Merge branch 'main' into teleport_fix

ai2thor/controller.py

@@ -399,8 +399,8 @@ def __init__(
         server_timeout: Optional[float] = 100.0,
         server_start_timeout: float = 300.0,
         # objaverse_asset_ids=[], TODO add and implement when objaverse.load_thor_objects is available
-        action_hook_runner=None,
-        metadata_hook: Optional[MetadataHook] = None,
+        before_action_callback=None,
+        metadata_callback: Optional[MetadataHook] = None,
         **unity_initialization_parameters,
     ):
         self.receptacle_nearest_pivot_points = {}
@@ -443,18 +443,28 @@ def __init__(
             )
         )
 
-        self.action_hook_runner = action_hook_runner
-        self.action_hooks = (
+        if "action_hook_runner" in unity_initialization_parameters:
+            raise ValueError(
+                f"Deprecated argument 'action_hook_runner'. Use 'before_action_callback' instead."
+            )
+
+        if "metadata_hook" in unity_initialization_parameters:
+            raise ValueError(
+                f"Deprecated argument 'metadata_hook'. Use 'metadata_callback' instead."
+            )
+
+        self.before_action_callback = before_action_callback
+        self.action_callbacks = (
             {
                 func
-                for func in dir(action_hook_runner)
-                if callable(getattr(action_hook_runner, func)) and not func.startswith("__")
+                for func in dir(before_action_callback)
+                if callable(getattr(before_action_callback, func)) and not func.startswith("__")
             }
-            if self.action_hook_runner is not None
+            if self.before_action_callback is not None
             else None
         )
 
-        self.metadata_hook = metadata_hook
+        self.metadata_callback = metadata_callback
 
         if self.gpu_device is not None:
             # numbers.Integral works for numpy.int32/64 and Python int
@@ -971,11 +981,11 @@ def multi_step_physics(self, action, timeStep=0.05, max_steps=20):
 
         return events
 
-    def run_action_hook(self, action):
-        if self.action_hooks is not None and action["action"] in self.action_hooks:
+    def run_before_action_callback(self, action):
+        if self.action_callbacks is not None and action["action"] in self.action_callbacks:
             try:
                 # print(f"action hooks: {self.action_hooks}")
-                method = getattr(self.action_hook_runner, action["action"])
+                method = getattr(self.before_action_callback, action["action"])
                 event = method(action, self)
                 if isinstance(event, list):
                     self.last_event = event[-1]
@@ -984,18 +994,18 @@ def run_action_hook(self, action):
             except AttributeError:
                 traceback.print_stack()
                 raise NotImplementedError(
-                    "Action Hook Runner `{}` does not implement method `{}`,"
+                    "Action Callback `{}` does not implement method `{}`,"
                     " actions hooks are meant to run before an action, make sure that `action_hook_runner`"
                     " passed to the controller implements a method for the desired action.".format(
-                        self.action_hook_runner.__class__.__name__, action["action"]
+                        self.before_action_callback.__class__.__name__, action["action"]
                     )
                 )
             return True
         return False
 
     def run_metadata_hook(self, metadata: MetadataWrapper) -> bool:
-        if self.metadata_hook is not None:
-            out = self.metadata_hook(metadata=metadata, controller=self)
+        if self.metadata_callback is not None:
+            out = self.metadata_callback(metadata=metadata, controller=self)
             assert (
                 out is None
             ), "`metadata_hook` must return `None` and change the metadata in place."
@@ -1043,7 +1053,7 @@ def step(self, action: Union[str, Dict[str, Any]] = None, **action_args):
                 # not deleting to allow for older builds to continue to work
                 # del action[old]
 
-        self.run_action_hook(action)
+        self.run_before_action_callback(action)
 
         self.server.send(action)
         try:

ai2thor/hooks/procedural_asset_hook.py

@@ -22,6 +22,8 @@
     load_existing_thor_asset_file,
 )
 
+from objathor.dataset import load_assets_path, DatasetSaveConfig
+
 logger = logging.getLogger(__name__)
 
 EXTENSIONS_LOADABLE_IN_UNITY = {
@@ -248,7 +250,7 @@ def create_assets_if_not_exist(
     #         return evt
 
 
-class ProceduralAssetHookRunner:
+class ProceduralAssetActionCallback:
     def __init__(
         self,
         asset_directory,
@@ -268,6 +270,7 @@ def __init__(
         self.target_dir = target_dir
         self.extension = extension
         self.verbose = verbose
+        self.last_asset_id_set = set()
 
     def Initialize(self, action, controller):
         if self.asset_limit > 0:
@@ -278,6 +281,10 @@ def Initialize(self, action, controller):
     def CreateHouse(self, action, controller):
         house = action["house"]
         asset_ids = get_all_asset_ids_recursively(house["objects"], [])
+        asset_ids_set = set(asset_ids)
+        if not asset_ids_set.issubset(self.last_asset_id_set):
+            controller.step(action="DeleteLRUFromProceduralCache", assetLimit=0)
+            self.last_asset_id_set = set(asset_ids)
         return create_assets_if_not_exist(
             controller=controller,
             asset_ids=asset_ids,
@@ -320,27 +327,49 @@ def GetHouseFromTemplate(self, action, controller):
         )
 
 
-class ObjaverseAssetHookRunner(object):
-    def __init__(self):
-        import objaverse
-
-        self.objaverse_uid_set = set(objaverse.load_uids())
+class DownloadObjaverseActionCallback(object):
+    def __init__(
+        self,
+        asset_dataset_version,
+        asset_download_path,
+        target_dir="processed_models",
+        asset_symlink=True,
+        load_file_in_unity=False,
+        stop_if_fail=False,
+        asset_limit=-1,
+        extension=None,
+        verbose=True,
+    ):
+        self.asset_download_path = asset_download_path
+        self.asset_symlink = asset_symlink
+        self.stop_if_fail = stop_if_fail
+        self.asset_limit = asset_limit
+        self.load_file_in_unity = load_file_in_unity
+        self.target_dir = target_dir
+        self.extension = extension
+        self.verbose = verbose
+        self.last_asset_id_set = set()
+        dsc = DatasetSaveConfig(
+            VERSION=asset_dataset_version,
+            BASE_PATH=asset_download_path,
+        )
+        self.asset_path = load_assets_path(dsc)
 
     def CreateHouse(self, action, controller):
-        raise NotImplemented("Not yet implemented.")
-
         house = action["house"]
-        asset_ids = list(set(obj["assetId"] for obj in house["objects"]))
-        evt = controller.step(action="AssetsInDatabase", assetIds=asset_ids)
-        asset_in_db = evt.metadata["actionReturn"]
-        assets_not_created = [asset_id for (asset_id, in_db) in asset_in_db.items() if in_db]
-        not_created_set = set(assets_not_created)
-        not_objeverse_not_created = not_created_set.difference(self.objaverse_uid_set)
-        if len(not_created_set):
-            raise ValueError(
-                f"Invalid asset ids are not in THOR AssetDatabase or part of objeverse: {not_objeverse_not_created}"
-            )
-
-        # TODO when transformed assets are in objaverse download them and create them
-        # objaverse.load_thor_objects
-        # create_assets()
+        asset_ids = get_all_asset_ids_recursively(house["objects"], [])
+        asset_ids_set = set(asset_ids)
+        if not asset_ids_set.issubset(self.last_asset_id_set):
+            controller.step(action="DeleteLRUFromProceduralCache", assetLimit=0)
+            self.last_asset_id_set = set(asset_ids)
+        return create_assets_if_not_exist(
+            controller=controller,
+            asset_ids=asset_ids,
+            asset_directory=self.asset_path,
+            copy_to_dir=os.path.join(controller._build.base_dir, self.target_dir),
+            asset_symlink=self.asset_symlink,
+            stop_if_fail=self.stop_if_fail,
+            load_file_in_unity=self.load_file_in_unity,
+            extension=self.extension,
+            verbose=self.verbose,
+        )

tasks.py

@@ -4727,10 +4727,10 @@ def test_create_prefab(ctx, json_path):
 def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
     import json
     import ai2thor.controller
-    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetHookRunner
+    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetActionCallback
     from objathor.asset_conversion.util import view_asset_in_thor
 
-    hook_runner = ProceduralAssetHookRunner(
+    hook_runner = ProceduralAssetActionCallback(
         asset_directory=asset_dir,
         asset_symlink=True,
         verbose=True,
@@ -4747,7 +4747,7 @@ def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
         height=300,
         server_class=ai2thor.fifo_server.FifoServer,
         visibilityScheme="Distance",
-        action_hook_runner=hook_runner,
+        before_action_callback=hook_runner,
     )
 
     # TODO bug why skybox is not changing? from just procedural pipeline
@@ -4817,9 +4817,9 @@ def procedural_asset_hook_test(ctx, asset_dir, house_path, asset_id=""):
 def procedural_asset_cache_test(ctx, asset_dir, house_path, asset_ids="", cache_limit=1):
     import json
     import ai2thor.controller
-    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetHookRunner
+    from ai2thor.hooks.procedural_asset_hook import ProceduralAssetActionCallback
 
-    hook_runner = ProceduralAssetHookRunner(
+    hook_runner = ProceduralAssetActionCallback(
         asset_directory=asset_dir, asset_symlink=True, verbose=True, asset_limit=1
     )
     controller = ai2thor.controller.Controller(
@@ -4834,7 +4834,7 @@ def procedural_asset_cache_test(ctx, asset_dir, house_path, asset_ids="", cache_
         height=300,
         server_class=ai2thor.wsgi_server.WsgiServer,
         visibilityScheme="Distance",
-        action_hook_runner=hook_runner,
+        before_action_callback=hook_runner,
     )
     asset_ids = asset_ids.split(",")
     with open(house_path, "r") as f:

unity/Assets/Scripts/PhysicsRemoteFPSAgentController.cs

@@ -6058,47 +6058,9 @@ public void RotateUniverseAroundAgent(ServerAction action) {
         }
 
         public void ChangeFOV(float fieldOfView, string camera = "") {
-            if (fieldOfView > 0 && fieldOfView < 180) {
-                if (string.IsNullOrEmpty(camera)) {
-                    m_Camera.fieldOfView = fieldOfView;
-                    actionFinished(true);
-                } else {
-                    var cameraTuples = new List<(Camera camera, bool isThirdPartyCamera, int id)>()
-                    {
-                        (camera: m_Camera, isThirdPartyCamera: false, id: -1)
-                    }.Concat(
-                        this.agentManager.thirdPartyCameras.Select(
-                            (c, i) => (camera: c, isThirdPartyCamera: true, id: i)
-                        )
-                    );
-                    var matches = cameraTuples;
-                    if (camera != "*") {
-                        matches = cameraTuples.Where(t => t.camera.name == camera);
-                    }
-                    // Debug.Log($"Camera matches: {matches.Count()} {string.Join(", ", matches.Select(m => m.camera.name))}");
-                    if (matches.Count() == 0) {
-                        errorMessage =
-                            $"Camera '{camera}' is not present in the agent, make sure the agent was initialized correctly or camera was added via 'AddThirdPartyCamera'.";
-                        actionFinished(false);
-                    } else {
-                        foreach (var tuple in matches) {
-                            if (tuple.isThirdPartyCamera) {
-                                agentManager.UpdateThirdPartyCamera(
-                                    tuple.id,
-                                    fieldOfView: fieldOfView
-                                );
-                            } else {
-                                tuple.camera.fieldOfView = fieldOfView;
-                            }
-                        }
-                        actionFinished(true);
-                    }
-                }
-            } else {
-                errorMessage = "fov must be in (0, 180) noninclusive.";
-                Debug.Log(errorMessage);
-                actionFinished(false);
-            }
+            throw new InvalidOperationException(
+                "This action is deprecated. Use `UpdateMainCamera` or `UpdateThirdPartyCamera` instead."
+            );
         }
 
         // in case you want to change the timescale

unity/Assets/Scripts/ProceduralTools.cs

@@ -1386,7 +1386,8 @@ public static GameObject CreateHouse(
             if (!validateHouseObjects(getAssetMap(), house.objects, missingIds)) {
                 throw new ArgumentException(
                     $"Object ids '{string.Join(", ", missingIds)}' not present in asset database."
-                        + $" If it is a procedural asset make sure you call 'CreateAsset' before 'CreateHouse'"
+                        + $" If it is a procedural asset make sure you call 'CreateAsset' before 'CreateHouse'."
+                        + $"See https://ai2thor.allenai.org/ithor/documentation/objects/procedural-assets"
                 );
             }