in grolp/gen/game_states/task_game_state.py [0:0]
def get_filter_crit(self, goal_type):
# helper functions
def is_obj_pickupable(x):
return x['pickupable'] and x['objectType'] in constants.OBJECTS
def is_receptacle(x):
return x['receptacle'] and x['objectType'] in constants.OBJECTS
def does_have_duplicates(x):
num_instances = len(game_util.get_objects_of_type(x['objectType'], self.env.last_event.metadata))
return num_instances > 1
def does_have_atleast_n_duplicates(x, n):
num_instances = len(game_util.get_objects_of_type(x['objectType'], self.env.last_event.metadata))
return num_instances >= n
def does_any_recep_type_have_obj_of_type(r, ot):
all_recep_of_type = [o for o in self.env.last_event.metadata['objects'] if
o['objectType'] == r['objectType']]
valid_recep = []
for recep in all_recep_of_type:
receptacle_obj_ids = recep['receptacleObjectIds']
if receptacle_obj_ids is not None:
objs_of_type = [obj_id for obj_id in receptacle_obj_ids if ot in obj_id]
if len(objs_of_type) > 0:
valid_recep.append(recep)
return len(valid_recep) > 0
def does_recep_have_enough_space(r):
# TODO: how to check this with THOR 2.1.0?
return True
def is_recep_full(r):
# TODO: how to check this with THOR 2.1.0?
return False
def can_recep_hold_obj(o, r):
return o in constants.VAL_RECEPTACLE_OBJECTS[r['objectType']]
def is_of_type(x, type):
return x['objectType'] == type
def is_movable_recep(o):
return o['objectType'] in constants.MOVABLE_RECEPTACLES
def is_obj_type_in_recep(x, recep):
obj_types_in_recep = [o['objectType'] for o in self.env.last_event.metadata['objects']
if (o['parentReceptacles'] is not None and
any(recep in r for r in o['parentReceptacles']))]
return x['objectType'] in obj_types_in_recep
def is_obj_in_recep(o, r):
return o['objectId'] in r['receptacleObjectIds']
def is_obj_prop(x, prop):
return x['objectType'] in constants.VAL_ACTION_OBJECTS[prop]
def is_obj_off(x):
return x['objectType'] in constants.VAL_ACTION_OBJECTS['Toggleable'] and \
x['toggleable'] \
and (not x['isToggled'])
def is_obj_on(x):
return x['objectType'] in constants.VAL_ACTION_OBJECTS['Toggleable'] and \
x['toggleable'] and \
x['isToggled']
# specialized filters for each specific task
if goal_type == "init":
return lambda o: is_obj_pickupable(o), \
lambda r: is_receptacle(r) and \
(can_recep_hold_obj(self.rand_chosen_object_class, r)) and \
(not is_recep_full(r)) and \
(is_obj_in_recep(self.rand_chosen_object, r))
elif goal_type == "place_all_obj_type_into_recep":
return lambda o: does_have_duplicates(o), \
lambda r: does_recep_have_enough_space(r)
elif goal_type == "pick_two_obj_and_place":
return lambda o: does_have_atleast_n_duplicates(o, 2), \
lambda r: does_recep_have_enough_space(r) and \
(not does_any_recep_type_have_obj_of_type(r, self.rand_chosen_object_class))
elif goal_type == "pick_clean_then_place_in_recep":
return lambda o: (not is_obj_type_in_recep(o, "SinkBasin")) and \
(is_obj_prop(o, "Cleanable")), \
lambda r: (not is_of_type(r, "SinkBasin"))
elif goal_type == "pick_heat_then_place_in_recep":
return lambda o: (not is_obj_type_in_recep(o, "Microwave")) and \
(is_obj_prop(o, "Heatable")), \
lambda r: (not is_of_type(r, "Microwave"))
elif goal_type == "pick_cool_then_place_in_recep":
return lambda o: (not is_obj_type_in_recep(o, "Fridge")) and \
(is_obj_prop(o, "Coolable")), \
lambda r: (not is_of_type(r, "Fridge"))
elif goal_type == "look_at_obj_in_light":
return lambda o: is_obj_pickupable(o), \
lambda r: r
elif goal_type == "pick_and_place_with_movable_recep":
return lambda o: is_obj_pickupable(o) and \
(not is_movable_recep(o)), \
lambda r: is_receptacle(r) and \
(not is_movable_recep(r)) and \
(not does_any_recep_type_have_obj_of_type(r, self.rand_chosen_val_moveable_recep_class))
elif goal_type == "pick_heat_and_place_with_movable_recep":
return lambda o: is_obj_pickupable(o) and \
(is_obj_prop(o, "Heatable")) and \
(not is_movable_recep(o)), \
lambda r: is_receptacle(r) and \
(not is_movable_recep(r)) and \
(not is_of_type(r, "Microwave")) and \
(not does_any_recep_type_have_obj_of_type(r, self.rand_chosen_val_moveable_recep_class))
else:
return lambda o: is_obj_pickupable(o), \
lambda r: is_receptacle(r)