Multi action pass and removes logs

ai2thor/controller.py

@@ -1002,12 +1002,18 @@ def run_metadata_hook(self, metadata: MetadataWrapper) -> bool:
             return True
         return False
 
-    def step(self, action: Union[str, Dict[str, Any]] = None, **action_args):
+    def step(self, action: Union[str, list, Dict[str, Any]] = None, **action_args):
         if isinstance(action, Dict):
             # We attempt to prevent changes from leaking, doing a deep copy
             # isn't a good idea as the action may have huge arguments (e.g. when
             # generating a house)
             action = {**action}
+        elif isinstance(action, list):
+            # Multi action
+            action = dict(
+                action="MultiStep",
+                actions=action
+            )
         else:
             action = dict(action=action)
 

test_distortion.py

@@ -28,10 +28,36 @@ def load_scene(scene_name, house_path=None, run_in_editor=False, platform=None,
 
     enableDistortionMap = True
 
+    # STRETCH_ENV_ARGS = dict(
+    # gridSize=GRID_SIZE
+    # * 0.75,  # Intentionally make this smaller than AGENT_MOVEMENT_CONSTANT to improve fidelity
+    # width=GOPRO_CAMERA_WIDTH,
+    # height=GOPRO_CAMERA_HEIGHT,
+    # visibilityDistance=MAXIMUM_DISTANCE_ARM_FROM_AGENT_CENTER,
+    # visibilityScheme="Distance",
+    # fieldOfView=INTEL_VERTICAL_FOV,
+    # server_class=ai2thor.fifo_server.FifoServer,
+    # useMassThreshold=True,
+    # massThreshold=10,
+    # autoSimulation=False,
+    # autoSyncTransforms=True,
+    # renderInstanceSegmentation=True,
+    # agentMode="stretch",
+    # renderDepthImage=SAVE_DEPTH,
+    # cameraNearPlane=0.01,  # VERY VERY IMPORTANT
+    # branch=None,  # IMPORTANT do not use branch
+    # commit_id=STRETCH_COMMIT_ID,
+    # server_timeout=MAXIMUM_SERVER_TIMEOUT,
+    # snapToGrid=False,
+    # fastActionEmit=False,
+    # action_hook_runner=_ACTION_HOOK_RUNNER,
+    # renderDistortionImage=True,
+    # enableDistortionMap=True,
+
     all_args = dict(
         # local_executable_path="unity/builds/thor-OSXIntel64-local/thor-OSXIntel64-local.app/Contents/MacOS/AI2-THOR",
         # local_build=True,
-        # agentMode="stretch",
+        agentMode="stretch",
         platform=platform,
         scene=scene_name,
         gridSize=0.25,
@@ -44,6 +70,7 @@ def load_scene(scene_name, house_path=None, run_in_editor=False, platform=None,
         renderInstanceSegmentation=True,
         enableDistortionMap=enableDistortionMap,
         fieldOfView=120,
+        fastActionEmit=False,
         **args,
     )
 
@@ -158,6 +185,35 @@ def load_scene(scene_name, house_path=None, run_in_editor=False, platform=None,
     print(f"Action {controller.last_action['action']} success: {evt.metadata['lastActionSuccess']}")
     print(f'Error: {evt.metadata["errorMessage"]}')
 
+    # event = controller.step(
+    #     action="MultiStep",
+    #     actions=[
+    #         dict(action="MoveBack"),
+    #         dict(action="MoveBac"),
+    #         dict(action="MoveBack"),
+    #         dict(action="MoveBack")
+    #     ]
+    # )
+
+
+    event = controller.step([
+            dict(action="MoveBack"),
+            dict(action="MoveBack"),
+            dict(action="MoveBack"),
+            dict(action="MoveBack")
+        ]
+    )
+
+    print("MultiStep")
+    print(f"last action: {event.metadata['lastAction']}")
+    print(f"Action {controller.last_action['action']} success: {event.metadata['lastActionSuccess']}")
+    print(f'Error: {event.metadata["errorMessage"]}')
+
+    event = controller.step({'action': 'RotateAgent', 'degrees': -34.391552838580424})
+    print(f"last action: {event.metadata['lastAction']}")
+    print(f"Action {controller.last_action['action']} success: {event.metadata['lastActionSuccess']}")
+    print(f'Error: {event.metadata["errorMessage"]}')
+
     InteractiveControllerPrompt.write_image(controller.last_event, image_dir, "", semantic_segmentation_frame=True, depth_frame=True, color_frame=True, third_party_camera_frames=True, distortion_frame=distortion)
     # input()
 

unity/Assets/Scripts/AgentManager.cs

@@ -574,14 +574,14 @@ public void UpdateRenderingManagers(IEnumerable<string> activePassList, bool cam
         var renderingManagers = agents.Select(agent => agent.m_Camera.GetComponent<RenderingManager>())
             .Concat(thirdPartyCameras.Select(cam => cam.GetComponent<RenderingManager>()));
         foreach (var renderingManager in renderingManagers) {
-            Debug.Log($"------ updateRenderingManagers enablepasses for {renderingManager.transform.parent.name}");
+            // Debug.Log($"------ updateRenderingManagers enablepasses for {renderingManager.transform.parent.name}");
             renderingManager.EnablePasses(activePassList, cameraChange);
         }
     }
 
     private void UpdateActivePasses() {
         // TODO Refactor so that we know where these strings come from
-        Debug.Log($"--------- enableDistortionMap {this.enableDistortionMap}");
+        // Debug.Log($"--------- enableDistortionMap {this.enableDistortionMap}");
         activeCapturePassList = new Dictionary<string, bool>() {
             {"_img", true},
             {"_depth", this.renderDepthImage},
@@ -1163,7 +1163,7 @@ private void captureScreenAsyncNew(
         Camera camera
     ) {
         var rm = camera.GetComponent<RenderingManager>();
-        Debug.Log($"-- is rendering manager null? {rm == null} rm {rm}");
+        // Debug.Log($"-- is rendering manager null? {rm == null} rm {rm}");
         rm.GetCaptureAsync("_img", payload, key);
     }
 
@@ -1229,7 +1229,7 @@ private byte[] captureCamera(Camera camera) {
         // tex.Apply();
         var bytes = tex.GetRawTextureData();
 
-        Debug.Log($"-------- captureCamera {bytes.Length}");
+        // Debug.Log($"-------- captureCamera {bytes.Length}");
         return bytes;
     }
 
@@ -1351,7 +1351,7 @@ private void addObjectImage(
         ref MetadataWrapper metadata
     ) {
         if (this.renderInstanceSegmentation || this.renderSemanticSegmentation) {
-            Debug.Log($"imageSynthesis null {agent.ImageSynthesis == null}");
+            // Debug.Log($"imageSynthesis null {agent.ImageSynthesis == null}");
             if (!agent.ImageSynthesis.hasCapturePass("_id")) {
                 Debug.LogError(
                     "Object Image not available in imagesynthesis - returning empty image"
@@ -1366,7 +1366,7 @@ ref MetadataWrapper metadata
 
             List<ColorId> colors = new List<ColorId>();
 
-            Debug.Log($"----- imageSynt null? {agent.ImageSynthesis == null} { agent.ImageSynthesis} colorids null {agent.ImageSynthesis.colorIds == null}");
+            // Debug.Log($"----- imageSynt null? {agent.ImageSynthesis == null} { agent.ImageSynthesis} colorids null {agent.ImageSynthesis.colorIds == null}");
             foreach (Color key in agent.ImageSynthesis.colorIds.Keys) {
                 ColorId cid = new ColorId();
                 cid.color = new ushort[]
@@ -1407,12 +1407,12 @@ private void addCapture(
         string fieldName
     ) {
         if (flag) {
-            Debug.Log($"------- Gettin capture for {captureName} {flag}");
+            // Debug.Log($"------- Gettin capture for {captureName} {flag}");
             var renderingManager = camera.GetComponent<RenderingManager>();
             byte[] bytes = renderingManager.GetCaptureBytes(captureName);
             if (captureName == "_depth") {
             var localBytesX = new byte[] {bytes[0], bytes[1], bytes[2], bytes[3] };
-            Debug.Log($"-------- _depth bytes {string.Join(", ", bytes.Take(100))} convert {System.BitConverter.ToSingle(localBytesX, 0)}");
+            // Debug.Log($"-------- _depth bytes {string.Join(", ", bytes.Take(100))} convert {System.BitConverter.ToSingle(localBytesX, 0)}");
             }
             payload.Add(new KeyValuePair<string, byte[]>(fieldName, bytes));
         }
@@ -1489,6 +1489,7 @@ bool shouldRenderImageSynthesis
                 cameraMetadata[i] = cMetadata;
                 // addThirdPartyCameraImage(renderPayload, camera);
                 renderPayload.Add(new KeyValuePair<string, byte[]>("image-thirdParty-camera", captureCamera(camera)));
+                // Debug.Log($"------- shouldRenderImageSynthesis {shouldRenderImageSynthesis}");
 
                 if (shouldRenderImageSynthesis) {
                     ImageSynthesis imageSynthesis =

unity/Assets/Scripts/BaseFPSAgentController.cs

@@ -2789,6 +2789,30 @@ public void ProcessControlCommand(DynamicServerAction controlCommand) {
             ProcessControlCommand(controlCommand: controlCommand, target: this);
         }
 
+        public ActionFinished MultiStep(List<JObject> actions) {
+            var actionResults = new List<ActionFinished>();
+                foreach (var jobject in actions) {
+                    var action = new DynamicServerAction(jobject);
+                    Debug.Log($"---- Running action: {action.action}");
+                    this.ProcessControlCommand(action);
+                    var actionFinished =  new ActionFinished(
+                        success: this.lastActionSuccess, 
+                        actionReturn: this.actionReturn, 
+                        errorMessage: this.errorMessage
+                    );
+                    if (!actionFinished.success) {
+                        // this.lastAction = action.action;
+                        return actionFinished;
+                    }
+                    actionResults.Add(actionFinished);
+                }
+                return new ActionFinished(
+                    success: actionResults.All(x => x.success),
+                    actionReturn: actionResults.Select(x => x.actionReturn),
+                    errorMessage: string.Join("/n", actionResults.Select(x => x.errorCode))
+                );
+        }
+
         public void ProcessControlCommand<T>(DynamicServerAction controlCommand, T target)
             where T : ActionInvokable {
             lastActionInitialPhysicsSimulateCount = PhysicsSceneManager.PhysicsSimulateCallCount;

unity/Assets/Scripts/CapturePass.cs

@@ -310,7 +310,7 @@ public virtual void OnInitialize(Camera mainCamera) {
 
 
         public virtual void OnCameraChange(Camera mainCamera) {
-            Debug.Log($"-------OnCameraChange  {name} on object {mainCamera.gameObject.name}");
+            // Debug.Log($"-------OnCameraChange  {name} on object {mainCamera.gameObject.name}");
             if (tex != null) {
                 UnityEngine.Object.Destroy(tex);
                 tex = null;

unity/Assets/Scripts/ImageSynthesis/Shaders/BarrelDistortionMap.shader

@@ -104,8 +104,6 @@ Shader "Custom/BarrelDistortionMap" {
 
                 float smoothDistortionMagnitude = 1.0 + _k1 * pow(r, 2.0) + _k2 * pow(r, 4.0) + _k3 * pow(r,6.0) + _k4 * pow(r,8.0);
 
-                float zoom_percent = 0.2;
-                float translate = (1.0 - zoom_percent) / 2.0;
                 float2 centered_uv_norm = normalize(centered_uv);
 
 

unity/ProjectSettings/ProjectSettings.asset

@@ -644,7 +644,7 @@ PlayerSettings:
   webGLThreadsSupport: 0
   webGLDecompressionFallback: 0
   scriptingDefineSymbols:
-    1: 
+    1: UNITY_POST_PROCESSING_STACK_V2
     4: CROSS_PLATFORM_INPUT;MOBILE_INPUT;UNITY_POST_PROCESSING_STACK_V2
     7: CROSS_PLATFORM_INPUT;MOBILE_INPUT;UNITY_POST_PROCESSING_STACK_V2
     13: UNITY_POST_PROCESSING_STACK_V2