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kitchen_env.py
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from ai2thor.controller import Controller
import time
import math
import cv2
def euclidean_distance(pointA, pointB):
return math.dist(pointA, pointB)
def rotate_to_object(object_type):
obj = obj_in_scene(object_type)
# 0 is arbitrary
obj_x = obj["position"]["x"]
obj_z = obj["position"]["z"]
agent_position = controller.last_event.metadata["agent"]["position"]
agent_x = agent_position["x"]
agent_z = agent_position["z"]
a = euclidean_distance([agent_x, agent_z], [obj_x, obj_z])
b = euclidean_distance([agent_x, agent_z], [agent_x - 2, agent_z])
c = euclidean_distance([obj_x, obj_z], [agent_x - 2, agent_z])
gamma = math.degrees(math.acos((a ** 2 + b ** 2 - c ** 2) / (2 * a * b)))
# print((a ** 2 + b ** 2 - c ** 2) / (2 * a * b))
# print(f"gamma is {gamma}")
controller.step(action="RotateRight", degrees=gamma)
def rotate(direction):
controller.step(action=f"Rotate{direction}")
def pick_up(objectId, force):
controller.step(action="PickupObject",objectId=objectId, forceAction=force)
def toggle_on(objectId, force):
controller.step(action="ToggleObjectOn", objectId=objectId, forceAction=force)
def toggle_off(objectId, force):
controller.step(action="ToggleObjectOff", objectId=objectId, forceAction=force)
def slice(objectId, force):
controller.step(action="SliceObject", objectId=objectId, forceAction=force)
def put(objectId, force):
controller.step(action="PutObject", objectId=objectId, forceAction=force)
def open(objectId, force):
controller.step(action="OpenObject", objectId=objectId, forceAction=force)
def close(objectId, force):
controller.step(action="CloseObject", objectId=objectId, forceAction=force)
def look(direction):
controller.step(action=f"Look{direction}")
def obj_in_scene(object_type):
types_in_scene = sorted([obj["objectType"] for obj in controller.last_event.metadata["objects"]])
assert object_type in types_in_scene, "Object not in scene"
return next(obj for obj in controller.last_event.metadata["objects"] if obj["objectType"] == object_type)
def closest_position(object_position, reachable_positions):
out = reachable_positions[0]
min_distance = float("inf")
for pos in reachable_positions:
# NOTE: y is the vertical direction, so only care about the x/z ground positions
dist = sum([(pos[key] - object_position[key]) ** 2 for key in ["x", "z"]])
if dist < min_distance:
min_distance = dist
out = pos
return out
def tp_to_object(object_type):
obj = obj_in_scene(object_type)
reachable_positions = controller.step(action="GetReachablePositions").metadata["actionReturn"]
closest = closest_position(obj["position"], reachable_positions)
controller.step(action="Teleport", **closest)
rotate_to_object(object_type)
return obj["objectId"]
if __name__ == "__main__":
controller = Controller(
agentMode="default",
visibilityDistance=1.5,
scene="FloorPlan1",
# step sizes
gridSize=0.25,
snapToGrid=True,
rotateStepDegrees=90,
# image modalities
renderDepthImage=False,
renderInstanceSegmentation=False,
# camera properties
width=600,
height=600,
fieldOfView=90
)
step_size = 0.0005
for i in range(500):
controller.step(action="MoveAhead", moveMagnitude=i*step_size)
time.sleep(0.02)
breakpoint()
# tp_to_object("Knife")
# controller.step(action="LookDown")
# breakpoint()
# event = controller.step(action="MoveAhead")
# objects = [object["objectType"] for object in event.metadata['objects']]
# print(objects)
# controller.step(action="MoveAhead")
# breakpoint()
# obj_id = tp_to_object("Bowl")
# breakpoint()
# controller.step(action="PickupObject", objectId=obj_id, forceAction=True)
# breakpoint()
# controller.step(action='Teleport', position=dict(x=-2.5, y=0.900998235, z=-3.0))
# controller.step(action='LookDown')
# event = controller.step(action='RotateLeft', degrees=180)
# # In FloorPlan28, the agent should now be looking at a mug
# for o in event.metadata['objects']:
# if o['visible'] and o['pickupable'] and o['objectType'] == 'Mug':
# event = controller.step(action='PickupObject', objectId=o['objectId'])
# mug_object_id = o['objectId']
# break
# breakpoint()
# # the agent now has the Mug in its inventory
# # to put it into the Microwave, we need to open the microwave first
# time.sleep(2)
# event = controller.step(action='LookUp')
# time.sleep(2)
# event = controller.step(action='RotateLeft')
# time.sleep(2)
# event = controller.step(action='MoveLeft')
# event = controller.step(action='MoveLeft')
# event = controller.step(action='MoveLeft')
# event = controller.step(action='MoveLeft')
# time.sleep(2)
# event = controller.step(action='MoveAhead')
# event = controller.step(action='MoveAhead')
# event = controller.step(action='MoveAhead')
# event = controller.step(action='MoveAhead')
# event = controller.step(action='MoveAhead')
# event = controller.step(action='MoveAhead')
# time.sleep(2)
# breakpoint()
# for o in event.metadata['objects']:
# if o['visible'] and o['openable'] and o['objectType'] == 'Microwave':
# event = controller.step(action='OpenObject', objectId=o['objectId'])
# receptacle_object_id = o['objectId']
# break
# event = controller.step(dict(
# action='PutObject',
# receptacleObjectId=receptacle_object_id,
# objectId=mug_object_id), raise_for_failure=True)
# # close the microwave
# event = controller.step(dict(
# action='CloseObject',
# objectId=receptacle_object_id), raise_for_failure=True)