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Merge branch 'main' of https://github.com/Kajiih/rl_thor
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@Kajiih
Kajiih committed Jun 14, 2024
2 parents 36af963 + 12b3aa1 commit 79cde0f
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Showing 3 changed files with 68 additions and 64 deletions.
110 changes: 57 additions & 53 deletions src/rl_thor/envs/actions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,27 +50,30 @@
class EnvActionName(StrEnum):
"""Enum for environment actions."""

MOVE_AHEAD = "MoveAhead"
MOVE_BACK = "MoveBack"
# === Navigation actions ===
MOVE_FORWARD = "MoveForward"
MOVE_BACKWARD = "MoveBackward"
MOVE_LEFT = "MoveLeft"
MOVE_RIGHT = "MoveRight"
ROTATE_LEFT = "RotateLeft"
ROTATE_RIGHT = "RotateRight"
LOOK_UP = "LookUp"
LOOK_DOWN = "LookDown"
CROUCH = "Crouch"
STAND = "Stand"
CROUCH_DOWN = "CrouchDown"
STAND_UP = "StandUp"
# DONE = "Done"
MOVE_HELD_OBJECT_AHEAD_BACK = "MoveHeldObjectAheadBack"
MOVE_HELD_OBJECT_RIGHT_LEFT = "MoveHeldObjectRightLeft"
# === Held object manipulation actions ===
MOVE_HELD_OBJECT_FORWARD_BACKWARD = "MoveHeldObjectForwardBackward"
MOVE_HELD_OBJECT_LEFT_RIGHT = "MoveHeldObjectLeftRight"
MOVE_HELD_OBJECT_UP_DOWN = "MoveHeldObjectUpDown"
ROTATE_HELD_OBJECT_ROLL = "RotateHeldObjectRoll"
ROTATE_HELD_OBJECT_PITCH = "RotateHeldObjectPitch"
ROTATE_HELD_OBJECT_YAW = "RotateHeldObjectYaw"
DROP_HELD_OBJECT = "DropHeldObject"
THROW_HELD_OBJECT = "ThrowHeldObject"
# === Object manipulation actions ===
PICKUP_OBJECT = "PickupObject"
PUT_OBJECT = "PutObject"
DROP_HAND_OBJECT = "DropHandObject"
THROW_OBJECT = "ThrowObject"
PUT_DOWN_OBJECT = "PutDownObject"
PUSH_OBJECT = "PushObject"
PULL_OBJECT = "PullObject"
OPEN_OBJECT = "OpenObject"
Expand All @@ -79,7 +82,7 @@ class EnvActionName(StrEnum):
TOGGLE_OBJECT_ON = "ToggleObjectOn"
TOGGLE_OBJECT_OFF = "ToggleObjectOff"
FILL_OBJECT_WITH_LIQUID = "FillObjectWithLiquid"
EMPTY_LIQUID_FROM_OBJECT = "EmptyLiquidFromObject"
EMPTY_LIQUID_OBJECT = "EmptyLiquidObject"
BREAK_OBJECT = "BreakObject"
SLICE_OBJECT = "SliceObject"
USE_UP_OBJECT = "UseUpObject"
Expand Down Expand Up @@ -479,6 +482,7 @@ def _base_error_message(self, action: EnvironmentAction) -> str:
return f"Agent needs to hold an object of type {self.object_type} to perform action {action.name} ({action.ai2thor_action} in ai2thor)!"


# TODO: Modify the condition to add the fact that the agent can hold an object filled with liquid
fill_object_with_liquid_condition = VisibleWaterCondition(
overriding_message="Agent needs to have visible running water to fill an object with liquid!"
)
Expand Down Expand Up @@ -587,20 +591,20 @@ class PickupPutEnvAction(EnvironmentAction):


@dataclass(frozen=True)
class DropHandObjectEnvAction(EnvironmentAction):
class DropHeldObjectEnvAction(EnvironmentAction):
"""Base class for drop hand object action."""

name: EnvActionName = EnvActionName.DROP_HAND_OBJECT
name: EnvActionName = EnvActionName.DROP_HELD_OBJECT
ai2thor_action: Ai2thorAction = Ai2thorAction.DROP_HAND_OBJECT
action_group: ActionGroup = ActionGroup.DROP_ACTIONS
_config_dependent_parameters: frozenset[str] = frozenset({"forceAction"})


@dataclass(frozen=True)
class ThrowEnvAction(EnvironmentAction):
class ThrowHeldEnvAction(EnvironmentAction):
"""Base class for throw object action."""

name: EnvActionName = EnvActionName.THROW_OBJECT
name: EnvActionName = EnvActionName.THROW_HELD_OBJECT
ai2thor_action: Ai2thorAction = Ai2thorAction.THROW_OBJECT
action_group: ActionGroup = ActionGroup.THROW_ACTIONS
_parameter_name: str = "moveMagnitude"
Expand Down Expand Up @@ -731,10 +735,10 @@ def __post_init__(self) -> None:


@dataclass(frozen=True)
class EmptyLiquidFromObjectEnvAction(EnvironmentAction):
class EmptyLiquidObjectEnvAction(EnvironmentAction):
"""Base class for empty liquid from object action."""

name: EnvActionName = EnvActionName.EMPTY_LIQUID_FROM_OBJECT
name: EnvActionName = EnvActionName.EMPTY_LIQUID_OBJECT
ai2thor_action: Ai2thorAction = Ai2thorAction.EMPTY_LIQUID_FROM_OBJECT
action_group: ActionGroup = ActionGroup.LIQUID_MANIPULATION_ACTIONS
has_target_object: bool = True
Expand Down Expand Up @@ -809,12 +813,12 @@ class CleanObjectEnvAction(ConditionalExecutionAction):

# %% === Action definitions ===
# === Navigation actions ===
move_ahead_action = MovementEnvAction(
name=EnvActionName.MOVE_AHEAD,
move_forward_action = MovementEnvAction(
name=EnvActionName.MOVE_FORWARD,
ai2thor_action=Ai2thorAction.MOVE_AHEAD,
)
move_back_action = MovementEnvAction(
name=EnvActionName.MOVE_BACK,
move_backward_action = MovementEnvAction(
name=EnvActionName.MOVE_BACKWARD,
ai2thor_action=Ai2thorAction.MOVE_BACK,
)
move_left_action = MovementEnvAction(
Expand All @@ -841,12 +845,12 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
name=EnvActionName.LOOK_DOWN,
ai2thor_action=Ai2thorAction.LOOK_DOWN,
)
crouch_action = CrouchStandEnvAction(
name=EnvActionName.CROUCH,
crouch_down_action = CrouchStandEnvAction(
name=EnvActionName.CROUCH_DOWN,
ai2thor_action=Ai2thorAction.CROUCH,
)
stand_action = CrouchStandEnvAction(
name=EnvActionName.STAND,
stand_up_action = CrouchStandEnvAction(
name=EnvActionName.STAND_UP,
ai2thor_action=Ai2thorAction.STAND,
)
# done_action = EnvironmentAction(
Expand All @@ -861,14 +865,14 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
_object_required_property=SimObjFixedProp.PICKUPABLE,
_config_dependent_parameters=frozenset({"forceAction", "manualInteract"}),
)
put_object_action = PickupPutEnvAction(
name=EnvActionName.PUT_OBJECT,
put_down_object_action = PickupPutEnvAction(
name=EnvActionName.PUT_DOWN_OBJECT,
ai2thor_action=Ai2thorAction.PUT_OBJECT,
_object_required_property=SimObjFixedProp.RECEPTACLE,
_config_dependent_parameters=frozenset({"forceAction", "placeStationary"}),
)
drop_hand_object_action = DropHandObjectEnvAction()
throw_object_action = ThrowEnvAction()
drop_held_object_action = DropHeldObjectEnvAction()
throw_held_object_action = ThrowHeldEnvAction()
push_object_action = PushPullEnvAction(
name=EnvActionName.PUSH_OBJECT,
ai2thor_action=Ai2thorAction.PUSH_OBJECT,
Expand All @@ -877,14 +881,14 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
name=EnvActionName.PULL_OBJECT,
ai2thor_action=Ai2thorAction.PULL_OBJECT,
)
move_held_object_ahead_back_action = HandMovementEnvAction(
name=EnvActionName.MOVE_HELD_OBJECT_AHEAD_BACK,
move_held_object_forward_backward_action = HandMovementEnvAction(
name=EnvActionName.MOVE_HELD_OBJECT_FORWARD_BACKWARD,
ai2thor_action=Ai2thorAction.MOVE_HELD_OBJECT,
_parameter_name="ahead",
_other_ai2thor_parameters={"right": 0, "up": 0},
)
move_held_object_right_left_action = HandMovementEnvAction(
name=EnvActionName.MOVE_HELD_OBJECT_RIGHT_LEFT,
move_held_object_left_right_action = HandMovementEnvAction(
name=EnvActionName.MOVE_HELD_OBJECT_LEFT_RIGHT,
ai2thor_action=Ai2thorAction.MOVE_HELD_OBJECT,
_parameter_name="right",
_other_ai2thor_parameters={"ahead": 0, "up": 0},
Expand Down Expand Up @@ -941,7 +945,7 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
ai2thor_action=Ai2thorAction.TOGGLE_OBJECT_OFF,
)
fill_object_with_liquid_action = FillObjectWithLiquidEnvAction()
empty_liquid_from_object_action = EmptyLiquidFromObjectEnvAction()
empty_liquid_object_action = EmptyLiquidObjectEnvAction()
break_object_action = BreakObjectEnvAction()
slice_object_action = SliceObjectEnvAction()
use_up_object_action = UseUpObjectEnvAction()
Expand All @@ -953,27 +957,27 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
# Note: "CookObject" is not used because it has "magical" effects instead of having contextual effects (like using a toaster to cook bread)

# === Type Annotations ===
move_ahead_action: EnvironmentAction
move_back_action: EnvironmentAction
move_forward_action: EnvironmentAction
move_backward_action: EnvironmentAction
move_left_action: EnvironmentAction
move_right_action: EnvironmentAction
rotate_left_action: EnvironmentAction
rotate_right_action: EnvironmentAction
look_up_action: EnvironmentAction
look_down_action: EnvironmentAction
crouch_action: EnvironmentAction
stand_action: EnvironmentAction
crouch_down_action: EnvironmentAction
stand_up_action: EnvironmentAction
# done_action: EnvironmentAction
move_held_object_ahead_back_action: EnvironmentAction
move_held_object_right_left_action: EnvironmentAction
move_held_object_forward_backward_action: EnvironmentAction
move_held_object_left_right_action: EnvironmentAction
move_held_object_up_down_action: EnvironmentAction
rotate_held_object_roll_action: EnvironmentAction
rotate_held_object_pitch_action: EnvironmentAction
rotate_held_object_yaw_action: EnvironmentAction
pickup_object_action: EnvironmentAction
put_object_action: EnvironmentAction
drop_hand_object_action: EnvironmentAction
throw_object_action: EnvironmentAction
put_down_object_action: EnvironmentAction
drop_held_object_action: EnvironmentAction
throw_held_object_action: EnvironmentAction
push_object_action: EnvironmentAction
pull_object_action: EnvironmentAction
open_object_action: EnvironmentAction
Expand All @@ -982,7 +986,7 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
toggle_object_on_action: EnvironmentAction
toggle_object_off_action: EnvironmentAction
fill_object_with_liquid_action: ConditionalExecutionAction
empty_liquid_from_object_action: EnvironmentAction
empty_liquid_object_action: EnvironmentAction
break_object_action: EnvironmentAction
slice_object_action: ConditionalExecutionAction
use_up_object_action: EnvironmentAction
Expand All @@ -991,27 +995,27 @@ class CleanObjectEnvAction(ConditionalExecutionAction):

# %% === Constants ===
ALL_ACTIONS: list[EnvironmentAction] = [
move_ahead_action,
move_back_action,
move_forward_action,
move_backward_action,
move_left_action,
move_right_action,
rotate_left_action,
rotate_right_action,
look_up_action,
look_down_action,
crouch_action,
stand_action,
crouch_down_action,
stand_up_action,
# done_action, # Not supported in tasks yet
move_held_object_ahead_back_action,
move_held_object_right_left_action,
move_held_object_forward_backward_action,
move_held_object_left_right_action,
move_held_object_up_down_action,
rotate_held_object_roll_action,
rotate_held_object_pitch_action,
rotate_held_object_yaw_action,
drop_held_object_action,
throw_held_object_action,
pickup_object_action,
put_object_action,
drop_hand_object_action,
throw_object_action,
put_down_object_action,
push_object_action,
pull_object_action,
close_object_action,
Expand All @@ -1020,7 +1024,7 @@ class CleanObjectEnvAction(ConditionalExecutionAction):
toggle_object_on_action,
toggle_object_off_action,
fill_object_with_liquid_action,
empty_liquid_from_object_action,
empty_liquid_object_action,
break_object_action,
slice_object_action,
use_up_object_action,
Expand Down
2 changes: 1 addition & 1 deletion src/rl_thor/envs/ai2thor_envs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -195,7 +195,7 @@ def _compute_action_availabilities(config: EnvConfig) -> dict[EnvActionName, boo

# Handle specific cases
if config.action_modifiers.simple_movement_actions:
for action_name in [EnvActionName.MOVE_BACK, EnvActionName.MOVE_LEFT, EnvActionName.MOVE_RIGHT]:
for action_name in [EnvActionName.MOVE_BACKWARD, EnvActionName.MOVE_LEFT, EnvActionName.MOVE_RIGHT]:
action_availabilities[action_name] = False

if config.action_modifiers.partial_openness:
Expand Down
20 changes: 10 additions & 10 deletions tests/test_ai2thor_envs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,8 @@ def ithor_env_2(config_override=None):

def test__compute_action_availabilities():
expected_availabilities = {
EnvActionName.MOVE_AHEAD: True,
EnvActionName.MOVE_BACK: False,
EnvActionName.MOVE_FORWARD: True,
EnvActionName.MOVE_BACKWARD: False,
EnvActionName.MOVE_LEFT: False,
EnvActionName.MOVE_RIGHT: False,
EnvActionName.LOOK_UP: True,
Expand All @@ -84,23 +84,23 @@ def test__compute_action_availabilities():
EnvActionName.CLOSE_OBJECT: False,
EnvActionName.PARTIAL_OPEN_OBJECT: True,
EnvActionName.PICKUP_OBJECT: True,
EnvActionName.PUT_OBJECT: True,
EnvActionName.PUT_DOWN_OBJECT: True,
EnvActionName.TOGGLE_OBJECT_ON: True,
EnvActionName.TOGGLE_OBJECT_OFF: True,
EnvActionName.CROUCH: False,
EnvActionName.STAND: False,
EnvActionName.MOVE_HELD_OBJECT_AHEAD_BACK: False,
EnvActionName.MOVE_HELD_OBJECT_RIGHT_LEFT: False,
EnvActionName.CROUCH_DOWN: False,
EnvActionName.STAND_UP: False,
EnvActionName.MOVE_HELD_OBJECT_FORWARD_BACKWARD: False,
EnvActionName.MOVE_HELD_OBJECT_LEFT_RIGHT: False,
EnvActionName.MOVE_HELD_OBJECT_UP_DOWN: False,
EnvActionName.ROTATE_HELD_OBJECT_ROLL: False,
EnvActionName.ROTATE_HELD_OBJECT_PITCH: False,
EnvActionName.ROTATE_HELD_OBJECT_YAW: False,
EnvActionName.DROP_HAND_OBJECT: False,
EnvActionName.THROW_OBJECT: False,
EnvActionName.DROP_HELD_OBJECT: False,
EnvActionName.THROW_HELD_OBJECT: False,
EnvActionName.PUSH_OBJECT: False,
EnvActionName.PULL_OBJECT: False,
EnvActionName.FILL_OBJECT_WITH_LIQUID: False,
EnvActionName.EMPTY_LIQUID_FROM_OBJECT: False,
EnvActionName.EMPTY_LIQUID_OBJECT: False,
EnvActionName.BREAK_OBJECT: False,
EnvActionName.SLICE_OBJECT: False,
EnvActionName.USE_UP_OBJECT: False,
Expand Down

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