for blanket `# noqa` + types: [python] + - id: python-check-blanket-type-ignore + name: "Check for blanket `# type: ignore`" + types: [python] + - id: python-no-log-warn + name: Check for deprecated `.warn()` method of python loggers + types: [python] + + # ----------------------------- Automatic linters ---------------------------- # + - repo: https://github.com/asottile/pyupgrade + rev: v3.15.0 + hooks: + - id: pyupgrade + name: Update syntax for newer Python + types: [python] + args: ["--py39-plus"] + - repo: https://github.com/sirosen/texthooks + rev: 0.6.3 + hooks: + - id: fix-smartquotes + name: Fix Smart Quotes + - repo: https://github.com/asottile/yesqa + rev: v1.5.0 + hooks: + - id: yesqa + name: Remove unnecessary `# noqa` comments + types: [python] + additional_dependencies: [wemake-python-styleguide] + + # ------------------------------ Python imports ------------------------------ # + - repo: https://github.com/hakancelik96/unimport + rev: 1.1.0 + hooks: + - id: unimport + name: Remove any unused imports + types: [python] + args: + [ + --remove, + --exclude, + '^.*/?__init__\.py$', + --include-star-import, + --gitignore, + ] + - repo: https://github.com/MarcoGorelli/absolufy-imports + rev: v0.3.1 + hooks: + - id: absolufy-imports + types: [python] + name: Convert relative imports to absolute + - repo: https://github.com/timothycrosley/isort + rev: 5.12.0 + hooks: + - id: isort + name: Format imports + additional_dependencies: [toml] + types: [python] + exclude: ^.*/?setup\.py$ + + # -------------------------------- Formatting -------------------------------- # + - repo: https://github.com/pre-commit/mirrors-prettier + rev: v3.1.0 + hooks: + - id: prettier + name: Prettier + exclude: ^.*/?CHANGELOG\.md$ + - repo: https://github.com/myint/docformatter + rev: v1.7.5 + hooks: + - id: docformatter + name: Format docstrings + types: [python] + args: [--in-place, --wrap-summaries=99, --wrap-descriptions=99] + - repo: https://github.com/psf/black + rev: 23.11.0 + hooks: + - id: black-jupyter + types: [python] + name: Format code diff --git a/.releaserc.js b/.releaserc.js new file mode 100644 index 0000000..43335e5 --- /dev/null +++ b/.releaserc.js @@ -0,0 +1,71 @@ +const RELEASE_BRANCH = process.env.RELEASE_BRANCH || "main"; +const CHANGELOG_FILE = process.env.CHANGELOG_FILE || "CHANGELOG.md"; +const VERSION_FILE = + process.env.VERSION_FILE || "src/simbot_offline_inference/_version.py"; + +const config = { + branches: [RELEASE_BRANCH], + plugins: [ + [ + "@semantic-release/commit-analyzer", + { + preset: "conventionalcommits", + }, + ], + [ + "@semantic-release/release-notes-generator", + { + preset: "conventionalcommits", + }, + ], + [ + "@semantic-release/changelog", + { + changelogFile: CHANGELOG_FILE, + changelogTitle: + "# Changelog\n\nAll notable changes to this project will be documented in this file. See\n[Conventional Commits](https://conventionalcommits.org) for commit guidelines.", + }, + ], + [ + "@semantic-release/exec", + { + prepareCmd: "poetry version ${nextRelease.version}", + }, + ], + [ + "@google/semantic-release-replace-plugin", + { + replacements: [ + { + files: [VERSION_FILE], + ignore: ["test/*", "tests/*"], + from: "__version__ = [\"'].*[\"']", + to: '__version__ = "${nextRelease.version}"', + }, + ], + }, + ], + [ + "@semantic-release/github", + { + assets: [ + { path: "dist/*.tar.gz", label: "sdist" }, + { path: "dist/*.whl", label: "wheel" }, + ], + successComment: false, + failComment: false, + releasedLabels: false, + failTitle: false, + labels: false, + }, + ], + [ + "@semantic-release/git", + { + assets: ["pyproject.toml", VERSION_FILE, CHANGELOG_FILE], + }, + ], + ], +}; + +module.exports = config; diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..3dcc6a9 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,49 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "name": "Debug Tests", + "type": "python", + "request": "launch", + "console": "integratedTerminal", + "purpose": ["debug-test"], + "justMyCode": false, + "env": { + "_PYTEST_RAISE": "1" + } + }, + { + "name": "Run command", + "type": "python", + "request": "launch", + "program": "${workspaceFolder}/src/simbot_offline_inference/__main__.py", + "console": "integratedTerminal", + "justMyCode": false, + "subProcess": true, + "sudo": true + }, + { + "name": "Generate trajectories", + "type": "python", + "request": "launch", + "program": "${workspaceFolder}/src/simbot_offline_inference/__main__.py", + "console": "integratedTerminal", + "justMyCode": false, + "subProcess": true, + "args": ["generate-trajectories", "./storage/cdfs/missions"] + }, + { + "name": "Validate generated missions", + "type": "python", + "request": "launch", + "program": "${workspaceFolder}/src/simbot_offline_inference/__main__.py", + "console": "integratedTerminal", + "justMyCode": false, + "subProcess": true, + "args": ["validate-generated-missions"] + } + ] +} diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 0000000..8de13bd --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,945 @@ +# Changelog + +All notable changes to this project will be documented in this file. See +[Conventional Commits](https://conventionalcommits.org) for commit guidelines. + +## [4.33.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.32.0...v4.33.0) (2023-05-17) + + +### Features + +* **commands:** add `--force-from-scratch` cli arg when running their evaluation to force delete any previous mission information ([ae2793c](https://github.com/emma-simbot/simbot-offline-inference/commit/ae2793c394e3cf4085f7d76ccd128c5b6e660db2)) +* **metrics:** delete evaluation metrics checkpoint at the end of a run to prevent accidentally resuming ([6e77b7a](https://github.com/emma-simbot/simbot-offline-inference/commit/6e77b7a6c35320a687f2cff246d90b7306da171e)) +* **metrics:** if the action outputs dir is empty and we are not resuming, delete the checkpoint file ([b88c03d](https://github.com/emma-simbot/simbot-offline-inference/commit/b88c03dcaabf92a1618e0a872934e8cebb5bb191)) +* **metrics:** support creating and restoring checkpoints of evaluation metrics if resuming runs ([bef8c1f](https://github.com/emma-simbot/simbot-offline-inference/commit/bef8c1f222440a3ca748bca9ada721cc31ed0081)) +* **wandb:** automatically determine whether we should start a new run instead of using an environment variable ([82d6ace](https://github.com/emma-simbot/simbot-offline-inference/commit/82d6aceadb2985522c0628da364f6d7e53bacb9b)) +* **wandb:** include the offline inference version used in the run config ([6505c7f](https://github.com/emma-simbot/simbot-offline-inference/commit/6505c7f7dd6e387acfea3c862c2c167bedfe108b)) +* **wandb:** track session ids and success per mission across runs ([1260998](https://github.com/emma-simbot/simbot-offline-inference/commit/1260998a4d1b488f4d6a89741b30dc95716991d0)) + + +### Bug Fixes + +* just manually point to the service registry path ([612315b](https://github.com/emma-simbot/simbot-offline-inference/commit/612315b8b240c0f436a3d0ae743170990617f971)) +* **metrics:** log the step number instead of trying to modify the config ([871ca3f](https://github.com/emma-simbot/simbot-offline-inference/commit/871ca3f4013aecfe660440e034895f813f7b14e8)) +* prevent type coercion for the CDFs (within `MissionTrajectory`) ([90b9613](https://github.com/emma-simbot/simbot-offline-inference/commit/90b9613b1a826df9dd2c1fefc2505b04c6a2b7e2)) +* **scripts:** symlink commands in the prepare-user-data script ([e5af1e5](https://github.com/emma-simbot/simbot-offline-inference/commit/e5af1e5fbca210072e37c8cb11d951b4ae67dcd8)) +* **settings:** boolean whether we resume the run or not ([99d3dbc](https://github.com/emma-simbot/simbot-offline-inference/commit/99d3dbc7e17dc0eee35ba73bfbd44f49e490d55c)) +* **wandb:** allow config value changes during a run ([bb9499c](https://github.com/emma-simbot/simbot-offline-inference/commit/bb9499c7f65237b615bb7dd371fedcf95f828ebe)) +* **wandb:** column name for the per mission group success rate ([e732ee8](https://github.com/emma-simbot/simbot-offline-inference/commit/e732ee839e7707128b599b29562185052b12e39f)) +* **wandb:** saving output files during the evaluation run ([ade01ff](https://github.com/emma-simbot/simbot-offline-inference/commit/ade01ff11a6c2c9d304355c91bfa3722a7350e05)) +* **wandb:** set the default success rate to 0 if there are nan's ([eec3a00](https://github.com/emma-simbot/simbot-offline-inference/commit/eec3a0028b021459dbabd3af73d89f11174d3d2b)) +* **wandb:** step needs to be an int ([b65310a](https://github.com/emma-simbot/simbot-offline-inference/commit/b65310a79294640b32b59309769514b31015bd57)) + +## [4.32.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.31.1...v4.32.0) (2023-05-15) + + +### Features + +* create flag to enforce/ignore successful preparation steps ([4af06aa](https://github.com/emma-simbot/simbot-offline-inference/commit/4af06aad214e57367e8be390878811f35a3c5098)) +* **script:** create script that prepares user area for running the offline inference ([951080a](https://github.com/emma-simbot/simbot-offline-inference/commit/951080a0d4b2deeda7630a1ccbe0105dedd04f75)) + + +### Bug Fixes + +* guard against `InterruptedByNewCommandBatch` ([6b8c239](https://github.com/emma-simbot/simbot-offline-inference/commit/6b8c2390304a38cfe597e42e98192a0a9259426a)) +* **scripts:** automatically setup necessary symlinks ([b45cff7](https://github.com/emma-simbot/simbot-offline-inference/commit/b45cff7584c0ac4e285e2260dc6136b1f7074cd3)) + +## [4.31.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.31.0...v4.31.1) (2023-05-12) + + +### Bug Fixes + +* raycast missed exception handling ([#40](https://github.com/emma-simbot/simbot-offline-inference/issues/40)) ([7a3d3c4](https://github.com/emma-simbot/simbot-offline-inference/commit/7a3d3c4abeecffb553d258873bcfaafbf5d2f025)) + +## [4.31.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.30.0...v4.31.0) (2023-04-28) + + +### Features + +* add setting for fastmode ([b891a94](https://github.com/emma-simbot/simbot-offline-inference/commit/b891a94f431a86459a31ae92472899b7a7b3dc9f)) +* added flag randomise start position ([#41](https://github.com/emma-simbot/simbot-offline-inference/issues/41)) ([741abc8](https://github.com/emma-simbot/simbot-offline-inference/commit/741abc8bae77aacfce0e891dd439166e75b8ae7f)) + + +### Bug Fixes + +* arena source cdfs ([be81cb8](https://github.com/emma-simbot/simbot-offline-inference/commit/be81cb89affc94d355ffaacc7765b04c3873c204)) +* restore support for running the T1 trajectories ([75d545c](https://github.com/emma-simbot/simbot-offline-inference/commit/75d545c996c8acd4959b82ca6e3071a9719411b7)) + +## [4.30.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.9...v4.30.0) (2023-04-26) + + +### Features + +* **T3:** add mission 1 ([455d023](https://github.com/emma-simbot/simbot-offline-inference/commit/455d023b07055ce23895e4768d647968f1e3b349)) + +## [4.29.9](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.8...v4.29.9) (2023-04-26) + + +### Bug Fixes + +* operate microwave challenges ([59b8b44](https://github.com/emma-simbot/simbot-offline-inference/commit/59b8b441c73d447a2e9e43c7db2488053e785951)) + +## [4.29.8](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.7...v4.29.8) (2023-04-25) + + +### Bug Fixes + +* **coffee unmaker:** improve plans, add pot to beans, and iterate layouts ([30a6a0d](https://github.com/emma-simbot/simbot-offline-inference/commit/30a6a0daff08057972ba940f7b776b6978831297)) + +## [4.29.7](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.6...v4.29.7) (2023-04-25) + + +### Bug Fixes + +* ensure the microwave is empty ([a4c454a](https://github.com/emma-simbot/simbot-offline-inference/commit/a4c454aa86792d1213172b5aa6f6aa43c5e91791)) +* remove the boss coffee mug from the colour changer missions ([eee16b4](https://github.com/emma-simbot/simbot-offline-inference/commit/eee16b45369978fc75668d64ce24d277efa0340b)) + +## [4.29.6](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.5...v4.29.6) (2023-04-25) + + +### Bug Fixes + +* disabling color variants with microwave challenges ([0d8ad3a](https://github.com/emma-simbot/simbot-offline-inference/commit/0d8ad3aba632293be9f1cb637d42db5ac02d9b86)) + +## [4.29.5](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.4...v4.29.5) (2023-04-25) + + +### Bug Fixes + +* prep condition for pickup objects from containers ([ab9a60c](https://github.com/emma-simbot/simbot-offline-inference/commit/ab9a60cc14f30c79d2354965c11470127d4dae4e)) +* prep goal condition for place object in container challenge ([40769c4](https://github.com/emma-simbot/simbot-offline-inference/commit/40769c4c72f24e23880c70706fa192cba112aa49)) + +## [4.29.4](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.3...v4.29.4) (2023-04-25) + + +### Bug Fixes + +* disable start colour variants for the colour changer challenges ([a1e39cb](https://github.com/emma-simbot/simbot-offline-inference/commit/a1e39cb79454a2f8c916d77c29319898fd416936)) +* remove objects that cannot be color-changed ([66451f1](https://github.com/emma-simbot/simbot-offline-inference/commit/66451f13515900b59830cc674a20ea254dcf971f)) +* update plans for the challenges ([b4269d1](https://github.com/emma-simbot/simbot-offline-inference/commit/b4269d1b9e9ab1e857a4434e9ecc1161f0bb9b00)) + +## [4.29.3](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.2...v4.29.3) (2023-04-25) + + +### Bug Fixes + +* sink-related challenges ([e44408c](https://github.com/emma-simbot/simbot-offline-inference/commit/e44408c22707ffd5b522e673102a8bbc0f43469d)) +* sink-related goal conditions and plans ([ed27162](https://github.com/emma-simbot/simbot-offline-inference/commit/ed271629859ca609e38270b18c66fb722fa47b70)) + +## [4.29.2](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.1...v4.29.2) (2023-04-23) + + +### Bug Fixes + +* target object was not flagged as ambiguous in key ([5579cda](https://github.com/emma-simbot/simbot-offline-inference/commit/5579cda66407a435ba9200b5e4aeb0d382951507)) + +## [4.29.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.29.0...v4.29.1) (2023-04-23) + + +### Bug Fixes + +* high level keys and plans ([b1dfde9](https://github.com/emma-simbot/simbot-offline-inference/commit/b1dfde9b82f6a64eff7a720f59a350e816c4ead8)) +* include from_receptacle in breaking challenges ([0f236ba](https://github.com/emma-simbot/simbot-offline-inference/commit/0f236ba228ae8265cc13564b07077281e0d27545)) +* remove the from receptacle from high level key in break challenges ([8db7588](https://github.com/emma-simbot/simbot-offline-inference/commit/8db75880e298f3f39e59bc51ceadb006b238ce05)) + +## [4.29.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.28.0...v4.29.0) (2023-04-23) + + +### Features + +* break objects on random desks ([#39](https://github.com/emma-simbot/simbot-offline-inference/issues/39)) ([4e2afe9](https://github.com/emma-simbot/simbot-offline-inference/commit/4e2afe9858d346f811b4eec709cdcf119904f3cf)) + + +### Bug Fixes + +* desks should not be unique ([9f3f1f2](https://github.com/emma-simbot/simbot-offline-inference/commit/9f3f1f24ccafe77ae26012dcc2cd7f9884d30abb)) +* do not use the colour changer to make the object the same color ([80d9a90](https://github.com/emma-simbot/simbot-offline-inference/commit/80d9a9076e39af74005d4341ed1d4ee1937a6e8e)) + +## [4.28.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.27.0...v4.28.0) (2023-04-23) + + +### Features + +* place bowl on plate on gravity pad ([#38](https://github.com/emma-simbot/simbot-offline-inference/issues/38)) ([e058d15](https://github.com/emma-simbot/simbot-offline-inference/commit/e058d152c8d26945e0680f3328807218398725c5)) + + +### Bug Fixes + +* check that the gravity pad contains the plate during prep subgoal ([6ec8b31](https://github.com/emma-simbot/simbot-offline-inference/commit/6ec8b31532f5c9ae3e0c3662fd9d1edaa08a20e6)) +* disable color variants for fridge/freezer challenges ([1778d72](https://github.com/emma-simbot/simbot-offline-inference/commit/1778d720632ecf629fd7d8c947679df09d530ca8)) +* update room/colour was failing because there was no 0th index ([a57bb0c](https://github.com/emma-simbot/simbot-offline-inference/commit/a57bb0ccfe9946ab025c5fd27097d3afdf0a906e)) + +## [4.27.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.26.0...v4.27.0) (2023-04-23) + + +### Features + +* added color variants flag ([#37](https://github.com/emma-simbot/simbot-offline-inference/issues/37)) ([6823c47](https://github.com/emma-simbot/simbot-offline-inference/commit/6823c478271c80634731d8df0e6a266a56d28c82)) + +## [4.26.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.25.0...v4.26.0) (2023-04-23) + + +### Features + +* breaking things with the hammer ([#36](https://github.com/emma-simbot/simbot-offline-inference/issues/36)) ([0bed877](https://github.com/emma-simbot/simbot-offline-inference/commit/0bed87733900834c3cbbc8612cdebebb434319a3)) + +## [4.25.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.24.1...v4.25.0) (2023-04-23) + + +### Features + +* pickup object from printer ([#35](https://github.com/emma-simbot/simbot-offline-inference/issues/35)) ([b5f1cb3](https://github.com/emma-simbot/simbot-offline-inference/commit/b5f1cb35c660149e46910fda9342dc8e0740bb1e)) + + +### Bug Fixes + +* add breakroom table to required objects list ([4e6d8b6](https://github.com/emma-simbot/simbot-offline-inference/commit/4e6d8b6daae52c837d1a0eda757239aa6acdd073)) +* dont make the spawned object into a required one ([987a287](https://github.com/emma-simbot/simbot-offline-inference/commit/987a287e8819b0b8374b72815fedc11e04a29322)) +* replace the spawned object with the printer cartridge ([172fb7a](https://github.com/emma-simbot/simbot-offline-inference/commit/172fb7a757dea6d1a4062623f64d4ad68434c246)) + +## [4.24.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.24.0...v4.24.1) (2023-04-22) + + +### Bug Fixes + +* expliticly ensure at least the first subgoal has been completed ([f61f810](https://github.com/emma-simbot/simbot-offline-inference/commit/f61f810b94c3b569b533475fd79a24ab4edc0981)) +* return after logging the failed trajectory ([940d400](https://github.com/emma-simbot/simbot-offline-inference/commit/940d40085493805275afa6072fd3eaab2dfaaa40)) + +## [4.24.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.23.0...v4.24.0) (2023-04-22) + + +### Features + +* pickup target among distractors ([#34](https://github.com/emma-simbot/simbot-offline-inference/issues/34)) ([8264204](https://github.com/emma-simbot/simbot-offline-inference/commit/826420490dfb667b4cf8030d1d1a7e209b133662)) + +## [4.23.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.22.0...v4.23.0) (2023-04-22) + + +### Features + +* add goal for prep steps ([f3db7ec](https://github.com/emma-simbot/simbot-offline-inference/commit/f3db7ecdb5b1fc7b9e264b9d8ae72fecc50ccd2d)) + +## [4.22.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.21.0...v4.22.0) (2023-04-22) + + +### Features + +* add goal for prep steps ([7742128](https://github.com/emma-simbot/simbot-offline-inference/commit/7742128de7952519e6042e3183c561e97d932e1d)) +* add goals to ensure the "objects in containers" missions are setup correctly ([606a4c3](https://github.com/emma-simbot/simbot-offline-inference/commit/606a4c3dcccac07e960310999a32aa276b932546)) +* mark the run as failed if the preparation steps did not succeed ([4830023](https://github.com/emma-simbot/simbot-offline-inference/commit/48300234304ef524fe4fb85f9c3142b3a5d03eeb)) +* mark the run as failed if the subgoal success is 0 ([f3659b3](https://github.com/emma-simbot/simbot-offline-inference/commit/f3659b35abaa77f0cb63ac4de619339e9f681c1a)) + + +### Bug Fixes + +* disable color variants usage for pickup and place missions separately ([b941892](https://github.com/emma-simbot/simbot-offline-inference/commit/b941892e05640fac81775394776ed349bf8e3c87)) + +## [4.21.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.20.0...v4.21.0) (2023-04-22) + + +### Features + +* add the `target-object-is-ambiguous` high-level key ([f534502](https://github.com/emma-simbot/simbot-offline-inference/commit/f534502965f217fb8e87f667f3e0d95012de9417)) + + +### Bug Fixes + +* update high-level key config within wandb tracker ([3bbc069](https://github.com/emma-simbot/simbot-offline-inference/commit/3bbc0697d9730224062a4615458862353a144399)) + +## [4.20.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.19.1...v4.20.0) (2023-04-21) + + +### Features + +* place object onto plate in container ([#33](https://github.com/emma-simbot/simbot-offline-inference/issues/33)) ([ae16713](https://github.com/emma-simbot/simbot-offline-inference/commit/ae16713e85483736fce93529a7b301f21d6048bc)) + +## [4.19.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.19.0...v4.19.1) (2023-04-21) + + +### Bug Fixes + +* wrong receptacle for target object ([c45a898](https://github.com/emma-simbot/simbot-offline-inference/commit/c45a8982b2fc7a84f0158d1689b853c90e3c28e2)) + +## [4.19.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.18.0...v4.19.0) (2023-04-21) + + +### Features + +* make it easier to generate trajectories in a different folder ([4215037](https://github.com/emma-simbot/simbot-offline-inference/commit/4215037258cf58945db50bfdf6e86b5ed8701c87)) + + +### Bug Fixes + +* make the output dir for generated trajectories ([fcedc65](https://github.com/emma-simbot/simbot-offline-inference/commit/fcedc65825904e3dbcda5cba3c9c67eb470b17c0)) + +## [4.18.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.17.0...v4.18.0) (2023-04-21) + + +### Features + +* enable carrot machine challenges ([321d7a6](https://github.com/emma-simbot/simbot-offline-inference/commit/321d7a60edb6e5c1450dac0ab195e769a1a146ed)) + + +### Bug Fixes + +* kill the unity instance before trying to restart it ([1274ae2](https://github.com/emma-simbot/simbot-offline-inference/commit/1274ae218082d77c280bb96a203416fb4b4f6b39)) + +## [4.17.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.16.1...v4.17.0) (2023-04-21) + + +### Features + +* stack food plate ([#32](https://github.com/emma-simbot/simbot-offline-inference/issues/32)) ([2ef14db](https://github.com/emma-simbot/simbot-offline-inference/commit/2ef14db383bb8f253b52b36291b20c978004d488)) + +## [4.16.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.16.0...v4.16.1) (2023-04-21) + + +### Bug Fixes + +* always remove objects from microwave ([ea0dbcd](https://github.com/emma-simbot/simbot-offline-inference/commit/ea0dbcdedb72fd18c84e5446cdbc5a56c0582890)) + +## [4.16.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.15.1...v4.16.0) (2023-04-21) + + +### Features + +* include stacked objects in the high level key ([3f937e7](https://github.com/emma-simbot/simbot-offline-inference/commit/3f937e76af5b7cbc1ba8c1afbf14d4c5cb654702)) + + +### Bug Fixes + +* remove the `change_color` instruction action ([d53cbaa](https://github.com/emma-simbot/simbot-offline-inference/commit/d53cbaa0e62698cde5343254be8bbdc3b77a203c)) + +## [4.15.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.15.0...v4.15.1) (2023-04-21) + + +### Bug Fixes + +* color changer preparation step ([cc548ec](https://github.com/emma-simbot/simbot-offline-inference/commit/cc548ec415a371431d68e45e328d1697db65a080)) + +## [4.15.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.14.2...v4.15.0) (2023-04-21) + + +### Features + +* Add container challenges for the warehouse sink ([#30](https://github.com/emma-simbot/simbot-offline-inference/issues/30)) ([460dbe1](https://github.com/emma-simbot/simbot-offline-inference/commit/460dbe1900af203d0a5d6dad24a1eb6a4fb7d614)) + + +### Bug Fixes + +* use color variants for both boss mug and normal mug ([a7b5371](https://github.com/emma-simbot/simbot-offline-inference/commit/a7b537191fd4729f4edef905470d1e15b8055307)) + +## [4.14.2](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.14.1...v4.14.2) (2023-04-21) + + +### Bug Fixes + +* incorrect function call ([af355fd](https://github.com/emma-simbot/simbot-offline-inference/commit/af355fd9b5bd7a2f89baf1d18078b05d0861b0ec)) + +## [4.14.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.14.0...v4.14.1) (2023-04-20) + + +### Bug Fixes + +* attempt to handle the 408 connection error ([467f5c7](https://github.com/emma-simbot/simbot-offline-inference/commit/467f5c7fc2c58a876b249c934e9e602758af1535)) + +## [4.14.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.13.3...v4.14.0) (2023-04-20) + + +### Features + +* include unity logs with each run ([bdea65e](https://github.com/emma-simbot/simbot-offline-inference/commit/bdea65e4e677028028b1cc991fb70d1087029810)) + + +### Bug Fixes + +* preparation steps for operate microwave missions ([e23eb24](https://github.com/emma-simbot/simbot-offline-inference/commit/e23eb249b4624f2edf772726f3da0d3963bdffc2)) +* Remove final pick ups ([#29](https://github.com/emma-simbot/simbot-offline-inference/issues/29)) ([fa71470](https://github.com/emma-simbot/simbot-offline-inference/commit/fa71470b50bcd5a6316f1965a95a02da40c7035a)) + +## [4.13.3](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.13.2...v4.13.3) (2023-04-20) + + +### Bug Fixes + +* Color changer interaction object in High Level Key ([#28](https://github.com/emma-simbot/simbot-offline-inference/issues/28)) ([c0468d9](https://github.com/emma-simbot/simbot-offline-inference/commit/c0468d9a4e4c039abba7d4e23685f6879a01ec4a)) + +## [4.13.2](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.13.1...v4.13.2) (2023-04-20) + + +### Bug Fixes + +* goal conditions for the operate printer challenges ([151647c](https://github.com/emma-simbot/simbot-offline-inference/commit/151647cfd91f35e28884d8d6e70b1e310432a4ea)) + +## [4.13.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.13.0...v4.13.1) (2023-04-19) + + +### Bug Fixes + +* disable the carrot machine challenges ([4badcef](https://github.com/emma-simbot/simbot-offline-inference/commit/4badcef705a815b36d0d87dcb4e510ac28e1dc50)) + +## [4.13.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.12.1...v4.13.0) (2023-04-19) + + +### Features + +* add more helper methods to structures ([893f0b6](https://github.com/emma-simbot/simbot-offline-inference/commit/893f0b6ac690f4fcb77973ce0ca9948423833408)) + + +### Bug Fixes + +* change starting room to robotics lab ([518425a](https://github.com/emma-simbot/simbot-offline-inference/commit/518425afe0df928959e9ee91819cd0114bdf568b)) +* let object instance ID's end in a * ([f3d7713](https://github.com/emma-simbot/simbot-offline-inference/commit/f3d7713bd6b98b84fe031c4f243e8cf61c17b879)) +* make the argument name be more descriptive to what is needed ([93e1760](https://github.com/emma-simbot/simbot-offline-inference/commit/93e1760f230d7782c0383418834523e6d675a457)) +* operate printer challenges ([82ce622](https://github.com/emma-simbot/simbot-offline-inference/commit/82ce6222f12862ae7d987d8dc66cba56b70c3587)) +* **operate printer:** make sure robotic arm is out the way ([1dca91b](https://github.com/emma-simbot/simbot-offline-inference/commit/1dca91b45747039a54e3e62dd3b73fa863c122e2)) +* operate time machine with carrots ([1f85703](https://github.com/emma-simbot/simbot-offline-inference/commit/1f8570371a577218810a2c59ffa60ba6fd3616e0)) +* printer cartridge name in the preparation plan ([b8250fa](https://github.com/emma-simbot/simbot-offline-inference/commit/b8250fa6d61260a6ebe73d023e637c150993166f)) +* typo ([0355636](https://github.com/emma-simbot/simbot-offline-inference/commit/0355636fe90418f94c73ad994d4fc2de5bd10fd2)) +* validator condition for object instance id suffix ([d8fb10f](https://github.com/emma-simbot/simbot-offline-inference/commit/d8fb10f3cccf97334a7f542da141039f50abee7c)) + +## [4.12.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.12.0...v4.12.1) (2023-04-19) + + +### Bug Fixes + +* Initial room for carrot maker challenge ([#27](https://github.com/emma-simbot/simbot-offline-inference/issues/27)) ([7221c32](https://github.com/emma-simbot/simbot-offline-inference/commit/7221c3278ebeb42e1427f3034b4406fe5f8393ea)) + +## [4.12.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.11.0...v4.12.0) (2023-04-19) + + +### Features + +* add printer challenges ([#26](https://github.com/emma-simbot/simbot-offline-inference/issues/26)) ([f895cd4](https://github.com/emma-simbot/simbot-offline-inference/commit/f895cd43da9d001ba003a9a902498bfa7896be55)) + +## [4.11.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.10.0...v4.11.0) (2023-04-19) + + +### Features + +* Add carrot machine challenges ([#23](https://github.com/emma-simbot/simbot-offline-inference/issues/23)) ([dabbc47](https://github.com/emma-simbot/simbot-offline-inference/commit/dabbc474163ec653860a0757aa647b41fb54e3ff)) + +## [4.10.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.9.0...v4.10.0) (2023-04-19) + + +### Features + +* Add time machine on carrots ([#25](https://github.com/emma-simbot/simbot-offline-inference/issues/25)) ([7d91e43](https://github.com/emma-simbot/simbot-offline-inference/commit/7d91e430ce1a22a816dc440f0d0f7b38a8f015c1)) + +## [4.9.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.8.0...v4.9.0) (2023-04-19) + + +### Features + +* coffee unmaker with additional objects ([#22](https://github.com/emma-simbot/simbot-offline-inference/issues/22)) ([7f284f9](https://github.com/emma-simbot/simbot-offline-inference/commit/7f284f937ef572deb4cd9acc318d29a6006f80fd)) + +## [4.8.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.7.0...v4.8.0) (2023-04-19) + + +### Features + +* Add microwave challenge ([#21](https://github.com/emma-simbot/simbot-offline-inference/issues/21)) ([f62b996](https://github.com/emma-simbot/simbot-offline-inference/commit/f62b99650c73603e23b592e981718e3450f4fc91)) +* object transformations ([#19](https://github.com/emma-simbot/simbot-offline-inference/issues/19)) ([f76c4c2](https://github.com/emma-simbot/simbot-offline-inference/commit/f76c4c29bbf1e9f6926f37dbf9ca7515beb5c8bf)) + +## [4.7.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.6.0...v4.7.0) (2023-04-19) + + +### Features + +* support setting wandb group name from run command ([9b72cc8](https://github.com/emma-simbot/simbot-offline-inference/commit/9b72cc898e36474b00c691f9330b659bb767bf8a)) + + +### Bug Fixes + +* kill command for the experience hub ([9852ce8](https://github.com/emma-simbot/simbot-offline-inference/commit/9852ce852600549e071a9469d65b560231d4b7a5)) +* use the preparation plan to toggle the sink ([4d3c266](https://github.com/emma-simbot/simbot-offline-inference/commit/4d3c26666702eb682c8ffc9e3848db157a0b7b09)) + +## [4.6.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.5.0...v4.6.0) (2023-04-18) + + +### Features + +* Add more pickable objects for fridge/freezer ([#18](https://github.com/emma-simbot/simbot-offline-inference/issues/18)) ([baf6850](https://github.com/emma-simbot/simbot-offline-inference/commit/baf68504e39212ad16e9bab3fce08f4bfbca8a11)) +* save the mission trajectory file and the output file to wandb ([211bd8c](https://github.com/emma-simbot/simbot-offline-inference/commit/211bd8c47034806128fbfe6cbd3ab25c4513e019)) + +## [4.5.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.4.1...v4.5.0) (2023-04-18) + + +### Features + +* log the experience hub version with the wandb run ([45c17fb](https://github.com/emma-simbot/simbot-offline-inference/commit/45c17fb4bbb12605f9f2b4b3c5b7b9ea2464f58d)) + +## [4.4.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.4.0...v4.4.1) (2023-04-17) + + +### Bug Fixes + +* command that starts the experience hub ([f187fef](https://github.com/emma-simbot/simbot-offline-inference/commit/f187fef18711f47cbe7c7584abbc6316eac11bde)) +* command used to kill the experience hub ([5e8bd3d](https://github.com/emma-simbot/simbot-offline-inference/commit/5e8bd3d5f588b29a5bba9e4c003acdc23cd0d961)) +* if failed to go to a random viewpoint, just go to the first one in the room ([bb3d652](https://github.com/emma-simbot/simbot-offline-inference/commit/bb3d6523e6acf9e8725dc1c8318b1efcdf65730e)) +* use 2 workers to hopefully stop the experience hub from crashing ([daa17a0](https://github.com/emma-simbot/simbot-offline-inference/commit/daa17a0ab4f76dd120b1d264ac1f330954a44f44)) + +## [4.4.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.3.0...v4.4.0) (2023-04-17) + + +### Features + +* also send subgoal completion success rate to wandb per session ([3a789f0](https://github.com/emma-simbot/simbot-offline-inference/commit/3a789f0ece7443058b1fad536bcb92248983e44d)) +* set the session id as the run name ([1960040](https://github.com/emma-simbot/simbot-offline-inference/commit/196004061d6f08939967b3926f298b195df6a5a4)) + +## [4.3.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.2.0...v4.3.0) (2023-04-17) + + +### Features + +* use subprocess to run the experience hub because its easier to consistently kill ([bfaeea2](https://github.com/emma-simbot/simbot-offline-inference/commit/bfaeea2499fb69178f8d40a53af380176f6b1f62)) + + +### Bug Fixes + +* disable fast mode ([d894ef2](https://github.com/emma-simbot/simbot-offline-inference/commit/d894ef2bde809591e97530b8ae9ce4075df70593)) +* disable look actions in random walk ([6060c33](https://github.com/emma-simbot/simbot-offline-inference/commit/6060c33601238e679aaf18d22a6f1803f7eeb486)) +* increase number of healthcheck attempts for experience hub ([a6737a2](https://github.com/emma-simbot/simbot-offline-inference/commit/a6737a27173dabafe373266022657f2fc3148067)) +* plan for placing objects in container ([f522c26](https://github.com/emma-simbot/simbot-offline-inference/commit/f522c2665c8060add37a63b691c48800fedce4b3)) +* remove initial contained items from various containers ([d53b7a0](https://github.com/emma-simbot/simbot-offline-inference/commit/d53b7a06b92f9f642979a50f2601eb317d4941b2)) + +## [4.2.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.1.0...v4.2.0) (2023-04-16) + + +### Features + +* track progress of generated trajectories on wandb ([cb5c1ab](https://github.com/emma-simbot/simbot-offline-inference/commit/cb5c1ab0622bb64c9401652d9aaac3aa5166cf5c)) + + +### Bug Fixes + +* set experience hub timeout to be stupidly high ([9302cca](https://github.com/emma-simbot/simbot-offline-inference/commit/9302ccacfb40b07673bf488692f0403fc8ffa72f)) + +## [4.1.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.0.1...v4.1.0) (2023-04-16) + + +### Features + +* store any remaining utterances that have not been sent to the action outputs ([2bf68b7](https://github.com/emma-simbot/simbot-offline-inference/commit/2bf68b7302bf05866aee510168300228c4feb785)) + + +### Bug Fixes + +* break out the loop if all the goals are complete ([5b8a18f](https://github.com/emma-simbot/simbot-offline-inference/commit/5b8a18fbc5108b7156c661fb24193f75c7d01122)) +* break out the loop if the goals have been completed ([5abe3b1](https://github.com/emma-simbot/simbot-offline-inference/commit/5abe3b15bdb2a44983d3cb79a5a2b7736c9227d1)) + +## [4.0.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v4.0.0...v4.0.1) (2023-04-16) + + +### Bug Fixes + +* make sure the breakroom table exists, and has space for the preparation items ([34a10cd](https://github.com/emma-simbot/simbot-offline-inference/commit/34a10cd68c5be24c35c7b89b7467dec2aa87b480)) +* preparation plan for fill object in sink challenge ([86a96b0](https://github.com/emma-simbot/simbot-offline-inference/commit/86a96b0a0833377b277f6571e2d9cb1c9d77379f)) + +## [4.0.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v3.2.0...v4.0.0) (2023-04-16) + + +### ⚠ BREAKING CHANGES + +* migrate challenges to using state conditions + +### Features + +* migrate challenges to using state conditions ([615b37c](https://github.com/emma-simbot/simbot-offline-inference/commit/615b37cbf7b4b80ee2ab0285ed6ad7d1cfcae24d)) +* turn on fastmode in the arena ([3325143](https://github.com/emma-simbot/simbot-offline-inference/commit/3325143c7bfc98a4d87dd46eb9ac581880fd071d)) + + +### Bug Fixes + +* "and" is no longer allowed ([1ca4655](https://github.com/emma-simbot/simbot-offline-inference/commit/1ca4655251035f6be205b59d4a0341d1c2798514)) +* ensure the reimported CDF is same as the original CDF ([df7a6b8](https://github.com/emma-simbot/simbot-offline-inference/commit/df7a6b8971332553376e8d933c8c90065a5299a4)) +* go to a random viewpoint that actually exists in the current scene ([f4a21cb](https://github.com/emma-simbot/simbot-offline-inference/commit/f4a21cb48608d07c209f7799709630a53b166743)) +* high level key action for "fill object in sink" ([af4829b](https://github.com/emma-simbot/simbot-offline-inference/commit/af4829b9b087cb3f9b26b06749bf31022c8af098)) +* remove the duplicated running of preparation steps ([4db9b7e](https://github.com/emma-simbot/simbot-offline-inference/commit/4db9b7e7b2b873c2a91f2a806d3875558780cc90)) +* use join and close when killing the experience hub process ([3c18b58](https://github.com/emma-simbot/simbot-offline-inference/commit/3c18b58c1293213320411f23b78cb0e5ba8f2f0c)) + +## [3.2.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v3.1.2...v3.2.0) (2023-04-14) + + +### Features + +* do not send utterances to the arena if all the goals are complete ([b8cc13c](https://github.com/emma-simbot/simbot-offline-inference/commit/b8cc13c125338e4965b03edf7f244e88aa46c46f)) +* make it easier to kill the experience hub when something goes wrong ([7e375fe](https://github.com/emma-simbot/simbot-offline-inference/commit/7e375fec74eb0c7d20038fc8e02011201e1dd9ec)) + + +### Bug Fixes + +* fill the object challenge goals ([8543bb2](https://github.com/emma-simbot/simbot-offline-inference/commit/8543bb2a7d8f238a6330761fed959bae9d945d67)) +* include a preparation plan to be able to pickup objects ([#16](https://github.com/emma-simbot/simbot-offline-inference/issues/16)) ([d86301a](https://github.com/emma-simbot/simbot-offline-inference/commit/d86301ad96dd407c6c768847e5b494cac1dbc825)) + +## [3.1.2](https://github.com/emma-simbot/simbot-offline-inference/compare/v3.1.1...v3.1.2) (2023-04-13) + + +### Bug Fixes + +* remove the trajectory batching ([a467340](https://github.com/emma-simbot/simbot-offline-inference/commit/a467340cca8825bbcaa475155e584dccb41d5c6d)) + +## [3.1.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v3.1.0...v3.1.1) (2023-04-12) + + +### Bug Fixes + +* do not randomise trajectory run order by default ([3e16279](https://github.com/emma-simbot/simbot-offline-inference/commit/3e16279bda25192d488792a0c5a297fc95252ba0)) +* get rid of the progress bar ([133b049](https://github.com/emma-simbot/simbot-offline-inference/commit/133b04938b89eff8e864fd17fa35b6702b424e21)) +* remove old "kill arena" command ([23e4cda](https://github.com/emma-simbot/simbot-offline-inference/commit/23e4cda97cac949b775835b2e17cc63206c0d6d9)) + +## [3.1.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v3.0.0...v3.1.0) (2023-04-12) + + +### Features + +* restart the arena after every 10 sessions ([0f9fcdd](https://github.com/emma-simbot/simbot-offline-inference/commit/0f9fcdd800e30cc0e94a047dd37ec9a43dffdc42)) + + +### Bug Fixes + +* improve the styling of the progress bar ([3191a34](https://github.com/emma-simbot/simbot-offline-inference/commit/3191a3492b4a2765f5bcaeefc43d91a6b536aa8c)) +* update the progress bar after sending the utterance ([5d698c3](https://github.com/emma-simbot/simbot-offline-inference/commit/5d698c36e0223bc46ed0d6cd12bbed32714ccbda)) +* update the progress bar more ([4ecce70](https://github.com/emma-simbot/simbot-offline-inference/commit/4ecce701c75075be3859101114b320f80f777a1d)) + +## [3.0.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.13.0...v3.0.0) (2023-04-12) + + +### ⚠ BREAKING CHANGES + +* use a new structure for the high-level keys + +### Features + +* do not re-run missions that have already been run ([1720664](https://github.com/emma-simbot/simbot-offline-inference/commit/1720664590646b82efd4de7f24d376b8f735c59c)) +* use a new structure for the high-level keys ([2116539](https://github.com/emma-simbot/simbot-offline-inference/commit/211653951de884c7b953111bbdd61c4fb696abd6)) + + +### Bug Fixes + +* add more state names to the arena constants ([79365b2](https://github.com/emma-simbot/simbot-offline-inference/commit/79365b289adbcd1a912f9762e3034506f63a2af4)) +* use kebab-case when converting high-level key to string ([2e2d3e8](https://github.com/emma-simbot/simbot-offline-inference/commit/2e2d3e8d271a7fb1447ddcdc1ee906fa2af4a1d9)) + +## [2.13.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.12.0...v2.13.0) (2023-04-12) + + +### Features + +* print a table of num challenges per high level key ([4364dbd](https://github.com/emma-simbot/simbot-offline-inference/commit/4364dbd766c18e37c8952724203209cd287ed6b5)) + +## [2.12.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.11.0...v2.12.0) (2023-04-12) + + +### Features + +* separate the trajectory generation from the trajectory running ([4b9cd0d](https://github.com/emma-simbot/simbot-offline-inference/commit/4b9cd0d4b78c59373351a3c79d30d426c023e3f0)) + +## [2.11.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.10.0...v2.11.0) (2023-04-12) + + +### Features + +* **challenge:** convert coffee into beans using the coffee unmaker ([#15](https://github.com/emma-simbot/simbot-offline-inference/issues/15)) ([8e36065](https://github.com/emma-simbot/simbot-offline-inference/commit/8e36065c350a84400d92b61c1e5cb54c9c89e88e)) + +## [2.10.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.9.1...v2.10.0) (2023-04-12) + + +### Features + +* ensure each object-related key is a 'readable name' (in the `HighLevelKey` ([0cb022e](https://github.com/emma-simbot/simbot-offline-inference/commit/0cb022ef2fefad9825095d9bdb083fc003bb586c)) + +## [2.9.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.9.0...v2.9.1) (2023-04-12) + + +### Bug Fixes + +* explicitly forbid unsupported keys from the `HighLevelKey` ([aca0079](https://github.com/emma-simbot/simbot-offline-inference/commit/aca0079b905460b24e90a12dbfb99bd7136f5831)) + +## [2.9.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.8.0...v2.9.0) (2023-04-11) + + +### Features + +* fill trajectories ([#13](https://github.com/emma-simbot/simbot-offline-inference/issues/13)) ([420313c](https://github.com/emma-simbot/simbot-offline-inference/commit/420313ce28cb490a45cf3f0d14ef171a5d5ce035)) + +## [2.8.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.7.0...v2.8.0) (2023-04-11) + + +### Features + +* add challenge to clean a plate in sink ([392518a](https://github.com/emma-simbot/simbot-offline-inference/commit/392518afc26cc3741d8b47f8b296a35b435cf249)) + + +### Bug Fixes + +* object instance ids for the sink and plate ([9354196](https://github.com/emma-simbot/simbot-offline-inference/commit/9354196947139ee57ad5eddcaf4e7006fdda99c6)) +* use deepcopy on the sink and create a trajectory for every layout ([0b004a5](https://github.com/emma-simbot/simbot-offline-inference/commit/0b004a588c04083afdf4f74491b508585c4bf9a4)) + +## [2.7.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.6.1...v2.7.0) (2023-04-11) + + +### Features + +* lowercase the session ids (except for the prefix) ([eac8202](https://github.com/emma-simbot/simbot-offline-inference/commit/eac82027909d3d6ac14d666d4c94a7ec2f6e3dad)) +* separate the readable name from the object key when building challenges ([35fbde2](https://github.com/emma-simbot/simbot-offline-inference/commit/35fbde272867788cb44e864ce4eedd1567c125fb)) +* use readable names for the keys ([9c30b00](https://github.com/emma-simbot/simbot-offline-inference/commit/9c30b00fc30ce62d46b274c35d0db18fd20826c3)) + +## [2.6.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.6.0...v2.6.1) (2023-04-11) + + +### Bug Fixes + +* add more error types to ignore when randomising start position ([f866cdb](https://github.com/emma-simbot/simbot-offline-inference/commit/f866cdb1168f891da9df29a734c4e2bb65025962)) +* go back to using `str` for `str`-based structures ([8a62425](https://github.com/emma-simbot/simbot-offline-inference/commit/8a62425bd55156606165b42650ebb153633b3aed)) + +## [2.6.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.5.0...v2.6.0) (2023-04-11) + + +### Features + +* add challenges for broken bowls and coloured bowls ([43cb76c](https://github.com/emma-simbot/simbot-offline-inference/commit/43cb76c9893ac908703e4c4a4b51577c111d994f)) +* improve the progress bar for the challenge validator ([9e9e2d2](https://github.com/emma-simbot/simbot-offline-inference/commit/9e9e2d2607895e310ef349c3d3bc96e736581e36)) +* only use the colour changer colors ([4775e46](https://github.com/emma-simbot/simbot-offline-inference/commit/4775e46b0bcac1e0a4cf444af8754b2581a3d289)) +* shuffle the order trajectories are generated in ([33ea2fa](https://github.com/emma-simbot/simbot-offline-inference/commit/33ea2faa102a8511cfdaae77ea55263c905c3d0e)) +* support using RNG for the CDF scenes (with `floor_plan`) ([b7e1b4d](https://github.com/emma-simbot/simbot-offline-inference/commit/b7e1b4d589c6350eed2a29411dd4e155e7686324)) +* validate cdfs from generated missions ([062178c](https://github.com/emma-simbot/simbot-offline-inference/commit/062178c9c866533198fc3f1f3b2a7a9a68dab91f)) + + +### Bug Fixes + +* `required_objects` key within the `CDFScene` ([fe3bcd1](https://github.com/emma-simbot/simbot-offline-inference/commit/fe3bcd1148108a80c1879b6726574bd1636ab7eb)) +* add `__str__` methods for the `ObjectId` and `ObjectInstanceId` ([9b764be](https://github.com/emma-simbot/simbot-offline-inference/commit/9b764bea87fcb33727086553b90db8bf619e8e22)) +* change CDF `floor_plan` validation to allow for `"-1"` ([d12bfe2](https://github.com/emma-simbot/simbot-offline-inference/commit/d12bfe274da5de0f3e7c9ca03b71a0409e1d2b3d)) +* object ids for broken cords and computer monitors ([33aaffa](https://github.com/emma-simbot/simbot-offline-inference/commit/33aaffabe498dd49313b436185cf3413cae96aae)) +* remove the duplicated object state ([3d92f22](https://github.com/emma-simbot/simbot-offline-inference/commit/3d92f22cad37acabba14a437aacc806b644144a3)) +* send actions to randomise start position one-by-one ([8b31f76](https://github.com/emma-simbot/simbot-offline-inference/commit/8b31f76017ad9b80054e96df8576ebdb79ac3737)) + +## [2.5.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.4.0...v2.5.0) (2023-04-10) + + +### Features + +* generate all the pickup from fridge/freezer missions ([e263c93](https://github.com/emma-simbot/simbot-offline-inference/commit/e263c934e764ec0fd6c414c8bb46964fa0f606a8)) + +## [2.4.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.3.0...v2.4.0) (2023-04-10) + + +### Features + +* add `insert` and `vendingmachine` actions to the high-level key structure ([a6486a2](https://github.com/emma-simbot/simbot-offline-inference/commit/a6486a2fc031c9c19a2c5ab36b15b1b640cec645)) +* add command to print the high-levels keys that we have challenges for ([051043e](https://github.com/emma-simbot/simbot-offline-inference/commit/051043eac59053c09039dd16099fa5eaeb807c91)) + +## [2.3.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.2.0...v2.3.0) (2023-04-09) + + +### Features + +* randomise start position before challenge begins ([f78a9fb](https://github.com/emma-simbot/simbot-offline-inference/commit/f78a9fb1e6e67bc2c9d1c07403e2db9e9d6f74f6)) + +## [2.2.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.1.0...v2.2.0) (2023-04-09) + + +### Features + +* add 'pickup apple from fridge' mission, with coloured variants ([f431757](https://github.com/emma-simbot/simbot-offline-inference/commit/f43175720f914af22487e1c934b9b24ecf1b9b0e)) +* register challenge to pick up (coloured) apples from an open fridge ([43fd6ed](https://github.com/emma-simbot/simbot-offline-inference/commit/43fd6ed2004167896404c595504c0063e5fe9399)) +* support generating challenges from other challenges with minor modifications ([1ffbc1e](https://github.com/emma-simbot/simbot-offline-inference/commit/1ffbc1ecd79d63ee2c50f9348c52d56eca6474c9)) + + +### Bug Fixes + +* make sure the `isColorChanged` key doesn't exist already to prevent duplicates ([9555241](https://github.com/emma-simbot/simbot-offline-inference/commit/955524136a19148abd1bd53d3c46d4b2b2bfec2e)) +* replace property setters with explicit functions ([2d4038f](https://github.com/emma-simbot/simbot-offline-inference/commit/2d4038fff20e611199e79b9dcf3ade9fff80a9af)) +* using `*-is-container` when parsing high-level keys from string ([6c78d32](https://github.com/emma-simbot/simbot-offline-inference/commit/6c78d323cd3bf701b41ee83490d757078ee0a480)) + +## [2.1.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v2.0.0...v2.1.0) (2023-04-09) + + +### Features + +* improve generalisability of challenge builders for less boilerplate ([fe24100](https://github.com/emma-simbot/simbot-offline-inference/commit/fe24100fc68860fd17f1730c3b634bdf7b9f205b)) + + +### Bug Fixes + +* add tests and make sure the generation process works ([1a6f6ac](https://github.com/emma-simbot/simbot-offline-inference/commit/1a6f6acf8368f260824b595fe25c68dd77d8f3a2)) + +## [2.0.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.5.0...v2.0.0) (2023-04-08) + + +### ⚠ BREAKING CHANGES + +* be able to generate missions from high-level keys + +### Features + +* add more missions for other layouts ([1c5615d](https://github.com/emma-simbot/simbot-offline-inference/commit/1c5615d1ce506db26868491bc9ef475bd97e765d)) +* add option to send dummy actions when validating cdfs ([0de8f4b](https://github.com/emma-simbot/simbot-offline-inference/commit/0de8f4bc6fe1da3edfb79b727504bb2ef99359ef)) +* be able to generate missions from high-level keys ([1772f92](https://github.com/emma-simbot/simbot-offline-inference/commit/1772f92f03db32379a03d0db388acac78cca2878)) +* include progress to more clearly know the overall progress ([e135740](https://github.com/emma-simbot/simbot-offline-inference/commit/e1357400681ecfc31e674ac3ab23149f73805b63)) +* optionally add randomness to the session id name ([c0c43e2](https://github.com/emma-simbot/simbot-offline-inference/commit/c0c43e281bbf4a2a0fbf20290f96a692e4bec4e7)) +* upload trajectory results to s3 ([77d1532](https://github.com/emma-simbot/simbot-offline-inference/commit/77d153263128e7ea056c6655c641167eacad16bc)) +* use cloudpathlib to upload all the metrics to S3 ([986b1ce](https://github.com/emma-simbot/simbot-offline-inference/commit/986b1ce9116a85b1a5a76d0c0fa53413c2461f8d)) + + +### Bug Fixes + +* create all parents for the metric output file ([41d9372](https://github.com/emma-simbot/simbot-offline-inference/commit/41d9372d27119b9f33abb4ccc4113c2db673957f)) +* created session id needs to not have slashes ([644268b](https://github.com/emma-simbot/simbot-offline-inference/commit/644268bd3becaa28be1c0c7ee49a6965441be0eb)) +* created session id to be in the form `T.DATE/KEY-UUID` ([e94d2ff](https://github.com/emma-simbot/simbot-offline-inference/commit/e94d2ff170f244da1e49364ad8670a807a10d392)) +* env var key to enable the offline evaluation mode ([5380a4b](https://github.com/emma-simbot/simbot-offline-inference/commit/5380a4bf252e511d9ff7c9d1a11e1c5ecd3d299a)) +* generated session id that is valid as a path and uri ([c2a033d](https://github.com/emma-simbot/simbot-offline-inference/commit/c2a033d174e3f10e51588b342af54b7547a07cf8)) +* lint issues ([ad3527d](https://github.com/emma-simbot/simbot-offline-inference/commit/ad3527d1cfdd281354bf1500d8b85a93abf7f09a)) +* set a long timeout for experience hub, which gets overridden by the settings client timeout ([30b45c1](https://github.com/emma-simbot/simbot-offline-inference/commit/30b45c1badac746085ea240278fec9ac4a5b7e04)) +* simplify the provided session id prefix ([70c5971](https://github.com/emma-simbot/simbot-offline-inference/commit/70c5971b0b06a761efe66852ad69234a207e7ce2)) + +## [1.5.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.4.0...v1.5.0) (2023-04-06) + + +### Features + +* add command to validate cdfs within a dir ([8b65c55](https://github.com/emma-simbot/simbot-offline-inference/commit/8b65c55fbcd4330b33e2ce2d95d9c306815cd5fe)) +* add flag to enable offline evaluation mode in experience hub ([4514467](https://github.com/emma-simbot/simbot-offline-inference/commit/4514467b75407d0fe5f999f99143b42f1338190d)) +* add missions for picking up from freezer ([8108cf1](https://github.com/emma-simbot/simbot-offline-inference/commit/8108cf1ed1b93b9077be3bbe160b4dc0f454a527)) +* clone the experience hub into the storage dir ([22b91a7](https://github.com/emma-simbot/simbot-offline-inference/commit/22b91a71272f8cd22a127bf21b3042fae31af31d)) +* create new structures for the challenges and trajectories ([1e12c0b](https://github.com/emma-simbot/simbot-offline-inference/commit/1e12c0b445107020f3c0c4f869498af2650616c2)) +* improve how generating trajectories are to be run ([d3b8979](https://github.com/emma-simbot/simbot-offline-inference/commit/d3b897970a148e5b7b43abff40bc5351d3cfd777)) + + +### Bug Fixes + +* improve the first attempt to make the CDFs ([c19be24](https://github.com/emma-simbot/simbot-offline-inference/commit/c19be24925f8da21c3116bda2ccfdcf0ed739ed9)) +* just use a single high level key for each mission ([788ea34](https://github.com/emma-simbot/simbot-offline-inference/commit/788ea3411c0737d2ae0d0b2314b3bcb0d16437ed)) +* kill command for the arena ([605863b](https://github.com/emma-simbot/simbot-offline-inference/commit/605863bcc7922daca752c1b4f9f661761a40e780)) +* missions for pickup from fridge ([b74601c](https://github.com/emma-simbot/simbot-offline-inference/commit/b74601c7fb30e451bfee24c2ef0ce4ccc378ffdc)) +* settings need to exist before being able to run things ([951aa38](https://github.com/emma-simbot/simbot-offline-inference/commit/951aa382e2673a7cbf0c6214f352374cfe41813e)) +* the service registry path ([eb8c5c5](https://github.com/emma-simbot/simbot-offline-inference/commit/eb8c5c59ccc14fb383b5034cdbbb1f1012302bcd)) + +## [1.4.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.3.1...v1.4.0) (2023-04-05) + + +### Features + +* be able to validate cdfs ([faa6722](https://github.com/emma-simbot/simbot-offline-inference/commit/faa6722aa5a73671e6a1dcedc6c0234ccf0767f9)) + + +### Bug Fixes + +* if the arena/experience hub are running, do not try and start it again ([cde1077](https://github.com/emma-simbot/simbot-offline-inference/commit/cde1077b0b030c7fa3c706c72e89e0b854fc47ae)) +* make sure the experience hub dies ([5094187](https://github.com/emma-simbot/simbot-offline-inference/commit/50941874941b76df641ae79220d4b56788c5e941)) +* run command with the new experience hub version ([6ad167b](https://github.com/emma-simbot/simbot-offline-inference/commit/6ad167bbf94c643210fd23ccad50d710affc6340)) + +## [1.3.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.3.0...v1.3.1) (2023-04-04) + + +### Bug Fixes + +* context managers for the controllers/orchestrators ([fc27d12](https://github.com/emma-simbot/simbot-offline-inference/commit/fc27d126948705ce3683f7aabbd8253ca8c52f55)) + +## [1.3.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.2.0...v1.3.0) (2023-04-02) + + +### Features + +* simplify run commands and add in the backend for the web tool ([4b4ee95](https://github.com/emma-simbot/simbot-offline-inference/commit/4b4ee95a2825058ba35c879b1b2b59af50873eec)) + +## [1.2.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.1.0...v1.2.0) (2023-04-01) + + +### Features + +* add options to run for subset ([2391594](https://github.com/emma-simbot/simbot-offline-inference/commit/23915945e1f80cb5157554fbd37232cfc7e8c8b9)) +* create separate module/script to run the background services ([ec19cd8](https://github.com/emma-simbot/simbot-offline-inference/commit/ec19cd8efc04afd6869b4f6ac50d94e0a27aa83e)) +* dump all metrics so they can be stitched together again ([d8366ce](https://github.com/emma-simbot/simbot-offline-inference/commit/d8366ce36649a79e05fa1c48a357c97b64598b6d)) +* improve metrics calculating ([1bfa793](https://github.com/emma-simbot/simbot-offline-inference/commit/1bfa79315252a66724fc7ce81f9ebe67a41d0b90)) +* include CDFs ([d22fe14](https://github.com/emma-simbot/simbot-offline-inference/commit/d22fe1403b546c866b949992402cd2c2654b5b9d)) +* just everything from running the eval before report submission ([07b000e](https://github.com/emma-simbot/simbot-offline-inference/commit/07b000e1afb17b54ac46f5451490ad500c522626)) +* only evaluate missions that have not been evaluated yet ([453ceb9](https://github.com/emma-simbot/simbot-offline-inference/commit/453ceb9298dbe3cb3c199bfa84cb3f72621d7b49)) +* run eval on single gpu ([bf16694](https://github.com/emma-simbot/simbot-offline-inference/commit/bf166941fe5530972d4f78c909443b99ef9bbe2c)) +* set instance range in settings and send to s3 when done ([b126ffc](https://github.com/emma-simbot/simbot-offline-inference/commit/b126ffcb90d4c39f959e96c60b8006fdedcac026)) + + +### Bug Fixes + +* improve logs and healthchecks and responses ([849ba61](https://github.com/emma-simbot/simbot-offline-inference/commit/849ba61062f9cb5ef745bc1bd70a183623d9fc4d)) +* just make loads of changes to make it actually work properly ([041d40c](https://github.com/emma-simbot/simbot-offline-inference/commit/041d40c75c34a7e672ddc34bdd2df5ebcddc7b13)) +* just make loads of changes to make it actually work properly ([2a88df5](https://github.com/emma-simbot/simbot-offline-inference/commit/2a88df5716e1a7d14bcf96249feb5d31a2cab5cc)) +* make sure we do all instances and dont miss any ([f4901b5](https://github.com/emma-simbot/simbot-offline-inference/commit/f4901b58127eac81e4cb55c6d8d849c9d60feb07)) +* use the new arena executable ([c8a287d](https://github.com/emma-simbot/simbot-offline-inference/commit/c8a287dc3557339c2e63d6f0025ac9dc250d0a60)) + +## [1.1.0](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.0.1...v1.1.0) (2023-03-19) + + +### Features + +* handle lightweight dialogs within the context of the actions ([8647fe7](https://github.com/emma-simbot/simbot-offline-inference/commit/8647fe7da42983dac5d2aa0a66b4efd44ce79182)) + +## [1.0.1](https://github.com/emma-simbot/simbot-offline-inference/compare/v1.0.0...v1.0.1) (2023-01-24) + + +### Bug Fixes + +* only download and prepare T2 validation data ([54f716e](https://github.com/emma-simbot/simbot-offline-inference/commit/54f716e97ad07053313fb89997fbcc9b7225d947)) + +## 1.0.0 (2023-01-23) + + +### Features + +* add arena wrapper from ml toolbox ([9837f96](https://github.com/emma-simbot/simbot-offline-inference/commit/9837f9688371930388b6465ec2a86ff20cfe6691)) +* add code to orchestrate the test ([bc17922](https://github.com/emma-simbot/simbot-offline-inference/commit/bc17922989175672545b212c18a235fa6a7f90a8)) +* add experience hub dir to settings ([d292d1b](https://github.com/emma-simbot/simbot-offline-inference/commit/d292d1bea89ccf56e71363a18f8af33ca262979d)) +* add log points ([bac27af](https://github.com/emma-simbot/simbot-offline-inference/commit/bac27af447e875ba12a9bafd80229ab52b232019)) +* add metric logging for the evaluation ([c0f8ee7](https://github.com/emma-simbot/simbot-offline-inference/commit/c0f8ee7da7a06609d953702502a034d7c698a02c)) +* add run command ([0830cc5](https://github.com/emma-simbot/simbot-offline-inference/commit/0830cc5ea6f113b26dbb04137379023444165cf1)) +* add script to launch xserver ([21389ce](https://github.com/emma-simbot/simbot-offline-inference/commit/21389ce89931a7b8576508dd06b7dfc67baa2f64)) +* add scripts to download the mission data ([ef568c6](https://github.com/emma-simbot/simbot-offline-inference/commit/ef568c667236bb7064a3b1e76a88ec87609ee6ab)) +* add terraform config for creating the instance ([4ab0e6c](https://github.com/emma-simbot/simbot-offline-inference/commit/4ab0e6c0fdf553e61c873d127c0b7a50125d9422)) +* automatically prepare the file system for the evaluation ([397018b](https://github.com/emma-simbot/simbot-offline-inference/commit/397018b5d1eaaa3dc03ae0bca2920e747b63f2d5)) +* automatically update permissions and start xserver ([37a39fe](https://github.com/emma-simbot/simbot-offline-inference/commit/37a39fe302167f2b459311f1b3b0791b8aed2b27)) +* create the settings file ([1b45fcd](https://github.com/emma-simbot/simbot-offline-inference/commit/1b45fcdaed97654bb85f3df53412970139eb5802)) +* disable client timeouts on experience hub ([ed5551d](https://github.com/emma-simbot/simbot-offline-inference/commit/ed5551d37527d5595ae26e9f127270b83fe6b367)) +* install multiprocessing logging ([b767f43](https://github.com/emma-simbot/simbot-offline-inference/commit/b767f436115ac90522ee746cd55fe1983029085c)) +* set ssh key to the ec2 key ([e4a98bd](https://github.com/emma-simbot/simbot-offline-inference/commit/e4a98bd352cd43ad62d1a48acc86b126f5c4cec8)) +* setup repo ([39949b5](https://github.com/emma-simbot/simbot-offline-inference/commit/39949b597f71f64715b9aa3cf9cd5b54d10476e0)) +* setup venv and prepare trajectory data in user-data script ([4ccf28d](https://github.com/emma-simbot/simbot-offline-inference/commit/4ccf28dd82bbe18a685f805285659a8cf7b25949)) +* stop docker containers on exit too ([a369b42](https://github.com/emma-simbot/simbot-offline-inference/commit/a369b428f0213a5f3634a166f615d3c7e710d1e7)) +* use experience hub for access to the storage/docker configs ([9249bbe](https://github.com/emma-simbot/simbot-offline-inference/commit/9249bbef93291aeeaad8b896a0d3338807575192)) +* use loguru for logging in arena_orchestrator ([c9fc3ba](https://github.com/emma-simbot/simbot-offline-inference/commit/c9fc3ba6e2cfaeda4028b4ddf8617b7e78a2f9c9)) +* use rich logging ([557b006](https://github.com/emma-simbot/simbot-offline-inference/commit/557b006fb8ac523124f1fbcfa546d56c141b77ba)) + + +### Bug Fixes + +* add catch for timeout on healthcheck ([0bbab99](https://github.com/emma-simbot/simbot-offline-inference/commit/0bbab99e3bb6604535fb96453a120436b805bb29)) +* allow pickle when loading data ([7ac9ec0](https://github.com/emma-simbot/simbot-offline-inference/commit/7ac9ec0383df033c749dea215c8be72ca2f89ecf)) +* change port for the experience hub to run on ([f211885](https://github.com/emma-simbot/simbot-offline-inference/commit/f211885e8a1c5cbc3c3196ea0e69a40e5d9b681a)) +* copy the arena deps as ubuntu ([91f8c90](https://github.com/emma-simbot/simbot-offline-inference/commit/91f8c9083adb5c4970b2f224b260f7517a86a118)) +* create session id directory for auxiliary metadata ([214ccb6](https://github.com/emma-simbot/simbot-offline-inference/commit/214ccb6204bd285de6715b6fd685e139c70ca7e9)) +* creating the storage dir for cloning the experience hub ([8cc6dbf](https://github.com/emma-simbot/simbot-offline-inference/commit/8cc6dbf0637ab98ed9dcb187c88d0d203b1fa8e0)) +* disable multiprocess logging ([f8cdc4a](https://github.com/emma-simbot/simbot-offline-inference/commit/f8cdc4a6fec3135c0462e1c39bafb699db96b154)) +* do not create a symlink ([70cb36f](https://github.com/emma-simbot/simbot-offline-inference/commit/70cb36f7fa5aef5776cc98c85951352c6da8d44f)) +* do not force download the models if they exist ([5b8949e](https://github.com/emma-simbot/simbot-offline-inference/commit/5b8949ecd4ba39906ab8d45a5a8af903b0105dce)) +* do not run process as a daemon ([7ec2f2c](https://github.com/emma-simbot/simbot-offline-inference/commit/7ec2f2cad2172024f9abd99aff7f8a2f245ea59e)) +* do not start xserver within the user-data ([700f440](https://github.com/emma-simbot/simbot-offline-inference/commit/700f4406783d2d6cc543477090ce75c518f68680)) +* do not try to setup the python env on launch - it wont play nice ([9380128](https://github.com/emma-simbot/simbot-offline-inference/commit/9380128950cf6db6c706e0d97aa164769043a283)) +* explicitly define the args to run the controller api ([a97ddb4](https://github.com/emma-simbot/simbot-offline-inference/commit/a97ddb493041cb0905357358ade7d4bdcc75a6de)) +* explicitly disable observability and production ([79b43cd](https://github.com/emma-simbot/simbot-offline-inference/commit/79b43cdb55bf5b7c49141e0c58d856706cf5a910)) +* formatting ([b21c550](https://github.com/emma-simbot/simbot-offline-inference/commit/b21c5500a69eecb92660f67cca63ca8c3ff4e705)) +* improve orchestrators start order ([defb686](https://github.com/emma-simbot/simbot-offline-inference/commit/defb6864d22ade3f77be28ebb39cbf8646333330)) +* lint errors ([ada1332](https://github.com/emma-simbot/simbot-offline-inference/commit/ada13320224a04ef302046baa08cb4ca5261adae)) +* method order in class ([4a49a24](https://github.com/emma-simbot/simbot-offline-inference/commit/4a49a24c15c1908590963f26504a2b361ef962e7)) +* model storage dir ([ced8940](https://github.com/emma-simbot/simbot-offline-inference/commit/ced89404a770e9646736e2219655d34e6d1de456)) +* only need about 10 retries before it should be running ([61f6e20](https://github.com/emma-simbot/simbot-offline-inference/commit/61f6e2066d1468bb56e255704b98215a98f5f8ed)) +* order of setting orchestrators up ([f4949ef](https://github.com/emma-simbot/simbot-offline-inference/commit/f4949ef170528e3ad80475a48fe29f5cbf692dec)) +* re-able running as a daemon ([eceb2f4](https://github.com/emma-simbot/simbot-offline-inference/commit/eceb2f4a962748eed3804d8ec3899b86f0e2da70)) +* remove dialog actions from the experience hub response actions ([e7f1d50](https://github.com/emma-simbot/simbot-offline-inference/commit/e7f1d50870ae729c346186e784d00270482ebd13)) +* remove the xserver module - its not needed ([f1836b4](https://github.com/emma-simbot/simbot-offline-inference/commit/f1836b42d8d0e01f74ea9f20133fa28dc3ecffe8)) +* send dummy actions when loading the game ([c152998](https://github.com/emma-simbot/simbot-offline-inference/commit/c152998e7fdbbf5bf87f36d1fd8292a02dded327)) +* set arena env vars within the run ([5edb809](https://github.com/emma-simbot/simbot-offline-inference/commit/5edb809c6a4ea408ab0de988e5fb0e588ef33b73)) +* set the appconfig to a dataclass so that it hopefully loads the env vars ([31624c9](https://github.com/emma-simbot/simbot-offline-inference/commit/31624c99feed5706d06f1dcbe10eae7faf50e152)) +* set the envvars outside the function ([4192e36](https://github.com/emma-simbot/simbot-offline-inference/commit/4192e3683b468b54b5446bbab194ae9e5172e713)) +* type error because im pickling so we dont care ([5f0c3a3](https://github.com/emma-simbot/simbot-offline-inference/commit/5f0c3a3d03d6e3f494ebe6904d52a99d6af997e8)) +* types for paths in case they dont exist already because we create them ([05d565d](https://github.com/emma-simbot/simbot-offline-inference/commit/05d565de891567d953f261f9e6313b9a1f31ea7e)) +* unzip path for cdf data ([a035e7c](https://github.com/emma-simbot/simbot-offline-inference/commit/a035e7c50a15faa8df136bd16d51524c911c61e6)) +* use the httpx client when making the request ([5897d15](https://github.com/emma-simbot/simbot-offline-inference/commit/5897d15e5048576f37beebdbf5de67a9777aa000)) +* use the settings to hopefully run the thing ([db07a39](https://github.com/emma-simbot/simbot-offline-inference/commit/db07a39d4dd9be16a0670bff44a4a539a6b2a6f5)) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e8b5d28 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2021 emma-heriot-watt + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..ef65e88 --- /dev/null +++ b/README.md @@ -0,0 +1,99 @@ +
+ +# EMMA: Offline Inference on the Alexa Arena + + + Python 3.9 + + + PyTorch + + + Poetry + + +
+ + + pre-commit + + + style: black + + + wemake-python-styleguide + + +
+ +[![Continuous Integration](https://github.com/emma-heriot-watt/offline-inference/actions/workflows/continuous_integration.yml/badge.svg)](https://github.com/emma-heriot-watt/offline-inference/actions/workflows/continuous_integration.yml) +[![Tests](https://github.com/emma-heriot-watt/offline-inference/actions/workflows/tests.yml/badge.svg)](https://github.com/emma-heriot-watt/offline-inference/actions/workflows/tests.yml) + +
+ +> [!IMPORTANT] +> If you have questions or find bugs or anything, you can contact us in our [organisation's discussion](https://github.com/orgs/emma-heriot-watt/discussions). + +## About + +We use code in this repository to generate new missions to facilitate self-play, to run the agent in the environment, and to evaluate the agent for the eval.ai leaderboard. + +> [!IMPORTANT] +> We only ever ran this on a Ubuntu 20 Linux machine. This has not been tested or verified on MacOS or Windows. Your mileage may vary. + +## Installing dependencies + +You can run the convenience script at `scripts/prepare-user-area.sh`. + +> [!CAUTION] +> I **HIGHLY RECOMMEND** reading the script to know what it does, because you might not need all of it! +> The convenience script does do some sudo-based file changes so if you don't want to permanently dirty your computer, look at it! + +## Running things + +> [!TIP] +> If you need sudo to run Docker, prefix the `poetry run` command with: `sudo -E env PATH=$PATH`. + +### T1 evaluation (the one for [evai.ai](https://eval.ai/web/challenges/challenge-page/1903/overview)) + +When running T1, progress is sent to [wandb:emma-simbot/alexa-arena-evaluation](https://wandb.ai/emma-simbot/alexa-arena-evaluation). All session IDs are prefixed with `T1-`. + +#### Steps + +1. Create a new tmux session. +2. In one tmux pane, run `sudo /usr/bin/X :1 &` +3. In the other pane, run: + + ```bash + poetry run python -m simbot_offline_inference run-background-services + ``` + +4. Finally, in a third pane, run: + + ```bash + poetry run python -m simbot_offline_inference run-their-evaluation + ``` + +5. Let it run. + +### Running the trajectory generation + +When running trajectories, each one is a new "run", and all the runs are tracked at [wandb:emma-simbot/arena-high-level-trajectories](https://wandb.ai/emma-simbot/arena-high-level-trajectories). + +#### Steps + +1. Create a new tmux session. +2. In one tmux pane, run `sudo /usr/bin/X :1 &` +3. In the other pane, run: + + ```bash + poetry run python -m simbot_offline_inference run-background-services + ``` + +4. Finally, in a third pane, run: + + ```bash + poetry run python -m simbot_offline_inference generate-trajectories + ``` + +5. Let it run. diff --git a/poetry.lock b/poetry.lock new file mode 100644 index 0000000..87abdb8 --- /dev/null +++ b/poetry.lock @@ -0,0 +1,3562 @@ +# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. + +[[package]] +name = "anyio" +version = "4.1.0" +description = "High level compatibility layer for multiple asynchronous event loop implementations" +optional = false +python-versions = ">=3.8" +files = [ + {file = "anyio-4.1.0-py3-none-any.whl", hash = "sha256:56a415fbc462291813a94528a779597226619c8e78af7de0507333f700011e5f"}, + {file = "anyio-4.1.0.tar.gz", hash = "sha256:5a0bec7085176715be77df87fc66d6c9d70626bd752fcc85f57cdbee5b3760da"}, +] + +[package.dependencies] +exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""} +idna = ">=2.8" +sniffio = ">=1.1" + +[package.extras] +doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"] +test = ["anyio[trio]", "coverage[toml] (>=7)", 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with flake8" +cmd = "flake8 ." + +[tool.poe.tasks.test] +help = "Run the fast Python tests" +cmd = "pytest --cov=src -m 'not slow'" + +[tool.poe.tasks.test-everything] +help = "Run all the tests and get the coverage" +cmd = "pytest -v --durations=40 --color=yes --junitxml=pytest.xml --cov=src -m 'not slow' -n 2" + +[tool.poetry.dependencies] +python = ">=3.9,<3.10" +flask = ">=2.2.2,<3" +unityparser = "2.2.1" +opencv-python-headless = ">=4.8.1.68" +scipy = ">=1.10.0" +jinja2 = ">=3.1.2" +flask-cors = ">=3.0.10" +gevent = ">=23.9" +shortuuid = ">=1.0.11" +typing-extensions = ">=4.8.0" +deepmerge = ">=1.1.0" +wandb = ">=0.16.0" +torchmetrics = ">=0.11.4" + +[tool.poetry.group.emma.dependencies] +emma-experience-hub = { git = "https://github.com/emma-heriot-watt/experience-hub.git" } + +[tool.poetry.group.lint.dependencies] +black = ">=23.3.0" +wemake-python-styleguide = ">=0.17.0" +mypy = ">=1.2.0" +pre-commit = ">=3.2.2" +poethepoet = ">=0.18.1" +isort = ">=5.12.0" +types-pyyaml = ">=6.0.12.9" + + +[tool.poetry.group.test.dependencies] +pytest = ">=7.2.2" +pytest-cases = ">=3.6.14" +pytest-cov = ">=4.0.0" +pytest-xdist = ">=3.2.1" +deepdiff = ">=6.3.0" + +[tool.black] +line-length = 99 + +[tool.isort] +profile = "black" +combine_as_imports = true +lines_after_imports = 2 +line_length = 99 +extra_standard_library = ["typing_extensions"] +known_first_party = ["emma_*", "arena_*", "simbot_*"] + +[tool.pyright] +include = ["src"] +exclude = ["src/arena_wrapper"] +# typeCheckingMode = "strict" +reportImportCycles = "error" + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/scripts/compare_t1_data.py b/scripts/compare_t1_data.py new file mode 100644 index 0000000..1436543 --- /dev/null +++ b/scripts/compare_t1_data.py @@ -0,0 +1,102 @@ +import itertools +import json +from pathlib import Path + +from pydantic import BaseModel +from rich.pretty import pprint as rich_print +from rich.progress import track + + +TOTAL_COUNT = 1149 + + +class SplitMetrics(BaseModel): + """Model for each metrics.json that got saved.""" + + games_available: int = TOTAL_COUNT + games_played: int + games_completed: int + subgoals_completed: int + total_subgoals: int + mission_groups: set[str] + games_played_per_mission_group: dict[str, int] + games_completed_per_mission_group: dict[str, int] + success_rate: float + subgoal_completion_rate: float + success_rate_per_mission: dict[str, float] + + +def average_actions(mission_dir: Path) -> None: + """Get the average number of actions taken per mission.""" + num_actions = [] + files_to_check = list(mission_dir.iterdir()) + + for mission_file in track(files_to_check): + if mission_file.is_dir(): + continue + + with open(mission_file) as open_file: + parsed_file = json.load(open_file) + actions = parsed_file["predicted_actions"] + num_actions.append(len(actions)) + + rich_print(sum(num_actions) / len(num_actions)) + + +def compare_data(data_dir: Path) -> None: + """Run the numbers.""" + # Load all the data + loaded_data: list[SplitMetrics] = [] + for data_file in data_dir.iterdir(): + if data_file.is_dir(): + continue + loaded_data.append(SplitMetrics.parse_file(data_file)) + + games_played = sum(data.games_played for data in loaded_data) + games_completed = sum(data.games_completed for data in loaded_data) + subgoals_completed = sum(data.subgoals_completed for data in loaded_data) + total_subgoals = sum(data.total_subgoals for data in loaded_data) + mission_groups = set( + itertools.chain.from_iterable([data.mission_groups for data in loaded_data]) + ) + games_played_per_mission_group = { + mission_group: sum( + data.games_played_per_mission_group[mission_group] + if mission_group in data.games_played_per_mission_group + else 0 + for data in loaded_data + ) + for mission_group in mission_groups + } + games_completed_per_mission_group = { + mission_group: sum( + data.games_completed_per_mission_group[mission_group] + if mission_group in data.games_completed_per_mission_group + else 0 + for data in loaded_data + ) + for mission_group in mission_groups + } + merged_data = SplitMetrics( + games_played=games_played, + games_completed=games_completed, + subgoals_completed=subgoals_completed, + total_subgoals=total_subgoals, + mission_groups=mission_groups, + games_played_per_mission_group=games_played_per_mission_group, + games_completed_per_mission_group=games_completed_per_mission_group, + success_rate=games_completed / games_played, + subgoal_completion_rate=subgoals_completed / total_subgoals, + success_rate_per_mission={ + mission_group: games_completed_per_mission_group[mission_group] + / games_played_per_mission_group[mission_group] + for mission_group in mission_groups + }, + ) + + rich_print(merged_data) + + +if __name__ == "__main__": + compare_data(Path("storage/metrics/")) + average_actions(Path("storage/metrics/missions/")) diff --git a/scripts/fetch-arena-data.sh b/scripts/fetch-arena-data.sh new file mode 100644 index 0000000..4c0dd24 --- /dev/null +++ b/scripts/fetch-arena-data.sh @@ -0,0 +1,6 @@ +#!/bin/bash + +mkdir -p storage/data/trajectory-data + +aws s3 cp s3://alexa-arena-resources/DATA_LICENSE ./storage/data/DATA_LICENSE --no-sign-request +aws s3 cp s3://alexa-arena-resources/data/trajectory-data/valid.json ./storage/data/trajectory-data/valid.json --no-sign-request diff --git a/scripts/fetch-arena.sh b/scripts/fetch-arena.sh new file mode 100644 index 0000000..3b26134 --- /dev/null +++ b/scripts/fetch-arena.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +mkdir -p storage/arena + +wget -P ./storage/ "https://alexa-arena-executable.s3.us-west-1.amazonaws.com/Arena.zip" +unzip ./storage/Arena.zip -d ./storage/arena +rm -f ./storage/Arena.zip diff --git a/scripts/prepare-user-area.sh b/scripts/prepare-user-area.sh new file mode 100644 index 0000000..63552c4 --- /dev/null +++ b/scripts/prepare-user-area.sh @@ -0,0 +1,73 @@ +#! /bin/bash +set -e +set -o pipefail + +# This script prepares the user area for the user to run the offline inference + +# Make sure this script is run as sudo +if [ "$EUID" -ne 0 ]; then + echo "Please run as sudo" + exit 1 +fi + +# Ensure python version is 3.9, and fail otherwise +if [[ $(python3 --version) != *"3.9"* ]]; then + echo "Please use python 3.9." + exit 1 +fi + +# Ensure poetry is installed +if ! command -v poetry &>/dev/null; then + echo "Poetry could not be found" + exit 1 +fi + +# Install poetry deps without the experience hub +echo "[SimBot] Installing poetry dependencies" +poetry install --without emma + +# Clone the experience hub into the storage dir +echo "[SimBot] Installing experience hub as editable" +git clone https://github.com/emma-heriot-watt/experience-hub storage/experience-hub +pip install -e storage/experience-hub + +# Fetch the arena +echo "[SimBot] Fetching the arena" +sh ./scripts/fetch-arena.sh + +# Set the permissions for the arena +echo "[SimBot] Set permissions for the arena" +sudo chmod -R 755 storage/arena/Linux +chmod 777 storage/arena/Linux/Arena.x86_64 + +# Install the arena dependencies by copying the files they want us to copy +echo "[SimBot] Installing arena dependencies" +# Warn the user in bright red +echo -e "\e[1;31m" +echo "WARNING!!!!!!!" +echo "THIS WILL CHANGE FILES ON YOUR MACHINE!!!!!" +echo "EITHER RUN THIS INSIDE A CONTAINER OR BACKUP THAT FOLDER BEFORE YOU RUN THIS." +# Reset the colour +echo -e "\e[0m" +# Ask the user if they want to continue +read -p "Do you want to continue? (y/n) " -n 1 -r + +if [[ ! $REPLY =~ ^[Yy]$ ]]; then + echo + echo "Aborting." + exit 1 +fi +sudo cp -r storage/arena/Dependencies/* /usr/lib/ +sudo ldconfig + +# Download the arena data +echo "[SimBot] Downloading arena mission data" +sh ./scripts/fetch-arena-data.sh + +# Setup symlinks for Docker and storage/models +echo "[SimBot] Setting up symlinks" +ln -s ./storage/experience-hub/docker/ ./ +ln -s ./storage/experience-hub/storage/models/ ./storage/ + +# Done +echo "[SimBot] Done!" diff --git a/src/arena_missions/__init__.py b/src/arena_missions/__init__.py new file mode 100644 index 0000000..a29f170 --- /dev/null +++ b/src/arena_missions/__init__.py @@ -0,0 +1,4 @@ +from arena_missions.load_challenges import load_challenges + + +load_challenges() diff --git a/src/arena_missions/builders/__init__.py b/src/arena_missions/builders/__init__.py new file mode 100644 index 0000000..9c6aa0c --- /dev/null +++ b/src/arena_missions/builders/__init__.py @@ -0,0 +1,7 @@ +from arena_missions.builders.challenge_builder import ( + ChallengeBuilder, + ChallengeBuilderFunction, + ChallengeBuilderOutput, +) +from arena_missions.builders.mission_builder import MissionBuilder +from arena_missions.builders.required_objects_builder import RequiredObjectBuilder diff --git a/src/arena_missions/builders/challenge_builder.py b/src/arena_missions/builders/challenge_builder.py new file mode 100644 index 0000000..9ddfb18 --- /dev/null +++ b/src/arena_missions/builders/challenge_builder.py @@ -0,0 +1,138 @@ +from collections.abc import Iterator +from copy import deepcopy +from itertools import groupby +from typing import Any, Callable, Optional, Union + +from deepmerge import always_merger +from pydantic import BaseModel, Field + +from arena_missions.constants.arena import OfficeLayout, OfficeRoom +from arena_missions.structures import HighLevelKey, RequiredObject, StateCondition, TaskGoal + + +class ChallengeBuilderOutput(BaseModel): + """Output of a challenge builder function.""" + + start_room: OfficeRoom + required_objects: dict[str, RequiredObject] + plan: list[str] + + task_goals: list[TaskGoal] + state_conditions: list[StateCondition] = Field(default_factory=list) + + preparation_plan: list[str] = Field(default_factory=list) + + # If you want to override the office layout, set this. + office_layout: Optional[OfficeLayout] = None + + # Whether or not to include all the default objects like open doors, etc. + # If you don't care, just ignore it. + include_all_default_objects: Optional[bool] = True + + randomise_start_position: bool = True + + @property + def required_objects_list(self) -> list[RequiredObject]: + """Return a list of lists of required objects.""" + return list(self.required_objects.values()) + + +ChallengeBuilderFunction = Callable[[], ChallengeBuilderOutput] + + +class ChallengeBuilder: + """Registrable-style class that registers challenge builders to easily generate them.""" + + _registry: list[tuple[HighLevelKey, ChallengeBuilderFunction]] = [] + + def __iter__(self) -> Iterator[tuple[HighLevelKey, ChallengeBuilderFunction]]: + """Iterate over the registry.""" + yield from self._registry + + @classmethod + def register( + cls, high_level_key: Union[str, HighLevelKey] + ) -> Callable[[ChallengeBuilderFunction], ChallengeBuilderFunction]: + """Register a challenge builder.""" + # mypy errors if we don't reassign the parsed high-level key to a new variable. + # Either that is a bug, or it knows something we don't. + parsed_high_level_key = ( + HighLevelKey.from_string(high_level_key) + if isinstance(high_level_key, str) + else high_level_key + ) + + def decorator(func: ChallengeBuilderFunction) -> ChallengeBuilderFunction: + # Registry count before registering + registry_count = len(ChallengeBuilder._registry) # noqa: WPS437 + + # Register the challenge builder + ChallengeBuilder._registry.append((parsed_high_level_key, func)) # noqa: WPS437 + + # Get the count after removing duplicates + registry_count_after_duplicates_removed = len( + set(ChallengeBuilder._registry) # noqa: WPS437 + ) + + # If the count is the same, then we didn't add a new challenge builder + if registry_count == registry_count_after_duplicates_removed: + raise ValueError( + f"Challenge builder already registered for: ({parsed_high_level_key}, {func})." + ) + + return func + + return decorator + + @classmethod + def register_with_modifiers( + cls, + high_level_key: Union[str, HighLevelKey], + modified_kwargs: dict[str, Any], + ) -> Callable[[ChallengeBuilderFunction], ChallengeBuilderFunction]: + """Register a challenge builder with modifiers.""" + + def decorator(func: ChallengeBuilderFunction) -> ChallengeBuilderFunction: + # Register the modified challenge builder + ChallengeBuilder.register(high_level_key)( + ChallengeBuilder.modify_challenge_builder_function_output(func, modified_kwargs) + ) + + return func + + return decorator + + @classmethod + def count_available_functions_per_key(cls) -> dict[HighLevelKey, int]: + """List all keys and how many functions connect with them.""" + key_counts: dict[HighLevelKey, int] = {} + + # Sort the registry by the high-level key + sorted_registry = sorted(cls._registry, key=lambda x: x[0].key) + + for k, g in groupby(sorted_registry, key=lambda x: x[0]): + key_counts[k] = len(list(g)) + + return key_counts + + @classmethod + def list_available(cls) -> list[HighLevelKey]: + """List all available high-level keys.""" + return list({key for key, _ in cls._registry}) + + @staticmethod + def modify_challenge_builder_function_output( # noqa: WPS602 + function: ChallengeBuilderFunction, modified_kwargs: dict[str, Any] + ) -> ChallengeBuilderFunction: + """Modify the output of a challenge builder function.""" + + def wrapper() -> ChallengeBuilderOutput: + # Call the original function + output = function().dict(by_alias=True) + output = deepcopy(output) + # Modify the output + always_merger.merge(output, modified_kwargs) + # Return the modified output + return ChallengeBuilderOutput.parse_obj(output) + + return wrapper diff --git a/src/arena_missions/builders/mission_builder.py b/src/arena_missions/builders/mission_builder.py new file mode 100644 index 0000000..546b132 --- /dev/null +++ b/src/arena_missions/builders/mission_builder.py @@ -0,0 +1,93 @@ +import random +from collections.abc import Iterator +from typing import Optional, get_args + +from arena_missions.builders.challenge_builder import ( + ChallengeBuilder, + ChallengeBuilderFunction, + ChallengeBuilderOutput, +) +from arena_missions.builders.required_objects_builder import RequiredObjectBuilder +from arena_missions.constants.arena import OfficeLayout +from arena_missions.structures import CDF, CDFScene, HighLevelKey, Mission, RequiredObject + + +class MissionBuilder: + """Build missions for the Arena.""" + + def __init__( + self, + challenge_builder: ChallengeBuilder, + required_object_builder: RequiredObjectBuilder, + unity_scene_rng_seed: Optional[int] = None, + ) -> None: + self.challenge_builder = challenge_builder + self.required_object_builder = required_object_builder + + self._unity_scene_rng_seed = unity_scene_rng_seed + + @property + def cdf_floor_plan(self) -> str: + """Convert the Unity Scene RNG seed to a string for the `floor_plan`.""" + return str(self._unity_scene_rng_seed) if self._unity_scene_rng_seed is not None else "-1" + + def generate_all_missions(self) -> Iterator[Mission]: + """Generate all missions.""" + yield from ( + self.generate_mission(high_level_key, challenge_builder_function) + for high_level_key, challenge_builder_function in self.challenge_builder + ) + + def generate_mission( + self, high_level_key: HighLevelKey, challenge_builder_function: ChallengeBuilderFunction + ) -> Mission: + """Generate a mission.""" + builder_output = challenge_builder_function() + cdf = self.generate_cdf(builder_output) + return Mission( + high_level_key=high_level_key, + plan=builder_output.plan, + cdf=cdf, + preparation_plan=builder_output.preparation_plan, + randomise_start_position=builder_output.randomise_start_position, + ) + + def generate_cdf(self, challenge_builder_output: ChallengeBuilderOutput) -> CDF: + """Generate a challenge.""" + required_objects = [ + *challenge_builder_output.required_objects_list, + *self.generate_default_arena_objects_if_required( + challenge_builder_output.include_all_default_objects + ), + ] + + cdf_scene = CDFScene( + roomLocation=[challenge_builder_output.start_room], + floor_plan=self.cdf_floor_plan, + required_objects=required_objects, + layoutOverride=self.generate_office_layout_if_required( + challenge_builder_output.office_layout + ), + ) + return CDF( + scene=cdf_scene, + task_goals=challenge_builder_output.task_goals, + stateconditions=challenge_builder_output.state_conditions, + ) + + def generate_default_arena_objects_if_required( + self, include_all_default_objects: Optional[bool] + ) -> list[RequiredObject]: + """Generate default arena objects.""" + if include_all_default_objects is None: + include_all_default_objects = random.choice([True, False]) + + return ( + self.required_object_builder.default_objects() if include_all_default_objects else [] + ) + + def generate_office_layout_if_required( + self, office_layout: Optional[OfficeLayout] + ) -> OfficeLayout: + """Generate office layout.""" + return office_layout if office_layout else random.choice(get_args(OfficeLayout)) diff --git a/src/arena_missions/builders/required_objects_builder.py b/src/arena_missions/builders/required_objects_builder.py new file mode 100644 index 0000000..66430c3 --- /dev/null +++ b/src/arena_missions/builders/required_objects_builder.py @@ -0,0 +1,290 @@ +from typing import Literal, Optional + +from arena_missions.constants.arena import OfficeRoom +from arena_missions.structures import ObjectInstanceId, RequiredObject, RequiredObjectState + + +class RequiredObjectBuilder: + """Simplify object building within the arena.""" + + num_doors: int = 7 + num_light_switches: int = 8 + num_broken_cords: int = 3 + num_gray_fuse_boxes: int = 2 + num_red_fuse_boxes: int = 1 + num_computer_monitors: int = 5 + max_num_lab1_desks: int = 5 + max_num_lab2_desks: int = 3 + + def default_objects(self) -> list[RequiredObject]: + """Generate all default objects for the arena.""" + return [ + *self.doors(), + *self.light_switches(), + *self.broken_cords(), + *self.fuse_boxes(), + *self.computer_monitors(), + ] + + def color_changer(self) -> RequiredObject: + """Generate the color changer for the arena.""" + return RequiredObject.from_string("ColorChangerStation_1") + + def doors(self, *, is_open: bool = True) -> list[RequiredObject]: + """Generate all 7 doors for the arena.""" + return [ + RequiredObject( + name=ObjectInstanceId.parse(f"Door_01_{door_num}"), + state=[RequiredObjectState.from_parts("isOpen", "true" if is_open else "false")], + ) + for door_num in range(1, self.num_doors + 1) + ] + + def light_switches(self) -> list[RequiredObject]: + """Generate all 8 light switches for the arena.""" + return [ + RequiredObject( + name=ObjectInstanceId.parse(f"LightSwitch_01_{switch_num}"), + ) + for switch_num in range(1, self.num_light_switches + 1) + ] + + def broken_cords(self, *, is_on: bool = False) -> list[RequiredObject]: + """Generate all 3 broken cords for the arena.""" + return [ + RequiredObject( + name=ObjectInstanceId.parse(f"Broken_Cord_01_{cord_num}"), + state=[ + RequiredObjectState.from_parts("isToggledOn", "true" if is_on else "false") + ], + ) + for cord_num in range(1, self.num_broken_cords + 1) + ] + + def fuse_boxes(self) -> list[RequiredObject]: + """Generate all fuse boxes for the arena.""" + gray_fuse_boxes = [ + RequiredObject(name=ObjectInstanceId.parse(f"FuseBox_01_{fuse_box_num}")) + for fuse_box_num in range(1, self.num_gray_fuse_boxes + 1) + ] + red_fuse_boxes = [ + RequiredObject(name=ObjectInstanceId.parse(f"FuseBox_02_{fuse_box_num}")) + for fuse_box_num in range(1, self.num_red_fuse_boxes + 1) + ] + return [*gray_fuse_boxes, *red_fuse_boxes] + + def computer_monitors(self) -> list[RequiredObject]: + """Generate all computer monitors for the arena.""" + return [ + RequiredObject(name=ObjectInstanceId.parse(f"Computer_Monitor_01_{monitor_num}")) + for monitor_num in range(1, self.num_computer_monitors + 1) + ] + + def freeze_ray(self) -> RequiredObject: + """Generate the freeze ray for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("FreezeRay_1")) + + def emotion_tester(self) -> RequiredObject: + """Generate the emotion tester for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("TAMPrototypeHead_01_1")) + + def portal_generator(self) -> RequiredObject: + """Generate the portal generator for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("PortalGenerator_10000")) + + def laser(self) -> RequiredObject: + """Generate the laser for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("Laser_1")) + + def gravity_pad(self) -> RequiredObject: + """Generate the gravity pad for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("GravityPad_1")) + + def fridge(self, *, room: OfficeRoom = "BreakRoom", is_open: bool = False) -> RequiredObject: + """Generate the fridge for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("FridgeLower_02_1"), + state=[ + RequiredObjectState.from_parts("isOpen", "true" if is_open else "false"), + RequiredObjectState.from_parts("removeInitialContainedItems", "true"), + ], + roomLocation=[room], + ) + + def freezer(self, *, room: OfficeRoom = "BreakRoom", is_open: bool = False) -> RequiredObject: + """Generate the freezer for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("FridgeUpper_02_1"), + state=[ + RequiredObjectState.from_parts("isOpen", "true" if is_open else "false"), + RequiredObjectState.from_parts("removeInitialContainedItems", "true"), + ], + roomLocation=[room], + ) + + def time_machine(self, *, room: OfficeRoom = "BreakRoom") -> RequiredObject: + """Generate the time machine for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("YesterdayMachine_01_1"), roomLocation=[room] + ) + + def carrot_maker(self, *, room: OfficeRoom = "Lab2") -> RequiredObject: + """Generate the carrot maker for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("EAC_Machine_1"), roomLocation=[room]) + + def microwave(self, *, room: OfficeRoom = "BreakRoom") -> RequiredObject: + """Generate the microwave for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("Microwave_01_1"), + state=[ + RequiredObjectState.from_parts("removeInitialContainedItems", "true"), + RequiredObjectState.from_parts("isEmpty", "true"), + ], + roomLocation=[room], + ) + + def robotic_arm(self, *, is_arm_lifted: bool = True) -> RequiredObject: + """Generate the robotic arm for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("RoboticArm_01_1"), + state=[ + RequiredObjectState.from_parts("isToggledOn", "true" if is_arm_lifted else "false") + ], + ) + + def fork_lift(self, *, is_fork_lifted: bool = True) -> RequiredObject: + """Generate the fork lift for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("ForkLift_1"), + state=[ + RequiredObjectState.from_parts( + "isToggledOn", "true" if is_fork_lifted else "false" + ) + ], + ) + + def coffee_pot( + self, *, fill_with: Optional[Literal["Coffee", "Water"]] = None + ) -> RequiredObject: + """Generate the coffee pot for the arena.""" + coffee_pot = RequiredObject( + name=ObjectInstanceId.parse("CoffeePot_01_1"), roomLocation=["BreakRoom"] + ) + + if fill_with == "Coffee": + coffee_pot.update_state("isFilled", "Coffee") + coffee_pot.update_state("isHot", "true") + + if fill_with == "Water": + coffee_pot.update_state("isFilled", "Water") + + return coffee_pot + + def coffee_unmaker(self) -> RequiredObject: + """Generate the coffee unmaker for the arena.""" + return RequiredObject( + name=ObjectInstanceId.parse("CoffeeUnMaker_01_1"), roomLocation=["BreakRoom"] + ) + + def breakroom_table(self) -> RequiredObject: + """Create the round table in the breakroom.""" + return RequiredObject( + name=ObjectInstanceId.parse("TableRound_02_1"), + state=[RequiredObjectState.from_parts("removeInitialContainedItems", "true")], + roomLocation=["BreakRoom"], + ) + + def breakroom_countertop(self) -> RequiredObject: + """Create the countertop in the breakroom.""" + return RequiredObject( + name=ObjectInstanceId.parse("KitchenCounterTop_02_1"), + state=[RequiredObjectState.from_parts("removeInitialContainedItems", "true")], + roomLocation=["BreakRoom"], + ) + + def printer(self) -> RequiredObject: + """Generate the printer for the arena.""" + return RequiredObject(name=ObjectInstanceId.parse("Printer_3D_1")) + + def main_office_desks(self) -> list[RequiredObject]: + """Returns office desks in main office.""" + desk_names = [ + "AP_Prop_Desk_Blue", + "AP_Prop_Desk_Green", + "AP_Prop_Desk_Red", + ] + + desk_objects = [] + + for desk_name in desk_names: + desk_objects.append( + RequiredObject( + name=ObjectInstanceId.parse(f"{desk_name}_1"), + state=[RequiredObjectState.from_parts("removeInitialContainedItems", "true")], + roomLocation=["MainOffice"], + ) + ) + + return desk_objects + + def reception_desk(self) -> RequiredObject: + """Returns the reception desk in the reception.""" + return RequiredObject( + name=ObjectInstanceId.parse("ReceptionDesk_1"), + state=[RequiredObjectState.from_parts("removeInitialContainedItems", "true")], + roomLocation=["Reception"], + ) + + def manager_desk(self) -> RequiredObject: + """Returns the manager desk in the small office.""" + return RequiredObject( + name=ObjectInstanceId.parse("ManagerDesk_1"), + state=[RequiredObjectState.from_parts("removeInitialContainedItems", "true")], + roomLocation=["SmallOffice"], + ) + + def warehouse_cabinet(self) -> RequiredObject: + """Returns the warehouse cabinet.""" + return RequiredObject( + name=ObjectInstanceId.parse("KitchenCabinet_02_1"), roomLocation=["Warehouse"] + ) + + def warehouse_metal_table(self) -> RequiredObject: + """Returns the warehouse metal table.""" + return RequiredObject( + name=ObjectInstanceId.parse("Table_Metal_01_1"), roomLocation=["Warehouse"] + ) + + def warehouse_wooden_table(self) -> RequiredObject: + """Returns the warehouse wooden table.""" + return RequiredObject( + name=ObjectInstanceId.parse("SM_Prop_Table_02_1"), roomLocation=["Warehouse"] + ) + + def lab1_desks(self) -> list[RequiredObject]: + """Returns desks in the Lab1.""" + desk_format = "Desk_01_{instance_count}" + + desks = [] + + for desk_idx in range(1, self.max_num_lab1_desks + 1): + desk_id = ObjectInstanceId.parse(desk_format.format(instance_count=desk_idx)) + desk = RequiredObject(name=desk_id) + desk.update_room("Lab1") + desks.append(desk) + + return desks + + def lab2_desks(self) -> list[RequiredObject]: + """Returns desks in the Lab2.""" + desk_format = "Desk_01_{instance_count}" + + desks = [] + + for desk_idx in range(1, self.max_num_lab2_desks + 1): + desk_id = ObjectInstanceId.parse(desk_format.format(instance_count=desk_idx)) + desk = RequiredObject(name=desk_id) + desk.update_room("Lab2") + desks.append(desk) + + return desks diff --git a/src/arena_missions/challenges/__init__.py b/src/arena_missions/challenges/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/arena_missions/challenges/ambiguous_pickup.py b/src/arena_missions/challenges/ambiguous_pickup.py new file mode 100644 index 0000000..c490965 --- /dev/null +++ b/src/arena_missions/challenges/ambiguous_pickup.py @@ -0,0 +1,152 @@ +import itertools +from collections.abc import Iterator +from typing import Any, Optional, get_args + +from arena_missions.builders import ( + ChallengeBuilder, + ChallengeBuilderFunction, + ChallengeBuilderOutput, + RequiredObjectBuilder, +) +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsPickedUpExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_ambiguous_pickup_challenge( # noqa: WPS231 + target_object_idx: int, available_objects: list[RequiredObject], receptacle: RequiredObject +) -> None: + """Generate challenges to pick up objects from other ambiguous objects.""" + target_object = available_objects[target_object_idx] + + conditions = [ + # [PREP] Ensure all the objects are proper + StateCondition( + stateName="AllObjectsAreProper", + context=receptacle.object_instance_id, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + *[ + ContainsExpression( + target=receptacle.object_instance_id, + contains=curr_object.object_instance_id, + ) + for curr_object in available_objects + ] + ) + ), + ), + # Ensure we pick up the target object + StateCondition( + stateName="PickedUpTargetObject", + context=target_object.object_instance_id, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.object_instance_id, value=True), + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission_func_with_color( + target_color: Optional[ColorChangerObjectColor], + ) -> ChallengeBuilderFunction: + plan = ( + f"pick up the {target_color} {target_object.readable_name}" + if target_color + else f"pick up the white {target_object.readable_name}" + ) + + def _create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + if not receptacle.room: + raise ValueError(f"Receptacle {receptacle.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=receptacle.room, + required_objects={ + receptacle.name: receptacle, + **{curr_object.name: curr_object for curr_object in available_objects}, + }, + task_goals=goals, + state_conditions=conditions, + plan=[plan], + ) + + return _create_mission + + object_colors = [None, *get_args(ColorChangerObjectColor)] + object_color_permutations: Iterator[tuple[Any, ...]] = itertools.permutations(object_colors) + + for color_permutation in object_color_permutations: + colored_target_object_kwargs: dict[str, Any] = {"required_objects": {}} + + for curr_object, color in zip(available_objects, color_permutation): + if color is not None: + colored_target_object_kwargs["required_objects"].update( + {curr_object.name: {"colors": [color]}} + ) + target_color: Optional[ColorChangerObjectColor] = color_permutation[target_object_idx] + + high_level_key = HighLevelKey( + action="pickup", + target_object=target_object.object_id, + target_object_color=target_color, + target_object_is_ambiguous=True, + from_receptacle=receptacle.object_id, + from_receptacle_is_container=False, + ) + + # Register the challenge builder with the modifications + create_mission: ChallengeBuilderFunction = create_mission_func_with_color(target_color) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_ambiguous_pickup_challenges(max_num_distractors: int = 2) -> None: + """Register challenges to pick up a target object among distractors objects.""" + required_objects_builder = RequiredObjectBuilder() + + receptacles = [ + required_objects_builder.breakroom_table(), + required_objects_builder.breakroom_countertop(), + ] + + # include only the objects that allow color changes + target_object_iterator = [ + "Apple_{instance_count}", + "Cake_02_{instance_count}", + "Carrot_01_{instance_count}", + "Donut_01_{instance_count}", + "Pear_01_{instance_count}", + "CoffeeMug_Yellow_{instance_count}", + "CoffeeMug_Boss_{instance_count}", + "Bowl_01_{instance_count}", + "FoodPlate_01_{instance_count}", + "DeskFan_New_01_{instance_count}", + ] + + for target_object_template in target_object_iterator: + for receptacle in receptacles: + available_objects: list[RequiredObject] = [] + for idx in range(1, max_num_distractors + 1): + curr_object = RequiredObject( + name=ObjectInstanceId.parse( + target_object_template.format(instance_count=idx + 1) + ) + ) + curr_object.update_receptacle(receptacle.name) + available_objects.append(curr_object) + + for target_object_idx, _ in enumerate(available_objects): + create_ambiguous_pickup_challenge(target_object_idx, available_objects, receptacle) diff --git a/src/arena_missions/challenges/breaking_things.py b/src/arena_missions/challenges/breaking_things.py new file mode 100644 index 0000000..28c7a01 --- /dev/null +++ b/src/arena_missions/challenges/breaking_things.py @@ -0,0 +1,300 @@ +import random +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsBrokenExpression, + IsPickedUpExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_break_object_challenges( + object_instance_id: ObjectInstanceId, + receptacle: RequiredObject, + breakroom_table: RequiredObject, + *, + with_color_variants: bool = False, +) -> None: + """Register challenges.""" + required_object_builder = RequiredObjectBuilder() + + # Turn the fork lift on + fork_lift = required_object_builder.fork_lift() + # Turn the robotic arm on + robotic_arm = required_object_builder.robotic_arm() + + # Make the target object unique + target_object = RequiredObject(name=object_instance_id) + target_object.add_state("Unique", "true") + + # Create the breakroom table + target_object.update_receptacle(receptacle.name) + + # Ensure the hammer is on the table + hammer = RequiredObject(name=ObjectInstanceId.parse("Hammer_1")) + hammer.add_state("Unique", "true") + hammer.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # Pick up the target object + StateCondition( + stateName="HammerPickedUp", + context=hammer.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=hammer.name, value=True), + ContainsExpression(target=receptacle.name, contains=target_object.name), + ), + ), + ), + # Ensure the target object is broken + StateCondition( + stateName="TargetObjectBroken", + context=target_object.name, + expression=StateExpression.from_expression( + IsBrokenExpression(target=target_object.name, value=True) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + if not receptacle.room: + raise ValueError(f"Receptacle {receptacle.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=receptacle.room, + required_objects={ + breakroom_table.name: breakroom_table, + receptacle.name: receptacle, + target_object.name: target_object, + hammer.name: hammer, + robotic_arm.name: robotic_arm, + fork_lift.name: fork_lift, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + f"find the {target_object.readable_name}", + f"break the {target_object.readable_name} with the hammer", + ], + preparation_plan=[ + "go to the breakroom", + f"find the {hammer.readable_name}", + f"pick up the {hammer.readable_name}", + ], + ) + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="break", + target_object=target_object.object_id, + from_receptacle=receptacle.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="break", + target_object=target_object.object_id, + target_object_color=color, + from_receptacle=receptacle.object_id, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_breaking_things_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to break things with the hammer.""" + required_object_builder = RequiredObjectBuilder() + + breakable_object_ids = [ + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("Floppy_Virus_1"), False), + (ObjectInstanceId.parse("FoodPlate_01_1"), True), + (ObjectInstanceId.parse("Record_01_1"), False), + (ObjectInstanceId.parse("Trophy01_1"), False), + ] + + breakroom_table = required_object_builder.breakroom_table() + + receptacles = [ + required_object_builder.breakroom_countertop(), + breakroom_table, + *required_object_builder.main_office_desks(), + required_object_builder.warehouse_cabinet(), + required_object_builder.warehouse_metal_table(), + required_object_builder.warehouse_wooden_table(), + required_object_builder.reception_desk(), + required_object_builder.manager_desk(), + ] + + for target_object_id, with_color_variants in breakable_object_ids: + for receptacle in receptacles: + create_break_object_challenges( + target_object_id, + receptacle, + breakroom_table, + with_color_variants=enable_color_variants & with_color_variants, + ) + + +def create_break_object_on_desks_challenges( + object_instance_id: ObjectInstanceId, + desks: list[RequiredObject], + breakroom_table: RequiredObject, + *, + with_color_variants: bool = False, +) -> None: + """Register challenges.""" + target_desk = random.choice(desks) + required_object_builder = RequiredObjectBuilder() + + # Turn the fork lift on + fork_lift = required_object_builder.fork_lift() + # Turn the robotic arm on + robotic_arm = required_object_builder.robotic_arm() + + # Make the target object unique + target_object = RequiredObject(name=object_instance_id) + target_object.add_state("Unique", "true") + + target_object.update_receptacle(target_desk.name) + + # Ensure the hammer is on the table + hammer = RequiredObject(name=ObjectInstanceId.parse("Hammer_1")) + hammer.add_state("Unique", "true") + hammer.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # Pick up the target object + StateCondition( + stateName="HammerPickedUp", + context=hammer.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=hammer.name, value=True), + ContainsExpression(target=target_desk.name, contains=target_object.name), + ), + ), + ), + # Ensure the target object is broken + StateCondition( + stateName="TargetObjectBroken", + context=target_object.name, + expression=StateExpression.from_expression( + IsBrokenExpression(target=target_object.name, value=True) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + if not target_desk.room: + raise ValueError(f"Target desk {target_desk.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=target_desk.room, + required_objects={ + breakroom_table.name: breakroom_table, + **{desk.name: desk for desk in desks}, + target_object.name: target_object, + hammer.name: hammer, + robotic_arm.name: robotic_arm, + fork_lift.name: fork_lift, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + f"find the {target_object.readable_name}", + f"break the {target_object.readable_name} with the hammer", + ], + preparation_plan=[ + "go to the breakroom", + f"find the {hammer.readable_name}", + f"pick up the {hammer.readable_name}", + ], + ) + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="break", + target_object=target_object.object_id, + from_receptacle=target_desk.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="break", + target_object=target_object.object_id, + target_object_color=color, + from_receptacle=target_desk.object_id, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_breaking_things_on_desks_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to break things with the hammer.""" + required_object_builder = RequiredObjectBuilder() + + breakable_object_ids = [ + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("Floppy_Virus_1"), False), + (ObjectInstanceId.parse("FoodPlate_01_1"), True), + (ObjectInstanceId.parse("Record_01_1"), False), + (ObjectInstanceId.parse("Trophy01_1"), False), + ] + + breakroom_table = required_object_builder.breakroom_table() + + all_desks = [required_object_builder.lab1_desks(), required_object_builder.lab2_desks()] + + for target_object_id, with_color_variants in breakable_object_ids: + for desks in all_desks: + create_break_object_on_desks_challenges( + target_object_id, + desks, + breakroom_table, + with_color_variants=enable_color_variants & with_color_variants, + ) diff --git a/src/arena_missions/challenges/clean_dirty_plate.py b/src/arena_missions/challenges/clean_dirty_plate.py new file mode 100644 index 0000000..74d6151 --- /dev/null +++ b/src/arena_missions/challenges/clean_dirty_plate.py @@ -0,0 +1,189 @@ +from typing import Literal, Optional, get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor, OfficeLayout +from arena_missions.structures import ( + AndExpression, + HighLevelKey, + IsDirtyExpression, + IsPickedUpExpression, + IsToggledOnExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_clean_dirty_plate_challenge( + room: Literal["BreakRoom", "Warehouse"], + office_layout: Optional[OfficeLayout] = None, + *, + with_color_variants: bool = False, +) -> None: + """Clean a dirty plate.""" + required_object_builder = RequiredObjectBuilder() + + sink = RequiredObject( + name=ObjectInstanceId.parse("KitchenCounterSink_01_1"), roomLocation=[room] + ) + + plate = RequiredObject(name=ObjectInstanceId.parse("FoodPlate_01_1")) + plate.add_state("Unique", "true") + plate.add_state("isDirty", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + + # Put the target object on the table + plate.update_receptacle(breakroom_table.name) + + conditions = [ + # Fill the sink before cleaning the plate + StateCondition( + stateName="FilledSinkBeforeCleaningPlate", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=sink.name, value=True), + IsDirtyExpression(target=plate.name, value=True), + ) + ), + ), + # Clean the plate + StateCondition( + stateName="CleanedPlate", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=sink.name, value=True), + IsDirtyExpression(target=plate.name, value=False), + ) + ), + ), + # Turn off the sink after cleaning the plate + StateCondition( + stateName="TurnedOffSinkAfterCleaningPlate", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=sink.name, value=False), + IsDirtyExpression(target=plate.name, value=False), + ) + ), + ), + ] + + def fill_sink_before_cleaning_plate() -> ChallengeBuilderOutput: + """Fill the sink before cleaning the plate.""" + prep_condition = StateCondition( + stateName="HoldingDirtyPlate", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsDirtyExpression(target=plate.name, value=True), + IsPickedUpExpression(target=plate.name, value=True), + ) + ), + ) + mission_conditions = [prep_condition, *conditions] + return ChallengeBuilderOutput( + start_room=room, + office_layout=office_layout, + required_objects={ + sink.name: sink, + plate.name: plate, + breakroom_table.name: breakroom_table, + }, + state_conditions=mission_conditions, + task_goals=[ + TaskGoal.from_state_condition(condition) for condition in mission_conditions + ], + plan=[ + "find the sink", + "toggle the sink", + "clean the plate in the sink", + "toggle the sink", + ], + preparation_plan=[ + "go to the breakroom", + "pick up the plate", + ], + ) + + def sink_already_filled_before_cleaning() -> ChallengeBuilderOutput: + """Do not toggle the sink singce it's already filled.""" + prep_condition = StateCondition( + stateName="HoldingDirtyPlateWithSinkOn", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsDirtyExpression(target=plate.name, value=True), + IsPickedUpExpression(target=plate.name, value=True), + IsToggledOnExpression(target=sink.name, value=True), + ) + ), + ) + mission_conditions = [prep_condition, *conditions] + + builder_output = fill_sink_before_cleaning_plate() + builder_output.state_conditions = mission_conditions + builder_output.task_goals = [ + TaskGoal.from_state_condition(condition) for condition in mission_conditions + ] + builder_output.plan = [ + "find the sink", + "clean the plate in the sink", + "toggle the sink", + ] + builder_output.preparation_plan = [ + "find the sink", + "toggle the sink", + "go to the breakroom", + "pick up the plate", + ] + return builder_output + + high_level_key = HighLevelKey( + action="clean", + interaction_object=sink.object_id, + target_object=plate.object_id, + ) + + ChallengeBuilder.register(high_level_key)(fill_sink_before_cleaning_plate) + ChallengeBuilder.register(high_level_key)(sink_already_filled_before_cleaning) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + plate.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="clean", + interaction_object=sink.object_id, + target_object=plate.object_id, + target_object_color=color, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + fill_sink_before_cleaning_plate + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + sink_already_filled_before_cleaning + ) + + +def register_clean_dirty_plates(enable_color_variants: bool = True) -> None: + """Register all the the clean dirty plate challenges.""" + for layout in get_args(OfficeLayout): + create_clean_dirty_plate_challenge( + "BreakRoom", office_layout=layout, with_color_variants=enable_color_variants + ) + create_clean_dirty_plate_challenge( + "Warehouse", office_layout=layout, with_color_variants=enable_color_variants + ) diff --git a/src/arena_missions/challenges/fill_object_in_sink.py b/src/arena_missions/challenges/fill_object_in_sink.py new file mode 100644 index 0000000..41b1e03 --- /dev/null +++ b/src/arena_missions/challenges/fill_object_in_sink.py @@ -0,0 +1,182 @@ +from typing import Literal, Optional, get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor, OfficeLayout +from arena_missions.structures import ( + AndExpression, + HighLevelKey, + IsFilledWithExpression, + IsPickedUpExpression, + IsToggledOnExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_fill_object_in_sink( + object_instance_id: ObjectInstanceId, + room: Literal["BreakRoom", "Warehouse"], + office_layout: Optional[OfficeLayout] = None, + *, + with_color_variants: bool = False, +) -> None: + """Fill an object in a sink.""" + required_object_builder = RequiredObjectBuilder() + + sink = RequiredObject( + name=ObjectInstanceId.parse("KitchenCounterSink_01_1"), roomLocation=[room] + ) + + # Create object + target_object = RequiredObject(name=object_instance_id) + target_object.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + + # Put the target object on the table + target_object.update_receptacle(breakroom_table.name) + + conditions = [ + # Fill the object with water + StateCondition( + stateName="FilledObjectWithWater", + context=target_object.name, + expression=StateExpression.from_expression( + IsFilledWithExpression(target=target_object.name, fluid="Water") + ), + ), + # Drain the sink + StateCondition( + stateName="DrainedSink", + context=sink.name, + expression=StateExpression.from_expression( + IsToggledOnExpression(target=sink.name, value=False), + ), + ), + ] + + def fill_from_off_sink() -> ChallengeBuilderOutput: + prep_condition = StateCondition( + stateName="HoldingUnfilledObject", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True) + ), + ) + mission_conditions = [prep_condition, *conditions] + + return ChallengeBuilderOutput( + start_room=room, + office_layout=office_layout, + required_objects={ + sink.name: sink, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + state_conditions=mission_conditions, + task_goals=[ + TaskGoal.from_state_condition(condition) for condition in mission_conditions + ], + plan=[ + "find the sink", + "toggle the sink", + f"fill the {object_instance_id.readable_name} in the sink", + "toggle the sink", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {object_instance_id.readable_name}", + ], + ) + + def fill_from_on_sink() -> ChallengeBuilderOutput: + prep_condition = StateCondition( + stateName="HoldingUnfilledObjectWithSinkOn", + context=sink.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=target_object.name, value=True), + IsToggledOnExpression(target=sink.name, value=True), + ) + ), + ) + mission_conditions = [prep_condition, *conditions] + + builder_output = fill_from_off_sink() + builder_output.state_conditions = mission_conditions + builder_output.task_goals = [ + TaskGoal.from_state_condition(condition) for condition in mission_conditions + ] + builder_output.plan = [ + "find the sink", + f"fill the {object_instance_id.readable_name} in the sink", + "toggle the sink", + ] + builder_output.preparation_plan = [ + "find the sink", + "toggle the sink", + "go to the breakroom", + f"pick up the {object_instance_id.readable_name}", + ] + return builder_output + + high_level_key = HighLevelKey( + action="fill", + interaction_object=sink.object_id, + target_object=target_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(fill_from_off_sink) + ChallengeBuilder.register(high_level_key)(fill_from_on_sink) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="fill", + interaction_object=sink.object_id, + target_object=target_object.object_id, + target_object_color=color, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + fill_from_off_sink + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + fill_from_on_sink + ) + + +def register_fill_objects_in_sink(enable_color_variants: bool = True) -> None: + """Register challenges about filling an object in sink challenges.""" + object_iterator = [ + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("CoffeePot_01_1"), False), + ] + + for layout in get_args(OfficeLayout): + for object_instance_id, with_color_variants in object_iterator: + create_fill_object_in_sink( + object_instance_id, + room="BreakRoom", + office_layout=layout, + with_color_variants=enable_color_variants & with_color_variants, + ) + create_fill_object_in_sink( + object_instance_id, + room="Warehouse", + office_layout=layout, + with_color_variants=enable_color_variants & with_color_variants, + ) diff --git a/src/arena_missions/challenges/objects_in_containers.py b/src/arena_missions/challenges/objects_in_containers.py new file mode 100644 index 0000000..26050eb --- /dev/null +++ b/src/arena_missions/challenges/objects_in_containers.py @@ -0,0 +1,462 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsFullOfItemsExpression, + IsOpenExpression, + IsPickedUpExpression, + NotExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_pick_up_from_container_challenge( + target_object_instance_id: ObjectInstanceId, + container: RequiredObject, + *, + with_color_variants: bool = False, +) -> None: + """Generate challegnes to pick up objects from containers.""" + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Put it in the container + target_object.update_receptacle(container.name) + + conditions = [ + # [PREP] Ensure the object is in the container + StateCondition( + stateName="InContainer", + context=container.name, + expression=StateExpression.from_expression( + ContainsExpression(target=container.name, contains=target_object.name) + ), + ), + # Ensure the object is picked up from the container + StateCondition( + stateName="PickedUpFromContainer", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=target_object.name, value=True), + IsOpenExpression(target=container.name, value=True), + ) + ), + ), + StateCondition( + stateName="ClosedContainer", + context=container.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=container.name, value=False), + NotExpression( + expression=StateExpression.from_expression( + ContainsExpression(target=container.name, contains=target_object.name) + ) + ), + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + if not container.room: + raise ValueError(f"Container {container.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=container.room, + required_objects={ + container.name: container, + target_object.name: target_object, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"find the {container.readable_name}", + f"open the {container.readable_name}", + f"pick up the {target_object_instance_id.readable_name}", + f"close the {container.readable_name}", + ], + preparation_plan=[ + f"find the {container.readable_name}", + f"open the {container.readable_name}", + f"close the {container.readable_name}", + ], + ) + + def create_mission_with_container_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + builder_output.plan = [ + f"find the {container.readable_name}", + f"pick up the {target_object_instance_id.readable_name}", + f"close the {container.readable_name}", + ] + builder_output.preparation_plan = [ + f"find the {container.readable_name}", + f"open the {container.readable_name}", + ] + return builder_output + + high_level_key = HighLevelKey( + action="pickup", + target_object=target_object_instance_id.object_id, + from_receptacle=container.object_id, + from_receptacle_is_container=True, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_container_open) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="pickup", + target_object=target_object_instance_id.object_id, + target_object_color=color, + from_receptacle=container.object_id, + from_receptacle_is_container=True, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_container_open + ) + + +def create_place_in_container_challenge( + target_object_instance_id: ObjectInstanceId, + container: RequiredObject, + *, + with_color_variants: bool = False, +) -> None: + """Generate challenges to pick up objects from containers.""" + required_object_builder = RequiredObjectBuilder() + + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + + # Put the target object on the table + target_object.update_receptacle(breakroom_table.name) + + conditions = [ + # Ensure the container is not full of items at the start of the mission + StateCondition( + stateName="ContainerNotFull", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsFullOfItemsExpression(target=container.name, value=False), + IsPickedUpExpression(target=target_object.name, value=True), + ) + ), + ), + # Place it in the container while its open + StateCondition( + stateName="PlacedInContainer", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=container.name, value=True), + ContainsExpression(target=container.name, contains=target_object.name), + IsPickedUpExpression(target=target_object.name, value=False), + ) + ), + ), + # Close the container with the object inside + StateCondition( + stateName="ClosedContainer", + context=container.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=container.name, value=False), + ContainsExpression(target=container.name, contains=target_object.name), + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + if not container.room: + raise ValueError(f"Container {container.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=container.room, + required_objects={ + container.name: container, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"find the {container.readable_name}", + f"open the {container.readable_name}", + f"put the {target_object_instance_id.readable_name} in the {container.readable_name}", + f"close the {container.readable_name}", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object.readable_name}", + ], + ) + + def create_mission_with_container_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + # Open the time machine + builder_output.required_objects[container.name].add_state("isOpen", "true") + # Change the plans + builder_output.plan = [ + f"find the {container.readable_name}", + f"put the {target_object_instance_id.readable_name} in the {container.readable_name}", + f"close the {container.readable_name}", + ] + return builder_output + + high_level_key = HighLevelKey( + action="place", + target_object=target_object_instance_id.object_id, + to_receptacle=container.object_id, + to_receptacle_is_container=True, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_container_open) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="place", + target_object=target_object_instance_id.object_id, + target_object_color=color, + to_receptacle=container.object_id, + to_receptacle_is_container=True, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_container_open + ) + + +def register_objects_with_fridge_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the fridge.""" + required_objects_builder = RequiredObjectBuilder() + + container = required_objects_builder.fridge() + + # Ensure each container is in the breakroom + container.update_room("BreakRoom") + + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True, True), + (ObjectInstanceId.parse("AppleSlice_01_1"), False, False), + (ObjectInstanceId.parse("Banana_01_1"), False, False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False, False), + (ObjectInstanceId.parse("BreadLoaf_1"), False, False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False, False), + (ObjectInstanceId.parse("Bowl_01_1"), True, True), + (ObjectInstanceId.parse("Burger_04_1"), False, False), + (ObjectInstanceId.parse("Cake_02_1"), True, True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False, False), + (ObjectInstanceId.parse("CandyBar_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_Crushed_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_Open_01_1"), False, False), + (ObjectInstanceId.parse("Carrot_01_1"), True, True), + (ObjectInstanceId.parse("Cereal_Box_01_1"), False, False), + (ObjectInstanceId.parse("CoffeeBeans_01_1"), False, False), + (ObjectInstanceId.parse("CoffeeCup_Open_Empty_02_1"), False, False), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True, True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True, True), + (ObjectInstanceId.parse("Donut_01_1"), False, True), + (ObjectInstanceId.parse("FoodPlate_01_1"), True, True), + (ObjectInstanceId.parse("Fork_01_1"), False, False), + (ObjectInstanceId.parse("Jar_Jam_01_1"), False, False), + (ObjectInstanceId.parse("Jar_PeanutButter_01_1"), False, False), + (ObjectInstanceId.parse("Knife_01_1"), False, False), + (ObjectInstanceId.parse("MilkCarton_01_1"), False, False), + (ObjectInstanceId.parse("PaperCup_01_1"), False, False), + (ObjectInstanceId.parse("PaperCup_Crushed_01_1"), False, False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False, False), + (ObjectInstanceId.parse("Pear_01_1"), True, True), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False, False), + (ObjectInstanceId.parse("PieFruit_01_1"), False, False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False, False), + (ObjectInstanceId.parse("Spoon_01_1"), False, False), + (ObjectInstanceId.parse("Toast_01_1"), False, False), + (ObjectInstanceId.parse("Toast_02_1"), False, False), + (ObjectInstanceId.parse("Toast_03_1"), False, False), + (ObjectInstanceId.parse("Toast_04_1"), False, False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False, False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False, False), + ] + + for target_object, pickup_color_variants, place_color_variants in target_object_iterator: + create_pick_up_from_container_challenge( + target_object, + container, + with_color_variants=pickup_color_variants & enable_color_variants, + ) + create_place_in_container_challenge( + target_object, + container, + with_color_variants=place_color_variants & enable_color_variants, + ) + + +def register_objects_with_freezer_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the freezer.""" + required_objects_builder = RequiredObjectBuilder() + + container = required_objects_builder.freezer() + + # Ensure each container is in the breakroom + container.update_room("BreakRoom") + + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True, True), + (ObjectInstanceId.parse("AppleSlice_01_1"), False, False), + (ObjectInstanceId.parse("Banana_01_1"), False, False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False, False), + (ObjectInstanceId.parse("BreadLoaf_1"), False, False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False, False), + (ObjectInstanceId.parse("Bowl_01_1"), True, True), + (ObjectInstanceId.parse("Burger_04_1"), False, False), + (ObjectInstanceId.parse("Cake_02_1"), True, True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False, False), + (ObjectInstanceId.parse("CandyBar_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_Crushed_01_1"), False, False), + (ObjectInstanceId.parse("CanSodaNew_Open_01_1"), False, False), + (ObjectInstanceId.parse("Carrot_01_1"), True, True), + (ObjectInstanceId.parse("Cereal_Box_01_1"), False, False), + (ObjectInstanceId.parse("CoffeeBeans_01_1"), False, False), + (ObjectInstanceId.parse("CoffeeCup_Open_Empty_02_1"), False, False), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True, True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True, True), + (ObjectInstanceId.parse("Donut_01_1"), False, True), + (ObjectInstanceId.parse("FoodPlate_01_1"), True, True), + (ObjectInstanceId.parse("Fork_01_1"), False, False), + (ObjectInstanceId.parse("Jar_Jam_01_1"), False, False), + (ObjectInstanceId.parse("Jar_PeanutButter_01_1"), False, False), + (ObjectInstanceId.parse("Knife_01_1"), False, False), + (ObjectInstanceId.parse("PaperCup_01_1"), False, False), + (ObjectInstanceId.parse("PaperCup_Crushed_01_1"), False, False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False, False), + (ObjectInstanceId.parse("Pear_01_1"), True, True), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False, False), + (ObjectInstanceId.parse("PieFruit_01_1"), False, False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False, False), + (ObjectInstanceId.parse("Spoon_01_1"), False, False), + (ObjectInstanceId.parse("Toast_01_1"), False, False), + (ObjectInstanceId.parse("Toast_02_1"), False, False), + (ObjectInstanceId.parse("Toast_03_1"), False, False), + (ObjectInstanceId.parse("Toast_04_1"), False, False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False, False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False, False), + ] + for target_object, pickup_color_variants, place_color_variants in target_object_iterator: + create_pick_up_from_container_challenge( + target_object, + container, + with_color_variants=pickup_color_variants & enable_color_variants, + ) + create_place_in_container_challenge( + target_object, + container, + with_color_variants=place_color_variants & enable_color_variants, + ) + + +def register_warehouse_cabinet_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the warehouse cabinet.""" + container = RequiredObject( + name=ObjectInstanceId.parse("KitchenCabinet_02_1"), roomLocation=["Warehouse"] + ) + + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True), + (ObjectInstanceId.parse("AppleSlice_01_1"), False), + (ObjectInstanceId.parse("Banana_01_1"), False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False), + (ObjectInstanceId.parse("BreadLoaf_1"), False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False), + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("Burger_04_1"), False), + (ObjectInstanceId.parse("Cake_02_1"), True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False), + (ObjectInstanceId.parse("CandyBar_01_1"), False), + (ObjectInstanceId.parse("Carrot_01_1"), True), + (ObjectInstanceId.parse("CanSodaNew_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_Crushed_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_Open_01_1"), False), + (ObjectInstanceId.parse("CoffeeBeans_01_1"), False), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("Donut_01_1"), True), + (ObjectInstanceId.parse("FoodPlate_01_1"), True), + (ObjectInstanceId.parse("Fork_01_1"), False), + (ObjectInstanceId.parse("Jar_Jam_01_1"), False), + (ObjectInstanceId.parse("Jar_PeanutButter_01_1"), False), + (ObjectInstanceId.parse("Knife_01_1"), False), + (ObjectInstanceId.parse("PaperCup_01_1"), False), + (ObjectInstanceId.parse("PaperCup_Crushed_01_1"), False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False), + (ObjectInstanceId.parse("PieFruit_01_1"), False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False), + (ObjectInstanceId.parse("Spoon_01_1"), False), + (ObjectInstanceId.parse("Toast_01_1"), False), + (ObjectInstanceId.parse("Toast_02_1"), False), + (ObjectInstanceId.parse("Toast_03_1"), False), + (ObjectInstanceId.parse("Toast_04_1"), False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False), + ] + + for target_object, with_color_variants in target_object_iterator: + create_pick_up_from_container_challenge( + target_object, + container, + with_color_variants=enable_color_variants & with_color_variants, + ) + create_place_in_container_challenge( + target_object, + container, + with_color_variants=enable_color_variants & with_color_variants, + ) diff --git a/src/arena_missions/challenges/operate_carrot_maker.py b/src/arena_missions/challenges/operate_carrot_maker.py new file mode 100644 index 0000000..79c914e --- /dev/null +++ b/src/arena_missions/challenges/operate_carrot_maker.py @@ -0,0 +1,162 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + ContainsExpression, + HighLevelKey, + IsPickedUpExpression, + ObjectGoalState, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_operate_carrot_maker_challenges( + target_object: RequiredObject, + with_color_variants: bool = False, +) -> None: + """Register challeneges.""" + required_object_builder = RequiredObjectBuilder() + + # Make the target object unique + target_object.add_state("Unique", "true") + + # Create the carrot maker + carrot_maker = required_object_builder.carrot_maker() + carrot_maker.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + target_object.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # [PREP] The target object is picked up + StateCondition( + stateName="OriginalPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True), + ), + ), + # The target object is placed on the carrot machine + StateCondition( + stateName="MachineContainsTarget", + context=carrot_maker.name, + expression=StateExpression.from_expression( + ContainsExpression(target=carrot_maker.name, contains=target_object.name) + ), + ), + ] + + goals = [ + *[TaskGoal.from_state_condition(condition) for condition in conditions], + # Ensure the machine is used on the target + TaskGoal.from_object_goal_states( + [ObjectGoalState.from_parts(carrot_maker.name, "isToggledOn", "true")] + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="Lab2", + required_objects={ + carrot_maker.name: carrot_maker, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + "find the carrot maker", + f"put the {target_object.readable_name} on the carrot maker", + "toggle the carrot maker", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object.readable_name}", + "go to the quantum lab", + ], + ) + + # Register versions of the challenges + high_level_key = HighLevelKey( + action="interact", + interaction_object=carrot_maker.object_id, + target_object=target_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="interact", + interaction_object=carrot_maker.object_id, + target_object=target_object.object_id, + target_object_color=color, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_carrot_maker_challenges(enable_color_variants: bool = True) -> None: + """Register challenges with the carrot maker.""" + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True), + (ObjectInstanceId.parse("Banana_01_1"), False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False), + (ObjectInstanceId.parse("BreadLoaf_1"), False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False), + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("Burger_04_1"), False), + (ObjectInstanceId.parse("Cake_02_1"), True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False), + (ObjectInstanceId.parse("CandyBar_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_Crushed_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_Open_01_1"), False), + (ObjectInstanceId.parse("CoffeeBeans_01_1"), False), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), False), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("Donut_01_1"), True), + (ObjectInstanceId.parse("FoodPlate_01_1"), True), + (ObjectInstanceId.parse("Fork_01_1"), False), + (ObjectInstanceId.parse("Jar_Jam_01_1"), False), + (ObjectInstanceId.parse("Jar_PeanutButter_01_1"), False), + (ObjectInstanceId.parse("Knife_01_1"), False), + (ObjectInstanceId.parse("PaperCup_01_1"), False), + (ObjectInstanceId.parse("PaperCup_Crushed_01_1"), False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False), + (ObjectInstanceId.parse("PieFruit_01_1"), False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False), + (ObjectInstanceId.parse("Spoon_01_1"), False), + (ObjectInstanceId.parse("Toast_01_1"), False), + (ObjectInstanceId.parse("Toast_02_1"), False), + (ObjectInstanceId.parse("Toast_03_1"), False), + (ObjectInstanceId.parse("Toast_04_1"), False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False), + ] + + for target_object, with_color_variants in target_object_iterator: + create_operate_carrot_maker_challenges( + target_object=RequiredObject( + name=target_object, + ), + with_color_variants=enable_color_variants & with_color_variants, + ) diff --git a/src/arena_missions/challenges/operate_microwave.py b/src/arena_missions/challenges/operate_microwave.py new file mode 100644 index 0000000..f279941 --- /dev/null +++ b/src/arena_missions/challenges/operate_microwave.py @@ -0,0 +1,326 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsBrokenExpression, + IsHotExpression, + IsOpenExpression, + IsPickedUpExpression, + IsToggledOnExpression, + ObjectId, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_heat_with_microwave_challenges( + target_object: RequiredObject, + converted_object: ObjectId, + with_color_variants: bool = False, +) -> None: + """Register challeneges.""" + required_object_builder = RequiredObjectBuilder() + + # Make the target object unique + target_object.add_state("Unique", "true") + + # Create the microwave + microwave = required_object_builder.microwave() + microwave.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + target_object.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # Pick up an object that is not hot + StateCondition( + stateName="OriginalPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=target_object.name, value=True), + IsHotExpression(target=target_object.name, value=False), + ) + ), + ), + # Ensure the machine is used on the target + StateCondition( + stateName="MachineUsedOnTarget", + context=microwave.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=microwave.name, value=True), + ContainsExpression(target=microwave.name, contains=target_object.name), + ) + ), + ), + # Pick up the object + StateCondition( + stateName="ConvertedPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=target_object.name, value=False), + IsPickedUpExpression(target=target_object.name, value=True), + IsHotExpression(target=target_object.name, value=True), + ) + ), + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="BreakRoom", + required_objects={ + microwave.name: microwave, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + state_conditions=conditions, + task_goals=[TaskGoal.from_state_condition(condition) for condition in conditions], + plan=[ + "find the microwave", + "open the microwave", + f"put the {target_object.readable_name} in the microwave", + "close the microwave", + "turn on the microwave", + "open the microwave", + f"pick up the {converted_object.readable_name} from the microwave", + "close the microwave", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object.readable_name}", + ], + ) + + def create_mission_with_door_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + # Change the plans + builder_output.plan = [ + "find the microwave", + f"put the {target_object.readable_name} in the microwave", + "close the microwave", + "turn on the microwave", + "open the microwave", + f"pick up the {converted_object.readable_name} from the microwave", + "close the microwave", + ] + builder_output.preparation_plan = [ + "find the microwave", + "open the microwave", + f"pick up the {target_object.readable_name}", + ] + return builder_output + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="interact", + interaction_object=microwave.object_id, + target_object=target_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_door_open) + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="interact", + interaction_object=microwave.object_id, + target_object=target_object.object_id, + target_object_color=color, + converted_object=converted_object, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_door_open + ) + + +def create_break_with_microwave_challenges( + target_object: RequiredObject, + converted_object: ObjectId, + with_color_variants: bool = False, +) -> None: + """Register challeneges.""" + required_object_builder = RequiredObjectBuilder() + + # Make the target object unique + target_object.add_state("Unique", "true") + + # Create the microwave + microwave = required_object_builder.microwave() + microwave.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + target_object.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # Pick up an object that is not hot + StateCondition( + stateName="OriginalPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=target_object.name, value=True), + IsBrokenExpression(target=target_object.name, value=False), + ) + ), + ), + # Ensure the machine is used on the target + StateCondition( + stateName="MachineUsedOnTarget", + context=microwave.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=microwave.name, value=True), + ContainsExpression(target=microwave.name, contains=target_object.name), + ) + ), + ), + # Pick up the object + StateCondition( + stateName="ConvertedPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=target_object.name, value=False), + IsPickedUpExpression(target=target_object.name, value=True), + IsBrokenExpression(target=target_object.name, value=True), + ) + ), + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="BreakRoom", + required_objects={ + microwave.name: microwave, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + state_conditions=conditions, + task_goals=[TaskGoal.from_state_condition(condition) for condition in conditions], + plan=[ + "go to the microwave", + "open the microwave", + f"put the {target_object.readable_name} in the microwave", + "close the microwave", + "turn on the microwave", + "open the microwave", + f"pick up the {converted_object.readable_name} from the microwave", + "close the microwave", + ], + preparation_plan=[ + "go to the breakroom table", + f"pick up the {target_object.readable_name}", + ], + ) + + def create_mission_with_door_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + builder_output.plan = [ + "go to the microwave", + f"put the {target_object.readable_name} in the microwave", + "close the microwave", + "turn on the microwave", + "open the microwave", + f"pick up the {converted_object.readable_name} from the microwave", + "close the microwave", + ] + builder_output.preparation_plan = [ + "find the microwave", + "open the microwave", + f"pick up the {target_object.readable_name}", + ] + return builder_output + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="interact", + interaction_object=microwave.object_id, + target_object=target_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_door_open) + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + high_level_key = HighLevelKey( + action="interact", + interaction_object=microwave.object_id, + target_object=target_object.object_id, + target_object_color=color, + converted_object=converted_object, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_door_open + ) + + +def register_heat_things(enable_color_variants: bool = True) -> None: + """Register challenges to heat different things.""" + heatable_target_object_iterator = [ + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("Cake_02_1"), True), + (ObjectInstanceId.parse("CanSodaNew_01_1"), False), + (ObjectInstanceId.parse("CanSodaNew_Open_01_1"), False), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + (ObjectInstanceId.parse("CoffeePot_01_1"), False), + ] + + for heatable_target_object, heatable_with_color_variants in heatable_target_object_iterator: + create_heat_with_microwave_challenges( + target_object=RequiredObject( + name=heatable_target_object, + ), + converted_object=heatable_target_object.object_id, + with_color_variants=heatable_with_color_variants & enable_color_variants, + ) + + breakable_target_object_iterator = [ + (ObjectInstanceId.parse("Floppy_AntiVirus_1"), False), + (ObjectInstanceId.parse("Floppy_Virus_1"), False), + ] + for breakable_target_object, breakable_with_color_variants in breakable_target_object_iterator: + create_break_with_microwave_challenges( + target_object=RequiredObject( + name=breakable_target_object, + ), + converted_object=breakable_target_object.object_id, + with_color_variants=enable_color_variants & breakable_with_color_variants, + ) diff --git a/src/arena_missions/challenges/operate_printer.py b/src/arena_missions/challenges/operate_printer.py new file mode 100644 index 0000000..e7e0859 --- /dev/null +++ b/src/arena_missions/challenges/operate_printer.py @@ -0,0 +1,133 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import OfficeLayout +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsPickedUpExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_operate_printer_challenges( + printer_cartridge: RequiredObject, + printer_spawned_object: ObjectInstanceId, + office_layout: OfficeLayout, +) -> None: + """Register challenges.""" + required_object_builder = RequiredObjectBuilder() + + # Make the target object unique + printer_cartridge.add_state("Unique", "true") + + # Create the time machine + printer = required_object_builder.printer() + printer.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + printer_cartridge.update_receptacle(breakroom_table.name) + + # Ensure the robotic arm is out the way + robotic_arm = required_object_builder.robotic_arm() + + # Success conditions + conditions = [ + # Pick up the target object + StateCondition( + stateName="TargetPickedUp", + context=printer_cartridge.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=printer_cartridge.name, value=True), + ) + ), + ), + # Ensure the machine is used on the target + StateCondition( + stateName="PrinterUsed", + context=printer.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + ContainsExpression( + target=printer.name, contains=printer_spawned_object.with_asterisk + ), + ContainsExpression( + target=printer.name, contains=printer_cartridge.name.with_asterisk + ), + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="Lab1", + office_layout=office_layout, + required_objects={ + printer.name: printer, + printer_cartridge.name: printer_cartridge, + breakroom_table.name: breakroom_table, + robotic_arm.name: robotic_arm, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + "find the printer", + f"put the {printer_cartridge.readable_name} in the printer", + "turn on the printer", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {printer_cartridge.readable_name}", + "go to the robotics lab", + ], + ) + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="interact", + interaction_object=printer.object_id, + target_object=printer_cartridge.object_id, + converted_object=printer_spawned_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + +def register_print_things() -> None: + """Register challenges to print things using the 3D printer.""" + object_instance_ids = [ + ( + ObjectInstanceId.parse("Printer_Cartridge_Figure_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_ActionFigure_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Hammer_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_Hammer_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Lever_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_FuseBox_01_Lever_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Mug_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_CoffeeMug_Yellow_1"), + ), + ] + for office_layout in get_args(OfficeLayout): + for object_instance_id, converted_object_id in object_instance_ids: + create_operate_printer_challenges( + printer_cartridge=RequiredObject(name=object_instance_id), + printer_spawned_object=converted_object_id, + office_layout=office_layout, + ) diff --git a/src/arena_missions/challenges/operate_time_machine.py b/src/arena_missions/challenges/operate_time_machine.py new file mode 100644 index 0000000..62bdd8a --- /dev/null +++ b/src/arena_missions/challenges/operate_time_machine.py @@ -0,0 +1,371 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + Expression, + HighLevelKey, + IsBrokenExpression, + IsFullOfItemsExpression, + IsOpenExpression, + IsPickedUpExpression, + IsToggledOnExpression, + NotExpression, + ObjectGoalState, + ObjectInstanceId, + RequiredObject, + RequiredObjectState, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_operate_time_machine_challenges( + target_object: RequiredObject, + converted_object: ObjectInstanceId, + additional_conditions_for_converted_object: list[Expression], + *, + with_color_variants: bool = False, +) -> None: + """Register challeneges.""" + required_object_builder = RequiredObjectBuilder() + + # Make the target object unique + target_object.add_state("Unique", "true") + + # Create the time machine + time_machine = required_object_builder.time_machine() + time_machine.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + target_object.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # [PREP] The target object is picked up + StateCondition( + stateName="OriginalPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True), + ), + ), + # Ensure the machine is used on the target + StateCondition( + stateName="MachineUsedOnTarget", + context=time_machine.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=time_machine.name, value=True), + ContainsExpression(target=time_machine.name, contains=target_object.name), + ) + ), + ), + # Pick up the object + StateCondition( + stateName="ConvertedPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=time_machine.name, value=False), + IsPickedUpExpression(target=converted_object, value=True), + *additional_conditions_for_converted_object, + ) + ), + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="BreakRoom", + required_objects={ + time_machine.name: time_machine, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + }, + state_conditions=conditions, + task_goals=[TaskGoal.from_state_condition(condition) for condition in conditions], + plan=[ + "go to the time machine", + "open the time machine", + f"put the {target_object.readable_name} in the time machine", + "close the time machine", + "turn on the time machine", + "open the time machine", + f"pick up the {converted_object.readable_name} from the time machine", + "close the time machine", + ], + preparation_plan=["go to the breakroom", f"pick up the {target_object.name}"], + ) + + def create_mission_with_door_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + # Open the time machine + builder_output.required_objects[time_machine.name].add_state("isOpen", "true") + # Change the plans + builder_output.plan = [ + "go to the time machine", + f"put the {target_object.readable_name} in the time machine", + "close the time machine", + "turn on the time machine", + "open the time machine", + f"pick up the {converted_object.readable_name} from the time machine", + "close the time machine", + ] + return builder_output + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="interact", + interaction_object=time_machine.object_id, + target_object=target_object.object_id, + converted_object=converted_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_door_open) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="interact", + interaction_object=time_machine.object_id, + target_object=target_object.object_id, + target_object_color=color, + converted_object=converted_object.object_id, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_door_open + ) + + +def create_operate_time_machine_with_carrot( + converted_object: ObjectInstanceId, + *, + with_color_variants: bool = False, +) -> None: + """Create challenges that convert carrots to objects.""" + required_object_builder = RequiredObjectBuilder() + + carrot_object = RequiredObject( + name=ObjectInstanceId.parse("Carrot_01_1"), + yesterdayState=converted_object.object_id, + ) + # Make the target object unique + carrot_object.add_state("Unique", "true") + + # Blacklist the converted object + output_object = RequiredObject(name=converted_object) + output_object.add_state("Blacklist", "true") + + # Create the time machine + time_machine = required_object_builder.time_machine() + time_machine.add_state("Unique", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + carrot_object.update_receptacle(breakroom_table.name) + + # Success conditions + conditions: list[StateCondition] = [ + # Pick up the carrot + StateCondition( + stateName="CarrotPickedUp", + context=carrot_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=carrot_object.name, value=True) + ), + ), + # Ensure the machine is used on the target + StateCondition( + stateName="MachineUsedOnTarget", + context=time_machine.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsToggledOnExpression(target=time_machine.name, value=True), + ContainsExpression(target=time_machine.name, contains=carrot_object.name), + ) + ), + ), + # Close the time machine after picking up the object + StateCondition( + stateName="TimeMachineClosed", + context=time_machine.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=time_machine.name, value=False), + NotExpression( + expression=StateExpression.from_expression( + IsFullOfItemsExpression(target=time_machine.name, value=True) + ) + ), + ) + ), + ), + ] + goals = [ + *[TaskGoal.from_state_condition(condition) for condition in conditions], + # Separately, create the task goal that makes sure the output object is picked up after conversion + TaskGoal.from_object_goal_states( + [ObjectGoalState.from_parts(output_object.name.with_asterisk, "isPickedUp", "true")] + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="BreakRoom", + required_objects={ + time_machine.name: time_machine, + carrot_object.name: carrot_object, + breakroom_table.name: breakroom_table, + output_object.name: output_object, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + "go to the time machine", + "open the time machine", + f"put the {carrot_object.readable_name} in the time machine", + "close the time machine", + "turn on the time machine", + "open the time machine", + f"pick up the {converted_object.readable_name} from the time machine", + "close the time machine", + ], + preparation_plan=["go to the breakroom", f"pick up the {carrot_object.readable_name}"], + ) + + def create_mission_with_door_open() -> ChallengeBuilderOutput: + builder_output = create_mission() + # Open the time machine + builder_output.required_objects[time_machine.name].add_state("isOpen", "true") + # Change the plans + builder_output.plan = [ + "go to the time machine", + f"put the {carrot_object.readable_name} in the time machine", + "close the time machine", + "turn on the time machine", + "open the time machine", + f"pick up the {converted_object.readable_name} from the time machine", + "close the time machine", + ] + return builder_output + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="interact", + interaction_object=time_machine.object_id, + target_object=carrot_object.object_id, + converted_object=converted_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + ChallengeBuilder.register(high_level_key)(create_mission_with_door_open) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + carrot_object.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="interact", + interaction_object=time_machine.object_id, + target_object=carrot_object.object_id, + target_object_color=color, + converted_object=converted_object.object_id, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission_with_door_open + ) + + +def register_repair_broken_things(enable_color_variants: bool = True) -> None: + """Register challenges to repair broken things.""" + object_instance_ids = [ + ObjectInstanceId.parse("Bowl_01_1"), + ObjectInstanceId.parse("FoodPlate_01_1"), + ] + + for object_instance_id in object_instance_ids: + create_operate_time_machine_challenges( + target_object=RequiredObject( + name=object_instance_id, + state=[RequiredObjectState.from_parts("isBroken", "true")], + ), + converted_object=object_instance_id, + additional_conditions_for_converted_object=[ + IsBrokenExpression(target=object_instance_id, value=False) + ], + with_color_variants=enable_color_variants, + ) + + +def register_repair_carrots(enable_color_variants: bool = True) -> None: + """Register challenges to repair carrots.""" + converted_object_instance_ids = [ + ObjectInstanceId.parse("Apple_1"), + ObjectInstanceId.parse("Banana_01_1"), + ObjectInstanceId.parse("BananaBunch_01_1"), + ObjectInstanceId.parse("BreadLoaf_1"), + ObjectInstanceId.parse("BreadSlice_01_1"), + ObjectInstanceId.parse("Bowl_01_1"), + ObjectInstanceId.parse("Burger_04_1"), + ObjectInstanceId.parse("Cake_02_1"), + ObjectInstanceId.parse("CakeSlice_02_1"), + ObjectInstanceId.parse("CandyBar_01_1"), + ObjectInstanceId.parse("CanSodaNew_01_1"), + ObjectInstanceId.parse("CanSodaNew_Crushed_01_1"), + ObjectInstanceId.parse("CanSodaNew_Open_01_1"), + ObjectInstanceId.parse("CoffeeBeans_01_1"), + ObjectInstanceId.parse("CoffeeMug_Boss_1"), + ObjectInstanceId.parse("CoffeeMug_Yellow_1"), + ObjectInstanceId.parse("Donut_01_1"), + ObjectInstanceId.parse("FoodPlate_01_1"), + ObjectInstanceId.parse("Fork_01_1"), + ObjectInstanceId.parse("Jar_Jam_01_1"), + ObjectInstanceId.parse("Jar_PeanutButter_01_1"), + ObjectInstanceId.parse("Knife_01_1"), + ObjectInstanceId.parse("PaperCup_01_1"), + ObjectInstanceId.parse("PaperCup_Crushed_01_1"), + ObjectInstanceId.parse("PBJ_Sandwich_1"), + ObjectInstanceId.parse("PieFruitSlice_01_1"), + ObjectInstanceId.parse("PieFruit_01_1"), + ObjectInstanceId.parse("SandwichHalf_01_1"), + ObjectInstanceId.parse("Spoon_01_1"), + ObjectInstanceId.parse("Toast_01_1"), + ObjectInstanceId.parse("Toast_02_1"), + ObjectInstanceId.parse("Toast_03_1"), + ObjectInstanceId.parse("Toast_04_1"), + ObjectInstanceId.parse("Toast_04_Jam_1"), + ObjectInstanceId.parse("Toast_04_PBJ_1"), + ] + + for converted_object in converted_object_instance_ids: + create_operate_time_machine_with_carrot( + converted_object, with_color_variants=enable_color_variants + ) diff --git a/src/arena_missions/challenges/pickup_from_printer.py b/src/arena_missions/challenges/pickup_from_printer.py new file mode 100644 index 0000000..6be4e30 --- /dev/null +++ b/src/arena_missions/challenges/pickup_from_printer.py @@ -0,0 +1,133 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import OfficeLayout +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + ObjectGoalState, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_pickup_from_printer_challenges( + printer_cartridge: RequiredObject, + printer_spawned_object_id: ObjectInstanceId, + office_layout: OfficeLayout, +) -> None: + """Register challenges.""" + required_object_builder = RequiredObjectBuilder() + + # Create the printer + printer = required_object_builder.printer() + + # Make sure the cartridge is unique + printer_cartridge.add_state("Unique", "true") + + # Ensure the robotic arm is out the way + robotic_arm = required_object_builder.robotic_arm() + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + printer_cartridge.update_receptacle(breakroom_table.name) + + # Success conditions + conditions = [ + # [PREP] Ensure the machine is used on the target + StateCondition( + stateName="PrinterUsed", + context=printer.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + ContainsExpression( + target=printer.name, contains=printer_spawned_object_id.with_asterisk + ), + ContainsExpression( + target=printer.name, contains=printer_cartridge.name.with_asterisk + ), + ) + ), + ), + ] + + goals = [ + *[TaskGoal.from_state_condition(condition) for condition in conditions], + # Pick up the target object + TaskGoal.from_object_goal_states( + [ + ObjectGoalState.from_parts( + printer_spawned_object_id.with_asterisk, "isPickedUp", "true" + ) + ] + ), + ] + + # Create mission + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="Lab1", + office_layout=office_layout, + required_objects={ + breakroom_table.name: breakroom_table, + printer.name: printer, + printer_cartridge.name: printer_cartridge, + robotic_arm.name: robotic_arm, + }, + state_conditions=conditions, + task_goals=goals, + plan=[ + f"pick up the {printer_spawned_object_id.readable_name} from the printer", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {printer_cartridge.readable_name}", + "go to the robotics lab", + "go to the printer", + f"put the {printer_cartridge.readable_name} in the printer", + "turn on the printer", + ], + ) + + # Register versions of the challenges without color variants + high_level_key = HighLevelKey( + action="pickup", + target_object=printer_spawned_object_id.object_id, + from_receptacle=printer.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + +def register_pickup_from_printer_challenges() -> None: + """Register challenges to print things using the 3D printer.""" + object_instance_ids = [ + ( + ObjectInstanceId.parse("Printer_Cartridge_Figure_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_ActionFigure_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Hammer_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_Hammer_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Lever_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_FuseBox_01_Lever_1"), + ), + ( + ObjectInstanceId.parse("Printer_Cartridge_Mug_1"), + ObjectInstanceId.parse("Printer_3D_1_Spawned_CoffeeMug_Yellow_1"), + ), + ] + + for office_layout in get_args(OfficeLayout): + for printer_cartridge_id, converted_object_id in object_instance_ids: + create_pickup_from_printer_challenges( + printer_cartridge=RequiredObject(name=printer_cartridge_id), + printer_spawned_object_id=converted_object_id, + office_layout=office_layout, + ) diff --git a/src/arena_missions/challenges/pickup_stack.py b/src/arena_missions/challenges/pickup_stack.py new file mode 100644 index 0000000..eb07eb8 --- /dev/null +++ b/src/arena_missions/challenges/pickup_stack.py @@ -0,0 +1,186 @@ +from typing import Any, Optional, get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor, ObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsPickedUpExpression, + ObjectId, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def get_color_from_id(object_id: ObjectId) -> Optional[ObjectColor]: + """Extracts the color from the object id.""" + if "green" in object_id.lower(): + return "Green" + + if "blue" in object_id.lower(): + return "Blue" + + if "red" in object_id.lower(): + return "Red" + + return None + + +def create_plate_stack_challenge( + target_object_instance_id: ObjectInstanceId, + receptacle: RequiredObject, + *, + with_stacked_object_color_variants: bool = False, +) -> None: + """Generate challenes to pick up objects from containers.""" + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Create the plate + plate = RequiredObject(name=ObjectInstanceId.parse("FoodPlate_01_1")) + plate.add_state("Unique", "true") + plate.add_state("isDirty", "false") + + # Put it in the container + plate.update_receptacle(receptacle.name) + target_object.update_receptacle(plate.name) + + conditions = [ + # [PREP] Ensure the plate is in the receptacle + StateCondition( + stateName="InReceptacle", + context=plate.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + ContainsExpression(target=receptacle.name, contains=plate.name), + ContainsExpression(target=plate.name, contains=target_object.name), + ), + ), + ), + # Ensure we pick up the plate + StateCondition( + stateName="PickedUpPlate", + context=plate.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=plate.name, value=True), + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + if not receptacle.room: + raise ValueError(f"Receptacle {receptacle.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=receptacle.room, + required_objects={ + receptacle.name: receptacle, + target_object.name: target_object, + plate.name: plate, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"go to the {receptacle.readable_name}", + "pick up the plate", + ], + ) + + plate_colors = [None, *get_args(ColorChangerObjectColor)] + + for plate_color in plate_colors: + colored_target_object_kwargs: dict[str, Any] = {"required_objects": {}} + + if plate_color is not None: + colored_target_object_kwargs["required_objects"].update( + {plate.name: {"colors": [plate_color]}} + ) + high_level_key = HighLevelKey( + action="pickup", + target_object=plate.object_id, + target_object_color=plate_color, + stacked_object=target_object.object_id, + from_receptacle=receptacle.object_id, + from_receptacle_color=get_color_from_id(receptacle.object_id), + from_receptacle_is_container=False, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + if with_stacked_object_color_variants: + for target_color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs["required_objects"].update( + {target_object.name: {"colors": [target_color]}} + ) + high_level_key = HighLevelKey( + action="pickup", + target_object=plate.object_id, + target_object_color=plate_color, + stacked_object=target_object.object_id, + stacked_object_color=target_color, + from_receptacle=receptacle.object_id, + from_receptacle_color=get_color_from_id(receptacle.object_id), + from_receptacle_is_container=False, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers( + high_level_key, colored_target_object_kwargs + )(create_mission) + + +def register_pickup_plate_stack_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the fridge.""" + required_objects_builder = RequiredObjectBuilder() + + receptacles = [ + required_objects_builder.breakroom_table(), + required_objects_builder.breakroom_countertop(), + *required_objects_builder.main_office_desks(), + ] + + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True), + (ObjectInstanceId.parse("AppleSlice_01_1"), False), + (ObjectInstanceId.parse("Banana_01_1"), False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False), + (ObjectInstanceId.parse("BreadLoaf_1"), False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False), + (ObjectInstanceId.parse("Burger_04_1"), False), + (ObjectInstanceId.parse("Cake_02_1"), True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False), + (ObjectInstanceId.parse("CandyBar_01_1"), False), + (ObjectInstanceId.parse("Carrot_01_1"), True), + (ObjectInstanceId.parse("Donut_01_1"), True), + (ObjectInstanceId.parse("Fork_01_1"), False), + (ObjectInstanceId.parse("Knife_01_1"), False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False), + (ObjectInstanceId.parse("Pear_01_1"), True), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False), + (ObjectInstanceId.parse("PieFruit_01_1"), False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False), + (ObjectInstanceId.parse("Spoon_01_1"), False), + (ObjectInstanceId.parse("Toast_01_1"), False), + (ObjectInstanceId.parse("Toast_02_1"), False), + (ObjectInstanceId.parse("Toast_03_1"), False), + (ObjectInstanceId.parse("Toast_04_1"), False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False), + ] + + for target_object, with_color_variants in target_object_iterator: + for receptacle in receptacles: + create_plate_stack_challenge( + target_object, + receptacle, + with_stacked_object_color_variants=enable_color_variants & with_color_variants, + ) diff --git a/src/arena_missions/challenges/place_stack.py b/src/arena_missions/challenges/place_stack.py new file mode 100644 index 0000000..ad3cfbd --- /dev/null +++ b/src/arena_missions/challenges/place_stack.py @@ -0,0 +1,307 @@ +from typing import Any, get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + AndExpression, + ContainsExpression, + HighLevelKey, + IsOpenExpression, + IsPickedUpExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_place_plate_stack_container_challenge( + target_object_instance_id: ObjectInstanceId, + container: RequiredObject, + *, + with_stacked_object_color_variants: bool = False, +) -> None: + """Generate challenges to pick up objects from containers.""" + required_object_builder = RequiredObjectBuilder() + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Create the plate + plate = RequiredObject(name=ObjectInstanceId.parse("FoodPlate_01_1")) + plate.add_state("Unique", "true") + plate.add_state("isDirty", "false") + plate.add_state("isEmpty", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + + # Put the target object on the table + target_object.update_receptacle(breakroom_table.name) + + # Put plate in the container + plate.update_receptacle(container.name) + + conditions = [ + # [PREP] Ensure the item is picked up + StateCondition( + stateName="ObjectPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True), + ), + ), + # Place object on the plate which is in the container while its open + StateCondition( + stateName="PlacedOnPlateInContainer", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsOpenExpression(target=container.name, value=True), + ContainsExpression(target=container.name, contains=plate.name), + ContainsExpression(target=plate.name, contains=target_object.name), + IsPickedUpExpression(target=target_object.name, value=False), + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + if not container.room: + raise ValueError(f"Receptacle {container.name} must have a room set") + + return ChallengeBuilderOutput( + start_room=container.room, + required_objects={ + container.name: container, + target_object.name: target_object, + plate.name: plate, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"go to the {container.readable_name}", + f"open the {container.readable_name}", + f"put the {target_object_instance_id.readable_name} on the plate", + f"close the {container.readable_name}", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object.readable_name}", + ], + ) + + plate_colors = [None, *get_args(ColorChangerObjectColor)] + + for plate_color in plate_colors: + colored_target_object_kwargs: dict[str, Any] = {"required_objects": {}} + + if plate_color is not None: + colored_target_object_kwargs["required_objects"].update( + {plate.name: {"colors": [plate_color]}} + ) + high_level_key = HighLevelKey( + action="place", + target_object=plate.object_id, + target_object_color=plate_color, + stacked_object=target_object.object_id, + to_receptacle=container.object_id, + to_receptacle_is_container=True, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + if with_stacked_object_color_variants: + for target_color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs["required_objects"].update( + {target_object.name: {"colors": [target_color]}} + ) + high_level_key = HighLevelKey( + action="place", + target_object=plate.object_id, + target_object_color=plate_color, + stacked_object=target_object.object_id, + stacked_object_color=target_color, + to_receptacle=container.object_id, + to_receptacle_is_container=True, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers( + high_level_key, colored_target_object_kwargs + )(create_mission) + + +def create_place_plate_on_gravity_pad_challenge( + target_object_instance_id: ObjectInstanceId, + gravity_pad: RequiredObject, + *, + with_color_variants: bool = False, +) -> None: + """Generate challenges to pick up objects from containers.""" + required_object_builder = RequiredObjectBuilder() + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Create the plate + plate = RequiredObject(name=ObjectInstanceId.parse("FoodPlate_01_1")) + plate.add_state("Unique", "true") + plate.add_state("isDirty", "false") + plate.add_state("isEmpty", "true") + + # Create the breakroom table + breakroom_table = required_object_builder.breakroom_table() + + # Put the target object on the breakroom table + target_object.update_receptacle(breakroom_table.name) + + # Put plate in the gravity pad + plate.update_receptacle(gravity_pad.name) + + conditions = [ + # [PREP] Ensure the item is picked up + StateCondition( + stateName="ObjectPickedUp", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsPickedUpExpression(target=target_object.name, value=True), + ContainsExpression(target=gravity_pad.name, contains=plate.name), + ) + ), + ), + # Place object on the plate which is in the container while its open + StateCondition( + stateName="PlacedOnPlateInContainer", + context=target_object.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + ContainsExpression(target=gravity_pad.name, contains=plate.name), + ContainsExpression(target=plate.name, contains=target_object.name), + IsPickedUpExpression(target=target_object.name, value=False), + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + return ChallengeBuilderOutput( + start_room="Lab2", + required_objects={ + gravity_pad.name: gravity_pad, + target_object.name: target_object, + breakroom_table.name: breakroom_table, + plate.name: plate, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"go to the {gravity_pad.readable_name}", + f"put the {target_object.readable_name} on the plate", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object.readable_name}", + ], + ) + + plate_colors = [None, *get_args(ColorChangerObjectColor)] + + for plate_color in plate_colors: + colored_target_object_kwargs: dict[str, Any] = {"required_objects": {}} + + if plate_color is not None: + colored_target_object_kwargs["required_objects"].update( + {plate.name: {"colors": [plate_color]}} + ) + high_level_key = HighLevelKey( + action="place", + target_object=target_object.object_id, + to_receptacle=plate.object_id, + to_receptacle_color=plate_color, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + if with_color_variants: + for target_color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs["required_objects"].update( + {target_object.name: {"colors": [target_color]}} + ) + high_level_key = HighLevelKey( + action="place", + target_object=target_object.object_id, + target_object_color=target_color, + to_receptacle=plate.object_id, + to_receptacle_color=plate_color, + ) + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers( + high_level_key, colored_target_object_kwargs + )(create_mission) + + +def register_place_plate_stack_challenges(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the fridge/freezer.""" + required_objects_builder = RequiredObjectBuilder() + + containers = [required_objects_builder.fridge(), required_objects_builder.freezer()] + + target_object_iterator = [ + (ObjectInstanceId.parse("Apple_1"), True), + (ObjectInstanceId.parse("AppleSlice_01_1"), False), + (ObjectInstanceId.parse("Banana_01_1"), False), + (ObjectInstanceId.parse("BananaBunch_01_1"), False), + (ObjectInstanceId.parse("BreadLoaf_1"), False), + (ObjectInstanceId.parse("BreadSlice_01_1"), False), + (ObjectInstanceId.parse("Burger_04_1"), False), + (ObjectInstanceId.parse("Cake_02_1"), True), + (ObjectInstanceId.parse("CakeSlice_02_1"), False), + (ObjectInstanceId.parse("CandyBar_01_1"), False), + (ObjectInstanceId.parse("Carrot_01_1"), True), + (ObjectInstanceId.parse("Donut_01_1"), True), + (ObjectInstanceId.parse("Fork_01_1"), False), + (ObjectInstanceId.parse("Knife_01_1"), False), + (ObjectInstanceId.parse("PBJ_Sandwich_1"), False), + (ObjectInstanceId.parse("Pear_01_1"), True), + (ObjectInstanceId.parse("PieFruitSlice_01_1"), False), + (ObjectInstanceId.parse("PieFruit_01_1"), False), + (ObjectInstanceId.parse("SandwichHalf_01_1"), False), + (ObjectInstanceId.parse("Spoon_01_1"), False), + (ObjectInstanceId.parse("Toast_01_1"), False), + (ObjectInstanceId.parse("Toast_02_1"), False), + (ObjectInstanceId.parse("Toast_03_1"), False), + (ObjectInstanceId.parse("Toast_04_1"), False), + (ObjectInstanceId.parse("Toast_04_Jam_1"), False), + (ObjectInstanceId.parse("Toast_04_PBJ_1"), False), + ] + + for target_object, with_color_variants in target_object_iterator: + for container in containers: + create_place_plate_stack_container_challenge( + target_object, + container, + with_stacked_object_color_variants=enable_color_variants & with_color_variants, + ) + + +def register_place_bowl_stack_from_gravity_pad(enable_color_variants: bool = True) -> None: + """Register challenges to pick up and place objects in the fridge/freezer.""" + required_objects_builder = RequiredObjectBuilder() + + create_place_plate_on_gravity_pad_challenge( + ObjectInstanceId.parse("Bowl_01_1"), + required_objects_builder.gravity_pad(), + with_color_variants=enable_color_variants, + ) diff --git a/src/arena_missions/challenges/using_coffee_unmaker.py b/src/arena_missions/challenges/using_coffee_unmaker.py new file mode 100644 index 0000000..b156191 --- /dev/null +++ b/src/arena_missions/challenges/using_coffee_unmaker.py @@ -0,0 +1,224 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor, OfficeLayout +from arena_missions.structures import ( + AndExpression, + HighLevelKey, + IsFilledWithExpression, + IsPickedUpExpression, + IsToggledOnExpression, + NotExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def convert_coffee_from_pot_to_beans(*, office_layout: OfficeLayout) -> ChallengeBuilderOutput: + """Convert coffee back to beans with the coffee unmaker.""" + required_objects_builder = RequiredObjectBuilder() + + # Remove existing beans from the scene + coffee_beans = RequiredObject(name=ObjectInstanceId.parse("CoffeeBeans_01_1")) + coffee_beans.update_state("Blacklist", "true") + + # Coffee unmaker + coffee_unmaker = RequiredObject(name=ObjectInstanceId.parse("CoffeeUnMaker_01_1")) + + # Create the coffee pot + coffee_pot = required_objects_builder.coffee_pot(fill_with="Coffee") + + conditions = [ + # Pick up the coffee pot + StateCondition( + stateName="HoldingCoffeePot", + context=coffee_pot.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=coffee_pot.name, value=True) + ), + ), + # Fill the coffee unmaker with coffee, that happens to be from the coffee pot + StateCondition( + stateName="CoffeeUnMakerFilledWithCoffee", + context=coffee_unmaker.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsFilledWithExpression(target=coffee_unmaker.name, fluid="Coffee"), + NotExpression( + expression=StateExpression.from_expression( + IsFilledWithExpression(target=coffee_pot.name, fluid="Coffee") + ) + ), + ) + ), + ), + # Turn on the coffee unmaker + StateCondition( + stateName="CoffeeUnMakerOn", + context=coffee_unmaker.name, + expression=StateExpression.from_expression( + IsToggledOnExpression(target=coffee_unmaker.name, value=True) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + return ChallengeBuilderOutput( + start_room="BreakRoom", + office_layout=office_layout, + required_objects={ + coffee_pot.name: coffee_pot, + coffee_unmaker.name: coffee_unmaker, + coffee_beans.name: coffee_beans, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + "find the coffee unmaker", + "pour the coffee into the coffee unmaker", + "toggle the coffee unmaker", + ], + preparation_plan=[ + f"find the {coffee_pot.readable_name}", + f"pick up the {coffee_pot.readable_name}", + ], + ) + + +def convert_coffee_from_target_object_to_beans( + *, + target_object_instance_id: ObjectInstanceId, + office_layout: OfficeLayout, + with_color_variants: bool = True, +) -> None: + """Convert coffee back to beans with the coffee unmaker.""" + required_objects_builder = RequiredObjectBuilder() + + # Remove existing beans from the scene + coffee_beans = RequiredObject(name=ObjectInstanceId.parse("CoffeeBeans_01_1")) + coffee_beans.update_state("Blacklist", "true") + + # Coffee unmaker + coffee_unmaker = RequiredObject(name=ObjectInstanceId.parse("CoffeeUnMaker_01_1")) + + # Create the target object + target_object = RequiredObject(name=target_object_instance_id) + target_object.update_state("isFilled", "Coffee") + target_object.update_state("isHot", "true") + + # Create the breakroom table + breakroom_table = required_objects_builder.breakroom_table() + + # Put the target object on the breakroom table + target_object.update_receptacle(breakroom_table.name) + + conditions = [ + # Pick up the coffee pot + StateCondition( + stateName="HoldingMug", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True) + ), + ), + # Fill the coffee unmaker with coffee, that happens to be from the coffee pot + StateCondition( + stateName="CoffeeUnMakerFilledWithCoffee", + context=coffee_unmaker.name, + expression=StateExpression.from_expression( + AndExpression.from_expressions( + IsFilledWithExpression(target=coffee_unmaker.name, fluid="Coffee"), + NotExpression( + expression=StateExpression.from_expression( + IsFilledWithExpression(target=target_object.name, fluid="Coffee") + ) + ), + ) + ), + ), + # Turn on the coffee unmaker + StateCondition( + stateName="CoffeeUnMakerOn", + context=coffee_unmaker.name, + expression=StateExpression.from_expression( + IsToggledOnExpression(target=coffee_unmaker.name, value=True) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + return ChallengeBuilderOutput( + start_room="BreakRoom", + office_layout=office_layout, + required_objects={ + breakroom_table.name: breakroom_table, + target_object.name: target_object, + coffee_unmaker.name: coffee_unmaker, + coffee_beans.name: coffee_beans, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + "find the coffee unmaker", + "pour the coffee into the coffee unmaker", + "toggle the coffee unmaker", + ], + preparation_plan=[ + f"find the {target_object.readable_name}", + f"pick up the {target_object.readable_name}", + ], + ) + + high_level_key = HighLevelKey( + action="interact", + interaction_object=coffee_unmaker.object_id, + target_object=target_object.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + # Register versions of the challenges with color variants + if with_color_variants: + for color in get_args(ColorChangerObjectColor): + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [color]}, + } + } + + high_level_key = HighLevelKey( + action="interact", + interaction_object=coffee_unmaker.object_id, + target_object=target_object.object_id, + target_object_color=color, + ) + + # Register the challenge builder with the modifications + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_coffee_unmaker_challenges(enable_color_variants: bool = True) -> None: + """Register challenges with the coffee unmaker.""" + target_object_iterator = [ + (ObjectInstanceId.parse("Bowl_01_1"), True), + (ObjectInstanceId.parse("CoffeePot_01_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Boss_1"), True), + (ObjectInstanceId.parse("CoffeeMug_Yellow_1"), True), + ] + for layout in get_args(OfficeLayout): + for target_object, with_color_variants in target_object_iterator: + convert_coffee_from_target_object_to_beans( + target_object_instance_id=target_object, + office_layout=layout, + with_color_variants=enable_color_variants & with_color_variants, + ) + + convert_coffee_from_pot_to_beans(office_layout=layout) diff --git a/src/arena_missions/challenges/using_color_changer.py b/src/arena_missions/challenges/using_color_changer.py new file mode 100644 index 0000000..e00da4b --- /dev/null +++ b/src/arena_missions/challenges/using_color_changer.py @@ -0,0 +1,139 @@ +from typing import get_args + +from arena_missions.builders import ChallengeBuilder, ChallengeBuilderOutput, RequiredObjectBuilder +from arena_missions.constants.arena import ColorChangerObjectColor +from arena_missions.structures import ( + ColorMetaDataChangeExpression, + ContainsExpression, + HighLevelKey, + IsPickedUpExpression, + ObjectInstanceId, + RequiredObject, + StateCondition, + StateExpression, + TaskGoal, +) + + +def create_change_object_color_challenge( + target_object_instance_id: ObjectInstanceId, + converted_object_color: ColorChangerObjectColor, + with_color_variants: bool = False, +) -> None: + """Generate challenes to transform an object's color using the color changer.""" + # Create the target object + required_objects_builder = RequiredObjectBuilder() + + receptacle = required_objects_builder.breakroom_table() + color_changer = required_objects_builder.color_changer() + + target_object = RequiredObject(name=target_object_instance_id) + target_object.add_state("Unique", "true") + + # Put it in the container + target_object.update_receptacle(receptacle.name) + + conditions = [ + # Ensure the object is picked up from the receptacle + StateCondition( + stateName="PickedUpFromReceptacle", + context=target_object.name, + expression=StateExpression.from_expression( + IsPickedUpExpression(target=target_object.name, value=True) + ), + ), + StateCondition( + stateName="OnColorChanger", + context=color_changer.name, + expression=StateExpression.from_expression( + ContainsExpression(target=color_changer.name, contains=target_object.name) + ), + ), + StateCondition( + stateName="ChangedColor", + context=target_object.name, + expression=StateExpression.from_expression( + ColorMetaDataChangeExpression( + target=target_object.name, colorvalue=converted_object_color + ) + ), + ), + ] + + goals = [TaskGoal.from_state_condition(condition) for condition in conditions] + + def create_mission() -> ChallengeBuilderOutput: + """Create the mission.""" + return ChallengeBuilderOutput( + start_room="Lab2", + required_objects={ + receptacle.name: receptacle, + target_object.name: target_object, + color_changer.name: color_changer, + }, + task_goals=goals, + state_conditions=conditions, + plan=[ + f"go to the {color_changer.readable_name}", + f"place the {target_object.readable_name} in the {color_changer.readable_name}", + f"press the {converted_object_color} button", + ], + preparation_plan=[ + "go to the breakroom", + f"pick up the {target_object_instance_id.readable_name}", + ], + ) + + high_level_key = HighLevelKey( + action="interact", + target_object=target_object_instance_id.object_id, + converted_object_color=converted_object_color, + interaction_object=color_changer.object_id, + ) + + ChallengeBuilder.register(high_level_key)(create_mission) + + # Register versions of the challenges with color variants + if with_color_variants: + for start_color in get_args(ColorChangerObjectColor): + # Do not try to turn an object into the same color + if converted_object_color == start_color: + continue + + colored_target_object_kwargs = { + "required_objects": { + target_object.name: {"colors": [start_color]}, + } + } + + high_level_key = HighLevelKey( + action="interact", + interaction_object=color_changer.object_id, + target_object=target_object.object_id, + target_object_color=start_color, + converted_object_color=converted_object_color, + ) + + ChallengeBuilder.register_with_modifiers(high_level_key, colored_target_object_kwargs)( + create_mission + ) + + +def register_color_changer_challenges(enable_start_color_variants: bool = True) -> None: + """Register challenges to change object color using the color changer.""" + target_object_iterator = [ + ObjectInstanceId.parse("Apple_1"), + ObjectInstanceId.parse("Bowl_01_1"), + ObjectInstanceId.parse("Carrot_01_1"), + ObjectInstanceId.parse("CoffeeMug_Yellow_1"), + ObjectInstanceId.parse("DeskFan_New_01_1"), + ObjectInstanceId.parse("FoodPlate_01_1"), + ] + + color_changer_colors = get_args(ColorChangerObjectColor) + + for target_object in target_object_iterator: + for object_color in color_changer_colors: + create_change_object_color_challenge( + target_object, object_color, enable_start_color_variants + ) diff --git a/src/arena_missions/constants/__init__.py b/src/arena_missions/constants/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/arena_missions/constants/arena.py b/src/arena_missions/constants/arena.py new file mode 100644 index 0000000..f293763 --- /dev/null +++ b/src/arena_missions/constants/arena.py @@ -0,0 +1,467 @@ +from functools import lru_cache +from pathlib import Path +from typing import Literal + +import orjson + + +OfficeLayout = Literal[ + "OfficeLayout1", + "OfficeLayout1B", + "OfficeLayout1C", + "OfficeLayout3", + "OfficeLayout1_mirror", + "OfficeLayout1B_mirror", + "OfficeLayout1C_mirror", + "OfficeLayout3_mirror", +] + +OfficeRoom = Literal[ + "BreakRoom", + "MainOffice", + "SmallOffice", + "Lab1", + "Lab2", + "Hallway", + "Reception", + "Warehouse", +] + +ObjectIds = Literal[ + "ActionFigure", + "AP_Bld_Ceiling_Aircon_01", + "AP_Bld_Wall_Glass_Large_Door_01", + "AP_Item_Tape_01", + "AP_Item_Tool_Board", + "AP_Prop_Barrel_Open_01", + "AP_Prop_Barrel_Water_01", + "AP_Prop_Bin_Rubbish_01", + "AP_Prop_Bucket_02", + "AP_Prop_Cabinets_01", + "AP_Prop_CardboardBox_Open_05", + "AP_Prop_CardboardBox_Stack_02", + "AP_Prop_Cellotape_01", + "AP_Prop_CorkBoard_02", + "AP_Prop_Couch_02", + "AP_Prop_Couch_06", + "AP_Prop_Desk_Blue", + "AP_Prop_Desk_Green_model", + "AP_Prop_Desk_Green", + "AP_Prop_Desk_Red_model", + "AP_Prop_Desk_Red", + "AP_Prop_Desk_Yellow", + "AP_Prop_Fire_Extinguisher_01", + "AP_Prop_Folder_PVC_02", + "AP_Prop_Generator_Large_02", + "AP_Prop_Lab_Clamp_02_Arm_01", + "AP_Prop_Lab_MachinePanel_01", + "AP_Prop_Lab_MachinePanel_02", + "AP_Prop_Lab_Tank_01", + "AP_Prop_Lab_Tank_02", + "AP_Prop_Minigolf_Ball_01", + "AP_Prop_Minigolf_Club_01", + "AP_Prop_Note_05", + "AP_Prop_PaperTray_01_Full_01", + "AP_Prop_Pen_01", + "AP_Prop_Pen_03", + "AP_Prop_Pen_06", + "AP_Prop_Photocopier_01", + "AP_Prop_Plant_01", + "AP_Prop_Plant_09", + "AP_Prop_Print_Tube_01", + "AP_Prop_Safety_Barrier_02", + "AP_Prop_Shelf_06", + "AP_Prop_Shelf_Wall_04", + "AP_Prop_Shelf_Wall_FreezeRay", + "AP_Prop_Shelf_Wall_Laser", + "AP_Prop_Sign_OutofOrder_01", + "AP_Prop_Target_Circle_01", + "AP_Prop_Whiteboard_Devices_03", + "AP_Prop_Whiteboard_Devices_04", + "AP_Prop_Whiteboard_Devices_05", + "AP_Prop_Whiteboard_Devices_06", + "AP_Prop_Whiteboard_Devices_07", + "AP_Prop_Whiteboard_Devices_08", + "AP_Prop_Whiteboard_Devices_09", + "AP_Prop_Whiteboard_Devices_10", + "AP_Prop_Whiteboard_Devices_11", + "AP_Prop_Whiteboard_Devices_12", + "AP_Prop_Whiteboard_Devices_13", + "AP_Prop_Whiteboard_Devices_14", + "AP_Prop_Whiteboard_Devices_15", + "AP_Tool_Buffer_01_Battery", + "Apple", + "AppleSlice_01", + "Banana_01", + "BananaBunch_01", + "Bookshelf_Wooden_01", + "Bowl_01", + "BreadLoaf", + "BreadSlice_01", + "Broken_Cord_01", + "Burger_04", + "CableFrayed_01", + "Cake_02", + "CakeSlice_02", + "CandyBar_01", + "CandyJar_01", + "CanSoda_01", + "CanSodaNew_01", + "CanSodaNew_Crushed_01", + "CanSodaNew_Open_01", + "Carrot_01", + "Cereal_Box_01", + "CoffeeBeans_01", + "CoffeeCup_Lid_01", + "CoffeeCup_Open_Empty_01", + "CoffeeCup_Open_Empty_02", + "CoffeeMaker_01", + "CoffeeMug_Boss", + "CoffeeMug_Yellow", + "CoffeePot_01", + "CoffeeUnMaker_01", + "ColorChanger_Button_Blue", + "ColorChanger_Button_Green", + "ColorChanger_Button_Red", + "ColorChangerStation", + "Computer_Monitor_01", + "Computer_Monitor_Broken", + "Computer_Monitor_New", + "CounterBase_03", + "Cutting_Board", + "Dart", + "DartBoard", + "Deembiggenator_Crates", + "Desk_01", + "DeskFan_Broken_01", + "DeskFan_New_01", + "Donut_01", + "Door_01", + "EAC_Machine", + "EAC_Machine_Spawned_Carrot_01", + "Embiggenator", + "EmptyPaperTray", + "FireAlarm_01", + "FireExtinguisher_01", + "Floppy_AntiVirus_Broken", + "Floppy_AntiVirus", + "Floppy_Virus_Broken", + "Floppy_Virus", + "FoodPlate_01", + "Fork_01", + "Fork_Lift", + "ForkLift", + "FreezeRay", + "FridgeLower_02", + "FridgeUpper_02", + "FulllPaperTray_01", + "FuseBox_01_Lever", + "FuseBox_01", + "FuseBox_02", + "GravityPad", + "Hammer", + "Handsaw", + "Jar_Jam_01", + "Jar_PeanutButter_01", + "Keyboard", + "KitchenCabinet_01_Trapped", + "KitchenCabinet_01", + "KitchenCabinet_02", + "KitchenCounter01", + "KitchenCounterBase_02", + "KitchenCounterBase_03", + "KitchenCounterDrawer_02", + "KitchenCounterDrawer_03", + "KitchenCounterSink_01", + "KitchenCounterTop_02", + "KitchenStool_01", + "Knife_01", + "Lab_Terminal", + "Laser_CircuitBoard", + "Laser_ControlPanel", + "Laser_Tip_Broken", + "Laser_Tip", + "Laser", + "LaserBase_toy", + "LightSwitch_01", + "Manager_Chair", + "ManagerDesk", + "Microwave_01", + "MilkCarton_01", + "MissionItemHolder", + "Office_Chair", + "PackingBox", + "PaperCup_01", + "PaperCup_Crushed_01", + "PBJ_Sandwich", + "Pear_01", + "PieFruit_01", + "PieFruitSlice_01", + "PinBoard_01", + "PinBoard_02", + "PortalGenerator", + "PowerOutlet_01", + "Printer_3D", + "Printer_Cartridge_Figure", + "Printer_Cartridge_Hammer", + "Printer_Cartridge_Lever", + "Printer_Cartridge_Mug", + "Printer_Cartridge", + "Printer_3D_1_Spawned_ActionFigure", + "Printer_3D_1_Spawned_CoffeeMug_Yellow", + "Printer_3D_1_Spawned_FuseBox_01_Lever", + "Printer_3D_1_Spawned_Hammer", + "Radio_01_Broken", + "Radio_01", + "ReceptionDesk", + "Record_01", + "RoboticArm_01", + "SafetyBarrier_02", + "SandwichHalf_01", + "Screwdriver", + "Security_Button", + "Shelf_01", + "Shelves_Tall_01", + "sign_diamond_carrot", + "sign_diamond_fire", + "sign_diamond_freeze", + "sign_diamond_gravity", + "sign_diamond_laser", + "sign_diamond_quantum", + "sign_diamond_shrink", + "sign_office_layout_1", + "sign_short_breakroom_1", + "sign_short_breakroom_2", + "sign_short_caution_carrot", + "sign_short_caution_electrical", + "sign_short_caution_gravity_1", + "sign_short_caution_gravity_2", + "sign_short_caution_quantum_1", + "sign_short_caution_quantum_2", + "sign_short_caution_restricted_1", + "sign_short_caution_shrink", + "sign_short_office_1", + "sign_short_poster_delwan_1", + "sign_short_poster_delwan_2", + "sign_short_poster_delwan_3", + "sign_short_poster_delwan_4", + "sign_short_poster_tam", + "sign_short_quantum_1", + "sign_short_quantum_2", + "sign_short_robotics_1", + "sign_short_robotics_2", + "sign_short_warehouse_1", + "sign_square_breakroom", + "sign_tall_caution_carrot", + "sign_tall_caution_electrical", + "sign_tall_caution_freeze", + "sign_tall_caution_laser", + "sign_tall_caution_robotics", + "sign_tall_caution_shrink", + "sign_tall_poster_tam_1", + "sign_tall_poster_tam_2", + "SK_Veh_Pickup_01_ToolBox", + "SM_Bld_Door_02", + "SM_Bld_Wall_Metal_Slide_02", + "SM_Bld_Wall_Window_Blinds_Open_04", + "SM_Item_Clipboard_01", + "SM_Prop_AirVent_01", + "SM_Prop_AirVent_Wall_01", + "SM_Prop_Book_Group_01", + "SM_Prop_Book_Group_02", + "SM_Prop_Book_Group_03", + "SM_Prop_Book_Group_04", + "SM_Prop_Book_Group_05", + "SM_Prop_Book_Group_06", + "SM_Prop_Book_Group_07", + "SM_Prop_Book_Group_08", + "SM_Prop_Book_Magazine_01", + "SM_Prop_Book_Phone_Open_01", + "SM_Prop_Buttons_02", + "SM_Prop_Buttons_05", + "SM_Prop_Calender_01", + "SM_Prop_Cart_01", + "SM_Prop_Certificate_01", + "SM_Prop_Crate_Stack_01", + "SM_Prop_Drink_Dispenser_01", + "SM_Prop_FlatPackCardboardBoxes_03", + "SM_Prop_FlatPackCardboardBoxes_04", + "SM_Prop_Folder_Holder_01", + "SM_Prop_Folder_Holder_02", + "SM_Prop_Folder_Holder_03", + "SM_Prop_Folder_Holder_04", + "SM_Prop_Folder_Manila_01", + "SM_Prop_Folder_Manila_02", + "SM_Prop_Folder_Manila_03", + "SM_Prop_Folder_Manila_04", + "SM_Prop_Folder_PVC_01", + "SM_Prop_Folder_PVC_02", + "SM_Prop_FolderTray_01", + "SM_Prop_FolderTray_02", + "SM_Prop_FolderTray_03", + "SM_Prop_FolderTray_04", + "SM_Prop_Lighting_Cable_Bulb_01", + "SM_Prop_NetCable_03", + "SM_Prop_NotePad_01", + "SM_Prop_Oxygen_Tank Water", + "SM_Prop_Oxygen_Tank_Large", + "SM_Prop_Oxygen_Tank", + "SM_Prop_PalletStack_02", + "SM_Prop_Paper_04", + "SM_Prop_Paper_05", + "SM_Prop_Paper_06", + "SM_Prop_Paper_Pile_01", + "SM_Prop_Paper_Pile_03", + "SM_Prop_Papers_01", + "SM_Prop_PaperTray_01_Full_01", + "SM_Prop_Plastic_Pipe_Spool_01", + "SM_Prop_PowerBoxes_01", + "SM_Prop_Powercable_01", + "SM_Prop_Powercable_02", + "SM_Prop_Powercable_03", + "SM_Prop_Scales_01", + "SM_Prop_Server_Cabinet_01", + "SM_Prop_Server_Node_01", + "SM_Prop_Table_02", + "SM_Prop_ToolBox_01", + "SM_Prop_Warehouse_Boxes_Stacked_03", + "SM_Prop_Warehouse_Boxes_Stacked_04", + "SM_Prop_Warehouse_Light_04", + "SM_Prop_Warehouse_Platform_Trolley_01", + "SM_Prop_Wirespool_01", + "SM_Prop_Wirespool_Small_01", + "SM_Sign_Exit_02", + "SM_Tool_Buffer_01_Battery", + "SM_Tool_Drill_Chuck_01", + "SM_Tool_Handsaw_01", + "Spoon_01", + "StickyNote", + "Table_Metal_01", + "TableRound_02", + "TableRoundSmall_02", + "TAMPrototypeHead_01", + "TeslaCoil_Small", + "TeslaCoil", + "Toast_01", + "Toast_02", + "Toast_03", + "Toast_04_Jam", + "Toast_04_PBJ", + "Toast_04", + "Toaster_02", + "ToyBed", + "TrashCan_01", + "Trophy01", + "Unassigned", + "V_Monitor_Embiggenator", + "V_Monitor_FreezeRay", + "V_Monitor_Gravity", + "V_Monitor_Laser", + "V_Monitor_Portal", + "VendingMachine_01_B4_Button", + "VendingMachine_01_E5_Button", + "VendingMachine_01_E7_Button", + "VendingMachine_01_M8_Button", + "VendingMachine_01", + "WallClock_01", + "Warehouse_Boxes", + "WarningSign_01", + "WaterCooler_01", + "WaterPuddle_01", + "WhiteBoard_01", + "Whiteboard_CoffeeUnmaker", + "Whiteboard_YesterdayMachine", + "YesterdayMachine_01", +] + + +ObjectColor = Literal[ + "Black", + "Blue", + "Brown", + "Green", + "Gray", + "Red", + "Yellow", +] + +ColorChangerObjectColor = Literal[ + "Red", + "Green", + "Blue", +] + + +RequiredObjectStateName = Literal[ + "isToggledOn", + "isOpen", + "isFilled", + "isHot", + "isCold", + "isCooked", + "isCut", + "isDirty", + "isBroken", + "isEaten", + "isSparking", + "isOverloaded", + # Will only work for the emotion tester + "isNeutral", + "isHappy", + "isSad", + "isAngry", + "isScared", + # isLocked only works on Doors + "isLocked", + # Only works on receptacles + "isEmpty", + # Empties receptacles on challenge start + "removeInitialContainedItems", + # Ensures the object is infected, I don't know why this is different to the goal state + "Infected", + # Prevents the object from spawning normally + "Blacklist", + # Ensures it is the only object of its type + "Unique", + # Removes the object if it exists from some other definition + "Removed", + # I don't know what circuits and power does, and I don't think it matters since all circuits + # seem to be disabled or global + "circuitId", + "generateCircuitId", + "generatePower", +] + +GoalStateExpressionKey = Literal[ + "isInfected", + # Will only work for the emotion tester + "isNeutral", + "isHappy", + "isSad", + "isAngry", + "isScared", +] + + +BooleanStr = Literal["true", "false"] +SpawnRelation = Literal["in"] +FluidType = Literal["Water", "Milk", "Coffee", "None"] + + +@lru_cache(maxsize=1) +def load_object_id_to_readable_name_map() -> dict[ObjectIds, str]: + """Load mapping of Object ID to a readable name.""" + json_file = Path(__file__).parent.joinpath("object_id_to_readable_name.json") + mapping = orjson.loads(json_file.read_bytes()) + return mapping + + +@lru_cache(maxsize=1) +def get_all_readable_names() -> list[str]: + """Get all the readable names.""" + return list(set(load_object_id_to_readable_name_map().values())) + + +def is_readable_name(name: str) -> bool: + """Check if the name is a readable name.""" + return name in get_all_readable_names() diff --git a/src/arena_missions/constants/object_id_to_readable_name.json b/src/arena_missions/constants/object_id_to_readable_name.json new file mode 100644 index 0000000..9a63e89 --- /dev/null +++ b/src/arena_missions/constants/object_id_to_readable_name.json @@ -0,0 +1,346 @@ +{ + "ActionFigure": "Action Figure", + "AP_Bld_Ceiling_Aircon_01": "Vent", + "AP_Bld_Wall_Glass_Large_Door_01": "Door", + "AP_Item_Tape_01": "Tape", + "AP_Item_Tool_Board": "Tool Board", + "AP_Prop_Barrel_Open_01": "Water Barrel", + "AP_Prop_Barrel_Water_01": "Water Barrel", + "AP_Prop_Bin_Rubbish_01": "Trash Can", + "AP_Prop_Bucket_02": "Trash Can", + "AP_Prop_Cabinets_01": "Cabinet", + "AP_Prop_CardboardBox_Open_05": "Boxes", + "AP_Prop_CardboardBox_Stack_02": "Boxes", + "AP_Prop_Cellotape_01": "Tape", + "AP_Prop_CorkBoard_02": "Board", + "AP_Prop_Couch_02": "Couch", + "AP_Prop_Couch_06": "Couch", + "AP_Prop_Desk_Blue": "Blue Desk", + "AP_Prop_Desk_Green_model": "Green Desk", + "AP_Prop_Desk_Green": "Green Desk", + "AP_Prop_Desk_Red_model": "Red Desk", + "AP_Prop_Desk_Red": "Red Desk", + "AP_Prop_Desk_Yellow": "Yellow Desk", + "AP_Prop_Fire_Extinguisher_01": "Fire Extinguisher", + "AP_Prop_Folder_PVC_02": "Folder", + "AP_Prop_Generator_Large_02": "Generator", + "AP_Prop_Lab_Clamp_02_Arm_01": "Clamp", + "AP_Prop_Lab_MachinePanel_01": "Machine Panel", + "AP_Prop_Lab_MachinePanel_02": "Machine Panel", + "AP_Prop_Lab_Tank_01": "Tank", + "AP_Prop_Lab_Tank_02": "Tank", + "AP_Prop_Minigolf_Ball_01": "Golf Ball", + "AP_Prop_Minigolf_Club_01": "Golf Club", + "AP_Prop_Note_05": "Sticky Note", + "AP_Prop_PaperTray_01_Full_01": "Tray", + "AP_Prop_Pen_01": "Pen", + "AP_Prop_Pen_03": "Pen", + "AP_Prop_Pen_06": "Pen", + "AP_Prop_Photocopier_01": "Photocopier", + "AP_Prop_Plant_01": "Plant", + "AP_Prop_Plant_09": "Plant", + "AP_Prop_Print_Tube_01": "Print Tube", + "AP_Prop_Safety_Barrier_02": "Warning Sign", + "AP_Prop_Shelf_06": "Shelf", + "AP_Prop_Shelf_Wall_04": "Freeze Ray Shelf", + "AP_Prop_Shelf_Wall_FreezeRay": "Freeze Ray Shelf", + "AP_Prop_Shelf_Wall_Laser": "Laser Shelf", + "AP_Prop_Sign_OutofOrder_01": "Door Sign", + "AP_Prop_Target_Circle_01": "Target", + "AP_Prop_Whiteboard_Devices_03": "Whiteboard", + "AP_Prop_Whiteboard_Devices_04": "Whiteboard", + "AP_Prop_Whiteboard_Devices_05": "Whiteboard", + "AP_Prop_Whiteboard_Devices_06": "Whiteboard", + "AP_Prop_Whiteboard_Devices_07": "Whiteboard", + "AP_Prop_Whiteboard_Devices_08": "Whiteboard", + "AP_Prop_Whiteboard_Devices_09": "Whiteboard", + "AP_Prop_Whiteboard_Devices_10": "Whiteboard", + "AP_Prop_Whiteboard_Devices_11": "Whiteboard", + "AP_Prop_Whiteboard_Devices_12": "Whiteboard", + "AP_Prop_Whiteboard_Devices_13": "Whiteboard", + "AP_Prop_Whiteboard_Devices_14": "Whiteboard", + "AP_Prop_Whiteboard_Devices_15": "Whiteboard", + "AP_Tool_Buffer_01_Battery": "Battery", + "Apple": "Apple", + "AppleSlice_01": "Apple", + "Banana_01": "Banana", + "BananaBunch_01": "Banana", + "Bookshelf_Wooden_01": "Bookshelf", + "Bowl_01": "Bowl", + "BreadLoaf": "Bread", + "BreadSlice_01": "Bread", + "Broken_Cord_01": "Cable", + "Burger_04": "Burger", + "CableFrayed_01": "Cable", + "Cake_02": "Cake", + "CakeSlice_02": "Cake", + "CandyBar_01": "Candy Bar", + "CandyJar_01": "Jar", + "CanSoda_01": "Can", + "CanSodaNew_01": "Can", + "CanSodaNew_Crushed_01": "Can", + "CanSodaNew_Open_01": "Can", + "Carrot_01": "Carrot", + "Cereal_Box_01": "Cereal Box", + "CoffeeBeans_01": "Coffee Beans", + "CoffeeCup_Lid_01": "Lid", + "CoffeeCup_Open_Empty_01": "Cup", + "CoffeeCup_Open_Empty_02": "Cup", + "CoffeeMaker_01": "Coffee Maker", + "CoffeeMug_Boss": "Mug", + "CoffeeMug_Yellow": "Mug", + "CoffeePot_01": "Coffee Pot", + "CoffeeUnMaker_01": "Coffee Unmaker", + "ColorChanger_Button_Blue": "Blue Button", + "ColorChanger_Button_Green": "Green Button", + "ColorChanger_Button_Red": "Red Button", + "ColorChangerStation": "Color Changer", + "Computer_Monitor_01": "Computer", + "Computer_Monitor_Broken": "Computer", + "Computer_Monitor_New": "Computer", + "CounterBase_03": "Counter", + "Cutting_Board": "Cutting Board", + "Dart": "Dart", + "DartBoard": "Dart Board", + "Deembiggenator_Crates": "Crate", + "Desk_01": "Desk", + "DeskFan_Broken_01": "Fan", + "DeskFan_New_01": "Fan", + "Donut_01": "Donut", + "Door_01": "Door", + "EAC_Machine": "Everything's A Carrot Machine", + "Embiggenator": "Embiggenator", + "EmptyPaperTray": "Tray", + "FireAlarm_01": "Fire Alarm", + "FireExtinguisher_01": "Fire Extinguisher", + "Floppy_AntiVirus_Broken": "Floppy Disk", + "Floppy_AntiVirus": "Floppy Disk", + "Floppy_Virus_Broken": "Floppy Disk", + "Floppy_Virus": "Floppy Disk", + "FoodPlate_01": "Plate", + "Fork_01": "Fork", + "Fork_Lift": "Forklift", + "ForkLift": "Forklift", + "FreezeRay": "Freeze Ray", + "FridgeLower_02": "Fridge", + "FridgeUpper_02": "Freezer", + "FulllPaperTray_01": "Tray", + "FuseBox_01_Lever": "Lever", + "FuseBox_01": "Fuse Box", + "FuseBox_02": "Fuse Box", + "GravityPad": "Gravity Pad", + "Hammer": "Hammer", + "Handsaw": "Handsaw", + "Jar_Jam_01": "Jar", + "Jar_PeanutButter_01": "Jar", + "Keyboard": "Keyboard", + "KitchenCabinet_01_Trapped": "Cabinet", + "KitchenCabinet_01": "Cabinet", + "KitchenCabinet_02": "Cabinet", + "KitchenCounter01": "Counter", + "KitchenCounterBase_02": "Counter", + "KitchenCounterBase_03": "Counter", + "KitchenCounterDrawer_02": "Drawer", + "KitchenCounterDrawer_03": "Drawer", + "KitchenCounterSink_01": "Sink", + "KitchenCounterTop_02": "Counter Top", + "KitchenStool_01": "Stool", + "Knife_01": "Knife", + "Lab_Terminal": "Computer", + "Laser_CircuitBoard": "Circuit Board", + "Laser_ControlPanel": "Control Panel", + "Laser_Tip_Broken": "Laser Tip", + "Laser_Tip": "Laser Tip", + "Laser": "Laser", + "LaserBase_toy": "Laser Toy", + "LightSwitch_01": "Light Switch", + "Manager_Chair": "Chair", + "ManagerDesk": "Desk", + "Microwave_01": "Microwave", + "MilkCarton_01": "Milk", + "MissionItemHolder": "Unassigned", + "Office_Chair": "Chair", + "PackingBox": "Boxes", + "PaperCup_01": "Cup", + "PaperCup_Crushed_01": "Cup", + "PBJ_Sandwich": "Sandwich", + "Pear_01": "Pear", + "PieFruit_01": "Pie", + "PieFruitSlice_01": "Pie", + "PinBoard_01": "Pin Board", + "PinBoard_02": "Pin Board", + "PortalGenerator": "Generator", + "PowerOutlet_01": "Outlet", + "Printer_3D": "Printer", + "Printer_Cartridge_Figure": "Printer Cartridge", + "Printer_Cartridge_Hammer": "Printer Cartridge", + "Printer_Cartridge_Lever": "Printer Cartridge", + "Printer_Cartridge_Mug": "Printer Cartridge", + "Printer_Cartridge": "Printer Cartridge", + "Printer_3D_1_Spawned_ActionFigure": "Action Figure", + "Printer_3D_1_Spawned_CoffeeMug_Yellow": "Mug", + "Printer_3D_1_Spawned_FuseBox_01_Lever": "Lever", + "Printer_3D_1_Spawned_Hammer": "Hammer", + "Radio_01_Broken": "Radio", + "Radio_01": "Radio", + "ReceptionDesk": "Reception Desk", + "Record_01": "Record", + "RoboticArm_01": "Robot Arm", + "SafetyBarrier_02": "Warning Sign", + "SandwichHalf_01": "Sandwich", + "Screwdriver": "Screwdriver", + "Security_Button": "Button", + "Shelf_01": "Shelf", + "Shelves_Tall_01": "Shelf", + "sign_diamond_carrot": "Warning Sign", + "sign_diamond_fire": "Warning Sign", + "sign_diamond_freeze": "Warning Sign", + "sign_diamond_gravity": "Warning Sign", + "sign_diamond_laser": "Warning Sign", + "sign_diamond_quantum": "Warning Sign", + "sign_diamond_shrink": "Warning Sign", + "sign_office_layout_1": "Map", + "sign_short_breakroom_1": "Door Sign", + "sign_short_breakroom_2": "Door Sign", + "sign_short_caution_carrot": "Door Sign", + "sign_short_caution_electrical": "Door Sign", + "sign_short_caution_gravity_1": "Door Sign", + "sign_short_caution_gravity_2": "Door Sign", + "sign_short_caution_quantum_1": "Door Sign", + "sign_short_caution_quantum_2": "Door Sign", + "sign_short_caution_restricted_1": "Door Sign", + "sign_short_caution_shrink": "Door Sign", + "sign_short_office_1": "Door Sign", + "sign_short_poster_delwan_1": "Poster", + "sign_short_poster_delwan_2": "Poster", + "sign_short_poster_delwan_3": "Poster", + "sign_short_poster_delwan_4": "Poster", + "sign_short_poster_tam": "Poster", + "sign_short_quantum_1": "Door Sign", + "sign_short_quantum_2": "Door Sign", + "sign_short_robotics_1": "Door Sign", + "sign_short_robotics_2": "Door Sign", + "sign_short_warehouse_1": "Door Sign", + "sign_square_breakroom": "Door Sign", + "sign_tall_caution_carrot": "Door Sign", + "sign_tall_caution_electrical": "Door Sign", + "sign_tall_caution_freeze": "Door Sign", + "sign_tall_caution_laser": "Door Sign", + "sign_tall_caution_robotics": "Door Sign", + "sign_tall_caution_shrink": "Door Sign", + "sign_tall_poster_tam_1": "Poster", + "sign_tall_poster_tam_2": "Poster", + "SK_Veh_Pickup_01_ToolBox": "Toolbox", + "SM_Bld_Door_02": "Door", + "SM_Bld_Wall_Metal_Slide_02": "Door", + "SM_Bld_Wall_Window_Blinds_Open_04": "Blinds", + "SM_Item_Clipboard_01": "Clipboard", + "SM_Prop_AirVent_01": "Vent", + "SM_Prop_AirVent_Wall_01": "Vent", + "SM_Prop_Book_Group_01": "Books", + "SM_Prop_Book_Group_02": "Books", + "SM_Prop_Book_Group_03": "Books", + "SM_Prop_Book_Group_04": "Books", + "SM_Prop_Book_Group_05": "Books", + "SM_Prop_Book_Group_06": "Books", + "SM_Prop_Book_Group_07": "Books", + "SM_Prop_Book_Group_08": "Books", + "SM_Prop_Book_Magazine_01": "Books", + "SM_Prop_Book_Phone_Open_01": "Books", + "SM_Prop_Buttons_02": "Button", + "SM_Prop_Buttons_05": "Button", + "SM_Prop_Calender_01": "Calendar", + "SM_Prop_Cart_01": "Cart", + "SM_Prop_Certificate_01": "Poster", + "SM_Prop_Crate_Stack_01": "Crate", + "SM_Prop_Drink_Dispenser_01": "Cooler", + "SM_Prop_FlatPackCardboardBoxes_03": "Boxes", + "SM_Prop_FlatPackCardboardBoxes_04": "Boxes", + "SM_Prop_Folder_Holder_01": "Folder Holder", + "SM_Prop_Folder_Holder_02": "Folder Holder", + "SM_Prop_Folder_Holder_03": "Folder Holder", + "SM_Prop_Folder_Holder_04": "Folder Holder", + "SM_Prop_Folder_Manila_01": "Folder", + "SM_Prop_Folder_Manila_02": "Folder", + "SM_Prop_Folder_Manila_03": "Folder", + "SM_Prop_Folder_Manila_04": "Folder", + "SM_Prop_Folder_PVC_01": "Folder", + "SM_Prop_Folder_PVC_02": "Folder", + "SM_Prop_FolderTray_01": "Tray", + "SM_Prop_FolderTray_02": "Tray", + "SM_Prop_FolderTray_03": "Tray", + "SM_Prop_FolderTray_04": "Tray", + "SM_Prop_Lighting_Cable_Bulb_01": "Light Bulb", + "SM_Prop_NetCable_03": "Cable", + "SM_Prop_NotePad_01": "Notepad", + "SM_Prop_Oxygen_Tank Water": "Unassigned", + "SM_Prop_Oxygen_Tank_Large": "Oxygen Tank", + "SM_Prop_Oxygen_Tank": "Oxygen Tank", + "SM_Prop_PalletStack_02": "Pallets", + "SM_Prop_Paper_04": "Paper", + "SM_Prop_Paper_05": "Paper", + "SM_Prop_Paper_06": "Paper", + "SM_Prop_Paper_Pile_01": "Paper", + "SM_Prop_Paper_Pile_03": "Paper", + "SM_Prop_Papers_01": "Paper", + "SM_Prop_PaperTray_01_Full_01": "Tray", + "SM_Prop_Plastic_Pipe_Spool_01": "Cable", + "SM_Prop_PowerBoxes_01": "Power Boxes", + "SM_Prop_Powercable_01": "Cable", + "SM_Prop_Powercable_02": "Cable", + "SM_Prop_Powercable_03": "Cable", + "SM_Prop_Scales_01": "Scale", + "SM_Prop_Server_Cabinet_01": "Cabinet", + "SM_Prop_Server_Node_01": "Server", + "SM_Prop_Table_02": "Table", + "SM_Prop_ToolBox_01": "Toolbox", + "SM_Prop_Warehouse_Boxes_Stacked_03": "Boxes", + "SM_Prop_Warehouse_Boxes_Stacked_04": "Boxes", + "SM_Prop_Warehouse_Light_04": "Light", + "SM_Prop_Warehouse_Platform_Trolley_01": "Trolley", + "SM_Prop_Wirespool_01": "Cable", + "SM_Prop_Wirespool_Small_01": "Cable", + "SM_Sign_Exit_02": "Door Sign", + "SM_Tool_Buffer_01_Battery": "Battery", + "SM_Tool_Drill_Chuck_01": "Drill Chuck", + "SM_Tool_Handsaw_01": "Handsaw", + "Spoon_01": "Spoon", + "Sticky Note": "Sticky Note", + "StickyNote": "Sticky Note", + "Table_Metal_01": "Table", + "TableRound_02": "Table", + "TableRoundSmall_02": "Table", + "TAMPrototypeHead_01": "Emotion Tester", + "TeslaCoil_Small": "Tesla Coil", + "TeslaCoil": "Tesla Coil", + "Toast_01": "Bread", + "Toast_02": "Bread", + "Toast_03": "Bread", + "Toast_04_Jam": "Bread", + "Toast_04_PBJ": "Bread", + "Toast_04": "Bread", + "Toaster_02": "Toaster", + "ToyBed": "Bed Toy", + "TrashCan_01": "Trash Can", + "Trophy01": "Trophy", + "Unassigned": "Unassigned", + "V_Monitor_Embiggenator": "Embiggenator Monitor", + "V_Monitor_FreezeRay": "Freeze Ray Monitor", + "V_Monitor_Gravity": "Gravity Monitor", + "V_Monitor_Laser": "Laser Monitor", + "V_Monitor_Portal": "Portal Generator Monitor", + "VendingMachine_01_B4_Button": "Button", + "VendingMachine_01_E5_Button": "Button", + "VendingMachine_01_E7_Button": "Button", + "VendingMachine_01_M8_Button": "Button", + "VendingMachine_01": "Vending Machine", + "WallClock_01": "Clock", + "Warehouse_Boxes": "Boxes", + "WarningSign_01": "Warning Sign", + "WaterCooler_01": "Cooler", + "WaterPuddle_01": "Puddle", + "WhiteBoard_01": "Whiteboard", + "Whiteboard_CoffeeUnmaker": "Whiteboard", + "Whiteboard_YesterdayMachine": "Whiteboard", + "YesterdayMachine_01": "Time Machine" +} diff --git a/src/arena_missions/load_challenges.py b/src/arena_missions/load_challenges.py new file mode 100644 index 0000000..c351f66 --- /dev/null +++ b/src/arena_missions/load_challenges.py @@ -0,0 +1,52 @@ +from arena_missions.challenges.ambiguous_pickup import register_ambiguous_pickup_challenges +from arena_missions.challenges.breaking_things import ( + register_breaking_things_challenges, + register_breaking_things_on_desks_challenges, +) +from arena_missions.challenges.clean_dirty_plate import register_clean_dirty_plates +from arena_missions.challenges.fill_object_in_sink import register_fill_objects_in_sink +from arena_missions.challenges.objects_in_containers import ( + register_objects_with_freezer_challenges, + register_objects_with_fridge_challenges, + register_warehouse_cabinet_challenges, +) +from arena_missions.challenges.operate_carrot_maker import register_carrot_maker_challenges +from arena_missions.challenges.operate_microwave import register_heat_things +from arena_missions.challenges.operate_printer import register_print_things +from arena_missions.challenges.operate_time_machine import ( + register_repair_broken_things, + register_repair_carrots, +) +from arena_missions.challenges.pickup_from_printer import register_pickup_from_printer_challenges +from arena_missions.challenges.pickup_stack import register_pickup_plate_stack_challenges +from arena_missions.challenges.place_stack import ( + register_place_bowl_stack_from_gravity_pad, + register_place_plate_stack_challenges, +) +from arena_missions.challenges.using_coffee_unmaker import register_coffee_unmaker_challenges +from arena_missions.challenges.using_color_changer import register_color_changer_challenges + + +def load_challenges() -> None: + """Run all the register functions to load the challenges.""" + register_objects_with_fridge_challenges(enable_color_variants=False) + register_objects_with_freezer_challenges(enable_color_variants=False) + register_warehouse_cabinet_challenges(enable_color_variants=False) + register_ambiguous_pickup_challenges() + register_pickup_plate_stack_challenges(enable_color_variants=False) + register_place_plate_stack_challenges(enable_color_variants=False) + + # "Interaction" challenges / ones that are "nicher" + register_repair_broken_things(enable_color_variants=False) + register_carrot_maker_challenges(enable_color_variants=False) + register_fill_objects_in_sink(enable_color_variants=False) + register_heat_things(enable_color_variants=False) + register_clean_dirty_plates(enable_color_variants=False) + register_coffee_unmaker_challenges(enable_color_variants=False) + register_print_things() + register_color_changer_challenges(enable_start_color_variants=False) + register_repair_carrots(enable_color_variants=False) + register_pickup_from_printer_challenges() + register_place_bowl_stack_from_gravity_pad(enable_color_variants=True) + register_breaking_things_on_desks_challenges(enable_color_variants=False) + register_breaking_things_challenges(enable_color_variants=False) diff --git a/src/arena_missions/structures/__init__.py b/src/arena_missions/structures/__init__.py new file mode 100644 index 0000000..6f18fe5 --- /dev/null +++ b/src/arena_missions/structures/__init__.py @@ -0,0 +1,40 @@ +from arena_missions.structures.cdf import CDF, CDFPortal, CDFScene +from arena_missions.structures.high_level_key import HighLevelKey +from arena_missions.structures.mission import Mission, MissionTrajectory +from arena_missions.structures.object_id import ObjectId, ObjectInstanceId +from arena_missions.structures.required_object import RequiredObject, RequiredObjectState +from arena_missions.structures.state_condition import ( + AndExpression, + CanBeSeenExpression, + ColorMetaDataChangeExpression, + ContainsExpression, + DinoFedExpression, + Expression, + ExpressionType, + IsBrokenExpression, + IsColdExpression, + IsDirtyExpression, + IsEmbiggenatedExpression, + IsFilledWithExpression, + IsFullOfItemsExpression, + IsHotExpression, + IsInRangeExpression, + IsOpenExpression, + IsOverloadedExpression, + IsPickedUpExpression, + IsPoweredExpression, + IsReceptacleExpression, + IsScannedExpression, + IsToggledOnExpression, + IsUsedExpression, + NotExpression, + OrExpression, + StateCondition, + StateExpression, +) +from arena_missions.structures.task_goal import ( + ObjectGoalState, + ObjectGoalStateExpression, + ObjectGoalStateRelation, + TaskGoal, +) diff --git a/src/arena_missions/structures/cdf.py b/src/arena_missions/structures/cdf.py new file mode 100644 index 0000000..5ff2a6b --- /dev/null +++ b/src/arena_missions/structures/cdf.py @@ -0,0 +1,116 @@ +from typing import Any, Literal, Optional + +from pydantic import BaseModel, Field, validator + +from arena_missions.constants.arena import OfficeLayout, OfficeRoom +from arena_missions.structures.required_object import RequiredObject +from arena_missions.structures.state_condition import StateCondition +from arena_missions.structures.task_goal import TaskGoal + + +CDF_GAME_INTERACTIONS: dict[str, Any] = { # noqa: WPS407 + "camera_movements": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [], + }, + "game_messages": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [], + }, +} + + +class CDFPortal(BaseModel): + """Portal definition within the CDF.""" + + name: Literal["past", "future"] = Field(..., alias="PortalName") + status: bool = Field(default=False, alias="PortalStatus") + + +class CDFScene(BaseModel): + """Scene within a CDF.""" + + room_location: list[OfficeRoom] = Field( + ..., alias="roomLocation", description="Start location of the robot" + ) + required_objects: list[RequiredObject] + layout_override: OfficeLayout = Field( + ..., description="Override the layout", alias="layoutOverride" + ) + + floor_plan: str = Field( + default="0", description="Controls RNG during scene setup. Set to -1 for random." + ) + scene_id: str = Field(default="01 (Make_Cereal)") + + # Unused/Ignored fields + simbot_init: list[Any] = Field(default_factory=list) + sticky_notes: Optional[list[Any]] = Field(default_factory=list) + blacklisted_layouts: Optional[list[OfficeLayout]] = None + completely_random_visual: bool = Field(default=False, alias="completelyRandomVisual") + + @validator("floor_plan") + @classmethod + def check_floor_plan_is_numeric(cls, floor_plan: str) -> str: + """Check that floor plan is a numeric string.""" + try: + int(floor_plan) + except ValueError as err: + raise ValueError(f"Floor plan must be numeric string, got {floor_plan}") from err + return floor_plan + + +class CDF(BaseModel): + """CDF, used to generate scenes in the Arena.""" + + scene: CDFScene + + task_goals: list[TaskGoal] = Field(..., min_items=1) + state_conditions: list[StateCondition] = Field(default_factory=list, alias="stateconditions") + + goal_text: str = "" + task_description: str = "" + game_id: str = Field(default="3") + experimental: str = Field(default="true") + + # Unused/Ignored fields + game_interactions: dict[str, Any] = CDF_GAME_INTERACTIONS + past_portals: list[CDFPortal] = Field( + default=[CDFPortal(PortalName="past")], alias="pastPortals", max_items=1 + ) + future_portals: list[CDFPortal] = Field( + default=[CDFPortal(PortalName="future")], alias="futurePortals", max_items=1 + ) + + @validator("task_goals") + @classmethod + def update_goal_ids_in_task_goals(cls, task_goals: list[TaskGoal]) -> list[TaskGoal]: + """Update goal IDs in task goals.""" + for idx, task_goal in enumerate(task_goals): + task_goal.goal_id = idx + return task_goals + + @validator("game_id") + @classmethod + def check_game_id_is_numeric(cls, game_id: str) -> str: + """Check that game ID is a numeric string.""" + if not game_id.isdigit(): + raise ValueError(f"Game ID must be numeric string, got {game_id}") + return game_id + + @validator("experimental") + @classmethod + def check_experimental_is_bool(cls, experimental: str) -> str: + """Check that experimental is a boolean string.""" + if experimental not in {"true", "false"}: + raise ValueError(f"Experimental must be boolean string, got {experimental}") + return experimental + + @property + def start_room(self) -> OfficeRoom: + """Get the starting room.""" + return self.scene.room_location[0] diff --git a/src/arena_missions/structures/high_level_key.py b/src/arena_missions/structures/high_level_key.py new file mode 100644 index 0000000..333d63c --- /dev/null +++ b/src/arena_missions/structures/high_level_key.py @@ -0,0 +1,122 @@ +from typing import Literal, Optional +from typing_extensions import Self + +from convert_case import kebab_case, snake_case, title_case +from pydantic import BaseModel, validator + +from arena_missions.constants.arena import ObjectColor +from arena_missions.structures.object_id import ObjectId + + +InstructionAction = Literal[ + "break", + "clean", + "close", + "fill", + "interact", + "open", + "pickup", + "place", + "pour", + "scan", + "toggle", +] + + +class HighLevelKey(BaseModel, validate_assignment=True, frozen=True, extra="forbid"): + """Structured form of the High-Level Key.""" + + action: InstructionAction + + target_object: ObjectId + target_object_color: Optional[ObjectColor] = None + # An ambiguous target object is one where there are multiple objects in the scene, but the + # agent should be able to distinguish the correct one by color + target_object_is_ambiguous: bool = False + + interaction_object: Optional[ObjectId] = None + interaction_object_color: Optional[ObjectColor] = None + + converted_object: Optional[ObjectId] = None + converted_object_color: Optional[ObjectColor] = None + + # A stacked object is one that is on top of a plate, and is used for "with" phrases. + # For example, "pick up the plate with the apple" would have the apple as the stacked object. + stacked_object: Optional[ObjectId] = None + stacked_object_color: Optional[ObjectColor] = None + + from_receptacle: Optional[ObjectId] = None + from_receptacle_color: Optional[ObjectColor] = None + from_receptacle_is_container: bool = False + + to_receptacle: Optional[ObjectId] = None + to_receptacle_color: Optional[ObjectColor] = None + to_receptacle_is_container: bool = False + + def __str__(self) -> str: + """Return the string representation of the high-level key.""" + return self.key + + @classmethod + def from_string(cls, key_string: str) -> Self: + """Create the high-level key from the string.""" + high_level_key_dict = {} + + # Split the key by the # character + parts = [part for part in key_string.split("#") if part] + + for part in parts: + # Split each part by the = character + split_part = part.split("=") + + # Convert the key to snake_case + part_name = split_part[0] + part_name = snake_case(part_name) + + # If the part_name is going to hold a boolean and the value does not exist, set it to + # True since it is a flag + if part_name.endswith("is_container") and len(split_part) == 1: + part_value = "true" + # Otherwise, set it to the 2nd part of the split + elif len(split_part) == 2: + part_value = split_part[1] + # Otherwise, raise an error + else: + raise ValueError(f"Each split part should contain 2 pieces, received {part}") + + # Add it to the dictionary + high_level_key_dict[part_name] = part_value + + # Parse it with pydantic + return cls.parse_obj(high_level_key_dict) + + @validator( + "target_object_color", + "converted_object_color", + "from_receptacle_color", + "to_receptacle_color", + "interaction_object_color", + "stacked_object_color", + pre=True, + ) + @classmethod + def format_color_string(cls, color: Optional[str]) -> Optional[str]: + """Format the color to be in title case.""" + if color: + color = title_case(color) + return color + + @property + def key(self) -> str: + """Get the high-level key as a string.""" + parts: list[str] = [] + + for part_name, part_value in self.dict().items(): + if part_value: + part_name = kebab_case(part_name) + if isinstance(part_value, bool): + parts.append(f"#{part_name}") + else: + parts.append(f"#{part_name}={part_value}") + + return "".join(parts) diff --git a/src/arena_missions/structures/mission.py b/src/arena_missions/structures/mission.py new file mode 100644 index 0000000..076d2e4 --- /dev/null +++ b/src/arena_missions/structures/mission.py @@ -0,0 +1,93 @@ +from datetime import datetime +from typing import Any, Optional, Union +from uuid import uuid4 + +import shortuuid +from pydantic import BaseModel, Field + +from arena_missions.structures.cdf import CDF +from arena_missions.structures.high_level_key import HighLevelKey + + +class MissionTrajectory(BaseModel, smart_union=True): + """Single trajectory for a given mission.""" + + session_id: str + utterances: list[str] + + # Preparation utterances which are not part of the mission. + # These are given first to help setup the environment as needed. + preparation_utterances: list[str] = Field(default_factory=list) + + high_level_key: Optional[HighLevelKey] = None + + # Challenge definition + cdf: Union[CDF, dict[str, Any]] + + # Used by T1/T2 data + mission_id: Optional[str] = None + mission_group: Optional[str] = None + + randomise_start_position: bool = True + + @property + def cdf_as_dict(self) -> dict[str, Any]: + """Get the CDF as a dict.""" + if isinstance(self.cdf, dict): + return self.cdf + return self.cdf.dict(by_alias=True) + + def create_preparation_session_id(self, prefix: str = "T") -> str: + """Create a session ID for the preparation utterances.""" + now = datetime.now() + date_chunk = f"{now.year:02d}{now.month:02d}{now.day:02d}" + return f"{prefix}.{date_chunk}/prep-{uuid4()}" + + +class Mission(BaseModel): + """Single mission for the Arena..""" + + high_level_key: HighLevelKey + plan: list[str] + cdf: CDF + + # Preparation utterances which are not part of the mission. + # These are given first to help setup the environment as needed. + preparation_plan: list[str] = Field(default_factory=list) + + # Used by T1/T2 data + mission_group: Optional[str] = None + + randomise_start_position: bool = True + + def convert_to_trajectory( + self, + session_id_prefix: str, + *, + include_randomness: bool = True, + randomise_start_position: bool = True, + ) -> MissionTrajectory: + """Convert the challenge to a list of single trajectories.""" + return MissionTrajectory( + high_level_key=self.high_level_key, + session_id=self.create_session_id( + session_id_prefix, include_randomness=include_randomness + ), + utterances=self.plan, + preparation_utterances=self.preparation_plan, + cdf=self.cdf, + mission_group=self.mission_group, + randomise_start_position=randomise_start_position, + ) + + def create_session_id(self, prefix: str, *, include_randomness: bool = True) -> str: + """Create a session ID for the trajectory.""" + safe_high_level_key = ( + str(self.high_level_key).replace("=", "--").replace("#", "_").lstrip("_") + ) + + now = datetime.now() + date_chunk = f"{now.year:02d}{now.month:02d}{now.day:02d}" + randomness = f"-{shortuuid.uuid()[:5]}" if include_randomness else "" + + return f"{prefix}.{date_chunk}/{safe_high_level_key}{randomness}" diff --git a/src/arena_missions/structures/object_id.py b/src/arena_missions/structures/object_id.py new file mode 100644 index 0000000..dec68ca --- /dev/null +++ b/src/arena_missions/structures/object_id.py @@ -0,0 +1,106 @@ +from collections.abc import Generator +from typing import Any, Callable, Literal, Union, cast, get_args +from typing_extensions import Self + +from arena_missions.constants.arena import ObjectIds, load_object_id_to_readable_name_map + + +def convert_object_instance_id_to_object_id(object_instance: str) -> str: + """Convert object instance to object id. + + We need to remove everything after the last "_". + """ + return object_instance[::-1].split("_", 1)[1][::-1] + + +class ObjectId(str): # noqa: WPS600 + """An object ID in the Arena.""" + + @classmethod + def __get_validators__(cls) -> Generator[Callable[..., Self], None, None]: + """Return a generator of validators for this type.""" + yield cls.validate + + @classmethod + def validate(cls, v: Any) -> Self: + """Validate the object ID.""" + if not isinstance(v, str): + raise TypeError("Object ID must be a string") + + # Make sure the ID is one of the literals + if v not in get_args(ObjectIds): + raise ValueError("Object ID is not valid and does not exist in the Arena.") + + return cls(v) + + def __repr__(self) -> str: + """Return a string representation of the object ID.""" + return f"ObjectId({super().__repr__()})" + + @classmethod + def parse(cls, v: Any) -> Self: + """Parse the input.""" + return cls.validate(v) + + @property + def readable_name(self) -> str: + """Return the readable name of the object.""" + return load_object_id_to_readable_name_map()[cast(ObjectIds, self)] + + def as_instance(self, instance_id: Union[int, Literal["*"]]) -> "ObjectInstanceId": + """Return the object instance ID.""" + return ObjectInstanceId(f"{self}_{instance_id}") + + +class ObjectInstanceId(str): # noqa: WPS600 + """An object instance ID in the Arena.""" + + @classmethod + def __get_validators__(cls) -> Generator[Callable[..., Self], None, None]: + """Return a generator of validators for this type.""" + yield cls.validate + + @classmethod + def validate(cls, v: Any) -> Self: + """Validate the object instance ID.""" + if not isinstance(v, str): + raise TypeError("Object instance ID must be a string") + + # Make sure it has an object ID in it + ObjectId.parse(convert_object_instance_id_to_object_id(v)) + + # Make sure the instance number is an integer + instance_number = v.split("_")[-1] + + # Make sure the instance number does not have any leading 0s + if instance_number.startswith("0"): + raise ValueError("Object instance ID cannot have leading 0s") + + if not (instance_number.isdigit() or instance_number == "*"): + raise ValueError("Object instance ID end with a digit or a '*'") + + return cls(v) + + def __repr__(self) -> str: + """Return a string representation of the object instance ID.""" + return f"ObjectInstanceId({super().__repr__()})" + + @classmethod + def parse(cls, v: Any) -> Self: + """Parse the input.""" + return cls.validate(v) + + @property + def object_id(self) -> ObjectId: + """Return the object ID of the object instance.""" + return ObjectId(convert_object_instance_id_to_object_id(self)) + + @property + def readable_name(self) -> str: + """Return the readable name of the object instance.""" + return self.object_id.readable_name + + @property + def with_asterisk(self) -> Self: + """Create the object instance with an asterisk.""" + return self.parse(f"{self.object_id}_*") diff --git a/src/arena_missions/structures/required_object.py b/src/arena_missions/structures/required_object.py new file mode 100644 index 0000000..d9fbc8e --- /dev/null +++ b/src/arena_missions/structures/required_object.py @@ -0,0 +1,209 @@ +from typing import Any, Literal, Optional, Union, get_args + +from pydantic import BaseModel, Field, validator + +from arena_missions.constants.arena import ( + BooleanStr, + FluidType, + ObjectColor, + OfficeRoom, + RequiredObjectStateName, + SpawnRelation, +) +from arena_missions.structures.object_id import ObjectId, ObjectInstanceId + + +RequiredObjectStateValue = Union[BooleanStr, FluidType] + + +class RequiredObjectState(BaseModel, validate_assignment=True): + """Spawn state of a required object.""" + + __root__: dict[RequiredObjectStateName, RequiredObjectStateValue] + + def __len__(self) -> int: + """Get the length of the state.""" + return len(self.__root__) + + @classmethod + def from_parts( + cls, state_name: RequiredObjectStateName, state_value: RequiredObjectStateValue + ) -> "RequiredObjectState": + """Create a required object spawn state from parts.""" + return cls.parse_obj({state_name: state_value}) + + @validator("__root__") + @classmethod + def ensure_only_one_key( + cls, root: dict[RequiredObjectStateName, RequiredObjectStateValue] + ) -> dict[RequiredObjectStateName, RequiredObjectStateValue]: + """Ensure that there is only one key in the dictionary.""" + if len(root) != 1: + raise ValueError("State must only have one key.") + return root + + @validator("__root__") + @classmethod + def validate_state_value_for_key( + cls, root: dict[RequiredObjectStateName, RequiredObjectStateValue] + ) -> dict[RequiredObjectStateName, RequiredObjectStateValue]: + """Validate the state value for the state key.""" + state_key, state_value = list(root.items())[0] + + if state_key == "isFilled": + if state_value not in get_args(FluidType): + raise ValueError(f"{state_value} is not a valid liquid type.") + + elif state_value not in get_args(BooleanStr): + raise ValueError(f"{state_value} is not a valid boolean string.") + + return root + + @property + def name(self) -> RequiredObjectStateName: + """Get the name of the state.""" + return list(self.__root__.keys())[0] + + @property + def value(self) -> RequiredObjectStateValue: # noqa: WPS110 + """Get the value of the state.""" + return list(self.__root__.values())[0] + + +class RequiredObject(BaseModel, validate_assignment=True): + """Object within the Arena.""" + + name: ObjectInstanceId + state: list[RequiredObjectState] = Field(default_factory=list, unique_items=True) + location: list[dict[ObjectInstanceId, SpawnRelation]] = Field( + default_factory=list, unique_items=True, max_items=1 + ) + room_location: list[OfficeRoom] = Field( + default_factory=list, max_items=1, alias="roomLocation" + ) + colors: list[ObjectColor] = Field(default_factory=list, unique_items=True, max_items=1) + + # This is only used with the Carrot + yesterday_state: Union[Literal[""], ObjectId] = Field(default="", alias="yesterdayState") + + # Unknown/Unused fields + condition: dict[Any, Any] = Field(default_factory=dict) + printing_object: str = Field(default="", alias="printingObject", const=True) + associated_past_portals: list[Any] = Field(default_factory=list, alias="associatedPastPortals") + associated_future_portals: list[Any] = Field( + default_factory=list, alias="associatedFuturePortals" + ) + current_portal: str = Field(default="", alias="currentPortal") + dino_food: str = Field(default="", alias="dinoFood") + + @classmethod + def from_string(cls, object_instance_id: str) -> "RequiredObject": + """Instantiate a RequiredObject from the object instance ID.""" + return cls(name=ObjectInstanceId.parse(object_instance_id)) + + @validator("state", "location", each_item=True) + @classmethod + def ensure_each_state_has_only_one_key(cls, state: dict[str, str]) -> dict[str, str]: + """Ensure that each state/location dict has only one key.""" + if len(state) != 1: + raise ValueError("Each state must have only one key") + return state + + @validator("yesterday_state") + @classmethod + def only_carrot_can_have_yesterday_state( + cls, yesterday_state: str, values: dict[str, Any] # noqa: WPS110 + ) -> str: + """Only carrots can have yesterdayState.""" + if yesterday_state: + if not values["name"].startswith("Carrot_01"): + raise ValueError("Only Carrot can have yesterdayState") + + return yesterday_state + + @property + def object_instance_id(self) -> ObjectInstanceId: + """Return the object instance ID for this object. + + This is just here for convenience because 'name' isn't the most descriptive name. + """ + return self.name + + @property + def object_id(self) -> ObjectId: + """Return the object ID for this object.""" + return self.name.object_id + + @property + def readable_name(self) -> str: + """Return the readable name of this object.""" + return self.name.readable_name + + @property + def receptacle(self) -> Optional[ObjectInstanceId]: + """Return the receptacle this object is in.""" + if self.location: + return list(self.location[0].keys())[0] + return None + + @property + def room(self) -> Optional[OfficeRoom]: + """Return the room this object is in.""" + if self.room_location: + return self.room_location[0] + return None + + @property + def color(self) -> Optional[ObjectColor]: + """Return the color of this object.""" + if self.colors: + return self.colors[0] + return None + + def update_receptacle(self, receptacle: Optional[ObjectInstanceId]) -> None: + """Set the receptacle this object is in.""" + # Clear any existing location set + self.location.clear() + + # If there is no receptacle to add, return + if not receptacle: + return + + self.location.append({receptacle: "in"}) + + def update_room(self, room: Optional[OfficeRoom]) -> None: + """Set the room this object is in.""" + if not room: + self.room_location.clear() + return + + self.room_location = [room] # noqa: WPS601 + + def update_color(self, color: Optional[ObjectColor]) -> None: + """Set the color of this object.""" + if not color: + self.colors.clear() + return + + self.colors = [color] # noqa: WPS601 + + def update_state( + self, state_name: RequiredObjectStateName, state_value: Optional[RequiredObjectStateValue] + ) -> None: + """Update the state of this object.""" + # Remove the state from the list if it already exists + self.state = [state for state in self.state if state.name != state_name] # noqa: WPS601 + + # Add the state to the list if it is not None + if state_value is not None: + self.state.append(RequiredObjectState.parse_obj({state_name: state_value})) + + def add_state( + self, state_name: RequiredObjectStateName, state_value: Optional[RequiredObjectStateValue] + ) -> None: + """Add state to this object.""" + return self.update_state(state_name, state_value) + + def remove_state(self, state_name: RequiredObjectStateName) -> None: + """Remove the state from this object.""" + return self.update_state(state_name, None) diff --git a/src/arena_missions/structures/state_condition.py b/src/arena_missions/structures/state_condition.py new file mode 100644 index 0000000..630a9e4 --- /dev/null +++ b/src/arena_missions/structures/state_condition.py @@ -0,0 +1,348 @@ +from typing import Any, Generic, Literal, Optional, TypeVar, cast +from typing_extensions import Self + +from pydantic import BaseModel, Field, root_validator +from pydantic.generics import GenericModel + +from arena_missions.constants.arena import FluidType, ObjectColor +from arena_missions.structures.object_id import ObjectInstanceId + + +T = TypeVar("T") + +# Things that can be expressed as state conditions +ExpressionType = Literal[ + "CanBeSeen", + "isFilledWith", + "IsInRange", + "isToggledOn", + "isPickedUp", + "isPowered", + "isBroken", + "isOpen", + "isScanned", + "isUsed", + "isOverloaded", + "isEmbiggenated", + "isDirty", + "isHot", + "isCold", + "OR", + "AND", + "NOT", + "Contains", + "DinoFed", + "ColorMetaDataChange", + "IsReceptacle", + "isFullOfItems", +] + + +class Expression(BaseModel): + """Expression within a state condition. + + This is the base class that all other expressions inherit from. + """ + + _key: ExpressionType + + @property + def key(self) -> ExpressionType: + """Get the key for the expression.""" + if not self._key: + raise ValueError("Key should exist for the expression.") + return self._key + + +class SimpleExpression(Expression): + """Simple expression for a state condition. + + The target is the object instance that the expression is being applied to. The message can be + always left blank. + """ + + target: ObjectInstanceId + message: str = Field(default="", const=True) + + +class ValueExpression(GenericModel, Generic[T], SimpleExpression): + """Expression that checks if an object has a specific value.""" + + value: T # noqa: WPS110 + + +class BoolExpression(ValueExpression[bool]): + """Expression that checks if some property is true or false.""" + + value: bool # noqa: WPS110 + + +class IsInRangeExpression(ValueExpression[float]): + """Expression that checks if the target object is within the range of the current object. + + This is different to `CanBeSeen` because it checks the distance between two objects, and not + whether or not the target object is within a certain distance of the agent. + """ + + _key = "IsInRange" + value: float # noqa: WPS110 + + +class ContainsExpression(SimpleExpression): + """Expression that checks if an object contains another object. + + I have not seen the anchor point be used, so we can ignore that, just like we do for `message`. + """ + + _key: ExpressionType = "Contains" + + contains: ObjectInstanceId + anchor_point: str = Field(default="", const=True, alias="anchorPoint") + + +class IsFilledWithExpression(SimpleExpression): + """Expression that checks if an object is filled with a specific liquid.""" + + _key: ExpressionType = "isFilledWith" + + fluid: FluidType + + +class CanBeSeenExpression(SimpleExpression): + """Expression that checks if an object is within some distance of the agent.""" + + _key: ExpressionType = "CanBeSeen" + + distance: float + + +class ColorMetaDataChangeExpression(SimpleExpression): + """Expression that checks if an object has a specific color. + + This is useful for things like the Color Changer. + """ + + _key: ExpressionType = "ColorMetaDataChange" + + color: ObjectColor = Field(..., alias="colorvalue") + + +class DinoFedExpression(SimpleExpression): + """Check if the Portal Generator has the "dinoFed' property set to True.""" + + _key: ExpressionType = "DinoFed" + + target: ObjectInstanceId = Field(..., regex="^PortalGenerator.*") + + # Is this even a thing? I think so, but I don't see it in the source code? + is_fed: bool = Field(..., alias="isFed") + + +class IsToggledOnExpression(BoolExpression): + """Expression that checks if an object is toggled on.""" + + _key: ExpressionType = "isToggledOn" + + +class IsPickedUpExpression(BoolExpression): + """Checks if the target has been picked up.""" + + _key: ExpressionType = "isPickedUp" + + +class IsPoweredExpression(BoolExpression): + """Check if the target has been powered.""" + + _key: ExpressionType = "isPowered" + + +class IsBrokenExpression(BoolExpression): + """Check if the object is broken.""" + + _key: ExpressionType = "isBroken" + + +class IsOpenExpression(BoolExpression): + """Check if the object is open.""" + + _key: ExpressionType = "isOpen" + + +class IsScannedExpression(BoolExpression): + """Check if the object has been scanned.""" + + _key: ExpressionType = "isScanned" + + +class IsUsedExpression(BoolExpression): + """Check if the target has been used.""" + + _key: ExpressionType = "isUsed" + + +class IsOverloadedExpression(BoolExpression): + """Check if the target has been overloaded.""" + + _key: ExpressionType = "isOverloaded" + + +class IsEmbiggenatedExpression(BoolExpression): + """Check if the target has been embiggenated.""" + + _key: ExpressionType = "isEmbiggenated" + + +class IsDirtyExpression(BoolExpression): + """Check if the target is dirty.""" + + _key: ExpressionType = "isDirty" + + +class IsHotExpression(BoolExpression): + """Check if the target is hot.""" + + _key: ExpressionType = "isHot" + + +class IsColdExpression(BoolExpression): + """Check if the target is cold.""" + + _key: ExpressionType = "isCold" + + +class IsReceptacleExpression(BoolExpression): + """Check if the target is a receptacle.""" + + _key: ExpressionType = "IsReceptacle" + + +class IsFullOfItemsExpression(BoolExpression): + """Check if the target is full of items.""" + + _key: ExpressionType = "isFullOfItems" + + +class StateExpression(BaseModel): + """State expression.""" + + __root__: dict[ExpressionType, Expression] + + @classmethod + def from_expression(cls, expression: Expression) -> "StateExpression": + """Create a state expression from a type and an expression.""" + return cls(__root__={expression.key: expression}) + + @root_validator(pre=True) + @classmethod + def parse_expression_correctly(cls, values: dict[str, Any]) -> dict[str, Any]: # noqa: WPS110 + """Parse the expression correctly. + + Without this, the values will just become an empty dictionary, and lose all the + information. This cannot happen. + """ + root: Optional[dict[str, Any]] = values.get("__root__") + + # Get the root + if not root: + return values + + # Since the root will only have one key, we can get the first key + expression_type = cast(ExpressionType, list(root.keys())[0]) + + # Get the expression from the root + expression = root[expression_type] + + # If the expression is already a parsed `Expression`, then we can just return the values + if isinstance(expression, Expression): + return values + + # Otherwise, we need to parse the expression and update the values + values["__root__"][expression_type] = ExpressionTypeMapping[expression_type].parse_obj( + expression + ) + + return values + + +class NotExpression(Expression): + """Expression that negates another expression.""" + + _key: ExpressionType = "NOT" + + expression: StateExpression + message: str = Field(default="", const=True) + + +class AggregateExpression(Expression): + """Expression that combines other expressions.""" + + expressions: list[StateExpression] + + @classmethod + def from_expressions(cls, *expressions: Expression) -> Self: + """Create the aggregate expression from expressions.""" + return cls( + _key=cls._key, + expressions=[ + StateExpression.from_expression(expression) for expression in expressions + ], + ) + + +class AndExpression(AggregateExpression): + """Expression that other expressions using the AND operator.""" + + _key: ExpressionType = "AND" + + +class OrExpression(AggregateExpression): + """Expression that other expressions using the OR operator.""" + + _key: ExpressionType = "OR" + + +ExpressionTypeMapping: dict[ExpressionType, type[Expression]] = { + "isToggledOn": IsToggledOnExpression, + "isPickedUp": IsPickedUpExpression, + "isPowered": IsPoweredExpression, + "isBroken": IsBrokenExpression, + "isOpen": IsOpenExpression, + "isScanned": IsScannedExpression, + "isUsed": IsUsedExpression, + "isOverloaded": IsOverloadedExpression, + "isEmbiggenated": IsEmbiggenatedExpression, + "isDirty": IsDirtyExpression, + "isHot": IsHotExpression, + "isCold": IsColdExpression, + "IsReceptacle": IsReceptacleExpression, + "isFullOfItems": IsFullOfItemsExpression, + "isFilledWith": IsFilledWithExpression, + "CanBeSeen": CanBeSeenExpression, + "ColorMetaDataChange": ColorMetaDataChangeExpression, + "DinoFed": DinoFedExpression, + "IsInRange": IsInRangeExpression, + "Contains": ContainsExpression, + "AND": AndExpression, + "OR": OrExpression, + "NOT": NotExpression, +} + + +class StateCondition(BaseModel): + """State condition.""" + + expression: StateExpression + state_name: str = Field( + ..., description="Name of the expression", alias="stateName", regex="^[a-zA-Z]+$" + ) + context: ObjectInstanceId = Field(..., description="Object Instance ID for the expression") + + @property + def instance_id(self) -> ObjectInstanceId: + """Get the instance ID of the object that this condition is for.""" + return self.context + + @property + def state_value(self) -> Literal["true", "false"]: + """Get the state value of the condition.""" + return "true" diff --git a/src/arena_missions/structures/task_goal.py b/src/arena_missions/structures/task_goal.py new file mode 100644 index 0000000..59d7222 --- /dev/null +++ b/src/arena_missions/structures/task_goal.py @@ -0,0 +1,186 @@ +from collections.abc import Generator +from typing import Any, Callable, Literal, Union, cast, get_args +from typing_extensions import Self + +from pydantic import BaseModel, Field, validator + +from arena_missions.constants.arena import BooleanStr, FluidType, GoalStateExpressionKey +from arena_missions.structures.object_id import ObjectInstanceId +from arena_missions.structures.state_condition import StateCondition + + +TASK_GOAL_VISIBILITY = { # noqa: WPS407 + "isHidden": False, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0, +} + + +ObjectGoalStateRelation = Literal[ + # "and" is not allowed. This is because "and" does not work the way you think it does. + # "and", + "or", +] + +GoalStateExpressionValue = Union[BooleanStr, ObjectInstanceId, FluidType] + + +class ObjectGoalStateExpression(str): # noqa: WPS600 + """A goal object state value.""" + + @classmethod + def __get_validators__(cls) -> Generator[Callable[..., Self], None, None]: + """Return a generator of validators for this type.""" + yield cls.validate + + @classmethod + def parse(cls, v: Any) -> Self: + """Parse the input.""" + return cls.validate(v) + + @classmethod + def validate(cls, v: Any) -> Self: # noqa: WPS231 + """Validate the object goal state expression.""" + if not isinstance(v, str): + raise TypeError("Goal object state value must be a string") + + state_condition_key, state_condition_value = v.split("=") + + # Make sure the state condition key is a valid state + # if state_condition_key not in get_args(GoalStateExpressionKey): + # raise ValueError(f"{state_condition_key} is not a valid state condition.") + + # If the state condition key is contains, then the value should be an ObjectInstanceId + if state_condition_key == "Contains": + ObjectInstanceId(state_condition_value) + + # If the state condition key is isFilled, then the value should be a LiquidType + elif state_condition_key == "isFilled": + if state_condition_value not in get_args(FluidType): + raise ValueError(f"{state_condition_value} must be a valid liquid type.") + + # Otherwise, the value should be a boolean string + elif state_condition_value not in get_args(BooleanStr): + raise ValueError("Goal object state value must be true or false") + + return cls(v) + + @classmethod + def from_parts( + cls, + state_condition_key: Union[str, GoalStateExpressionKey], + state_condition_value: GoalStateExpressionValue, + ) -> Self: + """Create a goal object state value from its parts.""" + return cls.parse(f"{state_condition_key}={state_condition_value}") + + @property + def state_condition_key(self) -> Union[str, GoalStateExpressionKey]: + """Return the state condition key.""" + return self.split("=")[0] + + @property + def state_condition_value(self) -> GoalStateExpressionValue: + """Return the state condition value.""" + state_condition_value = self.split("=")[1] + + if self.state_condition_key == "Contains": + return ObjectInstanceId.parse(state_condition_value) + + if self.state_condition_key == "isFilled": + return cast(FluidType, state_condition_value) + + return cast(BooleanStr, state_condition_value) + + +class ObjectGoalState(BaseModel): + """A goal object state.""" + + __root__: dict[ObjectInstanceId, ObjectGoalStateExpression] + + def __len__(self) -> int: + """Return the length of the root dict.""" + return len(self.__root__) + + @classmethod + def from_parts( + cls, + object_instance_id: ObjectInstanceId, + state_condition_key: Union[str, GoalStateExpressionKey], + state_condition_value: GoalStateExpressionValue, + ) -> Self: + """Create a goal object state from its parts.""" + return cls( + __root__={ + object_instance_id: ObjectGoalStateExpression.from_parts( + state_condition_key, state_condition_value + ) + } + ) + + @validator("__root__") + @classmethod + def ensure_only_one_key( + cls, root: dict[ObjectInstanceId, ObjectGoalStateExpression] + ) -> dict[ObjectInstanceId, ObjectGoalStateExpression]: + """Ensure that the root dict has only one key.""" + if len(root) != 1: + raise ValueError("State must have only one key") + return root + + @property + def object_instance_id(self) -> ObjectInstanceId: + """Return the object instance id.""" + return list(self.__root__.keys())[0] + + @property + def state_condition_key(self) -> Union[str, GoalStateExpressionKey]: + """Return the state condition key.""" + return list(self.__root__.values())[0].state_condition_key + + @property + def state_condition_value(self) -> GoalStateExpressionValue: + """Return the state condition value.""" + return list(self.__root__.values())[0].state_condition_value + + +class TaskGoal(BaseModel): + """Task goal within the Arena.""" + + object_states: list[ObjectGoalState] = Field(..., unique_items=True, min_items=1) + object_states_relation: ObjectGoalStateRelation = "or" + + # This will be automatically set later + goal_id: int = 0 + + # Unused/Ignored fields + description: str = Field(default="") + preconditions: list[Any] = Field(default_factory=list) + visibility: dict[str, Any] = Field(default=TASK_GOAL_VISIBILITY) + can_reset: bool = Field(default=False, alias="canReset") + + @classmethod + def from_object_goal_states(cls, object_states: list[ObjectGoalState]) -> "TaskGoal": + """Create the goal from the object states.""" + return cls(object_states=object_states) + + @classmethod + def from_state_condition(cls, state_condition: StateCondition) -> "TaskGoal": + """Create the goal from the state condition.""" + return cls.from_object_goal_states( + [ + ObjectGoalState.from_parts( + state_condition.instance_id, + state_condition.state_name, + state_condition.state_value, + ) + ] + ) + + @validator("object_states", each_item=True) + @classmethod + def ensure_each_state_has_only_one_key(cls, state: dict[str, str]) -> dict[str, str]: + """Ensure that each state/location dict has only one key.""" + if len(state) != 1: + raise ValueError("Each state must have only one key") + return state diff --git a/src/arena_wrapper/__init__.py b/src/arena_wrapper/__init__.py new file mode 100644 index 0000000..750359a --- /dev/null +++ b/src/arena_wrapper/__init__.py @@ -0,0 +1,9 @@ +import os + + +class AppConfig: + unity_executable_path = os.getenv("UNITY_EXE_PATH") + unity_log_file = os.getenv("UNITY_LOG_PATH") + host_pipe_file = os.getenv("HOST_PIPE") + runtime_platform = os.getenv("RUNTIME_PLATFORM") + debug = True diff --git a/src/arena_wrapper/arena_controller.py b/src/arena_wrapper/arena_controller.py new file mode 100644 index 0000000..2a21cfa --- /dev/null +++ b/src/arena_wrapper/arena_controller.py @@ -0,0 +1,192 @@ +import json +import logging +import socket +import sys +import threading +import time + +from flask import abort +from loguru import logger + + +logging.getLogger("werkzeug").setLevel(logging.ERROR) + + +class ArenaController: + def __init__(self, host="127.0.0.1"): + self.last_rate_timestamp = time.time() + self.frame_counter = 0 + self.debug_frames_per_interval = 50 + self.UnityWSPath = host + self.UnityWSPort = 5000 + self.isSocketOpen = False + self.ws = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.resultJSON = list() + self.currentBatchNum = 0 + self.currentRespNum = 0 + self.isUnityConnected = threading.Event() + + def interact(self, actions): + batchNum = self.currentBatchNum + self.currentBatchNum += 1 + self.wsSend(actions) + JSONResponse = dict() + ticks = 0 + while not JSONResponse: + if not self.resultJSON: + time.sleep(0.1) + ticks += 1 + if ticks >= 6000: + abort(408) + resp.set_status(408) + return resp + if not self.isSocketOpen: + abort(404) + resp.set_status(404) + return resp + continue + else: + for JSON in self.resultJSON: + if JSON["batchNum"] == batchNum: + JSONResponse = JSON + self.resultJSON.remove(JSON) + + resp = json.dumps(JSONResponse) + return resp + + def handle_init(self, init_request): + logger.debug( + "Received initialize message. Sending it to Unity application to bring up for play." + ) + self.wsSend(init_request) + return + + def start(self): + self.isUnityConnected.set() + + self.ws_listen_thread = threading.Thread(target=self.wsListen) + self.ws_listen_thread.daemon = True + self.ws_listen_thread.start() + + self.ws_monitor_thread = threading.Thread(target=self.wsMonitor) + self.ws_monitor_thread.daemon = True + self.ws_monitor_thread.start() + + logger.debug("Listener and monitor threads successfully started.") + + def wsConnect(self): + logger.debug("Awaiting connection to Unity instance") + self.isSocketOpen = False + self.currentBatchNum = 0 + self.currentRespNum = 0 + self.resultJSON.clear() + counter = 0 + logger.debug("self.UnityWSPath: ", self.UnityWSPath) + # Loop until a connection is made + while self.isUnityConnected.is_set(): + time.sleep(0.1) + + self.ws.close() + self.ws = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + + result = self.ws.connect_ex((self.UnityWSPath, self.UnityWSPort)) + + if result == 0: + self.isSocketOpen = True + logger.debug("Connection established") + return + else: + logger.error("Could not connect to RG unity instance: ", result) + if counter == 250: + logger.error( + "Tried to connect to unity for 250 times. Stopping the controller." + ) + self.isUnityConnected.clear() + counter += 1 + return + + # Runs on its own thread listening for data from Unity + def wsListen(self): + while self.isUnityConnected.is_set(): + if self.isSocketOpen: + try: + sizeInBytes = self.ws.recv(4) + if not sizeInBytes: + self.isSocketOpen = False + logger.warning("Connection lost during listener thread loop") + continue + + size = int.from_bytes(bytes=sizeInBytes, byteorder=sys.byteorder, signed=False) + bytesReceived = 0 + dataBuffer = bytearray() + + while bytesReceived < size: + dataBuffer += self.ws.recv(size - bytesReceived) + bytesReceived = len(dataBuffer) + + jsonData = str(dataBuffer, encoding="UTF-8") + # print(jsonData + '\n') + + JSONPacket = json.loads(jsonData) + JSONPacket["batchNum"] = self.currentRespNum + self.currentRespNum += 1 + self.resultJSON.append(JSONPacket) + + except OSError as e: + logger.error("Exception during read") + if e.errno == socket.errno.ECONNRESET: + self.isSocketOpen = False + else: + raise + else: + time.sleep(0.1) + logger.debug("Listen thread ends") + + def wsSend(self, jsonCommand): + isDataSent = False + while not isDataSent: + if self.isSocketOpen: + encodedString = json.dumps(jsonCommand).encode(encoding="UTF-8") + encodedBytesToSend = len(encodedString).to_bytes(4, sys.byteorder) + + try: + bytesSent = 0 + bytesSent += self.ws.send(encodedBytesToSend) + bytesSent += self.ws.send(encodedString) + if bytesSent > 0: + logger.debug( + str(bytesSent) + + " of expected " + + str(len(encodedString) + 4) + + " bytes sent.\n" + + json.dumps(jsonCommand) + ) + isDataSent = True + + except OSError as e: + if e.errno == socket.errno.ECONNRESET: + self.isSocketOpen = False + else: + raise + + time.sleep(0.1) + + def wsMonitor(self): + while self.isUnityConnected.is_set(): + try: + self.ws.send(bytearray(0)) + except: + self.isSocketOpen = False + if not self.isSocketOpen: + self.wsConnect() + + time.sleep(1.0) + self.isSocketOpen = False + logger.info("Monitor thread ends") + + def stop(self): + self.isUnityConnected.clear() + logger.info("Unity exe disconnected successfully") + + def get_connection_status(self): + return self.isUnityConnected.is_set() diff --git a/src/arena_wrapper/arena_orchestrator.py b/src/arena_wrapper/arena_orchestrator.py new file mode 100644 index 0000000..a4dd8ff --- /dev/null +++ b/src/arena_wrapper/arena_orchestrator.py @@ -0,0 +1,306 @@ +import atexit +import base64 +import json +import os +import subprocess +import time +from dataclasses import dataclass +from typing import Any + +import cv2 +import httpx +import numpy as np +from loguru import logger + +from arena_wrapper.arena_controller import ArenaController +from arena_wrapper.arena_request_builder import ArenaRequestBuilder +from arena_wrapper.constants import ACTIONS_REQUIRING_MASK, OBJECT_CLASS_ALLOW_LIST +from arena_wrapper.enums.object_output_wrapper import ObjectOutputType +from arena_wrapper.exceptions import RaycastMissedException +from arena_wrapper.util import object_class_decoder + + +@dataclass +class AppConfig: + unity_executable_path = os.getenv("ARENA_PATH") + unity_log_file = os.getenv("UNITY_LOG_PATH") + host_pipe_file = os.getenv("HOST_PIPE") + runtime_platform = os.getenv("PLATFORM") + debug = True + + +class ArenaOrchestrator: + def __init__(self, x_display=1): + self.arena_request_builder = ArenaRequestBuilder() + self.controller = ArenaController() + self.x_display = x_display + self.is_unity_running = False + self.segmentation_images = None + self.response = None + self.segmentation_color_to_object_id_map = {} + self.subgoals_completion_indices = [] + self.subgoals_completion_ids = [] + self.logger = logger + self.app_config = AppConfig() + + def init_game(self, cdf): + if self.init_unity_instance(): + self.launch_game(cdf) + return True + return False + + def create_action_status(self, actions: list[dict[str, Any]]) -> dict[str, Any]: + last_action = json.loads(self.response["lastAction"]) + last_action_id = last_action["commandNum"] + try: + action_type = actions[last_action_id]["type"] + except (KeyError, IndexError): + action_type = last_action["commandType"] + + if action_type.lower() == "goto": + action_type = "Goto" + if action_type.lower() == "pickup": + action_type = "Pickup" + + if self.response["lastActionSuccess"] == "InterruptedByNewCommandBatch": + raise AssertionError("Unable to recover from `InterruptedByNewCommandBatch`") + + return { + "id": last_action["commandNum"], + "type": action_type, + "success": self.response["lastActionSuccess"] == "ActionSuccessful", + "errorType": self.response["lastActionSuccess"], + } + + def execute_action(self, actions, object_output_type, nlg_action) -> tuple[bool, Any]: + rg_compatible_actions = [] + try: + if object_output_type == ObjectOutputType.OBJECT_CLASS: + if not self.validate_object_classes(actions): + self.logger.error("Invalid object classes found. Not executing any actions.") + return False, "InvalidObjectClass" + self.logger.debug( + "Cross-check against object class allow-list successful. Valid classes found." + ) + actions = object_class_decoder.convert_object_class_to_id( + actions, self.response, nlg_action + ) + self.logger.info("Converted actions after decoding object classes: %s" % actions) + params = { + "segmentationImages": self.segmentation_images, + "segmentationColorToObjectIdMap": self.segmentation_color_to_object_id_map, + "objectOutputType": object_output_type, + } + for action in actions: + rg_compatible_action = self.arena_request_builder.get_request_json(action, params) + logger.info("RG compatible action: " + str(rg_compatible_action)) + if rg_compatible_action is not None: + rg_compatible_actions.append(rg_compatible_action) + except Exception as e: + self.logger.error( + "Skipping actions execution as exception occurred while interpreting actions: %s" + % e + ) + return False, "IncorrectActionFormat" + if len(rg_compatible_actions) != 0: + try: + self.response = json.loads(self.controller.interact(rg_compatible_actions)) + self.segmentation_images = self.get_images_from_metadata( + "instanceSegmentationImage" + ) + self.build_segmentation_color_to_object_id_map() + return ( + self.response["lastActionSuccess"] == "ActionSuccessful", + self.create_action_status(actions), + ) + except Exception as ex: + self.logger.debug(f"Response keys: {list(self.response.keys())}") + + try: + last_action_success = self.response["lastActionSuccess"] + except KeyError: + self.response["lastActionSuccess"] = "ActionExecutionError" + + if "408 Request Timeout" in str(ex): + raise httpx.ConnectTimeout(f"Stream closed due to timeout: {ex}") + + if "RaycastMissed" in str(ex): + raise RaycastMissedException(f"Failed to handle raycast: {ex}") + + self.logger.error( + f"Exception while executing actions with status {last_action_success}: {ex}" + ) + return False, self.create_action_status(actions) + + logger.error("UnknownError: Unable to execute any actions in the Arena") + return False, None + + def stop_game(self): + self.kill_unity_instance() + + def init_unity_instance(self): + try: + if self.is_unity_running: + self.kill_unity_instance() + time.sleep(1) + except Exception as e: + logger.info("Exception occurred while killing the RG unity instance.", e) + logger.info("Starting unity instance...") + env = os.environ.copy() + env["DISPLAY"] = ":" + str(self.x_display) + try: + self.unity_proc = proc = subprocess.Popen( + self._get_unity_execution_command(), env=env, shell=True + ) + (output, err) = self.unity_proc.communicate() + logger.info(output) + logger.info(err) + self.unity_pid = proc.pid + logger.info("Unity instance process ID: " + str(self.unity_pid)) + atexit.register(lambda: self.unity_proc.poll() is None and self.unity_proc.kill()) + except Exception as e: + logger.exception( + "Exception occurred while opening the RG unity instance. Please start it. ", e + ) + return False + time.sleep(1) + if not self.controller.get_connection_status(): + self.controller.start() + return True + + def _get_unity_execution_command(self): + command = None + if self.app_config.runtime_platform == "Linux": + command = ( + "DISPLAY=:" + + str(self.x_display) + + " " + + self.app_config.unity_executable_path + + " -logfile " + + self.app_config.unity_log_file + + "&" + ) + elif self.app_config.runtime_platform == "Mac": + command = "open -n " + self.app_config.unity_executable_path + return command + + def launch_game(self, cdf): + self.controller.handle_init(cdf) + time.sleep(10) + return True + + def kill_unity_instance(self): + logger.info("Killing unity instance...") + try: + os.system("kill -9 $(ps -A | grep Arena | awk '{ print $1 }')") + logger.info("Unity process killed successfully") + return True + except Exception as e: + logger.info("Exception occurred while killing the RG unity instance.", e) + return False + + def build_segmentation_color_to_object_id_map(self): + objects = self.response["objects"] + self.segmentation_color_to_object_id_map = {} + for obj in objects: + color_dict = obj["instanceSegmentationColor"] + color_dict.pop("a", None) + key = frozenset(color_dict.items()) + if key not in self.segmentation_color_to_object_id_map: + self.segmentation_color_to_object_id_map[key] = obj["objectID"] + else: + self.logger.error( + obj["instanceSegmentationColor"], + " This color already exists for object: ", + self.segmentation_color_to_object_id_map[key], + ) + + def get_scene_data(self): + exclude_keys = ["colorImage", "depthImage", "normalsImage", "instanceSegmentationImage"] + return {key: self.response[key] for key in self.response if key not in exclude_keys} + + def get_images_from_metadata(self, image_key): + if image_key not in self.response: + return None + image_rgb_list = [] + for raw_image in self.response[image_key]: + encoded_image = str.encode(raw_image) + decoded_image = base64.decodebytes(encoded_image) + image_buffer = np.asarray(bytearray(decoded_image), dtype="uint8") + image_bgr = cv2.imdecode(image_buffer, cv2.IMREAD_COLOR) + image_rgb = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2RGB) + image_rgb_list.append(image_rgb) + return image_rgb_list + + def get_goals_status(self): + subgoals_completion_ids_in_current_action = [] + all_goals_completed = False + subgoal_completion_status = [] + if "challengeProgress" not in self.response: + return ( + subgoals_completion_ids_in_current_action, + all_goals_completed, + subgoal_completion_status, + ) + goals = self.response["challengeProgress"]["ChallengeGoals"] + try: + all_goals_completed = True + for task in goals: + goal_id = task["goal_id"] + if task["isFinished"]: + subgoal_completion_status.append(1) + if goal_id not in self.subgoals_completion_ids: + self.logger.info(f"Task {goal_id} has been completed: {str(task)}") + subgoals_completion_ids_in_current_action.append(goal_id) + self.subgoals_completion_ids.append(goal_id) + else: + subgoal_completion_status.append(0) + all_goals_completed = False + except Exception as e: + self.logger.error(f"Unable to get goal status: {str(e)}") + return ( + subgoals_completion_ids_in_current_action, + all_goals_completed, + subgoal_completion_status, + ) + + def validate_object_classes(self, actions): + for action in actions: + try: + if action["type"] in ACTIONS_REQUIRING_MASK: + object_class_name = action[action["type"].lower()]["object"]["name"] + if object_class_name not in OBJECT_CLASS_ALLOW_LIST: + return False + except Exception as ex: + self.logger.error("Exception while validating object classes: %s" % ex) + raise ex + return True + + def get_reconstructed_metadata(self): + robot_info = list() + for obj in self.response["objects"]: + if "TAM_" in obj["objectID"]: + robot_info.append( + { + "currentRoom": obj["currentRoom"], + "position": obj["position"], + "rotation": obj["rotation"], + } + ) + break + if not robot_info: + self.logger.error("TAM location not found in the object list") + if "colorImage" not in self.response: + self.logger.error("Color images not found in the RG response") + color_images = {} + for color_image_index, color_image in enumerate(self.response["colorImage"]): + color_images[str(color_image_index)] = self.response["colorImage"][color_image_index] + depth_images = {} + for depth_image_index, depth_image in enumerate(self.response["depthImage"]): + depth_images[str(depth_image_index)] = self.response["depthImage"][depth_image_index] + return { + "colorImages": color_images, + "depthImages": depth_images, + "robotInfo": robot_info, + "viewPoints": self.response["sceneMetadata"]["GoToPoints"], + } diff --git a/src/arena_wrapper/arena_request_builder.py b/src/arena_wrapper/arena_request_builder.py new file mode 100644 index 0000000..fead9f2 --- /dev/null +++ b/src/arena_wrapper/arena_request_builder.py @@ -0,0 +1,518 @@ +import logging + +import numpy as np + +from arena_wrapper.enums.object_output_wrapper import ObjectOutputType +from arena_wrapper.util import decompress_mask + + +class RGActionsConstant: + DEFAULT_ROTATE_MAGNITUDE = 45 + DEFAULT_MOVE_MAGNITUDE = 1 + DEFAULT_LOOK_MAGNITUDE = 45 + DEFAULT_LOOK_AROUND_MAGNITUDE = 100 + + +class ArenaRequestBuilder: + def __init__(self): + self.logger = logging.getLogger("Simbot.ArenaRequestBuilder") + self.ground_truth_segmentation_images = None + self.segmentation_color_to_object_id_map = None + self.objects_in_hands = {"left": None, "right": None} + + def find_object_id(self, compressed_mask, color_image_index): + ## Decompress the mask + mask = decompress_mask(compressed_mask) + if ( + self.ground_truth_segmentation_images is None + or not self.ground_truth_segmentation_images + ): + self.logger.error( + "Unable to find the object id, previous segmentation images are not present" + ) + ## Use the first segmentation image until InferenceService specifies which image to use along with the mask + ground_truth_segmentation_image = self.ground_truth_segmentation_images[color_image_index] + + ## Perform element wise multiplication of mask_matrix and previous_seg_image + mask_3d = np.concatenate( + (mask[:, :, np.newaxis], mask[:, :, np.newaxis], mask[:, :, np.newaxis]), axis=2 + ) + masked_image = ground_truth_segmentation_image * mask_3d + + ## Make a list of all colors present in result_image + unique_colors = np.unique(masked_image.reshape(-1, masked_image.shape[2]), axis=0) + + ## Compute IoU for each color and find the color that has maximum IoU. + pred_indices = np.where(np.all(mask_3d == 1, axis=-1)) + pred_indices = {(x, y) for x, y in zip(*pred_indices)} + ious = [] + for i in range(unique_colors.shape[0]): + color = tuple(unique_colors[i]) + indices = np.where(np.all(ground_truth_segmentation_image == color, axis=-1)) + indices = {(x, y) for x, y in zip(*indices)} + intersection = pred_indices.intersection(indices) + union = pred_indices.union(indices) + ious.append(len(intersection) / len(union)) + ious = np.array(ious) + max_ind = np.argmax(ious) + max_color = unique_colors[max_ind] + self.logger.info("Segmentation color with maximum IoU: " + str(max_color)) + + ## Determine object id based on identified color using instance Segmentation color to object id map + key = frozenset( + {"r": int(max_color[0]), "g": int(max_color[1]), "b": int(max_color[2])}.items() + ) + if key in self.segmentation_color_to_object_id_map: + object_id = self.segmentation_color_to_object_id_map[key] + self.logger.info("Found object id: " + str(object_id)) + else: + self.logger.error("Unable to find the object id") + object_id = None + + return object_id + + def get_request_json(self, action_request, params): + rg_compatible_request = None + self.ground_truth_segmentation_images = params["segmentationImages"] + self.segmentation_color_to_object_id_map = params["segmentationColorToObjectIdMap"] + self.object_output_type = params["objectOutputType"] + if action_request["type"] == "Move": + rg_compatible_request = self._build_move_request(action_request["move"]) + elif action_request["type"] == "Rotate": + rg_compatible_request = self._build_rotate_request(action_request["rotation"]) + elif action_request["type"] == "Goto": + rg_compatible_request = self._build_goto_request(action_request["goto"]) + elif action_request["type"] == "Pickup": + rg_compatible_request = self._build_pickup_request(action_request["pickup"]) + elif action_request["type"] == "Place": + rg_compatible_request = self._build_place_request(action_request["place"]) + elif action_request["type"] == "Open": + rg_compatible_request = self._build_open_request(action_request["open"]) + elif action_request["type"] == "Close": + rg_compatible_request = self._build_close_request(action_request["close"]) + elif action_request["type"] == "Break": + rg_compatible_request = self._build_break_request(action_request["break"]) + elif action_request["type"] == "Scan": + rg_compatible_request = self._build_scan_request(action_request["scan"]) + elif action_request["type"] == "Pour": + rg_compatible_request = self._build_pour_request(action_request["pour"]) + elif action_request["type"] == "Toggle": + rg_compatible_request = self._build_toggle_request(action_request["toggle"]) + elif action_request["type"] == "Throw": + rg_compatible_request = self._build_throw_request(action_request["throw"]) + elif action_request["type"] == "Fill": + rg_compatible_request = self._build_fill_request(action_request["fill"]) + elif action_request["type"] == "Clean": + rg_compatible_request = self._build_clean_request(action_request["clean"]) + elif action_request["type"] == "Examine": + rg_compatible_request = self._build_examine_request(action_request["examine"]) + elif action_request["type"] == "CameraChange": + rg_compatible_request = self._build_camera_change_request( + action_request["camerachange"] + ) + elif action_request["type"] == "Look": + rg_compatible_request = self._build_look_request(action_request["look"]) + elif action_request["type"] == "Highlight": + rg_compatible_request = self._build_highlight_request(action_request["highlight"]) + else: + self.logger.error("Incorrect action format received." + str(action_request)) + raise ValueError("Invalid action dictionary received") + return rg_compatible_request + + def _build_move_request(self, input_move_request): + move_request = {} + if input_move_request["direction"] == "Forward": + move_request["commandType"] = "MoveForward" + elif input_move_request["direction"] == "Backward": + move_request["commandType"] = "MoveBackward" + if "magnitude" not in input_move_request: + move_request["magnitude"] = RGActionsConstant.DEFAULT_MOVE_MAGNITUDE + else: + move_request["magnitude"] = input_move_request["magnitude"] + return move_request + + def _build_rotate_request(self, input_rotate_request): + rotate_request = {"commandType": "Rotate"} + rotation_angle = RGActionsConstant.DEFAULT_ROTATE_MAGNITUDE + if "magnitude" in input_rotate_request: + rotation_angle = input_rotate_request["magnitude"] + if input_rotate_request["direction"] == "Left": + rotate_request["magnitude"] = -rotation_angle + elif input_rotate_request["direction"] == "Right": + rotate_request["magnitude"] = rotation_angle + if "rotationSpeed" in input_rotate_request: + rotate_request["rotationSpeed"] = input_rotate_request["rotationSpeed"] + return rotate_request + + def _build_goto_request(self, input_goto_request): + # "position" and "raycast" will be set later + goto_request = self._get_goto_command_json() + if "object" not in input_goto_request: + self.logger.error(f'Input request did not contain "object": {input_goto_request}') + goto_request = None + elif "officeRoom" in input_goto_request["object"]: + self.logger.info(f'Using "officeRoom" in goTo command') + goto_request["goToCommand"]["officeRoom"] = input_goto_request["object"]["officeRoom"] + elif "goToPoint" in input_goto_request["object"]: + self.logger.info(f'Using "goToPoint" in goTo command') + goto_request["goToCommand"]["goToPoint"] = input_goto_request["object"]["goToPoint"] + elif ( + "mask" in input_goto_request["object"] + and self.object_output_type == ObjectOutputType.OBJECT_MASK + ): + self.logger.info(f'Using "mask" in goTo command') + color_image_index = input_goto_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_goto_request["object"]["mask"], color_image_index + ) + goto_request["goToCommand"]["instanceIdOfObject"] = object_id + elif "name" in input_goto_request["object"]: + self.logger.info(f'Using "name" in goTo command') + goto_request["goToCommand"]["instanceIdOfObject"] = input_goto_request["object"][ + "name" + ] + elif "position" in input_goto_request["object"]: + self.logger.info("Using 'position' in goTo command") + goto_request["goToCommand"]["position"] = list( + input_goto_request["object"]["position"].values() + ) + # goto_request["goToCommand"]["raycast"] = [ + # input_goto_request["object"]["rotation"]["y"], + # input_goto_request["object"]["rotation"]["w"], + # ] + else: + self.logger.error( + f'Did not find required goTo parameters in "object": {input_goto_request}' + ) + goto_request = None + return goto_request + + def _get_interact_command_json(self): + return { + "commandType": "Interact", + "interactCommand": {"sourceObjectID": "TAM_1", "destinationObjectID": "", "verb": ""}, + } + + def _get_pickup_command_json(self): + return { + "commandType": "PickUp", + "pickUpOrPlaceCommand": {"destinationObjectID": "", "useLeftHand": "false"}, + } + + def _get_place_command_json(self): + return { + "commandType": "Place", + "pickUpOrPlaceCommand": {"destinationObjectID": "", "useLeftHand": "false"}, + } + + def _get_camera_change_command_json(self): + return {"commandType": "CameraChange", "camChangeCommand": {"mode": ""}} + + def _get_goto_command_json(self): + return { + "commandType": "GoTo", + "goToCommand": { + "instanceIdOfObject": None, + "position": None, + "raycast": None, + "officeRoom": None, + "goToPoint": None, + }, + } + + def _get_highlight_command_json(self): + return { + "commandType": "Highlight", + "highlightCommand": { + "instanceId": None, + "shouldRotateToObject": True, + "shouldRotateBack": True, + }, + } + + def _build_pickup_request(self, input_pickup_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_pickup_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_pickup_request["object"]["mask"], color_image_index + ) + input_pickup_request["object"]["name"] = object_id + pickup_request = self._get_pickup_command_json() + pickup_request["pickUpOrPlaceCommand"]["destinationObjectID"] = input_pickup_request[ + "object" + ]["name"] + self.objects_in_hands["right"] = input_pickup_request["object"]["name"] + return pickup_request + + def _build_place_request(self, input_place_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_place_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_place_request["object"]["mask"], color_image_index + ) + input_place_request["object"]["name"] = object_id + self.objects_in_hands["right"] = None + place_request = self._get_place_command_json() + place_request["pickUpOrPlaceCommand"]["destinationObjectID"] = input_place_request[ + "object" + ]["name"] + return place_request + + def _build_open_request(self, input_open_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_open_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_open_request["object"]["mask"], color_image_index + ) + input_open_request["object"]["name"] = object_id + open_request = self._get_interact_command_json() + open_request["interactCommand"]["destinationObjectID"] = input_open_request["object"][ + "name" + ] + open_request["interactCommand"]["verb"] = "OPEN" + return open_request + + def _build_close_request(self, input_close_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_close_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_close_request["object"]["mask"], color_image_index + ) + input_close_request["object"]["name"] = object_id + close_request = self._get_interact_command_json() + close_request["interactCommand"]["destinationObjectID"] = input_close_request["object"][ + "name" + ] + close_request["interactCommand"]["verb"] = "CLOSE" + return close_request + + def _build_break_request(self, input_break_request): + if self.objects_in_hands["right"] is not None: + source_object_id = self.objects_in_hands["right"] + else: + source_object_id = "TAM_1" + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_break_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_break_request["object"]["mask"], color_image_index + ) + input_break_request["object"]["source"] = source_object_id + input_break_request["object"]["destination"] = object_id + elif ( + self.object_output_type == ObjectOutputType.OBJECT_CLASS + and "name" in input_break_request["object"] + ): + input_break_request["object"]["source"] = source_object_id + input_break_request["object"]["destination"] = input_break_request["object"]["name"] + break_request = self._get_interact_command_json() + break_request["interactCommand"]["sourceObjectID"] = input_break_request["object"][ + "source" + ] + break_request["interactCommand"]["destinationObjectID"] = input_break_request["object"][ + "destination" + ] + break_request["interactCommand"]["verb"] = "BREAK" + return break_request + + def _build_scan_request(self, input_scan_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_scan_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_scan_request["object"]["mask"], color_image_index + ) + input_scan_request["object"]["name"] = object_id + scan_request = self._get_interact_command_json() + scan_request["interactCommand"]["destinationObjectID"] = input_scan_request["object"][ + "name" + ] + scan_request["interactCommand"]["verb"] = "SCAN" + return scan_request + + def _build_pour_request(self, input_pour_request): + if self.objects_in_hands["right"] is not None: + source_object_id = self.objects_in_hands["right"] + else: + source_object_id = input_pour_request["object"]["source"] = "TAM_1" + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_pour_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_pour_request["object"]["mask"], color_image_index + ) + input_pour_request["object"]["source"] = source_object_id + input_pour_request["object"]["destination"] = object_id + elif ( + self.object_output_type == ObjectOutputType.OBJECT_CLASS + and "name" in input_pour_request["object"] + ): + input_pour_request["object"]["source"] = source_object_id + input_pour_request["object"]["destination"] = input_pour_request["object"]["name"] + pour_request = self._get_interact_command_json() + pour_request["interactCommand"]["sourceObjectID"] = input_pour_request["object"]["source"] + pour_request["interactCommand"]["destinationObjectID"] = input_pour_request["object"][ + "destination" + ] + pour_request["interactCommand"]["verb"] = "POUR" + return pour_request + + def _build_throw_request(self, input_throw_request): + if self.objects_in_hands["right"] is not None: + source_object_id = self.objects_in_hands["right"] + else: + source_object_id = "TAM_1" + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_throw_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_throw_request["object"]["mask"], color_image_index + ) + input_throw_request["object"]["source"] = source_object_id + input_throw_request["object"]["destination"] = object_id + elif ( + self.object_output_type == ObjectOutputType.OBJECT_CLASS + and "name" in input_throw_request["object"] + ): + input_throw_request["object"]["source"] = source_object_id + input_throw_request["object"]["destination"] = input_throw_request["object"]["name"] + throw_request = self._get_interact_command_json() + throw_request["interactCommand"]["sourceObjectID"] = input_throw_request["object"][ + "source" + ] + throw_request["interactCommand"]["destinationObjectID"] = input_throw_request["object"][ + "destination" + ] + throw_request["interactCommand"]["verb"] = "THROW" + return throw_request + + def _build_clean_request(self, input_clean_request): + if self.objects_in_hands["right"] is not None: + source_object_id = self.objects_in_hands["right"] + else: + source_object_id = "TAM_1" + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_clean_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_clean_request["object"]["mask"], color_image_index + ) + input_clean_request["object"]["source"] = source_object_id + input_clean_request["object"]["destination"] = object_id + elif ( + self.object_output_type == ObjectOutputType.OBJECT_CLASS + and "name" in input_clean_request["object"] + ): + input_clean_request["object"]["source"] = source_object_id + input_clean_request["object"]["destination"] = input_clean_request["object"]["name"] + clean_request = self._get_interact_command_json() + clean_request["interactCommand"]["sourceObjectID"] = input_clean_request["object"][ + "source" + ] + clean_request["interactCommand"]["destinationObjectID"] = input_clean_request["object"][ + "destination" + ] + clean_request["interactCommand"]["verb"] = "CLEAN" + return clean_request + + def _build_fill_request(self, input_fill_request): + destination_object_id = None + if self.objects_in_hands["right"] is not None: + destination_object_id = self.objects_in_hands["right"] + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_fill_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_fill_request["object"]["mask"], color_image_index + ) + input_fill_request["object"]["destination"] = destination_object_id + input_fill_request["object"]["source"] = object_id + elif ( + self.object_output_type == ObjectOutputType.OBJECT_CLASS + and "name" in input_fill_request["object"] + ): + input_fill_request["object"]["source"] = input_fill_request["object"]["name"] + input_fill_request["object"]["destination"] = destination_object_id + fill_request = self._get_interact_command_json() + fill_request["interactCommand"]["sourceObjectID"] = input_fill_request["object"]["source"] + fill_request["interactCommand"]["destinationObjectID"] = input_fill_request["object"][ + "destination" + ] + fill_request["interactCommand"]["verb"] = "FILL" + return fill_request + + def _build_toggle_request(self, input_toggle_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_toggle_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_toggle_request["object"]["mask"], color_image_index + ) + input_toggle_request["object"]["name"] = object_id + toggle_request = self._get_interact_command_json() + toggle_request["interactCommand"]["destinationObjectID"] = input_toggle_request["object"][ + "name" + ] + toggle_request["interactCommand"]["verb"] = "TOGGLE" + return toggle_request + + def _build_examine_request(self, input_examine_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_examine_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_examine_request["object"]["mask"], color_image_index + ) + input_examine_request["object"]["name"] = object_id + examine_request = self._get_interact_command_json() + examine_request["interactCommand"]["destinationObjectID"] = input_examine_request[ + "object" + ]["name"] + examine_request["interactCommand"]["verb"] = "EXAMINE" + return examine_request + + def _build_camera_change_request(self, input_camera_change_request): + camera_change_request = self._get_camera_change_command_json() + camera_change_request["camChangeCommand"]["mode"] = input_camera_change_request["mode"] + return camera_change_request + + def _build_look_request(self, input_look_request): + look_request = {} + if input_look_request["direction"].lower() == "up": + look_request["commandType"] = "LookUp" + look_up_magnitude = RGActionsConstant.DEFAULT_LOOK_MAGNITUDE + if "magnitude" in input_look_request: + look_up_magnitude = input_look_request["magnitude"] + look_request["panAndLookCommand"] = {"magnitude": look_up_magnitude} + elif input_look_request["direction"].lower() == "down": + look_request["commandType"] = "LookDown" + look_down_magnitude = RGActionsConstant.DEFAULT_LOOK_MAGNITUDE + if "magnitude" in input_look_request: + look_down_magnitude = input_look_request["magnitude"] + look_request["panAndLookCommand"] = {"magnitude": look_down_magnitude} + elif input_look_request["direction"].lower() == "around": + look_request["commandType"] = "LookAround" + field_of_view_value = RGActionsConstant.DEFAULT_LOOK_AROUND_MAGNITUDE + if "magnitude" in input_look_request: + field_of_view_value = int(input_look_request["magnitude"]) + look_request["lookAroundCommand"] = {"fieldOfView": field_of_view_value} + if "shouldRotate" in input_look_request: + look_request["lookAroundCommand"]["shouldRotate"] = input_look_request[ + "shouldRotate" + ] + else: + look_request["lookAroundCommand"]["shouldRotate"] = False + return look_request + + def _build_highlight_request(self, input_highlight_request): + if self.object_output_type == ObjectOutputType.OBJECT_MASK: + color_image_index = input_highlight_request["object"].get("colorImageIndex", 0) + object_id = self.find_object_id( + input_highlight_request["object"]["mask"], color_image_index + ) + input_highlight_request["object"]["name"] = object_id + highlight_request = self._get_highlight_command_json() + highlight_request["highlightCommand"]["instanceID"] = input_highlight_request["object"][ + "name" + ] + if "shouldRotateToObject" in input_highlight_request["object"]: + highlight_request["highlightCommand"][ + "shouldRotateToObject" + ] = input_highlight_request["object"]["shouldRotateToObject"] + if "shouldRotateBack" in input_highlight_request["object"]: + highlight_request["highlightCommand"]["shouldRotateBack"] = input_highlight_request[ + "object" + ]["shouldRotateBack"] + return highlight_request diff --git a/src/arena_wrapper/constants.py b/src/arena_wrapper/constants.py new file mode 100644 index 0000000..e6b249b --- /dev/null +++ b/src/arena_wrapper/constants.py @@ -0,0 +1,37 @@ +######################################################################################################################## +# The list of object classes that are allowed to use for simbot challenge. Following classes can be used with +# OBJECT_CLASS as ObjectOutputType. + +OBJECT_CLASS_ALLOW_LIST = ["stickynote"] +######################################################################################################################## +# Action space + +NAVIGATIONAL_ACTIONS = ["Goto", "Move", "Rotate", "Look"] +OBJECT_INTERACTION_ACTIONS = [ + "Pickup", + "Open", + "Close", + "Break", + "Scan", + "Examine", + "Place", + "Pour", + "Toggle", + "Fill", + "Clean", +] +ACTIONS_REQUIRING_MASK = [ + "Pickup", + "Open", + "Close", + "Break", + "Scan", + "Examine", + "Place", + "Pour", + "Toggle", + "Fill", + "Clean", + "Goto", +] +######################################################################################################################## diff --git a/src/arena_wrapper/enums/__init__.py b/src/arena_wrapper/enums/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/arena_wrapper/enums/object_output_wrapper.py b/src/arena_wrapper/enums/object_output_wrapper.py new file mode 100644 index 0000000..4195581 --- /dev/null +++ b/src/arena_wrapper/enums/object_output_wrapper.py @@ -0,0 +1,7 @@ +from enum import Enum + + +# creating enumerations for object output types +class ObjectOutputType(str, Enum): + OBJECT_CLASS = "OBJECT_CLASS" + OBJECT_MASK = "OBJECT_MASK" diff --git a/src/arena_wrapper/exceptions.py b/src/arena_wrapper/exceptions.py new file mode 100644 index 0000000..695a6b4 --- /dev/null +++ b/src/arena_wrapper/exceptions.py @@ -0,0 +1,2 @@ +class RaycastMissedException(Exception): + """Custom exception to handle the RaycastMissed exception raised by Arena.""" diff --git a/src/arena_wrapper/util/__init__.py b/src/arena_wrapper/util/__init__.py new file mode 100644 index 0000000..5387ae6 --- /dev/null +++ b/src/arena_wrapper/util/__init__.py @@ -0,0 +1,59 @@ +import os +import random +import time + +import numpy as np + + +def makedirs(directory): + os.makedirs(directory, exist_ok=True) + + +def atomic_write(path, data): + tmp_path = "-".join([path, str(time.time()), str(random.random())]) + mode = "w" + + if type(data) is bytes: + mode = "wb" + + with open(tmp_path, mode) as f: + f.write(data) + os.rename(tmp_path, path) + + +DETECTION_SCREEN_WIDTH = 300 +DETECTION_SCREEN_HEIGHT = 300 + + +def decompress_mask(compressed_mask): + """decompress compressed mask array alfred todo: refactoring.""" + mask = np.zeros((DETECTION_SCREEN_WIDTH, DETECTION_SCREEN_HEIGHT)) + for start_idx, run_len in compressed_mask: + for idx in range(start_idx, start_idx + run_len): + mask[idx // DETECTION_SCREEN_WIDTH, idx % DETECTION_SCREEN_HEIGHT] = 1 + return mask + + +def compress_mask(seg_mask): + """compress mask array alfred todo: refactoring.""" + run_len_compressed = ( + [] + ) # list of lists of run lengths for 1s, which are assumed to be less frequent. + idx = 0 + curr_run = False + run_len = 0 + for x_idx in range(len(seg_mask)): + for y_idx in range(len(seg_mask[x_idx])): + if seg_mask[x_idx][y_idx] == 1 and not curr_run: + curr_run = True + run_len_compressed.append([idx, None]) + if seg_mask[x_idx][y_idx] == 0 and curr_run: + curr_run = False + run_len_compressed[-1][1] = run_len + run_len = 0 + if curr_run: + run_len += 1 + idx += 1 + if curr_run: + run_len_compressed[-1][1] = run_len + return run_len_compressed diff --git a/src/arena_wrapper/util/object_class_decoder.py b/src/arena_wrapper/util/object_class_decoder.py new file mode 100644 index 0000000..2e3e441 --- /dev/null +++ b/src/arena_wrapper/util/object_class_decoder.py @@ -0,0 +1,729 @@ +import numpy as np + +from arena_wrapper import AppConfig + + +readable_type_matching_dict = { + "Fork_01": "fork", + "CoffeeMug_Yellow": "coffeemug", + "CoffeeMug_Yellow_ContainsCoffee": "coffeemug", # note that this is substring of broken coffeemug + "CoffeeMug_Boss": "coffeemug", + "CoffeeMug_Boss_ContainsCoffee": "coffeemug", + "CoffeeCup_Open_Empty_01": "coffeemug", + "CoffeeCup_Open_Empty_02": "coffeemug", + "CoffeeMug_Yellow_Broken": "brokencoffeemug", + "CoffeeMug_Boss_Broken": "brokencoffeemug", + "CoffeePotEmpty_01": "coffeepot", + "CoffeePot_01": "coffeepot", + "CoffeePot_WithCoffee_01": "coffeepot", + "Jar_PeanutButter_01": "jar", + "Jar_PeanutButter_Eaten_01": "jar", + "Jar_Jam_Eaten_01": "jar", + "CandyJar_01": "jar", + "Jar_Jam_01": "jar", + "CanSodaNew_01": "sodacan", + "CanSoda_01": "sodacan", + "CanSodaNew_Open_01": "sodacan", + "CanSodaNew_Crushed_01": "sodacan", + "BreadSlice_01": "bread", + "CoffeeBeans_01": "coffeebeans", + "PaperCup_Crushed_01": "papercup", + "Knife_01": "knife", + "MilkCarton_01": "milkcarton", + "SandwichHalf_01": "sandwich", + "SandwichHalfEaten_01": "sandwich", + "FoodPlate_01": "plate", + "FoodPlateDirty_01": "plate", + "FoodPlateBroken_01": "plate", + "Bowl_01_Broken": "brokenbowl", # Check whether to just map this to bowl + "Bowl_ContainsMilk_01": "bowl", + # note that this is substring of brokenbowl and broken bowl needs to be matched first + "Bowl_ContainsCereal_01": "bowl", + "Bowl_ContainsMilkAndCereal": "bowl", + "Bowl_ContainsCoffee": "bowl", + "Bowl_01": "bowl", + "CakeSlice_02": "cake", + "CakeCut_02": "cake", + "SM_Prop_Table_02": "table", + "Table_Metal_01": "table", + "TableRound_02": "table", + "TableRoundSmall_02": "table", + "PaperCup_01": "papercup", + "CandyBar_01": "candybar", + "CandyBar_Open_01": "candybar", + "CandyBar_Eaten_01": "candybar", + "Shelf_01": "shelf", + "AP_Prop_Shelf_Wall_04": "shelf", + "AP_Prop_Shelf_06": "shelf", + "Shelves_Tall_01": "shelf", + "AP_Prop_Shelf_Wall_Laser": "shelf", + "AP_Prop_Shelf_Wall_FreezeRay": "shelf", + "Bookshelf_Wooden_01": "bookshelf", # Figure out how to distinguish this from sb phrase shelf + "KitchenCabinet_02": "cabinet", # Notice that shelf and cabinet are different + "KitchenCabinet_01": "cabinet", + "KitchenCabinet_01_Trapped": "cabinet", + "KitchenCounterDrawer_03": "drawer", # Keeping this separate from shelf/cabinet + "KitchenCounterDrawer_02": "drawer", # Keeping this separate from shelf/cabinet + "ReceptionDesk": "desk", # Different from table + "Desk_01": "desk", + "ManagerDesk": "desk", + "AP_Prop_Desk_Red": "desk", + "AP_Prop_Desk_Green": "desk", + "AP_Prop_Desk_Blue": "desk", + "AP_Prop_Desk_Yellow": "desk", + "Computer_Monitor_New": "monitor", + "Computer_Monitor_01": "monitor", + "V_Monitor_Laser": "lasermonitor", + "V_Monitor_Gravity": "monitor", + "V_Monitor_Embiggenator": "monitor", + "V_Monitor_FreezeRay": "freezeraymonitor", + "V_Monitor_Portal": "monitor", + "Computer_Monitor_Broken": "monitor", + "Cake_02": "cake", + "Pear_01": "pear", + "Pear_01_Eaten": "pear", + "GravityPad": "gravitypad", + "Hammer": "hammer", + "Burger_04": "burger", + "BreadLoaf": "bread", + "ColorChanger_Button_Blue": "bluecolorchangerbutton", + "ColorChanger_Button_Green": "greencolorchangerbutton", + "ColorChanger_Button_Red": "redcolorchangerbutton", + "VendingMachine_01_E5_Button": "vendingmachinebutton", # See how to differentiate these if needed + "VendingMachine_01_E7_Button": "vendingmachinebutton", + "VendingMachine_01_B4_Button": "vendingmachinebutton", + "VendingMachine_01_M8_Button": "vendingmachinebutton", + "VendingMachine_01": "vendingmachine", + "BurgerEaten_04": "burger", + "TrashCan_01": "trashcan", + "Toast_01": "toast", + "Toast_02": "toast", + "Toast_03": "toast", + "Toast_04": "toast", + "Toast_04_Jam": "toast", + "Toast_04_PBJ": "toast", + "Toast_04_Jam_Eaten": "toast", + "Toast_04_PBJ_Eaten": "toast", + "Toast_04_Eaten": "toast", + "Cereal_Box_01": "cerealbox", + "YesterdayMachine_01": "yesterdaymachine", + "Microwave_01": "microwave", + "FridgeUpper_02": "fridgeupper", + "FridgeLower_02": "fridgelower", + "WallClock_01": "clock", + "Apple": "apple", + "AppleSlice_01": "apple", + "AppleCut_01": "apple", + "Apple_Eaten": "apple", + "DartBoard": "dartboard", + "BreadLoaf_Sliced": "bread", + "Dart": "dart", + "Laser": "laser", + "Laser_Tip": "lasertip", + "Radio_01": "radio", + "TeslaCoil": "teslacoil", + "Door_01": "door", + "Spoon_01": "spoon", + "Banana_01": "banana", + "BananaBunch_01": "banana", + "Banana_Peeled_01": "banana", + "Banana_Eaten_01": "banana", + "Trophy01": "trophy", + "FireAlarm_01": "firealarm", + "LightSwitch_01": "switch", + "Floppy_AntiVirus": "floppy", + "WaterCooler_01": "watercooler", + "Toaster_02": "toaster", + "PortalGenerator": "portalgenerator", + "Record_01": "record", + "Record_01_Broken": "record", + "ForkLift": "forklift", + "RoboticArm_01": "roboticarm", + "CoffeeMaker_01": "coffeemaker", + "ColorChangerStation": "colorchangerstation", + "TAMPrototypeHead_01": "tamhead", + "EAC_Machine": "eacmachine", + "MissionItemHolder": "missionitemholder", + "KitchenStool_01": "stool", + "WaterPuddle_01": "puddle", + "FuseBox_02": "fusebox", + "FuseBox_01": "fusebox", + "FuseBox_01_Lever": "lever", + "PackingBox": "box", + "KitchenCounterBase_03": "counter", + "KitchenCounterBase_02": "counter", + "KitchenCounterTop_02": "counter", + "CounterBase_03": "counter", + "KitchenCounter01": "counter", + "CoffeeUnMaker_01": "unmaker", + "FulllPaperTray_01": "tray", + "EmptyPaperTray": "tray", + "KitchenCounterSink_01": "sink", + "Handsaw": "handsaw", + "Screwdriver": "screwdriver", + "FreezeRay": "freezeray", + "Whiteboard_CoffeeUnmaker": "whiteboard", + "Whiteboard_YesterdayMachine": "whiteboard", + "WhiteBoard_01": "whiteboard", + "Broken_Cord_01": " cord", # Space needed to differentiate from record + "Printer_3D": "printer", + "Embiggenator": "embiggenator", + "Floppy_Virus": "virus", + "WarningSign_01": "warningsign", + "Fork_Lift": "forklift", + "Carrot_01": "carrot", + "Carrot_Eaten_01": "carrot", + "PowerOutlet_01": "poweroutlet", + "Laser_CircuitBoard": "circuitboard", + "PinBoard_01": "pinboard", + "PinBoard_02": "pinboard", + "FireExtinguisher_01": "extinguisher", + "PieFruit_01": "fruitpie", + "PieFruitSlice_01": "fruitpie", + "PieFruitCut_01": "fruitpie", + "SafetyBarrier_02": "safetybarrier", + "DeskFan_Broken_01": "fan", + "DeskFan_New_01": "fan", + "CoffeeCup_Lid_01": "lid", + "CableFrayed_01": "cable", + "Printer_Cartridge": "cartridge", + "Donut_01": "donut", + "Donut_Eaten_01": "donut", + "StickyNote": "stickynote", + "Security_Button": "securitybutton", + "AutoChompers": "chompers", + "Laser_ControlPanel": "controlpanel", + # MS6 objects + "Office_Chair": "chair", + "Manager_Chair": "chair", + "Keyboard": "keyboard", + "Printer_Cartridge_Lever": "lever", + "ActionFigure": "actionfigure", + "Cutting_Board": "cutting board", + "PBJ_Sandwich": "sandwich", + "TeslaCoil_Small": "tesla coil", + "Printer_Cartridge_Mug": "mug", + "Printer_Cartridge_Figure": "actionfigurecartridge", + "Floppy_AntiVirus_Broken": "broken floppy", + "Floppy_Virus_Broken": "broken floppy", + "Printer_Cartridge_Hammer": "hammer", + "Warehouse_Boxes": "warehouse boxes", + "Radio_01_Broken": "broken radio", + "LaserBase_toy": "laser toy", + # Some not used ones are mapped to a temporary string + "SM_Bld_Wall_Window_Blinds_Open_04": "notused", + "SM_Prop_FlatPackCardboardBoxes_03": "notused", + "SK_Veh_Pickup_01_ToolBox": "notused", + "SM_Prop_Paper_Pile_01": "notused", + "AP_Prop_Lab_Tank_02": "notused", + "AP_Prop_Note_05": "notused", + "sign_short_caution_electrical": "notused", + "sign_tall_caution_carrot": "notused", + "sign_short_quantum_1": "notused", + "sign_tall_poster_tam_2": "notused", + "SM_Prop_PalletStack_02": "notused", + "SM_Prop_Book_Group_01": "notused", + "sign_diamond_carrot": "notused", + "AP_Prop_Minigolf_Club_01": "notused", + "SM_Prop_Paper_Pile_03": "notused", + "SM_Prop_Book_Group_07": "notused", + "SM_Tool_Drill_Chuck_01": "notused", + "SM_Prop_Book_Group_06": "notused", + "AP_Prop_Cabinets_01": "notused", + "SM_Prop_FolderTray_01": "notused", + "sign_short_caution_gravity_2": "notused", + "SM_Prop_Book_Group_05": "notused", + "SM_Prop_FlatPackCardboardBoxes_04": "notused", + "SM_Prop_FolderTray_04": "notused", + "SM_Bld_Wall_Metal_Slide_02": "notused", + "SM_Bld_Door_02": "notused", + "sign_short_poster_delwan_2": "notused", + "SM_Prop_Drink_Dispenser_01": "notused", + "SM_Prop_Paper_06": "notused", + "SM_Prop_Folder_PVC_01": "notused", + "AP_Prop_CorkBoard_02": "notused", + "SM_Prop_Warehouse_Light_04": "notused", + "sign_short_breakroom_2": "notused", + "SM_Prop_Buttons_05": "notused", + "SM_Prop_Folder_Holder_02": "notused", + "sign_short_warehouse_1": "notused", + "AP_Prop_Barrel_Water_01": "notused", + "AP_Prop_Folder_PVC_02": "notused", + "SM_Prop_Server_Node_01": "notused", + "SM_Prop_NetCable_03": "notused", + "SM_Prop_Book_Group_08": "notused", + "AP_Prop_Couch_06": "notused", + "sign_tall_caution_shrink": "notused", + "AP_Prop_Barrel_Open_01": "notused", + "SM_Prop_NotePad_01": "notused", + "SM_Prop_Book_Phone_Open_01": "notused", + "sign_tall_caution_freeze": "notused", + "sign_short_caution_restricted_1": "notused", + "SM_Item_Clipboard_01": "notused", + "SM_Prop_Cart_01": "notused", + "AP_Prop_Lab_Tank_01": "notused", + "sign_diamond_gravity": "notused", + "SM_Prop_Book_Group_02": "notused", + "SM_Prop_Book_Magazine_01": "notused", + "AP_Prop_Lab_MachinePanel_01": "notused", + "sign_short_caution_gravity_1": "notused", + "SM_Prop_Oxygen_Tank": "notused", + "AP_Prop_Fire_Extinguisher_01": "notused", + "SM_Prop_Folder_Holder_04": "notused", + "SM_Prop_FolderTray_03": "notused", + "AP_Prop_Plant_09": "notused", + "SM_Prop_Folder_PVC_02": "notused", + "SM_Prop_Lighting_Cable_Bulb_01": "notused", + "AP_Prop_Pen_01": "notused", + "SM_Prop_Wirespool_01": "notused", + "SM_Prop_Warehouse_Boxes_Stacked_04": "notused", + "sign_diamond_laser": "notused", + "sign_short_poster_delwan_1": "notused", + "SM_Prop_Book_Group_04": "notused", + "SM_Prop_Paper_04": "notused", + "SM_Prop_Server_Cabinet_01": "notused", + "sign_short_office_1": "notused", + "SM_Prop_AirVent_Wall_01": "notused", + "AP_Prop_Photocopier_01": "notused", + "SM_Prop_Certificate_01": "notused", + "SM_Prop_Wirespool_Small_01": "notused", + "AP_Prop_Safety_Barrier_02": "notused", + "sign_short_caution_shrink": "notused", + "sign_short_caution_quantum_2": "notused", + "SM_Prop_AirVent_01": "notused", + "AP_Prop_Pen_06": "notused", + "SM_Prop_PowerBoxes_01": "notused", + "sign_diamond_freeze": "notused", + "SM_Prop_Folder_Holder_01": "notused", + "AP_Prop_Bucket_02": "notused", + "AP_Prop_CardboardBox_Open_05": "notused", + "AP_Prop_Lab_Clamp_02_Arm_01": "notused", + "sign_tall_caution_electrical": "notused", + "sign_tall_poster_tam_1": "notused", + "SM_Prop_Folder_Holder_03": "notused", + "SM_Prop_Book_Group_03": "notused", + "SM_Prop_Folder_Manila_04": "notused", + "AP_Prop_Plant_01": "notused", + "Laser_Tip_Broken": "notused", + "AP_Prop_Lab_MachinePanel_02": "notused", + "sign_diamond_shrink": "notused", + "SM_Prop_Warehouse_Boxes_Stacked_03": "notused", + "sign_square_breakroom": "notused", + "SM_Prop_Powercable_02": "notused", + "AP_Prop_CardboardBox_Stack_02": "notused", + "SM_Tool_Buffer_01_Battery": "notused", + "SM_Prop_Calender_01": "notused", + "AP_Item_Tape_01": "notused", + "SM_Prop_Oxygen_Tank_Large": "notused", + "SM_Prop_Powercable_01": "notused", + "AP_Prop_Couch_02": "notused", + "SM_Prop_Papers_01": "notused", + "SM_Prop_Crate_Stack_01": "notused", + "SM_Prop_Plastic_Pipe_Spool_01": "notused", + "AP_Bld_Wall_Glass_Large_Door_01": "notused", + "sign_short_quantum_2": "notused", + "sign_diamond_fire": "notused", + "sign_short_robotics_1": "notused", + "SM_Prop_Powercable_03": "notused", + "SM_Prop_Folder_Manila_01": "notused", + "AP_Prop_Cellotape_01": "notused", + "sign_short_poster_delwan_4": "notused", + "SM_Tool_Handsaw_01": "notused", + "SM_Prop_Buttons_02": "notused", + "AP_Prop_Bin_Rubbish_01": "notused", + "SM_Prop_Scales_01": "notused", + "SM_Sign_Exit_02": "notused", + "sign_short_robotics_2": "notused", + "SM_Prop_Paper_05": "notused", + "SM_Prop_Warehouse_Platform_Trolley_01": "notused", + "sign_tall_caution_robotics": "notused", + "sign_short_poster_delwan_3": "notused", + "AP_Prop_Pen_03": "notused", + "AP_Item_Tool_Board": "notused", + "AP_Prop_PaperTray_01_Full_01": "notused", + "AP_Prop_Generator_Large_02": "notused", + "AP_Bld_Ceiling_Aircon_01": "notused", + "sign_tall_caution_laser": "notused", + "sign_short_breakroom_1": "notused", + "SM_Prop_Folder_Manila_02": "notused", + "AP_Prop_Print_Tube_01": "notused", + "Lab_Terminal": "notused", + "Deembiggenator_Crates": "notused", +} + + +def parse_metadata(metadata, readable_type_matching_dict): + # Used to parse the metadata to get objects, their locations, their states, their affordances, "objectType" and + # their ID's. Also returns the location of the bot itself Takes as input the metadata object returned by the + # simbot environment and the readable_type_matching_dict which maps each RG defined object type to a huam + # readable object type (this could be statically defined beforehand since it remains fixed for the entire task. ) + # Returns a dictionary of list of dictionaries where the top level keys are human readable object types with each + # of these human object types being mapped to all objects in the scene Each of these keys has an associated list + # as value where list contains information of all the objects in the RG environment corresponding to that + # specific object type category. The dictionary elements in this list have the same structure as the metadata + # dictionary object corresponding to th evarious objects. Also returns the location of the bot itself + if metadata is None: + return None, None + data = metadata["objects"] # List of dictionaries of all objects including the bot itself + unique_object_type_dict = {} + bot_position = None + for elt in data: + if "TAM_" in elt["objectID"]: # This is the bot + # Dictionary with x, y and z as keys. Note, the (x,z) location is the coordinate + # location and y is the height in unity + bot_position = elt["position"] + + else: + if elt["objectType"] not in readable_type_matching_dict: + continue + readable_object_type = readable_type_matching_dict[ + elt["objectType"] + ] # Dictionary used to map the auxillary RG types to human readable ones + if readable_object_type in unique_object_type_dict: + # unique_object_type_dict[objectType].append({"objectID": elt["objectID"], "objectType": elt[ + # "objectType"], "position": elt["position"], "supportedVerbs": elt["supportedVerbs"], + # "supportedStates": elt["supportedStates"], "currentStates": elt["currentStates"], + # "parentReceptacle": elt["parentReceptacle"]}) #Retain selective entries from the main metadata + # dictionary + + # Add the whole metadata entry for that object type to its list corresponding to its + # redable name + unique_object_type_dict[readable_object_type].append(elt) + else: + # Create a new list corresponding to this human readable object type + unique_object_type_dict[readable_object_type] = [elt] + # TODO: Will need to handle human readable synonyms to object type too + return unique_object_type_dict, bot_position + + +def parse_metadata_only_bot_position(metadata, readable_type_matching_dict): + # Use this if using preprocessed unique_object_type_dict + data = metadata["objects"] # List of dictionaries of all objects including the bot itself + for elt in data: + if "TAM_" in elt["objectID"]: # This is the bot + # Dictionary with x, y and z as keys. Note, the (x,z) location is the coordinate location and y is + # the height in unity + bot_position = elt["position"] + break # Bot position found, can break + else: + continue + + return bot_position + + +def locate_tams_room(metadata): + # Use this to return the room TAM is in + data = metadata["objects"] # List of dictionaries of all objects including the bot itself + bot_room = None + for elt in data: + if "TAM_" in elt["objectID"]: # This is the bot + # Dictionary with x, y and z as keys. Note, the (x,z) location is the coordinate + # location and y is the height in unity + bot_room = elt["currentRoom"] + break # Bot position found, can break + else: + continue + return bot_room + + +def find_matching_object( + predicted_object, object_type_dictionary, bot_location, best_object_match_index=0 +): + if best_object_match_index != 0: # Handle case for second best separately + return find_next_best_matching_object( + predicted_object, object_type_dictionary, bot_location, best_object_match_index + ) + + # Predicted object is the human readable object type predicted + # object_type_dictionary is a dictionary with keys as the human readable object types and value as a list of + # dictionaries containing all instances of that object type This is used to find the correct object id based on + # nearest distance from the bot and return its object ID returns the object_id for the best matched object + if predicted_object not in object_type_dictionary: + if AppConfig.runtime_platform == "Mac": + return predicted_object + else: + return None + matched_object_list = object_type_dictionary[predicted_object] + min_dist = np.inf + best_object_id = None + for obj in matched_object_list: + object_location = obj["position"] + dist = (object_location["x"] - bot_location["x"]) ** 2 + ( + object_location["z"] - bot_location["z"] + ) ** 2 + if dist < min_dist: + min_dist = dist + best_object_id = obj["objectID"] + return best_object_id + + +def find_next_best_matching_object( + predicted_object, object_type_dictionary, bot_location, best_object_match_index +): + # Finds and returns the SECOND best object closest to the bot + matched_object_list = object_type_dictionary[predicted_object] + min_dist = np.inf + second_min_dist = np.inf + best_object_id = None + second_object_id = None + + for object in matched_object_list: + object_location = object["position"] + dist = (object_location["x"] - bot_location["x"]) ** 2 + ( + object_location["z"] - bot_location["z"] + ) ** 2 + if dist < min_dist: + second_min_dist = min_dist + min_dist = dist + second_object_id = best_object_id + best_object_id = object["objectID"] + + elif dist < second_min_dist: + second_min_dist = dist + second_object_id = object["objectID"] + + return second_object_id + + +def find_object_ids_from_type(needed_object_types, metadata): + needed_object_ids = [] + data = metadata["objects"] # List of dictionaries of all objects including the bot itself + for object_type in needed_object_types: + for elt in data: + if object_type == elt["objectType"]: + needed_object_ids.append(elt["objectID"]) + break + else: + continue + + return needed_object_ids + + +# Will be used to get all computers of the type +def find_all_object_ids_from_type(metadata, needed_object_type="Computer_Monitor_01"): + needed_object_ids = [] + data = metadata["objects"] # List of dictionaries of all objects including the bot itself + for elt in data: + if needed_object_type == elt["objectType"]: + needed_object_ids.append( + elt["objectID"] + ) # Keep running to get all object IDs of this type + else: + continue + + return needed_object_ids + + +def identify_correct_shelf( + commands, + metadata, + instr, + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + i, +): + if "second" in instr or "two" in instr: # Special case needed to support freeze ray mission + predicted_object_id = find_all_object_ids_from_type( + metadata, needed_object_type="AP_Prop_Shelf_Wall_04" + )[0] + elif "first" in instr or "one" in instr: # Special case needed to support Laser ray mission + predicted_object_id = find_all_object_ids_from_type( + metadata, needed_object_type="AP_Prop_Shelf_Wall_Laser" + )[0] + else: + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, unique_object_type_dict, bot_position, best_object_match_index + ) + return predicted_object_id + + +def convert_object_class_to_id(commands, metadata, instr=None): + """#Takes in the response object returned by action inference service and converts object class + names to object IDs using the metadata + + #instr (NLP command) needed to implement certain rules + """ + # Used to parse the metadata to get objects, their locations, their states, their affordances, "objectType" and + # their ID's. This is returned as a dictionary with keys as human readable object types and values as list of all + # the objects in RG environemnt corresponding to that object type. The object specific information is encoded as + # a dictionary with same structure as the metadata. Also returns the location of the bot itself + unique_object_type_dict, bot_position = parse_metadata(metadata, readable_type_matching_dict) + + for i in range(len(commands)): + command = commands[i] + best_object_match_index = 0 # Default. Used to support second best matches + + if ( + command["type"] == "Dialog" + or command["type"] == "CameraChange" + or command["type"] == "Move" + or command["type"] == "Rotate" + or command["type"] == "Look" + or ("object" not in command[command["type"].lower()]) + ): + continue # No object here, can skip + else: + objects = command[command["type"].lower()]["object"] + if "officeRoom" in objects: # Room navigation commands don't need object-id + continue + if "name" in objects: + predicted_object = objects["name"] + if ( + predicted_object is not None + and predicted_object == "monitor" + and locate_tams_room(metadata) == "MainOffice" + and command["type"] == "Goto" + ): + computers = find_all_object_ids_from_type( + metadata, needed_object_type="Computer_Monitor_01" + ) + # This makes sure that they are always in same order ensuring consistency of first, second and third + computers.sort() + if "first" in instr or "left" in instr: + predicted_object_id = computers[0] + elif "second" in instr or "middle" in instr or "center" in instr: + predicted_object_id = computers[1] + elif "third" in instr or "right" in instr: + predicted_object_id = computers[2] + elif "one" in instr: # Putting this separately as user might say "second one" + predicted_object_id = computers[0] + elif "two" in instr: + predicted_object_id = computers[1] + elif "three" in instr: + predicted_object_id = computers[2] + else: + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "name" + ] = predicted_object_id + elif predicted_object == "shelf" and locate_tams_room(metadata) == "Lab1": + predicted_object_id = identify_correct_shelf( + commands, + metadata, + instr, + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + i, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "name" + ] = predicted_object_id + elif predicted_object == "vendingmachinebutton" and "button" in instr: + # Always press this button if a vending machine button is being pressed + predicted_object_id = "VendingMachine_01_E5_Button_10000" + commands[i][commands[i]["type"].lower()]["object"][ + "name" + ] = predicted_object_id + elif ( + command["type"] == "Goto" and predicted_object == "monitor" and "next" in instr + ): # To enable "Goto the next computer" + # This will be used to tell the "find_matching_object_root" function to find the next best match + # besides the present one + best_object_match_index = 1 + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "name" + ] = predicted_object_id + elif predicted_object is not None: + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "name" + ] = predicted_object_id + else: + print("Predicting object: None") + if "source" in objects: + predicted_object = objects["source"] + if predicted_object == "shelf" and locate_tams_room(metadata) == "Lab1": + predicted_object_id = identify_correct_shelf( + commands, + metadata, + instr, + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + i, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "source" + ] = predicted_object_id + elif ( + predicted_object is not None + and predicted_object in unique_object_type_dict + and predicted_object != "TAM_1" + ): + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "source" + ] = predicted_object_id + else: + print("Keeping original source") + if "destination" in objects: + predicted_object = objects["destination"] + if predicted_object == "shelf" and locate_tams_room(metadata) == "Lab1": + predicted_object_id = identify_correct_shelf( + commands, + metadata, + instr, + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + i, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "destination" + ] = predicted_object_id + elif ( + predicted_object is not None + and predicted_object in unique_object_type_dict + and predicted_object != "TAM_1" + ): + # This is used to find the correct object id based on nearest distance from the bot and return + # its object ID + predicted_object_id = find_matching_object( + predicted_object, + unique_object_type_dict, + bot_position, + best_object_match_index, + ) + commands[i][commands[i]["type"].lower()]["object"][ + "destination" + ] = predicted_object_id + else: + print("Keeping original destination") + return commands diff --git a/src/simbot_offline_inference/__init__.py b/src/simbot_offline_inference/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/simbot_offline_inference/__main__.py b/src/simbot_offline_inference/__main__.py new file mode 100644 index 0000000..6e93a60 --- /dev/null +++ b/src/simbot_offline_inference/__main__.py @@ -0,0 +1,32 @@ +import typer + +from simbot_offline_inference.commands import ( + generate_trajectories, + print_challenges_per_high_level_key, + print_high_level_keys, + run_background_services, + run_their_evaluation, + run_trajectories, + validate_cdfs, + validate_generated_missions, +) + + +app = typer.Typer(name="Run inference offline.", no_args_is_help=True, add_completion=False) + + +app.command(rich_help_panel="Run")(run_background_services) + +app.command(rich_help_panel="Preparation")(validate_cdfs) +app.command(rich_help_panel="Preparation")(validate_generated_missions) +app.command(rich_help_panel="Preparation")(print_high_level_keys) +app.command(rich_help_panel="Preparation")(print_challenges_per_high_level_key) + +app.command(rich_help_panel="Generation")(generate_trajectories) +app.command(rich_help_panel="Generation")(run_trajectories) + +app.command(rich_help_panel="Evaluation")(run_their_evaluation) + + +if __name__ == "__main__": + app() diff --git a/src/simbot_offline_inference/_version.py b/src/simbot_offline_inference/_version.py new file mode 100644 index 0000000..2e9d76d --- /dev/null +++ b/src/simbot_offline_inference/_version.py @@ -0,0 +1,7 @@ +# Store the version here so: +# 1) we don't load dependencies by storing it in __init__.py +# 2) we can import it in setup.py for the same reason +# 3) we can import it into your module module +# +# This is automatic, therefore DO NOT manually change this file! +__version__ = "4.33.0" diff --git a/src/simbot_offline_inference/arena_action_builder.py b/src/simbot_offline_inference/arena_action_builder.py new file mode 100644 index 0000000..4332039 --- /dev/null +++ b/src/simbot_offline_inference/arena_action_builder.py @@ -0,0 +1,95 @@ +import random +from functools import partial +from typing import Any, Literal + +from convert_case import title_case + + +ArenaAction = dict[str, Any] + + +class ArenaActionBuilder: + """Generate actions for the Arena.""" + + def random_navigation(self) -> ArenaAction: + """Return a random action.""" + methods = [ + partial(self.rotate, direction="left"), + partial(self.rotate, direction="right"), + partial(self.move, direction="backward"), + partial(self.move, direction="forward"), + # Look actions disabled because more control is needed to stop the agent going + # upside-down + # partial(self.look, direction="up"), + # partial(self.look, direction="down"), + ] + + return random.choice(methods)(magnitude=random.randint(0, 360)) # noqa: WPS432 + + def get_language_instruction_from_action(self, action: ArenaAction) -> str: + """Return a language instruction from an action.""" + switcher = { + "Rotate": f"Rotate {action['rotation']['direction']}", + "Move": f"Move {action['move']['direction']}", + "Look": f"Look {action['look']['direction']}", + } + try: + return switcher[action["type"]] + except KeyError: + return "Rotate right" + + def dummy_action(self) -> ArenaAction: + """Create a dummy action.""" + return self.rotate("right", 0) + + def rotate(self, direction: Literal["left", "right"], magnitude: int = 45) -> ArenaAction: + """Create a rotate action.""" + # Make sure the magnitude is in the range [0, 360) + magnitude = magnitude % 360 # noqa: WPS432 + + return { + "id": "1", + "type": "Rotate", + "rotation": { + "direction": title_case(direction), + "magnitude": magnitude, + }, + } + + def move(self, direction: Literal["forward", "backward"], magnitude: int = 1) -> ArenaAction: + """Create a move action.""" + # Force the magnitude to be 1 + magnitude = 1 + + return { + "id": "1", + "type": "Move", + "move": { + "direction": title_case(direction), + "magnitude": magnitude, + }, + } + + def look(self, direction: Literal["up", "down"], magnitude: int = 30) -> ArenaAction: + """Create a look action.""" + magnitude = magnitude % 60 + return { + "id": "1", + "type": "Look", + "look": { + "direction": title_case(direction), + "magnitude": magnitude, + }, + } + + def viewpoint(self, viewpoint: str) -> ArenaAction: + """Go to a viewpoint.""" + return { + "id": "1", + "type": "Goto", + "goto": { + "object": { + "goToPoint": viewpoint, + }, + }, + } diff --git a/src/simbot_offline_inference/arena_evaluator.py b/src/simbot_offline_inference/arena_evaluator.py new file mode 100644 index 0000000..d5c5967 --- /dev/null +++ b/src/simbot_offline_inference/arena_evaluator.py @@ -0,0 +1,183 @@ +from typing import Any + +import httpx +from loguru import logger + +from arena_missions.structures import CDF, MissionTrajectory +from arena_wrapper.exceptions import RaycastMissedException +from simbot_offline_inference.inference_controller import SimBotInferenceController +from simbot_offline_inference.metrics import EvaluationMetrics, WandBCallback + + +class SimBotArenaEvaluator: + """Handle the evaluation of the experience hub on the arena.""" + + def __init__( + self, + inference_controller: SimBotInferenceController, + evaluation_metrics: EvaluationMetrics, + wandb_callback: WandBCallback, + *, + enforce_successful_preparation: bool = False, + should_resume_previous_wandb_run: bool = False, + ) -> None: + self._inference_controller = inference_controller + self._evaluation_metrics = evaluation_metrics + self._wandb_callback = wandb_callback + + self._enforce_successful_preparation = enforce_successful_preparation + self._should_resume_previous_wandb_run = should_resume_previous_wandb_run + + def run_evaluation(self, trajectories: list[MissionTrajectory]) -> None: + """Run the evaluation on all the test data.""" + with self._inference_controller: + self._wandb_callback.start_evaluation(resume=self._should_resume_previous_wandb_run) + + if self._should_resume_previous_wandb_run: + self._evaluation_metrics.restore_checkpoint() + + for instance in trajectories: + self.run_evaluation_step(instance) + + self._wandb_callback.finish_evaluation() + self._evaluation_metrics.delete_checkpoint() + + logger.info("Finished evaluation!") + + def run_evaluation_step(self, trajectory: MissionTrajectory) -> None: + """Run a single evaluation step, with guards in case something goes wrong.""" + if self._has_mission_been_evaluated(trajectory): + logger.info("Skipping mission because it was already evaluated.") + return None + + logger.info(f"Running evaluation for '{trajectory.session_id}'") + + try: + return self.run_trajectory_in_the_arena(trajectory) + + except httpx.ConnectTimeout: + logger.error("Failed to establish a connection to the arena.") + + if self._inference_controller.restart_arena(): + logger.info("Restarted the arena. Retrying...") + return self.run_trajectory_in_the_arena(trajectory) + + except RaycastMissedException: + logger.error("Current trajectory will be ignored due to a RaycastMissed exception.") + + if self._inference_controller.restart_arena(): + logger.info("Successfully restarted arena. Skipping current trajectory...") + return None + + raise RuntimeError("Failed to run the trajectory in the arena.") + + def run_trajectory_in_the_arena(self, trajectory: MissionTrajectory) -> None: + """Run a single trajectory in the arena, from start to finish.""" + preparation_session_id = trajectory.create_preparation_session_id() + + self._wandb_callback.start_trajectory(trajectory, preparation_session_id) + + try: + self.prepare_arena_for_trajectory(trajectory, preparation_session_id) + except AssertionError: + logger.warning("Preparation failed. Skipping...") + self._finish_trajectory( + trajectory, actions_for_session=[], processed_utterance_counter=0 + ) + return + + actions_for_session: list[Any] = [] + processed_utterance_counter = 0 + for utterance in trajectory.utterances: + if self._inference_controller.is_all_goals_complete(): + logger.warning("All goals are complete but there are still utterances left.") + break + + try: + actions_for_utterance = self._inference_controller.handle_utterance( + trajectory.session_id, utterance + ) + except AssertionError: + logger.error("Unrecoverable exception occurred, exiting...") + break + + actions_for_session.extend(actions_for_utterance) + processed_utterance_counter += 1 + + self._finish_trajectory( + trajectory, + actions_for_session=actions_for_session, + processed_utterance_counter=processed_utterance_counter, + ) + + def prepare_arena_for_trajectory( # noqa: WPS231 + self, trajectory: MissionTrajectory, preparation_session_id: str + ) -> None: + """Prepare the arena to run the trajectory.""" + logger.info("Sending CDF to the arena") + self._inference_controller.launch_game(trajectory.cdf_as_dict) + + logger.debug("Verifying Experience Hub is healthy") + if not self._inference_controller.healthcheck(): + raise AssertionError("The Experience Hub is not healthy.") + + if trajectory.preparation_utterances: + logger.debug("Running preparation steps") + + for prep_utterance in trajectory.preparation_utterances: + self._inference_controller.handle_utterance(preparation_session_id, prep_utterance) + + if self._enforce_successful_preparation: + if not self._inference_controller.trajectory_preparation_completed: + raise AssertionError("The subgoal status is 0, so preparation failed") + + if trajectory.randomise_start_position: + logger.info("Randomising start position") + + # Go to random viewpoint + logger.debug("Going to random viewpoint") + if isinstance(trajectory.cdf, CDF): + self._inference_controller.go_to_random_viewpoint(trajectory.cdf.start_room) + + # Randomise the start position + logger.debug("Randomising start position") + self._inference_controller.randomise_start_position() + + def _has_mission_been_evaluated(self, trajectory: MissionTrajectory) -> bool: + """Check if the mission has already been evaluated. + + See use the mission ID if it exists, otherwise use the session ID. + """ + if trajectory.mission_id: + return self._evaluation_metrics.has_mission_been_evaluated(trajectory.mission_id) + return self._evaluation_metrics.has_mission_been_evaluated(trajectory.session_id) + + def _finish_trajectory( + self, + trajectory: MissionTrajectory, + *, + actions_for_session: list[Any], + processed_utterance_counter: int, + ) -> None: + """Log the results for the trajectory.""" + ( + goal_completion_status, + subgoal_completion_status, + ) = self._inference_controller.get_goal_completion_status() + + self._evaluation_metrics.update( + mission_id=trajectory.mission_id or trajectory.session_id, + mission_group=trajectory.mission_group, + is_mission_completed=goal_completion_status, + subgoal_completion_status=subgoal_completion_status, + predicted_actions=actions_for_session, + last_game_state=self._inference_controller.get_latest_game_state(), + remaining_utterances=trajectory.utterances[processed_utterance_counter:], + ) + + self._wandb_callback.finish_trajectory( + trajectory, + evaluation_metrics=self._evaluation_metrics, + is_success=goal_completion_status, + subgoal_completion_status=subgoal_completion_status, + ) diff --git a/src/simbot_offline_inference/challenge_validator.py b/src/simbot_offline_inference/challenge_validator.py new file mode 100644 index 0000000..0ace9db --- /dev/null +++ b/src/simbot_offline_inference/challenge_validator.py @@ -0,0 +1,106 @@ +from contextlib import ExitStack +from pathlib import Path +from typing import Any, NamedTuple, Optional, Union + +from loguru import logger +from rich.live import Live +from rich.panel import Panel +from rich.progress import BarColumn, MofNCompleteColumn, Progress, TimeElapsedColumn + +from arena_missions.structures import CDF +from simbot_offline_inference.orchestrators import ArenaOrchestrator + + +UNITY_FAILURES = { # noqa: WPS407 + "UNABLE_TO_SPAWN_OBJECTS": "The objects that were unable to spawn are", + "DUPLICATE_KEYS_IN_CDF": "ArgumentException: An item with the same key has already been added", + "IMPROPER_OBJECT_REFERENCE": "Object reference not set to an instance of an object", +} + + +class InvalidCDFException(Exception): + """Exception for when an invalid CDF is found.""" + + def __init__(self, cdf: Any, *args: Any) -> None: + logger.error(f"CDF: {cdf}") + super().__init__(*args) + + +class CDFValidationInstance(NamedTuple): + """A CDF validation instance.""" + + cdf: CDF + path: Union[Path, str] + + +class ChallengeValidator: + """Validate the CDF file in the Arena. + + The only way to validate the CDF file is to submit it to the Arena and see if there are any + errors. + + It's annoying, but it's the only way, and this should hopefully automate that entire process. + """ + + def __init__( + self, + arena_orchestrator: ArenaOrchestrator, + *, + send_dummy_actions_after_cdf_load: bool = False, + ) -> None: + self._arena_orchestrator = arena_orchestrator + self._send_dummy_actions_after_cdf_load = send_dummy_actions_after_cdf_load + + self.progress = Progress( + "{task.description}", + BarColumn(bar_width=None), + MofNCompleteColumn(), + TimeElapsedColumn(), + expand=True, + ) + + def validate_cdfs(self, cdfs: list[CDFValidationInstance]) -> bool: + """Validate the CDFs with the Arena.""" + task_id = self.progress.add_task("Validating CDFs", total=len(cdfs)) + + # Create the context managers + context_manager_stack = ExitStack() + context_manager_stack.enter_context(self._display_progress()) + context_manager_stack.enter_context(self._arena_orchestrator) + + with context_manager_stack: + for instance in cdfs: + try: + self._validate_single_cdf(instance.cdf) + except InvalidCDFException: + logger.error(f"Failed to validate CDF: {instance.path}") + return False + + self.progress.advance(task_id) + + return True + + def _validate_single_cdf(self, cdf: CDF) -> None: + """Validate a single CDF with the Arena.""" + self._arena_orchestrator.send_cdf_to_arena(cdf.dict(by_alias=True)) + + if self._send_dummy_actions_after_cdf_load: + self._arena_orchestrator.send_dummy_actions_to_arena() + + load_error = self._get_error_from_unity_log() + if load_error is not None: + raise InvalidCDFException(cdf, f"Unity log contains error: {load_error}") + + def _get_error_from_unity_log(self) -> Optional[str]: + """Check the Unity log for any exceptions.""" + with open(self._arena_orchestrator.unity_log_path) as unity_log_file: + for check_name, string_pattern in UNITY_FAILURES.items(): + if string_pattern in unity_log_file.read(): + logger.error(check_name) + return check_name + + return None + + def _display_progress(self) -> Live: + """Display the progress bar.""" + return Live(Panel(self.progress, padding=(1, 4), border_style="yellow")) diff --git a/src/simbot_offline_inference/commands/__init__.py b/src/simbot_offline_inference/commands/__init__.py new file mode 100644 index 0000000..2f1bb35 --- /dev/null +++ b/src/simbot_offline_inference/commands/__init__.py @@ -0,0 +1,13 @@ +from simbot_offline_inference.commands.generate_trajectories import ( + generate_trajectories, + run_trajectories, +) +from simbot_offline_inference.commands.run_background_services import run_background_services +from simbot_offline_inference.commands.run_their_evaluation import run_their_evaluation +from simbot_offline_inference.commands.run_trajectories_in_arena import run_trajectories_in_arena +from simbot_offline_inference.commands.validate_cdfs import ( + print_challenges_per_high_level_key, + print_high_level_keys, + validate_cdfs, + validate_generated_missions, +) diff --git a/src/simbot_offline_inference/commands/generate_trajectories.py b/src/simbot_offline_inference/commands/generate_trajectories.py new file mode 100644 index 0000000..197eae7 --- /dev/null +++ b/src/simbot_offline_inference/commands/generate_trajectories.py @@ -0,0 +1,91 @@ +import random +from pathlib import Path + +from loguru import logger + +from arena_missions.builders import ChallengeBuilder, MissionBuilder, RequiredObjectBuilder +from arena_missions.structures import MissionTrajectory +from simbot_offline_inference.commands.run_trajectories_in_arena import run_trajectories_in_arena +from simbot_offline_inference.metrics import WandBTrajectoryGenerationCallback +from simbot_offline_inference.settings import Settings + + +def _get_default_mission_dir() -> Path: + """Return the default mission dir.""" + return Settings().missions_dir + + +def generate_trajectories( + output_dir: Path = _get_default_mission_dir(), # noqa: WPS404 + *, + session_id_prefix: str = "T", + enable_randomisation_in_session_id: bool = True, +) -> None: + """Generate trajectories from the missions.""" + settings = Settings() + settings.put_settings_in_environment() + settings.prepare_file_system() + output_dir.mkdir(parents=True, exist_ok=True) + + logger.info("Loading missions...") + missions = list( + MissionBuilder(ChallengeBuilder(), RequiredObjectBuilder()).generate_all_missions() + ) + logger.info(f"Loaded {len(missions)} missions") + + trajectories = [ + mission.convert_to_trajectory( + session_id_prefix, include_randomness=enable_randomisation_in_session_id + ) + for mission in missions + ] + + logger.info(f"Loaded {len(trajectories)} separate trajectories.") + + saved_trajectories_paths = set() + + for trajectory in trajectories: + output_path = output_dir.joinpath(f"{trajectory.session_id}.json") + output_path.parent.mkdir(parents=True, exist_ok=True) + output_path.write_text(trajectory.json(by_alias=True)) + + # Update the list of saved trajectories to keep a separate track + saved_trajectories_paths.add(output_path) + + logger.info(f"Saved {len(saved_trajectories_paths)} trajectories to disk.") + + +def run_trajectories( + trajectories_dir: Path, + wandb_group_name: str, + wandb_project: str = "arena-high-level-trajectories", + randomise_order: bool = False, +) -> None: + """Run trajectories from disk.""" + if not trajectories_dir.is_dir(): + raise NotADirectoryError("The given path is not a directory.") + + settings = Settings() + settings.put_settings_in_environment() + settings.prepare_file_system() + + trajectories = [ + MissionTrajectory.parse_file(trajectory_file) + for trajectory_file in trajectories_dir.rglob("*.json") + ] + + logger.info(f"Loaded {len(trajectories)} separate trajectories.") + + if randomise_order: + random.shuffle(trajectories) + + wandb_callback = WandBTrajectoryGenerationCallback( + project=wandb_project, + entity=settings.wandb_entity, + group=wandb_group_name, + mission_trajectory_dir=settings.missions_dir, + mission_trajectory_outputs_dir=settings.evaluation_output_dir, + unity_logs=settings.unity_log_path, + ) + + run_trajectories_in_arena(trajectories, wandb_callback=wandb_callback) diff --git a/src/simbot_offline_inference/commands/run_background_services.py b/src/simbot_offline_inference/commands/run_background_services.py new file mode 100644 index 0000000..a5ffbd1 --- /dev/null +++ b/src/simbot_offline_inference/commands/run_background_services.py @@ -0,0 +1,19 @@ +from emma_experience_hub.commands.simbot.cli import ( + run_background_services as run_exp_hub_background_services, +) +from simbot_offline_inference.settings import Settings + + +def run_background_services() -> None: + """Run the background services for the Experience Hub.""" + settings = Settings() + settings.put_settings_in_environment() + + run_exp_hub_background_services( + model_storage_dir=settings.models_dir, + force_download_models=False, + run_in_background=False, + observability=False, + num_gpus=2, + offline_evaluation=True, + ) diff --git a/src/simbot_offline_inference/commands/run_their_evaluation.py b/src/simbot_offline_inference/commands/run_their_evaluation.py new file mode 100644 index 0000000..f5e5ec4 --- /dev/null +++ b/src/simbot_offline_inference/commands/run_their_evaluation.py @@ -0,0 +1,104 @@ +import json +from collections.abc import Iterator +from pathlib import Path +from shutil import rmtree +from typing import Optional +from uuid import uuid4 + +from loguru import logger +from rich.progress import track + +from arena_missions.structures import MissionTrajectory +from simbot_offline_inference.commands.run_trajectories_in_arena import run_trajectories_in_arena +from simbot_offline_inference.metrics import MissionGroup, WandBEvaluationCallback +from simbot_offline_inference.settings import Settings + + +def extract_mission_group_from_description(mission_desc: str) -> Optional[MissionGroup]: + """Extract the group from the mission description.""" + switcher: dict[str, MissionGroup] = { + "Break_Object": "breakObject", + "Clean_and_Deliver": "clean&deliver", + "Color_and_Deliver": "color&deliver", + "Fill_and_Deliver": "fill&deliver", + "Freeze_and_Deliver": "freeze&deliver", + "Heat_and_Deliver": "heat&deliver", + "Insert_in_Device": "insertInDevice", + "Pickup_and_Deliver": "pickup&deliver", + "Pour_into_Container": "pourContainer", + "Repair_and_Deliver": "repair&deliver", + "Scan_Object": "scanObject", + "Toggle_": "toggleDevice", + } + + for mission_group, mission_group_name in switcher.items(): + if mission_group.lower() in mission_desc.lower(): + return mission_group_name + + return None + + +def process_their_trajectory_data( + in_file: Path, session_id_prefix: str +) -> list[MissionTrajectory]: + """Process the trajectory data from their evaluation sets.""" + task_data = json.loads(in_file.read_bytes()) + + test_instances: list[MissionTrajectory] = [] + + iterator = track( + task_data.items(), description="Processing their trajectory data to our format" + ) + + for task_description, task in iterator: + for annotation_idx, annotation in enumerate(task["human_annotations"]): + utterances: Iterator[str] = ( + instruction["instruction"] for instruction in annotation["instructions"] + ) + utterances = (utterance for utterance in utterances if "_" not in utterance) + utterances = (utterance.lower() for utterance in utterances) + + test_instance = MissionTrajectory( + mission_group=extract_mission_group_from_description(task_description), + mission_id=f"{task_description}_{annotation_idx}", + session_id=f"{session_id_prefix}_{str(uuid4())}", + cdf=task["CDF"], + utterances=list(utterances), + randomise_start_position=False, + ) + + test_instances.append(test_instance) + + return test_instances + + +def run_their_evaluation( + wandb_project: str = "alexa-arena-evaluation", + *, + force_from_scratch: bool = False, +) -> None: + """Run the evaluation on the test set.""" + settings = Settings() + + if force_from_scratch: + logger.info( + "Removing any previously run missions so that all missions can be run from scratch." + ) + rmtree(settings.evaluation_output_dir) + + trajectory_data_path = settings.trajectory_dir.joinpath("valid.json") + + logger.info(f"Loading test data from {trajectory_data_path}") + instances = process_their_trajectory_data(trajectory_data_path, session_id_prefix="T1") + + run_trajectories_in_arena( + instances, + wandb_callback=WandBEvaluationCallback( + project=wandb_project, + entity=settings.wandb_entity, + group="T1", + mission_trajectory_dir=settings.missions_dir, + mission_trajectory_outputs_dir=settings.evaluation_output_dir, + unity_logs=settings.unity_log_path, + ), + ) diff --git a/src/simbot_offline_inference/commands/run_trajectories_in_arena.py b/src/simbot_offline_inference/commands/run_trajectories_in_arena.py new file mode 100644 index 0000000..0d24b65 --- /dev/null +++ b/src/simbot_offline_inference/commands/run_trajectories_in_arena.py @@ -0,0 +1,55 @@ +from loguru import logger +from torchmetrics import MeanMetric + +from arena_missions.structures import MissionTrajectory +from emma_common.logging import setup_rich_logging +from simbot_offline_inference.arena_evaluator import SimBotArenaEvaluator +from simbot_offline_inference.inference_controller import SimBotInferenceController +from simbot_offline_inference.metrics import EvaluationMetrics, WandBCallback +from simbot_offline_inference.orchestrators import ArenaOrchestrator, ExperienceHubOrchestrator +from simbot_offline_inference.settings import Settings + + +def run_trajectories_in_arena( + instances: list[MissionTrajectory], *, wandb_callback: WandBCallback +) -> None: + """Run the evaluation.""" + settings = Settings() + settings.put_settings_in_environment() + settings.prepare_file_system() + + setup_rich_logging() + + logger.info("Preparing orchestrators and evaluators") + arena_orchestrator = ArenaOrchestrator() + experience_hub_orchestrator = ExperienceHubOrchestrator( + healthcheck_endpoint=f"{settings.base_endpoint}/healthcheck", + predict_endpoint=f"{settings.base_endpoint}/v1/predict", + auxiliary_metadata_dir=settings.auxiliary_metadata_dir, + auxiliary_metadata_cache_dir=settings.auxiliary_metadata_cache_dir, + cached_extracted_features_dir=settings.feature_cache_dir, + experience_hub_dir=settings.experience_hub_dir, + model_storage_dir=settings.models_dir, + ) + inference_controller = SimBotInferenceController( + arena_orchestrator, experience_hub_orchestrator + ) + evaluation_metrics = EvaluationMetrics( + settings.evaluation_output_dir, + settings.evaluation_metrics_checkpoint, + MeanMetric(), + MeanMetric(), + ) + + evaluator = SimBotArenaEvaluator( + inference_controller, + evaluation_metrics, + wandb_callback, + enforce_successful_preparation=settings.enforce_successful_preparation, + should_resume_previous_wandb_run=settings.should_resume_previous_wandb_run, + ) + + logger.info(f"Running evaluation for {len(instances)} instances...") + evaluator.run_evaluation(instances) + + logger.info("Done!") diff --git a/src/simbot_offline_inference/commands/validate_cdfs.py b/src/simbot_offline_inference/commands/validate_cdfs.py new file mode 100644 index 0000000..0223afa --- /dev/null +++ b/src/simbot_offline_inference/commands/validate_cdfs.py @@ -0,0 +1,89 @@ +from pathlib import Path + +from loguru import logger +from rich import box, print as rich_print +from rich.columns import Columns +from rich.panel import Panel +from rich.table import Table + +from arena_missions.builders import ChallengeBuilder +from arena_missions.builders.mission_builder import MissionBuilder +from arena_missions.builders.required_objects_builder import RequiredObjectBuilder +from arena_missions.structures import Mission +from emma_common.logging import setup_rich_logging +from simbot_offline_inference.challenge_validator import CDFValidationInstance, ChallengeValidator +from simbot_offline_inference.orchestrators import ArenaOrchestrator +from simbot_offline_inference.settings import Settings + + +def validate_cdfs(directory: Path) -> None: + """Validate the CDFs in the directory.""" + settings = Settings() + settings.put_settings_in_environment() + settings.prepare_file_system() + + setup_rich_logging() + + files_to_load = list(directory.rglob("*.json")) + logger.info(f"Found {len(files_to_load)} CDFs to validate.") + + cdfs = [ + CDFValidationInstance(cdf=Mission.parse_file(challenge_file).cdf, path=challenge_file) + for challenge_file in files_to_load + ] + + arena_orchestrator = ArenaOrchestrator() + challenge_validator = ChallengeValidator(arena_orchestrator) + + logger.info("Starting validation") + challenge_validator.validate_cdfs(cdfs) + + logger.info("Done.") + + +def validate_generated_missions() -> None: + """Validate all missions from the `MissionBuilder`.""" + settings = Settings() + settings.put_settings_in_environment() + settings.prepare_file_system() + + setup_rich_logging() + + missions = MissionBuilder(ChallengeBuilder(), RequiredObjectBuilder()).generate_all_missions() + cdfs = [ + CDFValidationInstance(cdf=mission.cdf, path=mission.high_level_key.key) + for mission in missions + ] + + arena_orchestrator = ArenaOrchestrator() + challenge_validator = ChallengeValidator(arena_orchestrator) + + logger.info("Starting validation") + challenge_validator.validate_cdfs(cdfs) + + logger.info("Done.") + + +def print_high_level_keys() -> None: + """Print all the high level keys from the registered challenge builder.""" + keys = sorted([str(key) for key in ChallengeBuilder.list_available()]) + columns = Columns(keys) + panel = Panel( + columns, + title="Registered high-level keys", + border_style="green", + subtitle=f"Total: {len(keys)}", + ) + rich_print(panel) + + +def print_challenges_per_high_level_key() -> None: + """Print the challenges that exist per high-level key.""" + table = Table(box=box.ROUNDED, style="yellow", highlight=True) + table.add_column("High-level key") + table.add_column("Num. challenges") + + for key, challenge_count in ChallengeBuilder.count_available_functions_per_key().items(): + table.add_row(str(key), str(challenge_count)) + + rich_print(table) diff --git a/src/simbot_offline_inference/inference_controller.py b/src/simbot_offline_inference/inference_controller.py new file mode 100644 index 0000000..7b58e6a --- /dev/null +++ b/src/simbot_offline_inference/inference_controller.py @@ -0,0 +1,217 @@ +import time +from contextlib import ExitStack +from typing import Any, Literal + +from loguru import logger + +from arena_wrapper.enums.object_output_wrapper import ObjectOutputType +from simbot_offline_inference.orchestrators import ArenaOrchestrator, ExperienceHubOrchestrator + + +class SimBotInferenceController: + """Controller for the inference pipeline.""" + + def __init__( + self, + arena_orchestrator: ArenaOrchestrator, + experience_hub_orchestrator: ExperienceHubOrchestrator, + object_output_type: ObjectOutputType = ObjectOutputType.OBJECT_MASK, + max_loops_for_single_utterance: int = 15, + experience_hub_healthcheck_attempts: int = 40, + ) -> None: + self._arena_orchestrator = arena_orchestrator + self._experience_hub_orchestrator = experience_hub_orchestrator + + self._object_output_type = object_output_type + self._max_loops_for_single_utterance = max_loops_for_single_utterance + self._experience_hub_healthcheck_attempts = experience_hub_healthcheck_attempts + + self._exit_stack = ExitStack() + + self.randomise_start_position = self._arena_orchestrator.randomise_start_position + self.go_to_random_viewpoint = self._arena_orchestrator.go_to_random_viewpoint + + def __enter__(self) -> None: + """Initialize the services.""" + self._exit_stack.enter_context(self._arena_orchestrator) + self._exit_stack.enter_context(self._experience_hub_orchestrator) + + logger.info("Checking experience hub is ready...") + self._experience_hub_orchestrator.healthcheck(self._experience_hub_healthcheck_attempts, 5) + + return self._exit_stack.__enter__() # type: ignore[return-value] + + def __exit__(self, *args: Any, **kwargs: Any) -> bool: + """Exit the services.""" + return self._exit_stack.__exit__(*args, **kwargs) + + @property + def is_arena_running(self) -> bool: + """Check if the arena is running.""" + return self._arena_orchestrator.is_unity_running + + @property + def trajectory_preparation_completed(self) -> bool: + """Return True if the subgoal status is above 0.""" + subgoal_completion_status = self.get_goal_completion_status()[1] + + subgoals_completed = sum(subgoal_completion_status) + logger.debug(f"Subgoals completed: {subgoals_completed}") + + first_subgoal_completed = subgoal_completion_status[0] != 0 + logger.debug(f"First subgoal completed: {first_subgoal_completed}") + + return subgoals_completed > 0 and first_subgoal_completed + + def healthcheck(self) -> bool: + """Healthcheck the services.""" + return self._experience_hub_orchestrator.healthcheck() + + def launch_game( + self, mission_cdf: dict[str, Any], attempts: int = 10, interval: int = 5 + ) -> None: + """Launch the game on the Arena instance. + + We also need to do the dummy actions to make sure the game is ready to go. + """ + return self._arena_orchestrator.launch_new_game( + mission_cdf, attempts, interval, self._object_output_type + ) + + def get_goal_completion_status(self) -> tuple[bool, list[Literal[0, 1]]]: + """Get the goal completion status from the Arena instance.""" + ( + _, + goal_completion_status, + subgoal_completion_status, + ) = self._arena_orchestrator.get_goals_status() + return goal_completion_status, subgoal_completion_status + + def handle_utterance( # noqa: WPS231 + self, session_id: str, utterance: str + ) -> list[dict[str, Any]]: + """Handle execution of a single utterance in the arena. + + Return a list of all actions taken for the current utterance. + """ + actions_taken: list[dict[str, Any]] = [] + previous_action_statuses: list[Any] = [] + + if self.is_all_goals_complete(): + raise AssertionError( + "Do not send an utterance when all goals are complete. Arena will crash. If you are wanting to do this, there is something wrong in the challenge definition." + ) + + for loop_idx in range(self._max_loops_for_single_utterance): + if self.is_all_goals_complete(): + logger.warning("All goals are complete, so we are breaking out of the loop") + break + + logger.debug(f"Executing step {loop_idx}") + + # Get the auxiliary metadata from the arena + logger.debug("Getting auxiliary metadata from the arena") + auxiliary_metadata = self._arena_orchestrator.get_reconstructed_metadata() + + # Get the next actions to take from the ExperienceHub + logger.debug("Trying to get the next actions to take from the Experience Hub") + ( + interaction_actions, + dialog_actions, + should_return_control, + ) = self._experience_hub_orchestrator.get_next_actions( + session_id, + # Only give the utterance on the first loop, otherwise we don't since the user is + # not instructing us to do anything + utterance if loop_idx == 0 else None, + auxiliary_metadata, + previous_action_statuses, + ) + actions_taken.extend(interaction_actions) + + # Execute the actions on the arena environment + logger.debug(f"Executing actions: {interaction_actions}") + return_val, action_status = self._arena_orchestrator.execute_action( + interaction_actions, self._object_output_type, utterance + ) + logger.debug(f"Received response from arena: {return_val}, {action_status}") + + # Update the previous action statuses so it goes back to the arena + if not should_return_control or not return_val: + if action_status is not None: + previous_action_statuses = [action_status] + + # If there is an issue completing the action, we need to give that back to the + # experience hub + if not return_val: + logger.error(f"Action could not be completed for the utterance {utterance}") + + if not interaction_actions: + logger.warning( + "There were not actions to perform, so there is just dialog. Returning control back to the user since we didn't do anything in the arena." + ) + break + + # Only break out the loop if we return a dialog action AND there is no error in + # performing the action + if should_return_control and return_val: + logger.debug("Returning control to the user to get the next utterance") + break + + return actions_taken + + def get_latest_game_state(self) -> dict[str, Any]: + """Get the latest game state for the evaluation output.""" + if self._arena_orchestrator.response is None: + raise AssertionError("There is no response from the Arena") + + exclude_keys = [ + "sceneMetadata", + "colorImage", + "depthImage", + "normalsImage", + "instanceSegmentationImage", + "objects", + ] + return { + key: self._arena_orchestrator.response[key] + for key in self._arena_orchestrator.response + if key not in exclude_keys + } + + def is_all_goals_complete(self) -> bool: + """Check to see if all the goals are complete.""" + arena_response = self._arena_orchestrator.response + + if not arena_response: + return False + + # If the challenge progress does not exist in the response, then no. + challenge_progress = arena_response.get("challengeProgress", None) + + if not challenge_progress: + return False + + challenge_goals = challenge_progress.get("ChallengeGoals", None) + + if not challenge_goals: + return False + + num_goals = len(challenge_goals) + finished_goal_count = 0 + + for goal in challenge_goals: + is_finished = goal.get("isFinished", False) + if is_finished: + finished_goal_count += 1 + + return num_goals == finished_goal_count + + def restart_arena(self) -> bool: + """Restart the Arena.""" + self._arena_orchestrator.kill_unity_instance() + + logger.info("Waiting for 30 seconds before restarting the arena...") + time.sleep(30) # noqa: WPS432 + + return self._arena_orchestrator.init_unity_instance() diff --git a/src/simbot_offline_inference/metrics/__init__.py b/src/simbot_offline_inference/metrics/__init__.py new file mode 100644 index 0000000..911c6b2 --- /dev/null +++ b/src/simbot_offline_inference/metrics/__init__.py @@ -0,0 +1,6 @@ +from simbot_offline_inference.metrics.evaluation import EvaluationMetrics, MissionGroup +from simbot_offline_inference.metrics.wandb import ( + WandBCallback, + WandBEvaluationCallback, + WandBTrajectoryGenerationCallback, +) diff --git a/src/simbot_offline_inference/metrics/evaluation.py b/src/simbot_offline_inference/metrics/evaluation.py new file mode 100644 index 0000000..39aef13 --- /dev/null +++ b/src/simbot_offline_inference/metrics/evaluation.py @@ -0,0 +1,115 @@ +from pathlib import Path +from typing import Any, Literal, Optional, get_args + +import orjson +import torch +from torchmetrics import MeanMetric, SumMetric + + +MissionGroup = Literal[ + "breakObject", + "clean&deliver", + "color&deliver", + "fill&deliver", + "freeze&deliver", + "heat&deliver", + "insertInDevice", + "pickup&deliver", + "pourContainer", + "repair&deliver", + "scanObject", + "toggleDevice", +] + + +class EvaluationMetrics: + """Metrics for evaluating the agent's performance.""" + + def __init__( + self, + evaluation_output_dir: Path, + evaluation_metrics_checkpoint_path: Path, + success_rate_metric: MeanMetric, + subgoal_completion_rate_metric: MeanMetric, + per_mission_group_success_rate: Optional[dict[str, MeanMetric]] = None, + ) -> None: + self._output_path = evaluation_output_dir + self._evaluation_metrics_checkpoint_path = evaluation_metrics_checkpoint_path + + self.games_played = SumMetric() + + self.success_rate = success_rate_metric + self.subgoal_completion_rate = subgoal_completion_rate_metric + + self.per_mission_group_success_rate = per_mission_group_success_rate or { + mission_group: MeanMetric() for mission_group in get_args(MissionGroup) + } + + def restore_checkpoint(self) -> "EvaluationMetrics": + """Restore the evaluation metrics from the checkpoint.""" + if not self._evaluation_metrics_checkpoint_path.exists(): + raise FileNotFoundError( + "Evaluation metrics checkpoint does not exist. Why are we resuming?" + ) + + return torch.load(self._evaluation_metrics_checkpoint_path) + + def save_checkpoint(self) -> None: + """Create a checkpoint for the evaluation metrics.""" + torch.save(self, self._evaluation_metrics_checkpoint_path) + + def delete_checkpoint(self) -> None: + """Delete the checkpoint for the evaluation metrics.""" + self._evaluation_metrics_checkpoint_path.unlink(missing_ok=True) + + def has_mission_been_evaluated(self, mission_id: str) -> bool: + """Check if the mission has already been evaluated.""" + return self._output_path.joinpath(f"{mission_id}.json").exists() + + def update( + self, + mission_id: str, + mission_group: Optional[str], + is_mission_completed: bool, + subgoal_completion_status: list[Literal[0, 1]], + predicted_actions: list[dict[str, Any]], + last_game_state: dict[str, Any], + remaining_utterances: list[str], + ) -> None: + """Add metrics from a recently-evaluated mission.""" + self.games_played.update(1) + self.success_rate.update(1 if is_mission_completed else 0) + + for subgoal_completion in subgoal_completion_status: + self.subgoal_completion_rate.update(subgoal_completion) + + if mission_group: + self.per_mission_group_success_rate[mission_group].update( + 1 if is_mission_completed else 0 + ) + + self._save_mission_results( + mission_id, predicted_actions, last_game_state, remaining_utterances + ) + + def _save_mission_results( + self, + mission_id: str, + predicted_actions: list[dict[str, Any]], + last_game_state: dict[str, Any], + remaining_utterances: list[str], + ) -> None: + """Save the mission results to a file. + + This is what gets uploaded to Eval.AI. + """ + output_results = { + "predicted_actions": predicted_actions, + "last_game_state": last_game_state, + "remaining_utterances": remaining_utterances, + } + + # Write the results to a file + output_file = self._output_path.joinpath(f"{mission_id}.json") + output_file.parent.mkdir(parents=True, exist_ok=True) + output_file.write_bytes(orjson.dumps(output_results)) diff --git a/src/simbot_offline_inference/metrics/wandb.py b/src/simbot_offline_inference/metrics/wandb.py new file mode 100644 index 0000000..58a1db4 --- /dev/null +++ b/src/simbot_offline_inference/metrics/wandb.py @@ -0,0 +1,264 @@ +from abc import ABC, abstractmethod +from copy import copy +from pathlib import Path +from typing import Literal, Optional + +import torch +import wandb +from loguru import logger + +from arena_missions.structures import CDF, MissionTrajectory +from emma_experience_hub._version import __version__ as experience_hub_version # noqa: WPS436 +from emma_experience_hub.constants import constants_absolute_path +from simbot_offline_inference._version import ( # noqa: WPS436 + __version__ as offline_inference_version, +) +from simbot_offline_inference.metrics.evaluation import EvaluationMetrics + + +SERVICE_REGISTRY_PATH = constants_absolute_path.joinpath("simbot", "registry.yaml") + + +class WandBCallback(ABC): + """Base class for sending data to WandB.""" + + def __init__( + self, + project: str, + entity: str, + group: Optional[str], + mission_trajectory_dir: Path, + mission_trajectory_outputs_dir: Path, + unity_logs: Path, + ) -> None: + self.project = project + self.entity = entity + self.group = group + self.mission_trajectory_dir = mission_trajectory_dir + self.mission_trajectory_outputs_dir = mission_trajectory_outputs_dir + + self._unity_logs = unity_logs + + self.__post_init__() + + @abstractmethod + def __post_init__(self) -> None: + """Post init actions to perform, if needed. + + This is important to avoid changing the signature of the `__init__` method. + """ + pass # noqa: WPS420 + + @abstractmethod + def start_evaluation(self, *, resume: bool = False) -> None: + """Start a new evaluation session.""" + raise NotImplementedError + + @abstractmethod + def finish_evaluation(self) -> None: + """Finish an evaluation session.""" + raise NotImplementedError + + @abstractmethod + def start_trajectory(self, trajectory: MissionTrajectory, preparation_session_id: str) -> None: + """Start running a new trajectory.""" + raise NotImplementedError + + @abstractmethod + def finish_trajectory( + self, + trajectory: MissionTrajectory, + *, + evaluation_metrics: EvaluationMetrics, + is_success: bool, + subgoal_completion_status: list[Literal[0, 1]], + ) -> None: + """Finish running a trajectory.""" + raise NotImplementedError + + +class WandBTrajectoryGenerationCallback(WandBCallback): + """Track each trajectory as a new run in WandB.""" + + def __post_init__(self) -> None: + """Post init actions to perform, if needed.""" + pass # noqa: WPS420 + + def start_evaluation(self, *, resume: bool = False) -> None: + """No-op on start evaluation.""" + pass # noqa: WPS420 + + def finish_evaluation(self) -> None: + """No-op on end evaluation.""" + pass # noqa: WPS420 + + def start_trajectory(self, trajectory: MissionTrajectory, preparation_session_id: str) -> None: + """Start tracking a trajectory for generation.""" + cdf = trajectory.cdf + high_level_key = trajectory.high_level_key + + if not high_level_key: + raise AssertionError("High level key is not set.") + + if isinstance(cdf, CDF): + cdf_scene = cdf.scene + else: + raise AssertionError("CDF is not set.") + + wandb.init( + name=trajectory.session_id, + entity=self.entity, + project=self.project, + group=self.group, + config={ + "version/experience_hub": experience_hub_version, + "version/offline_inference": offline_inference_version, + "session_id": trajectory.session_id, + "preparation_session_id": preparation_session_id, + # CDF + "cdf/floor_plan": cdf_scene.floor_plan, + "cdf/scene_id": cdf_scene.scene_id, + "cdf/room": cdf_scene.room_location[0], + "cdf/layout": cdf_scene.layout_override, + # High level key + "high_level_key": str(high_level_key), + "high_level_key/action": high_level_key.action, + "high_level_key/target_object": high_level_key.target_object, + "high_level_key/target_object_color": high_level_key.target_object_color, + "high_level_key/target_object_is_ambiguous": high_level_key.target_object_is_ambiguous, + "high_level_key/interaction_object": high_level_key.interaction_object, + "high_level_key/interaction_object_color": high_level_key.interaction_object_color, + "high_level_key/converted_object": high_level_key.converted_object, + "high_level_key/converted_object_color": high_level_key.converted_object_color, + "high_level_key/stacked_object": high_level_key.stacked_object, + "high_level_key/stacked_object_color": high_level_key.stacked_object_color, + "high_level_key/from_receptacle": high_level_key.from_receptacle, + "high_level_key/from_receptacle_color": high_level_key.from_receptacle_color, + "high_level_key/from_receptacle_is_container": high_level_key.from_receptacle_is_container, + "high_level_key/to_receptacle": high_level_key.to_receptacle, + "high_level_key/to_receptacle_color": high_level_key.to_receptacle_color, + "high_level_key/to_receptacle_is_container": high_level_key.to_receptacle_is_container, + }, + ) + + # Upload the mission trajectory file + wandb.save(str(self.mission_trajectory_dir.joinpath(f"{trajectory.session_id}.json"))) + + # Upload the trajectory results on run completion + # According to wandb docs, this command is correct + wandb.save( + str(self.mission_trajectory_outputs_dir.joinpath(f"{trajectory.session_id}.json")), + policy="end", + ) + # Also upload the unity logs + wandb.save(str(self._unity_logs), policy="end") + + def finish_trajectory( + self, + trajectory: MissionTrajectory, + *, + evaluation_metrics: EvaluationMetrics, + is_success: bool, + subgoal_completion_status: list[Literal[0, 1]], + ) -> None: + """Finish a trajectory.""" + try: + subgoal_success_rate = sum(subgoal_completion_status) / len(subgoal_completion_status) + except ZeroDivisionError: + subgoal_success_rate = 0 + + wandb.log({"is_success": int(is_success), "subgoal_success_rate": subgoal_success_rate}) + + # If subgoal success rate is 0, then it means the preparation also failed, therefore mark + # the run as failed. + wandb.finish(exit_code=1 if subgoal_success_rate == 0 else None) + + +class WandBEvaluationCallback(WandBCallback): + """Track metrics across the entire validation set. + + According to wandb docs, the various save commands are correct. + """ + + def __post_init__(self) -> None: + """Post init actions to perform.""" + # The `mission_success_table` tracks the success of each mission during the course of an + # entire run, and also the session ID for that mission.` + self._mission_success_table = wandb.Table(columns=["mission_id", "session_id", "success"]) + + def start_evaluation(self, *, resume: bool = False) -> None: + """Start running an evaluation.""" + if resume: + logger.info("Resuming previous wandb run.") + + wandb.init( + entity=self.entity, + project=self.project, + group=self.group, + resume=resume, + config={ + "version/experience_hub": experience_hub_version, + "version/offline_inference": offline_inference_version, + }, + ) + + # Upload the trajectory results on run completion + wandb.save(str(self.mission_trajectory_outputs_dir), policy="end") + + # Also upload the unity logs + wandb.save(str(self._unity_logs)) + + def finish_evaluation(self) -> None: + """Finish running an evaluation.""" + wandb.finish() + + def start_trajectory(self, trajectory: MissionTrajectory, preparation_session_id: str) -> None: + """No-op when starting a new trajectory.""" + pass # noqa: WPS420 + + def finish_trajectory( + self, + trajectory: MissionTrajectory, + *, + evaluation_metrics: EvaluationMetrics, + is_success: bool, + subgoal_completion_status: list[Literal[0, 1]], + ) -> None: + """Finish a trajectory.""" + step_idx = int(evaluation_metrics.games_played.compute().item()) + + if trajectory.mission_id: + # Update the table with the mission output + self._mission_success_table.add_data( + trajectory.mission_id, trajectory.session_id, 1 if is_success else 0 + ) + + # Log the table to wandb + wandb.log( + {"mission_success_table": copy(self._mission_success_table)}, + commit=False, + step=step_idx, + ) + + # If we have mission groups, log them + if evaluation_metrics.per_mission_group_success_rate: + wandb.log( + { + f"success_rate/{mission_group}": torch.nan_to_num(success_rate.compute()) + for mission_group, success_rate in evaluation_metrics.per_mission_group_success_rate.items() + }, + commit=False, + step=step_idx, + ) + + wandb.log( + { + "success_rate": evaluation_metrics.success_rate.compute(), + "subgoal_success_rate": evaluation_metrics.subgoal_completion_rate.compute(), + }, + commit=True, + step=step_idx, + ) + + # Save a checkpoint of the evaluation metrics + evaluation_metrics.save_checkpoint() diff --git a/src/simbot_offline_inference/orchestrators.py b/src/simbot_offline_inference/orchestrators.py new file mode 100644 index 0000000..e3b69d1 --- /dev/null +++ b/src/simbot_offline_inference/orchestrators.py @@ -0,0 +1,377 @@ +import random +import subprocess +import time +from pathlib import Path +from typing import Any, NamedTuple, Optional +from uuid import uuid4 + +import httpx +import orjson +from loguru import logger + +from arena_missions.constants.arena import OfficeRoom +from arena_wrapper.arena_orchestrator import ArenaOrchestrator as AlexaArenaOrchestrator +from arena_wrapper.enums.object_output_wrapper import ObjectOutputType +from simbot_offline_inference.arena_action_builder import ArenaActionBuilder +from simbot_offline_inference.settings import Settings + + +class ExperienceHubNextActions(NamedTuple): + """Return type after getting the next set of actions from the experience hub.""" + + interaction_actions: list[dict[str, Any]] + dialog_actions: list[dict[str, Any]] + should_return_control: bool + + +class ArenaOrchestrator(AlexaArenaOrchestrator): + """Wrapper for the ArenaOrchestrator.""" + + def __enter__(self) -> None: + """Initialize the unity instance.""" + if not self.init_unity_instance(): + raise AssertionError("Could not start the unity instance.") + + def __exit__(self, *args: Any, **kwargs: Any) -> None: + """Try to kill the unity instance.""" + if not self.kill_unity_instance(): + logger.warning( + "Could not kill the Unity instance. You might need to kill it manually." + ) + + @property + def unity_log_path(self) -> Path: + """Get the path to the unity logs.""" + settings = Settings() + return Path(settings.unity_log_path) + + def launch_new_game( + self, + mission_cdf: Any, + attempts: int = 10, + interval: int = 5, + object_output_type: ObjectOutputType = ObjectOutputType.OBJECT_MASK, + ) -> None: + """Launch the game on the Arena instance. + + We also need to do the dummy actions to make sure the game is ready to go. + """ + self.send_cdf_to_arena(mission_cdf) + self.send_dummy_actions_to_arena(attempts, interval, object_output_type) + + def send_cdf_to_arena(self, mission_cdf: Any) -> None: + """Send the CDF to the Arena instance.""" + if not self.launch_game(mission_cdf): + raise AssertionError("Could not launch the game") + + def send_dummy_actions_to_arena( + self, + attempts: int = 10, + interval: int = 5, + object_output_type: ObjectOutputType = ObjectOutputType.OBJECT_MASK, + ) -> None: + """Send dummy actions to the Arena instance to make sure it's ready to go.""" + logger.debug("Sending dummy actions to verify game is ready") + dummy_action = [ + { + "id": "1", + "type": "Rotate", + "rotation": { + "direction": "Right", + "magnitude": 0, + }, + } + ] + + for attempt_idx in range(attempts): + return_val, _ = self.execute_action(dummy_action, object_output_type, "Rotate right") + + # If it succeeds, then just exit the loop since it's ready to go + if return_val: + return + + logger.error( + f"Attempt {attempt_idx + 1}/{attempts} failed. Waiting for {interval} seconds before trying again." + ) + time.sleep(5) + + raise AssertionError("Exhauted all attempts") + + def go_to_random_viewpoint(self, room: OfficeRoom) -> None: + """Go to a random viewpoint in the given room.""" + if not self.response: + logger.exception("There is no reponse to get viewpoints from.") + return + + try: + viewpoints: dict[str, dict[str, float]] = self.response["sceneMetadata"]["GoToPoints"] + except KeyError: + logger.error("Unable to get viewpoints from response.") + return + + # Get all the viewpoints in the current room + viewpoints_for_current_room = [ + viewpoint for viewpoint in viewpoints.keys() if viewpoint.startswith(room) + ] + + # Choose random viewpoint + chosen_viewpoint = random.choice(viewpoints_for_current_room) + + # Go to the chosen viewpoint + logger.debug(f"Going to viewpoint: {chosen_viewpoint}") + + action_builder = ArenaActionBuilder() + return_val, _ = self.execute_action( + [action_builder.viewpoint(chosen_viewpoint)], ObjectOutputType.OBJECT_MASK, None + ) + + if not return_val: + logger.warning( + "Failed to go to a random viewpoint, going to the first one in the room" + ) + self.execute_action( + [action_builder.viewpoint(f"{room}_1")], ObjectOutputType.OBJECT_MASK, None + ) + + def randomise_start_position( + self, + num_steps: int = 10, + object_output_type: ObjectOutputType = ObjectOutputType.OBJECT_MASK, + ) -> None: + """Randomise the start position of the agent.""" + logger.debug("Randomising start position of the agent") + action_builder = ArenaActionBuilder() + actions_to_send = [action_builder.random_navigation() for _ in range(num_steps)] + + for action in actions_to_send: + return_val, action_response = self.execute_action([action], object_output_type, None) + + # If it fails, raise assertion error + if not return_val: + # Explicitly do not raise if these error types occur + error_types_to_ignore = ("AlternateNavigationUsed", "UnsupportedNavigation") + + if action_response.get("errorType") not in error_types_to_ignore: + raise AssertionError("Failed to randomise start position") + + time.sleep(5) + + def _get_unity_execution_command(self) -> str: + settings = Settings() + + command = ( + "DISPLAY=:" + + str(settings.display) + + " " + + str(settings.arena_path) + + " -logfile " + + str(settings.unity_log_path) + ) + + command = f"{command} &" + return command + + +class ExperienceHubOrchestrator: + """Orchestrator for the Experience Hub.""" + + def __init__( + self, + healthcheck_endpoint: str, + predict_endpoint: str, + auxiliary_metadata_dir: Path, + auxiliary_metadata_cache_dir: Path, + cached_extracted_features_dir: Path, + model_storage_dir: Path, + experience_hub_dir: Path, + ) -> None: + self._healthcheck_endpoint = healthcheck_endpoint + self._predict_endpoint = predict_endpoint + self._auxiliary_metadata_dir = auxiliary_metadata_dir + self._auxiliary_metadata_cache_dir = auxiliary_metadata_cache_dir + self._cached_extracted_features_dir = cached_extracted_features_dir + self._experience_hub_dir = experience_hub_dir + self._model_storage_dir = model_storage_dir + + def __enter__(self) -> None: + """Start the Experience Hub.""" + logger.debug("Starting controller API for the experience hub...") + subprocess.run(self._build_experience_hub_command(), shell=True) + + def __exit__(self, *args: Any, **kwargs: Any) -> None: + """Try to kill the experience hub.""" + subprocess.run( + "ps -ax | grep gunicorn | awk '{print $1}' | xargs kill -9", + shell=True, + ) + + def healthcheck(self, attempts: int = 5, interval: int = 2) -> bool: + """Perform healthcheck, with retry intervals. + + To disable retries, just set the number of attempts to 1. + """ + healthcheck_flag = False + + for attempt in range(attempts): + healthcheck_flag = self._healthcheck() + + # If the healthcheck flag is all good, break from the loop + if healthcheck_flag: + break + + # Otherwise, report a failed attempt + logger.error(f"Healthcheck attempt {attempt + 1}/{attempts} failed.") + + # If attempt is not the last one, sleep for interval and go again + if attempt < attempts - 1: + logger.debug(f"Waiting for {interval} seconds and then trying again.") + time.sleep(interval) + + return healthcheck_flag + + def get_next_actions( + self, + session_id: str, + utterance: Optional[str], + auxiliary_metadata: dict[str, Any], + previous_action_statuses: list[Any], + ) -> ExperienceHubNextActions: + """Make a prediction for the actions the agent should take.""" + prediction_request_id = str(uuid4()) + + self._save_auxiliary_metadata(session_id, prediction_request_id, auxiliary_metadata) + + logger.debug("Building request payload") + simbot_request = self._build_raw_simbot_request( + session_id, prediction_request_id, utterance, previous_action_statuses + ) + + logger.debug(f"Sending request: {simbot_request}") + simbot_response = self._make_request(simbot_request) + + actions = simbot_response.get("actions") + if not actions: + raise AssertionError("No actions to return.") + + return ExperienceHubNextActions( + interaction_actions=self._filter_dialog_actions(actions), + dialog_actions=self._filter_interaction_actions(actions), + should_return_control=self._should_return_control_for_actions(actions), + ) + + def _healthcheck(self) -> bool: + """Verify the health of the experience hub service.""" + logger.debug("Running healthcheck") + + with httpx.Client() as client: + try: + response = client.get(self._healthcheck_endpoint) + except httpx.ReadTimeout: + logger.error("Healthcheck timed out") + return False + except httpx.ConnectError: + logger.error("Connection refused") + return False + + try: + response.raise_for_status() + except httpx.HTTPStatusError: + logger.error("Healthcheck failed") + return False + + logger.info("Healthcheck success") + return True + + def _save_auxiliary_metadata( + self, + session_id: str, + prediction_request_id: str, + auxiliary_metadata: dict[str, Any], + ) -> None: + """Save the auxiliary metadata to the file.""" + output_location = self._auxiliary_metadata_dir.joinpath( + f"{session_id}/{prediction_request_id}.json" + ) + output_location.parent.mkdir(parents=True, exist_ok=True) + output_location.write_bytes(orjson.dumps(auxiliary_metadata)) + logger.debug(f"Wrote auxiliary metadata to `{output_location}`") + + def _build_raw_simbot_request( + self, + session_id: str, + prediction_request_id: str, + utterance: Optional[str], + previous_action_statuses: list[Any], + ) -> dict[str, Any]: + """Build the request to send to the Experience Hub.""" + request_header = { + "sessionId": session_id, + "predictionRequestId": prediction_request_id, + } + raw_auxiliary_metadata_sensor = { + "type": "GameMetaData", + "metaData": {"uri": f"efs://{session_id}/{prediction_request_id}.json"}, + } + + simbot_request: dict[str, Any] = { + "header": request_header, + "request": { + "sensors": [ + raw_auxiliary_metadata_sensor, + ], + "previousActions": previous_action_statuses, + }, + } + + if utterance: + simbot_request["request"]["sensors"].append( + { + "type": "SpeechRecognition", + "recognition": { + "tokens": [ + {"value": token, "confidence": {"score": 0.95, "bin": "HIGH"}} + for token in utterance.strip().split(" ") + ] + }, + } + ) + + return simbot_request + + def _make_request(self, simbot_request: dict[str, Any]) -> dict[str, Any]: + """Make the request to the experience hub and return the response.""" + with httpx.Client(timeout=None) as client: + response = client.post(self._predict_endpoint, json=simbot_request) + + try: + response.raise_for_status() + except Exception: + logger.exception("Unable to get response for request.") + + return response.json() + + def _should_return_control_for_actions(self, actions: list[dict[str, Any]]) -> bool: + """Is the agent returning control after the actions? + + We only return control on sending the "Dialog" action, and no other time. + """ + return any(action["type"] == "Dialog" for action in actions) + + def _filter_dialog_actions(self, actions: list[dict[str, Any]]) -> list[dict[str, Any]]: + """Remove any dialog actions from the response.""" + return [ + action for action in actions if action["type"] not in {"Dialog", "LightweightDialog"} + ] + + def _filter_interaction_actions(self, actions: list[dict[str, Any]]) -> list[dict[str, Any]]: + """Filter out actions that are interaction actions/are not dialog actions.""" + return [action for action in actions if action["type"] in {"Dialog", "LightweightDialog"}] + + def _build_experience_hub_command(self) -> str: + """Build the command to run the experience hub.""" + command = "python -m emma_experience_hub simbot run-controller-api --auxiliary-metadata-dir {auxiliary_metadata_dir} --auxiliary-metadata-cache-dir {auxiliary_metadata_cache_dir} --extracted-features-cache-dir {extracted_features_cache_dir} --workers 2 --timeout 10000000000 &" + return command.format( + auxiliary_metadata_dir=self._auxiliary_metadata_dir, + auxiliary_metadata_cache_dir=self._auxiliary_metadata_cache_dir, + extracted_features_cache_dir=self._cached_extracted_features_dir, + ) diff --git a/src/simbot_offline_inference/settings.py b/src/simbot_offline_inference/settings.py new file mode 100644 index 0000000..7c2712f --- /dev/null +++ b/src/simbot_offline_inference/settings.py @@ -0,0 +1,80 @@ +import os +from pathlib import Path +from typing import Union + +from pydantic import BaseSettings + + +class Settings(BaseSettings): + """Settings to run the evaluation.""" + + # Paths + storage_dir: Path = Path("storage/") + auxiliary_metadata_dir: Path = storage_dir.joinpath("auxiliary_metadata/") + auxiliary_metadata_cache_dir: Path = storage_dir.joinpath("auxiliary_metadata_cache/") + feature_cache_dir: Path = storage_dir.joinpath("features/") + trajectory_dir: Path = storage_dir.joinpath("data/", "trajectory-data/") + experience_hub_dir: Path = storage_dir.joinpath("experience-hub/") + models_dir: Path = experience_hub_dir.joinpath("storage/models/") + cdf_dir: Path = storage_dir.joinpath("cdfs/") + missions_dir: Path = cdf_dir.joinpath("missions/") + + evaluation_output_dir: Path = storage_dir.joinpath("action_outputs/") + evaluation_metrics_checkpoint: Path = storage_dir.joinpath("evaluation_metrics_checkpoint.pt") + + # WandB + wandb_entity: str = "emma-simbot" + + # Experience hub + base_endpoint: str = "http://0.0.0.0:5522" + simbot_port: int = 5522 + simbot_client_timeout: int = -1 + simbot_feature_flags__enable_offline_evaluation: bool = True # noqa: WPS116, WPS118 + + # Unity + platform: str = "Linux" + arena_path: Path = storage_dir.joinpath("arena", platform, "Arena.x86_64") + unity_log_path: Path = storage_dir.joinpath("logs", "unity_logs.log") + display: Union[str, int] = 1 + + # Evaluator settings + enforce_successful_preparation: bool = False + + @property + def should_resume_previous_wandb_run(self) -> bool: + """Determine whether or not we should resume the previous wandb run. + + If the `storage/action_outputs/` dir is empty, then we should not resume. + """ + is_evaluation_output_dir_empty = bool(list(self.evaluation_output_dir.glob("*"))) + + # If the directory is empty, be sure to delete any existing metric checkpoints + if is_evaluation_output_dir_empty: + self.evaluation_metrics_checkpoint.unlink(missing_ok=True) + + return not is_evaluation_output_dir_empty + + def put_settings_in_environment(self) -> None: + """Put settings in the environment variables.""" + for env_name, env_var in self: + os.environ[env_name.upper()] = str(env_var) + + def prepare_file_system(self) -> None: + """Prepare the various directories and files on the machine.""" + # Create the necessary directories + directories_to_create = [ + self.storage_dir, + self.auxiliary_metadata_dir, + self.auxiliary_metadata_cache_dir, + self.feature_cache_dir, + self.trajectory_dir, + self.models_dir, + self.unity_log_path.parent, + self.evaluation_output_dir, + self.missions_dir, + ] + for directory in directories_to_create: + directory.mkdir(parents=True, exist_ok=True) + + # Create the unity logs path if it doesn't exist already + self.unity_log_path.touch(exist_ok=True) diff --git a/storage/cdfs/01.json b/storage/cdfs/01.json new file mode 100644 index 0000000..a1c0f5c --- /dev/null +++ b/storage/cdfs/01.json @@ -0,0 +1,781 @@ +{ + "task_description": "There are no intact bowls anywhere. There is a broken bowl in the sink. There's milk in the refrigerator. The Yesterday Machine is present. There is an open box of cereal next to the refrigerator.", + "goal_text": "Make a bowl of cereal with milk", + "game_id": "3", + "experimental": "true", + "scene": { + "floor_plan": "0", + "scene_id": "01 (Make_Cereal)", + "simbot_init": [], + "roomLocation": ["BreakRoom"], + "required_objects": [ + { + "name": "Bowl_01_1", + "state": [ + { + "Unique": "true" + }, + { + "isBroken": "true" + } + ], + "location": [ + { + "TableRound_02_1": "in" + } + ], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "YesterdayMachine_01_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "MilkCarton_01_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [ + { + "FridgeLower_02_1": "in" + } + ], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FridgeLower_02_1", + "state": [], + "location": [], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FridgeUpper_02_1", + "state": [], + "location": [], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Cereal_Box_01_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [ + { + "TableRound_02_1": "in" + } + ], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_1", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_2", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_3", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_4", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_5", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_6", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Door_01_7", + "state": [ + { + "isOpen": "true" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FreezeRay_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FuseBox_01_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FuseBox_01_2", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "FuseBox_02_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "GravityPad_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Laser_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_2", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_3", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_4", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_5", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_6", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_7", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "LightSwitch_01_8", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "RoboticArm_01_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Broken_Cord_01_1", + "state": [ + { + "isToggledOn": "false" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Broken_Cord_01_2", + "state": [ + { + "isToggledOn": "false" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Broken_Cord_01_3", + "state": [ + { + "isToggledOn": "false" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Computer_Monitor_01_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Computer_Monitor_01_2", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Computer_Monitor_01_3", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Computer_Monitor_01_4", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "TAMPrototypeHead_01_1", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "PortalGenerator_10000", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "TableRound_02_1", + "state": [], + "location": [], + "roomLocation": ["BreakRoom"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "StickyNote_1", + "state": [ + { + "text": "Place the bowl in this Time Machine and turn it on!" + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "StickyNote_2", + "state": [ + { + "text": "Before making cereal, this bowl needs to be repaired using the Time Machine on the breakroom counter." + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Computer_Monitor_01_5", + "state": [], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Security_Button_10000", + "state": [ + { + "circuitId": -1 + } + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "dinoFood": "" + } + ], + "sticky_notes": [ + { + "name": "StickyNote_3", + "text": "Milk for the cereal can be found in the fridge.", + "room": "Breakroom", + "location": 2 + } + ], + "blacklisted_layouts": null, + "layoutOverride": "OfficeLayout1", + "completelyRandomVisual": false + }, + "task_goals": [ + { + "goal_id": 0, + "object_states": [ + { + "StickyNote_1": "isExamined=true" + }, + { + "Bowl_01_1": "isBroken=false" + } + ], + "object_states_relation": "or", + "preconditions": [], + "description": "Locate the Time Machine on the breakroom counter", + "visibility": { + "isHidden": false, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0 + }, + "canReset": false + }, + { + "goal_id": 1, + "object_states": [ + { + "Bowl_01_1": "isBroken=false" + } + ], + "object_states_relation": "or", + "preconditions": [], + "description": "Repair the broken bowl using the Time Machine", + "visibility": { + "isHidden": false, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0 + }, + "canReset": false + }, + { + "goal_id": 2, + "object_states": [ + { + "Bowl_01_1": "isFilled=Milk" + }, + { + "Bowl_01_1": "ContainsCereal=true" + } + ], + "object_states_relation": "and", + "preconditions": [], + "description": "Pour the cereal and milk into the bowl", + "visibility": { + "isHidden": false, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0 + }, + "canReset": false + } + ], + "game_interactions": { + "camera_movements": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [] + }, + "game_messages": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [] + } + }, + "stateconditions": [], + "pastPortals": [ + { + "PortalName": "past", + "PortalStatus": false + } + ], + "futurePortals": [ + { + "PortalName": "future", + "PortalStatus": false + } + ] +} diff --git a/storage/cdfs/07.json b/storage/cdfs/07.json new file mode 100644 index 0000000..ee099a2 --- /dev/null +++ b/storage/cdfs/07.json @@ -0,0 +1,705 @@ +{ + "task_description": "Assemble the laser machine and then fire it", + "goal_text": "Assemble and Fire the Laser Machine", + "game_id": "1", + "scene": { + "floor_plan": "-1", + "scene_id": "07 (AssembleLaser)", + "simbot_init": [], + "roomLocation": ["Lab1"], + "required_objects": [ + { + "name": "Laser_1", + "state": [], + "location": [], + "roomLocation": ["Lab1"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Shelf_01_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [], + "roomLocation": ["Lab1"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Desk_01_10006", + "state": [], + "location": [], + "roomLocation": ["Lab1"], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Laser_Tip_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [ + { + "Laser_1": "in" + } + ], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Laser_ControlPanel_1", + "state": [ + { + "Unique": "true" + } + ], + "location": [ + { + "Desk_01_10006": "in" + } + ], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "yesterdayState": "", + "dinoFood": "" + }, + { + "name": "Laser_CircuitBoard_01", + "state": [ + { + "Unique": "true" + } + ], + "location": [ + { + "Laser_1": "in" + } 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} + ], + "location": [], + "roomLocation": [], + "condition": {}, + "colors": [], + "printingObject": "", + "associatedPastPortals": [], + "associatedFuturePortals": [], + "currentPortal": "", + "dinoFood": "" + } + ], + "sticky_notes": null, + "blacklisted_layouts": null, + "layoutOverride": "OfficeLayout1C_mirror", + "completelyRandomVisual": false + }, + "task_goals": [ + { + "goal_id": 0, + "object_states": [ + { + "Bowl_01_*": "isPickedUp=true" + } + ], + "object_states_relation": "or", + "preconditions": [], + "description": "Get a bowl from the breakroom", + "visibility": { + "isHidden": false, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0 + }, + "canReset": false + }, + { + "goal_id": 1, + "object_states": [ + { + "Bowl_01_1": "red1=true" + }, + { + "Bowl_01_2": "red2=true" + }, + { + "Bowl_01_3": "red3=true" + } + ], + "object_states_relation": "or", + "preconditions": [], + "description": "Use the color changer in the Quantum Lab to paint the bowl red", + "visibility": { + "isHidden": false, + "activationInteractable": "ALWAYS UNLOCKED", + "stickyNoteIndex": 0 + }, + "canReset": false + } + ], + "game_interactions": { + "camera_movements": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [] + }, + "game_messages": { + "task_beginning": [], + "task_procedure": [], + "task_ending": [], + "object_conditions": [] + } + }, + "stateconditions": [ + { + "expression": { + "AND": { + "expressions": [ + { + "isScanned": { + "target": "Bowl_01_1", + "message": "", + "value": true + } + }, + { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_1", + "message": "" + } + } + ] + } + }, + "stateName": "bowl1", + "context": "Bowl_01_1" + }, + { + "expression": { + "AND": { + "expressions": [ + { + "isScanned": { + "target": "Bowl_01_2", + "message": "", + "value": true + } + }, + { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_2", + "message": "" + } + } + ] + } + }, + "stateName": "bowl2", + "context": "Bowl_01_2" + }, + { + "expression": { + "AND": { + "expressions": [ + { + "isScanned": { + "target": "Bowl_01_3", + "message": "", + "value": true + } + }, + { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_3", + "message": "" + } + } + ] + } + }, + "stateName": "bowl3", + "context": "Bowl_01_3" + }, + { + "expression": { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_1", + "message": "" + } + }, + "stateName": "red1", + "context": "Bowl_01_1" + }, + { + "expression": { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_2", + "message": "" + } + }, + "stateName": "red2", + "context": "Bowl_01_2" + }, + { + "expression": { + "ColorMetaDataChange": { + "colorvalue": "Red", + "target": "Bowl_01_3", + "message": "" + } + }, + "stateName": "red3", + "context": "Bowl_01_3" + } + ], + "pastPortals": [ + { + "PortalName": "past", + "PortalStatus": false + } + ], + "futurePortals": [ + { + "PortalName": "future", + "PortalStatus": false + } + ] +} diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/tests/conftest.py b/tests/conftest.py new file mode 100644 index 0000000..cd1f06e --- /dev/null +++ b/tests/conftest.py @@ -0,0 +1,23 @@ +import os +from glob import glob + +import pytest + + +# Import all the fixtures from every file in the tests/fixtures dir. +pytest_plugins = [ + fixture_file.replace("/", ".").replace(".py", "") + for fixture_file in glob("tests/fixtures/[!__]*.py", recursive=True) +] + +os.environ["RUNNING_TESTS"] = "1" + +if os.getenv("_PYTEST_RAISE", "0") != "0": + + @pytest.hookimpl(tryfirst=True) + def pytest_exception_interact(call): + raise call.excinfo.value + + @pytest.hookimpl(tryfirst=True) + def pytest_internalerror(excinfo): + raise excinfo.value diff --git a/tests/test_generated_missions.py b/tests/test_generated_missions.py new file mode 100644 index 0000000..e7166ce --- /dev/null +++ b/tests/test_generated_missions.py @@ -0,0 +1,78 @@ +from deepdiff import DeepDiff +from pytest_cases import fixture, param_fixture + +from arena_missions.builders import ( + ChallengeBuilder, + ChallengeBuilderFunction, + MissionBuilder, + RequiredObjectBuilder, +) +from arena_missions.structures import CDF, HighLevelKey, Mission + + +@fixture(scope="module") +def required_object_builder() -> RequiredObjectBuilder: + return RequiredObjectBuilder() + + +@fixture(scope="module") +def mission_builder(required_object_builder: RequiredObjectBuilder) -> MissionBuilder: + return MissionBuilder(ChallengeBuilder(), required_object_builder) + + +challenge_builder_function = param_fixture( + "challenge_builder_function", + [x[1] for x in ChallengeBuilder()], + ids=[x[0].key for x in ChallengeBuilder()], + scope="module", +) + +build_challenge_tuple = param_fixture( + "build_challenge_tuple", + list(ChallengeBuilder()), + ids=[x[0].key for x in ChallengeBuilder()], + scope="module", +) + + +def test_challenge_builder_instantiates_without_error() -> None: + assert ChallengeBuilder() + + +def test_registered_challenge_builders_are_valid( + challenge_builder_function: ChallengeBuilderFunction, +) -> None: + builder_output = challenge_builder_function() + assert builder_output + + +def test_generated_cdfs_are_valid( + challenge_builder_function: ChallengeBuilderFunction, + mission_builder: MissionBuilder, +) -> None: + builder_output = challenge_builder_function() + cdf = mission_builder.generate_cdf(builder_output) + + # Verify the CDF is valid + assert cdf + + # Make sure the CDF can be reimported successfully + reimported_cdf = CDF.parse_obj(cdf.dict(by_alias=True)) + assert reimported_cdf + + # Make sure the reimported CDF is identical to the original. If there is no difference, they + # are identical. + assert not DeepDiff(cdf.dict(by_alias=True), reimported_cdf.dict(by_alias=True)) + + +def test_generated_missions_are_valid( + build_challenge_tuple: tuple[HighLevelKey, ChallengeBuilderFunction], + mission_builder: MissionBuilder, +) -> None: + high_level_key, challenge_builder_function = build_challenge_tuple + mission = mission_builder.generate_mission(high_level_key, challenge_builder_function) + + assert mission + + # Make sure the mission can be reimported successfully + assert Mission.parse_obj(mission.dict(by_alias=True))